Vehicle door unlocking method, vehicle, computer equipment and program product

Abstract

The invention provides a vehicle door unlocking method, a vehicle, computer equipment and a program product, and the method comprises the steps: responding to a received vehicle door unlocking request, and judging whether an approaching object exists behind the side of a vehicle door or not; after it is determined that the approaching object exists, whether a target number of vehicle door unlocking requests are received within a target duration or not is judged; if yes, an unlocking instruction is sent to a vehicle lock control module; and the vehicle lock control module is used for controlling a vehicle door to be unlocked according to the unlocking instruction.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a vehicle door unlocking method, a vehicle, a computer device, and a program product. Background Art

[0002] As vehicles develop towards electronic and intelligent development, more and more vehicles are equipped with electronic door opening methods, such as electronic button door opening, voice door opening, etc. When using electronic door opening methods, the traditional method is often that the door is unlocked immediately when the user triggers the door opening signal, and then the user can push the door open to get out of the vehicle, but this is very likely to cause the door to scratch or collide with vehicles or pedestrians on the side and rear of the vehicle, affecting the safety of getting out of the vehicle.

[0003] Therefore, how to improve the safety of users when opening the door and getting off the vehicle has become a technical issue worthy of attention. Summary of the invention

[0004] The embodiments of the present disclosure at least provide a vehicle door unlocking method, a vehicle, a computer device, and a program product.

[0005] In a first aspect, an embodiment of the present disclosure provides a vehicle door unlocking method, comprising:

[0006] In response to receiving a door unlocking request, determining whether there is an approaching object behind the door;

[0007] After determining that there is an approaching object, determining whether a target number of door unlocking requests have been received within a target duration;

[0008] If so, an unlocking command is sent to a vehicle lock control module; the vehicle lock control module is used to control the door to unlock according to the unlocking command.

[0009] In this implementation, after receiving a door unlock request, by judging whether there is an approaching object behind the door, it is possible to promptly determine whether there is a safety risk after the user opens the door, and then use the detection result to determine the corresponding door handling method, which can improve the safety of the user opening the door and getting off the vehicle. In addition, when it is determined that there is an approaching object, by detecting the number of door unlock requests received within the target time, it is possible to avoid the safety risk caused by immediate unlocking and judge whether the user has an urgent need for immediate unlocking, thereby granting the user full door opening authority. When it is determined that the number of door unlock requests within the target time reaches the target number, it indicates that the user has a need for immediate unlocking, and then by sending an unlock instruction to the vehicle lock control module, the user can be immediately unlocked.

[0010] In a possible implementation manner, determining whether there is an approaching object behind the vehicle door includes:

[0011] Determine whether a target signal is received within a preset time period, wherein the target signal is used to indicate that there is an approaching object behind the door; the target signal is output by the body gateway module after detecting a door unlock request signal and identifying the door rear side sensor data collected by the vehicle sensor.

[0012] In this implementation, the vehicle sensor senses the road environment behind the door side, and can accurately determine whether there is an approaching target object behind the door side, thereby achieving accurate triggering of the target signal.

[0013] In a possible implementation manner, after determining that there is an approaching object, the method further includes:

[0014] Play warning voice and / or turn on vehicle warning lights.

[0015] In this implementation, when it is determined that there is an approaching object, a safety warning can be provided to the user by playing a warning voice and / or turning on the vehicle warning lights.

[0016] In a possible implementation, after determining that there is an approaching object, determining whether a target number of door unlocking requests have been received within a target duration includes:

[0017] If it is determined that there is an approaching object and the door unlocking request is an unlocking request triggered by a non-voice mode, determining whether a target number of door unlocking requests have been received within a target duration;

[0018] The method further comprises:

[0019] If it is determined that there is an approaching object and the door unlocking request is a voice-triggered unlocking request, the door unlocking is rejected.

[0020] In this implementation, since voice-triggered unlocking requires a certain amount of voice analysis time, which is usually longer than the target time, and non-voice-triggered unlocking has a shorter processing time, often reaching milliseconds or microseconds, multiple triggers can be achieved within the target time. Therefore, by selecting the corresponding unlocking logic according to the triggering method of the door unlocking request, the rationality of the door unlocking can be improved.

[0021] In a possible implementation manner, after determining that there is an approaching object, the method further includes:

[0022] When the door unlocking request is triggered by a button or a central control screen, counting the duration of the triggering of the triggering mode;

[0023] If the trigger duration reaches the duration threshold, an unlocking command is initiated to the vehicle lock control module.

[0024] This implementation mode can usually be triggered continuously when using a button trigger or a central control screen trigger, so the diversity of unlocking methods can be improved by counting the duration of the trigger to determine whether to unlock.

[0025] In a possible implementation manner, determining whether a target number of door unlocking requests have been received within a target duration includes:

[0026] Determine whether there is a first timer that has been turned on;

[0027] If yes, when the timing duration of the first timer does not reach the target duration, the count quantity of the counter associated with the first timer is increased by 1, and it is determined whether the count quantity of the counter reaches the target quantity;

[0028] If the target number is reached, it is determined that the target number of door unlocking requests has been received within the target time period.

[0029] In this implementation, the first timer and the counter are used to count the number of door unlocking requests triggered within the target duration, which can improve the timeliness and accuracy of judging the number of door unlocking requests.

[0030] In a possible implementation, the method further includes:

[0031] When the timing duration of the first timer does not reach the target duration, and the counted number of the counter does not reach the target number, the first timer continues to run and the second timer is started;

[0032] If the timing duration of the first timer reaches the target duration, but the counted number of the counter still does not reach the target number, the first timer is turned off, the counted number of the counter is reduced by 1, and it is determined whether there is a third timer that has been turned on; the third timer is the second timer or other timer, and the third timer is the first timer that is turned on after the first timer is turned on;

[0033] The turned-on third timer is used as a new first timer and is associated with the counter after the count amount is reduced by 1.

[0034] In this implementation, when the counted number does not reach the target number, it can be explained that the number of consecutive triggering of the door unlock request is insufficient. By starting the second timer corresponding to the latest door unlock request, it is possible to start the corresponding second timer each time the door unlock request is triggered, and to achieve independent statistics of the target duration corresponding to each door unlock request. When the timing duration of the first timer reaches the target duration, the first timer is turned off, and the timer can be released in time, ensuring that there are sufficient timers available for use. By transferring the counted number of the counter between different timers, the number of counters can be reduced, saving resources.

[0035] In a possible implementation, the method further includes:

[0036] If the vehicle's speed is detected to be greater than the speed threshold, the door unlocking is rejected.

[0037] This implementation manner can avoid potential risks caused by opening the door while the vehicle is running by refusing to unlock the door when the vehicle speed is greater than the speed threshold, thereby improving the rationality of unlocking the door.

[0038] In a second aspect, an embodiment of the present disclosure further provides a vehicle, including a controller, wherein the controller includes:

[0039] a memory for storing machine-readable instructions; and

[0040] A processor is used to call and execute the machine-readable instructions stored in the memory to implement the above-mentioned vehicle door unlocking method, or steps in any possible implementation of the above-mentioned vehicle door unlocking method.

[0041] In a third aspect, an optional implementation of the present disclosure further provides a computer device, a processor, and a memory, wherein the memory stores machine-readable instructions executable by the processor, and the processor is used to execute the machine-readable instructions stored in the memory, and when the machine-readable instructions are executed by the processor, the steps of the above-mentioned first aspect, or any possible implementation of the first aspect are performed.

[0042] In a fourth aspect, an optional implementation of the present disclosure further provides a computer program product, which includes a computer program, and when the computer program is executed, it executes the steps of the above-mentioned first aspect, or any possible implementation of the first aspect.

[0043] For a description of the effects of the above-mentioned vehicle, computer equipment, and computer program product, please refer to the description of the above-mentioned door unlocking method, which will not be repeated here.

[0044] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following is a brief introduction to the drawings required for use in the embodiments. The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used together with the specification to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can also be obtained based on these drawings without creative work.

[0046] Figure 1 A flow chart of a vehicle door unlocking method provided by an embodiment of the present disclosure is shown;

[0047] Figure 2 A schematic diagram of opening a timer and a counter provided in an embodiment of the present disclosure is shown;

[0048] Figure 3 A schematic diagram showing the opening of another timer and counter provided in an embodiment of the present disclosure is shown;

[0049] Figure 4 A specific implementation flow chart of a vehicle door unlocking method provided by an embodiment of the present disclosure is shown;

[0050] Figure 5 A schematic diagram of a vehicle door unlocking device provided by an embodiment of the present disclosure is shown;

[0051] Figure 6 A schematic diagram of the structure of a computer device provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The components of the embodiments of the present disclosure generally described and shown herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure is not intended to limit the scope of the present disclosure claimed for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present disclosure.

[0053] In addition, the terms "first", "second", etc. in the description and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein.

[0054] The "multiple or several" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0055] Research has found that for vehicles not equipped with electric limiters, the door is unlocked after the user triggers the door unlock request signal, and the user can quickly push the door open to get off the vehicle, so the safety problem of users getting off the vehicle cannot be effectively solved. In order to improve the safety of users opening the door to get off the vehicle, some vehicles have begun to be equipped with electric limiters on their doors. When the door is unlocked, the electric limiters are used to increase a certain amount of door opening resistance, thereby reducing the safety risks that may be caused by users opening the door to the maximum angle after the door is unlocked. However, this method still unlocks the door immediately after the user triggers the door opening signal, so there is still a risk of collision with vehicles or pedestrians coming from the side and rear after the user opens the door, and it cannot effectively solve the safety problem of users getting off the vehicle.

[0056] Based on the above research, the present disclosure provides a vehicle door unlocking method, a vehicle, a computer device and a program product. After receiving a vehicle door unlocking request, by judging whether there is an approaching object behind the side of the vehicle door, it is possible to timely determine whether there is a safety risk after the user opens the door, and then use the detection result to determine the corresponding vehicle door processing method, which can improve the safety of the user opening the door and getting off the vehicle. In addition, when it is determined that there is an approaching object, by detecting the number of vehicle door unlocking requests received within the target time length, it is possible to avoid the safety risks caused by immediate unlocking and judge whether the user has an urgent need for immediate unlocking, thereby granting the user full door opening authority. When it is determined that the number of vehicle door unlocking requests within the target time length reaches the target number, it indicates that the user has a need for immediate unlocking, and then by sending an unlocking instruction to the vehicle lock control module, it can be achieved that the user is unlocked immediately.

[0057] The defects existing in the above solutions are the results obtained by the inventor after practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed by the present disclosure for the above problems below should be the contributions made by the inventor to the present disclosure during the disclosure process.

[0058] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0059] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0060] To facilitate understanding of the present embodiment, a vehicle door unlocking method disclosed in an embodiment of the present disclosure is first introduced in detail. The execution subject of the vehicle door unlocking method provided in the embodiment of the present disclosure is generally a terminal device or other processing device with a certain computing capability, wherein the terminal device may be a user equipment (UE), a mobile device, a user terminal, a terminal, a personal digital assistant (PDA), a handheld device, a computer device, a domain control module on a vehicle (such as a body gateway module (BGM), etc.); in some possible implementations, the vehicle door unlocking method may be implemented by a processor calling a computer-readable instruction stored in a memory.

[0061] The door unlocking method provided by the embodiment of the present disclosure is described below by taking the execution subject as a vehicle body gateway module as an example.

[0062] As Figure 1 As shown, it is a flow chart of a door unlocking method provided by an embodiment of the present disclosure, which may include the following S101 to S103:

[0063] S101: In response to receiving a door unlocking request, determining whether there is an approaching object behind the door.

[0064] Here, the door unlock request is used to request to unlock at least one door on the vehicle, and the request can be initiated by the main driver or the passenger. For the convenience of description, the door requested to be unlocked is defined as the door to be unlocked in the following text. It can be understood that the door unlock request in the present disclosure should be a request initiated inside the vehicle, which is used to request to unlock the door to complete getting off the vehicle. The door unlock request can be represented by the instruction DrXXOpRqt, where XX can be Left front (Lf for short), Left rear (Lr for short), Right front (Rf for short), Right rear (Rr for short), and All. For example, DrLfOpRqt indicates a door unlock request for the left front door, DrLrOpRqt indicates a door unlock request for the left rear door, DrRfOpRqt indicates a door unlock request for the right front door, DrRrOpRqt indicates a door unlock request for the right rear door, and DrAllOpRqt indicates a door unlock request for each door. It is understandable that only an example of a vehicle having four doors is used for illustration. In actual applications, various door unlock requests can be set according to the number of doors, and the disclosed embodiment does not specifically limit this.

[0065] The rear side of the door may include an area within a set range outside the door to be unlocked and an area within a set range behind the door. The set range can be set based on experience, and is not set in the disclosed embodiment. For objects located behind the door, they may collide or scratch with the door after the user pushes open the door to be unlocked, thereby causing safety risks. The above-mentioned object may be an object moving toward the door to be unlocked, such as a vehicle, a pedestrian, a moving obstacle, etc.

[0066] In specific implementation, after detecting that the user initiates a door unlock request (for example, after detecting that the DrXXOpRqt signal jumps from 0 to 1), the BGM can independently unlock each door to be unlocked for each door to be unlocked requested by the door unlock request. Specifically, for each door to be unlocked, it can be determined whether there is an approaching object behind the door side of the door to be unlocked. If so, the following S102 can be executed instead. If not, it can be determined that there is no risk of opening the door, and an unlocking instruction for the door to be unlocked can be sent to the lock control module (LatchControlModule). The LatchControlModule can respond to the unlocking instruction (i.e., the LatchRls instruction) to open the lock on the door to be unlocked. Exemplarily, the value of the LatchRls instruction can be 0 and 1, wherein one value is used to indicate an unlocking instruction, and the other value is used to indicate no unlocking instruction.

[0067] Optionally, for each door to be unlocked indicated by the door unlock request, the BGM may also determine the lock release state (DrXXSts) of the door to be unlocked before determining whether there is an approaching object behind the door. Among them, XX can be Lf, Lr, Rf, Rr, that is, there is one lock release state for each door to be unlocked. If DrXXSts indicates that the lock is open, the lock release request for the door to be unlocked can be ignored; if DrXXSts indicates that the lock is closed, it can be determined whether there is an approaching object behind the door to be unlocked. Exemplarily, the values ​​of DrXXSts can be locked and unlocked.

[0068] S102: After determining that there is an approaching object, determining whether a target number of door unlocking requests have been received within a target time period.

[0069] Here, both the target duration and the target number can be preset based on experience, and the disclosed embodiment does not specifically limit them. For example, the target duration can be 1000 milliseconds (ms), 1500 ms, etc., and the target number can be 3, 4, etc. It is understandable that the target duration and the target number can refer to each other when setting. For example, the target number can be determined based on the processing duration of each door unlock request and the target duration, or the target duration can be determined based on the processing duration of each door unlock request and the target number.

[0070] The starting point of the target duration is determined according to the first receiving time of the current door unlock request, and the target duration may be the target duration from the first receiving time forward, or the target duration from the first receiving time backward, or both. For example, within the target duration before receiving the current door unlock request, if no other unlock request corresponding to the door to be unlocked corresponding to the door unlock request is received, the target duration may be counted from the first receiving time. Within the target duration before receiving the current door unlock request, if other unlock requests identical to the door unlock request are received, the target duration may be counted from the second receiving time of the first unlock request among the other unlock requests, and after counting the target duration from the second receiving time, if the door unlock request does not reach the target number, the target duration may be counted from the third receiving time of the second unlock request among the other unlock requests. The third receiving time may be the first receiving time. That is, after determining that the target object exists, the currently received door unlock request may be included in the statistics to determine whether the door unlock request for the target number of consecutive times appears within the target duration. If not, the system may continue to wait for a new door unlock request until there is no new door unlock request within the target time period, and the current door unlock request is ignored. If yes, the following S103 may be executed instead.

[0071] S103: If yes, an unlocking instruction is sent to the vehicle lock control module; the vehicle lock control module is used to control the door to unlock according to the unlocking instruction.

[0072] Here, LatchControlModule is a door control module, which is used to control related functions on the door, such as door unlocking and locking, window lifting, door audio control, etc. In specific implementation, a LatchControlModule can be set for each door separately, or a general LatchControlModule can be set for each door, which is not specifically limited in the embodiment of the present disclosure.

[0073] In specific implementation, when there are a target number of door unlocking requests within a target duration, it can be said that the user currently has an urgent request to open the door and get off the car. At this time, the BGM can send an unlocking instruction for the door to be unlocked to the LatchControlModule. Then the LatchControlModule responds to the unlocking instruction and opens the lock on the door to be unlocked, thereby unlocking the door to be unlocked. After the door is unlocked, the user can decide whether to open the door and the door opening angle.

[0074] In this way, after receiving a door unlock request, by judging whether there is an approaching object behind the door, it is possible to promptly determine whether there is a safety risk after the user opens the door, and then use the detection result to determine the corresponding door handling method, which can improve the safety of the user opening the door and getting off the car. In addition, when it is determined that there is an approaching object, by detecting the number of door unlock requests received within the target time, it is possible to avoid the safety risks caused by immediate unlocking and judge whether the user has an urgent need for immediate unlocking, thereby granting the user full door opening authority. When it is determined that the number of door unlock requests within the target time reaches the target number, it indicates that the user has a need for immediate unlocking, and then by sending an unlock command to the car lock control module, it can be achieved that the user is unlocked immediately.

[0075] In one embodiment, it can be determined whether there is an approaching target object in the following manner:

[0076] Determine whether a target signal is received within a preset time period. The target signal is used to indicate that there is an approaching object behind the door. The target signal is output by the body gateway module after detecting the door unlock request signal and identifying the sensor data behind the door collected by the vehicle sensor.

[0077] Here, the preset duration can be set based on experience, and the embodiment of the present disclosure does not specifically limit it. The door unlock request signal is the initiation signal of the door unlock request. When the door unlock request signal is detected, it means that the user has initiated the door unlock request. For example, when the user triggers the door unlock request using a button trigger, the door unlock request signal can be detected when the user presses the button. The target signal is used to indicate that there is an approaching object behind the side of the door to be unlocked, and the signal can be output by the BGM. Exemplarily, the present disclosure can set a prompt signal DOW_XX for each door, and XX can be Lf, Lr, Rf, Rr. The value of the DOW_XX signal can include a first preset value and a second preset value. When the DOW_XX signal takes the first preset value, it means that there is an approaching object, and the signal is the target signal; when the DOW_XX signal takes the second preset value, it means that there is no approaching object. The first preset value and the second preset value can be 1 and 0, respectively. Vehicle sensors can include but are not limited to cameras and laser radars. Sensor data refers to data collected by vehicle sensors, such as road images collected by cameras and road point cloud data collected by lidar.

[0078] In specific implementation, when receiving a door unlock request, the BGM can detect the door unlock request signal. Within a preset time after detecting the door unlock request signal, the BGM can identify the sensor data of the rear side of the door collected by the vehicle sensor to determine whether there is a target object approaching the rear side of the vehicle. If there is, the value of the DOW_XX signal can be set to the first preset value, thereby triggering the target signal; if not, the value of the DOW_XX signal can be set to the second preset value, and the target signal is not triggered at this time.

[0079] If the target signal is triggered within the preset time period, it can be determined that there is an approaching object, otherwise, it is determined that there is no approaching object.

[0080] Optionally, in general, when the user gets off the vehicle when the vehicle is parked, the BGM can detect whether there is an approaching object when the vehicle is parked, and if so, it can trigger the target signal. When the target signal is triggered, if the user initiates a door unlock request, it can be directly determined that there is an approaching object. Of course, after receiving the door unlock request, the BGM can also identify the door side rear sensor data. If the door unlock request has not been received, the door side rear sensor data will not be actively identified.

[0081] In one embodiment, after determining that there is an approaching object, in order to better alert the user, a warning voice may be played and / or the vehicle warning light may be turned on. The warning voice may be set based on experience, for example, the warning voice may be a continuous danger warning sound, a preset sentence (such as there is an approaching object behind the door, please pay attention), etc. The vehicle warning light may be, for example, a preset light corresponding to a warning light strip set on the inside and / or outside of the door, a preset light corresponding to a warning light strip set on a rearview mirror on one side of the door, etc.

[0082] Exemplarily, when a target signal is triggered, a warning voice may be played, and / or, depending on the position of the door to be unlocked, the warning light strip may be controlled to flash according to a preset light, thereby providing a warning to the occupants and approaching objects.

[0083] Furthermore, the warning voice and vehicle warning light may be stopped when the value of the DOW_XX signal changes to the second preset value, when the user opens the door and gets off the vehicle, when the vehicle starts to move, or when the user actively turns them off.

[0084] In one embodiment, in order to increase the diversity of door unlocking methods for users, vehicles are usually equipped with multiple door unlocking methods, such as door button unlocking, central control screen unlocking, voice unlocking, etc. Various unlocking methods can trigger the generation of door unlocking requests, but different unlocking methods may have different corresponding unlocking logics. The steps in S102 can be implemented as follows:

[0085] If it is determined that there is an approaching object and the door unlocking request is an unlocking request triggered by a non-voice mode, it is determined whether a target number of door unlocking requests have been received within a target time period.

[0086] Here, non-voice triggering can specifically include button triggering and central control screen triggering, for example, triggering the unlock button on the inside of the door and triggering the door unlocking component on the central control screen.

[0087] Since the non-voice trigger method has a faster response speed and can be initiated multiple times within the target time length, when it is determined that there is an approaching object, the trigger method of the door unlock request can also be determined. When the trigger method is non-voice trigger, it can be determined whether the target number of door unlock requests have been received within the target time length.

[0088] Alternatively, when the triggering mode is voice triggering, unlocking can be directly rejected. That is, if it is determined that there is an approaching object and the door unlocking request is a voice-triggered unlocking request, the door unlocking is rejected.

[0089] In this way, since the processing time of voice trigger is usually longer than the preset time, when the door unlocking request is voice triggered, there will usually not be multiple voice-triggered unlocking requests within the target time. Therefore, in order to save computing resources and improve processing speed, you can directly refuse to unlock if it is determined that there is an approaching object.

[0090] In one embodiment, after determining that there is an approaching target object, if the triggering mode of the door unlocking request is non-voice triggering, the duration of the triggering mode can also be counted for unlocking control. Specifically, when the triggering mode of the door unlocking request is key triggering or central control screen triggering, the triggering duration of the triggering mode is counted; if the triggering duration reaches the duration threshold, an unlocking command is sent to the vehicle lock control module.

[0091] Here, whether it is a button trigger or a central control screen trigger, the user can achieve a long press trigger, so the trigger duration can be counted. The duration threshold can be set based on experience, and the disclosed embodiment does not specifically limit it. For example, the duration threshold can be 2000ms, 3000ms, etc. Among them, the door unlock request triggered by the central control screen trigger method and the door unlock request triggered by the voice trigger method can both be sent to the BGM by the cockpit domain controller (Cockpit Domain Controller, CDC for short); the door unlock request triggered by the button trigger method can be obtained by the BGM by detecting the value change of the DrXXOpRqt signal.

[0092] Taking the door unlock request as an example of the door opening button (DrXXOpBtnPsd) inside the door, when the button is not pressed, the value of DrXXOpBtnPsd can be a default initial value, such as 0. Then when the button is triggered, the value of DrXXOpBtnPsd can jump to a preset value, such as 1. When the button is released, the value of DrXXOpBtnPsd jumps from the preset value to the default initial value. For each door unlock request, if it is determined that there is an approaching object and the triggering method is a button trigger, the fourth timer can be started when the user presses the button (such as DrXXOpBtnPsd changes from 0 to 1) to count the duration of the button, and the duration is DrXXOpBtnPsdTi. When DrXXOpBtnPsdTi reaches the duration threshold, an unlock command is initiated to the vehicle lock control module. If the user releases the button before DrXXOpBtnPsdTi reaches the duration threshold, the fourth timer stops timing so that it can be reset and started again the next time the user triggers the button.

[0093] Among them, the operation of determining whether the target number of door unlocking requests has been received within the target duration and the operation of determining whether the duration of the key press reaches the duration threshold can be completed by the BGM or by the LatchControlModule.

[0094] In one embodiment, the step of “determining whether a target number of door unlocking requests have been received within a target duration” in S102 may also be implemented according to the following steps A1 to A3:

[0095] A1: Determine whether there is a first timer that has been turned on.

[0096] In the vehicle door unlocking method provided by the embodiment of the present disclosure, each time a user triggers a vehicle door unlocking request, a timer may be started accordingly. The first timer may be understood as a timer started earliest before receiving the current vehicle door unlocking request.

[0097] For example, before receiving the current door unlock request, if there is a previous door unlock request, and there is an approaching object at the time corresponding to the door unlock request, a timer can be started for the door unlock request, and if the timing duration of the first timer does not reach the target duration, the timer can be used as the first timer. For another example, before receiving the current door unlock request, if there are multiple previous door unlock requests, and there is an approaching object at the time corresponding to each of the previous door unlock requests, the timer that is started earliest among the multiple previous door unlock requests and whose timing duration has not reached the target duration can be used as the first timer.

[0098] In specific implementation, after receiving the current door unlock request, if there is an approaching object at the time corresponding to the door unlock request, it can be determined whether there is a first timer that has been turned on. If so, the following A2 can be executed instead; if not, a timer can be turned on for the current door unlock request, and the timer is used as the second timer. The start time of the second timer can be the trigger time of the current door unlock request, or the time when the approaching object is determined, and the second timer also counts according to the target duration.

[0099] A2: If so, when the timing duration of the first timer does not reach the target duration, the count quantity of the counter associated with the first timer is increased by 1, and it is determined whether the count quantity of the counter reaches the target quantity.

[0100] Here, the first timer may be associated with a counter, the technical value of the counter being used to indicate the number of door unlocking requests that have been generated since the first timer started timing, and the number is equal to the number of requests.

[0101] In specific implementation, if there is a first timer, it can be determined whether the timing duration of the first timer has reached the target duration. If so, the number of requests currently recorded by the counter associated with the first timer can be increased by 1 (i.e., the number of counts of the counter is increased by 1), so as to include the currently received door unlock request in the statistics. Then, it is determined whether the number of counts of the timer has reached the target number. If not, it can be explained that the currently received door unlock request is included in the statistics in time, and the number of door unlock requests received within the target duration has not reached the number required for door unlocking, and the user's new door unlock request continues to be waited. If so, the following A3 can be executed instead.

[0102] In another embodiment, when the timing duration of the first timer does not reach the target duration, if the count quantity of the counter does not reach the target quantity, the first timer continues to run and the second timer is started; if the timing duration of the first timer reaches the target duration, but the count quantity of the counter still does not reach the target quantity, the first timer is turned off, the count quantity of the counter is reduced by 1, and it is determined whether there is a third timer that has been turned on; the third timer is the second timer or other timer, and the third timer is the first timer that is turned on after the first timer is turned on; the turned-on third timer is used as the new first timer and is associated with the counter after the count quantity is reduced by 1.

[0103] Exemplarily, when the timing duration of the first timer does not reach the target duration, if the counted number of the counter does not reach the target number, the first timer can continue to run until the timing duration of the first timer reaches the target duration or the counted number of the counter reaches the target number, and at the same time, a new timer can be started for the currently received door unlock request, and the timer is used as the second timer. That is, in the disclosed embodiment, each time a door unlock request is received, for each door unlock request, it can be determined whether the target number of door unlock requests has been received within the target duration, and if not, a timer can be started for the door unlock request, and the timer counts according to the target duration.

[0104] Alternatively, when the timing duration of the first timer reaches the target duration, if the count number of the counter associated with the first timer has not reached the target number, the first timer is reset and turned off, and the count number of the counter is reduced by 1. Here, the count number of the counter is reduced by 1 because the door unlock request associated with the first timer needs to be excluded from the statistics. While reducing the count number of the counter by 1, it can be determined whether there is a third timer that has been turned on, wherein the third timer can be the first timer turned on after the first timer is turned on, and the timer is the timer corresponding to the first door unlock request after the door unlock request corresponding to the first timer, so the timer can be the second timer or other timers. Among them, if the first door unlock request after the door unlock request corresponding to the first timer is the door unlock request currently received, the third timer is the timer corresponding to the door unlock request currently received, that is, the second timer. If the first door unlock request after the door unlock request corresponding to the first timer is other door unlock requests before the door unlock request currently received, the third timer is the timer corresponding to the other door unlock request, that is, other counters. Then, the started third timer can be used as a new first timer and associated with the counter whose count quantity is reduced by 1.

[0105] It is understandable that in the embodiments of the present disclosure, only one counter may be set, and then the counter may be associated with different timers, and each time the counter is associated with the timer that has been turned on the longest and whose timing duration is the target duration. When the timing duration of the target timer associated with the counter is after the target duration is reached, the counter may be associated with the first timer turned on after the target timer after the count amount is reduced by 1.

[0106] A3: If the target number is reached, it is determined that the target number of door unlocking requests has been received within the target time.

[0107] In specific implementation, if the counter reaches the target number of counts, it can be determined that the target number of door unlock requests have been received within the time period from receiving the door unlock request corresponding to the first timer to reaching the target duration, and then an unlock command can be initiated to the vehicle lock control module.

[0108] It is understandable that when it is determined that the target number of door unlock requests have been received within the target time length, the count times of each timer that has been started (including the first timer) can be reset and closed, and the counter can be reset and closed at the same time, so that the counter and timer can be reopened after a new door unlock request is received subsequently.

[0109] Optionally, when it is determined that the target number of door unlocking requests have been received within the target duration, only the first timer may be turned off, and the timing operations of other turned-on timers may be continued until the timing duration of these timers reaches the target and then they are reset and turned off.

[0110] like Figure 2 FIG. 1 is a schematic diagram of opening a timer and a counter provided in an embodiment of the present disclosure. Figure 2 In the example, the non-voice triggering method is used to trigger the door unlock request. The XX door lock button state (DrXXOpBtnPsdSts) represents the value of DrXXOpBtnPsd. When the value is 0, it means that the button is not pressed. When the value is 1, it means that the button is pressed. The timer Bn represents the timer for the door unlock request to start. The number of n depends on the number of door unlock requests within the target time. Figure 2 There are three timers, B1, B2 and B3. DrXXOpBtnPsdCnt represents the count of counter A. The unlock command (XX lock release signal LatchXXRls) represents a locking command for the XX lock when the value is 0, and represents an unlock command for the XX lock when the value is 1. Timer C represents a timer used to count the duration of the key triggering of the XX door lock (DrXXOpBtnPsdTi). Figure 2 In the example, the duration of each key press is less than the duration threshold.

[0111] For ease of understanding, the following Figure 2 A detailed description is given, wherein, before the door unlocking request is received, there is no started timer Bn, timer C and counter A. When the door opening button is pressed for the first time, the value of DrXXOpBtnPsdSts jumps to 1, and timer C starts timing. The duration for which the value of DrXXOpBtnPsdSts remains at 1 depends on the duration of the button. When the user releases the button, the value of DrXXOpBtnPsdSts jumps to 0, and timer C stops timing and remains, and then resets and restarts timing when the user presses the button next time. At the same time, when the door opening button is pressed for the first time, there is an approaching object, and at this time, timer B1 is started to time according to the target duration, and the count number of counter A is increased by 1. During the timing of B1, the user presses the button for the second time, and the jump process of the value of DrXXOpBtnPsdSts and the timing process of timer C can refer to the first button process. In addition, when the user presses the button for the second time, timer B2 is started to time according to the target duration, and the count number of counter A is increased by 1. Between the second and third key presses, the timing duration of timer B1 reaches the target duration ( Figure 2 1000ms), at this time, since the count number of counter A has not reached the target number, timer 1 can be turned off and the count number of counter A can be reduced by 1 and then associated with timer B2. During the B2 timing period, the user presses the button for the third time, and the jump process of the value of DrXXOpBtnPsdSts and the timing process of timer C can refer to the first key pressing process. In addition, when the user presses the button for the third time, timer B3 is turned on to count according to the target duration, and the count number of counter A is increased by 1. Then, the user presses the button for the fourth time, and the count number of counter A is increased by 1. At this time, the jump process of the value of DrXXOpBtnPsdSts and the timing process of timer C can refer to the first key pressing process. However, since the fourth key is still in the B2 timing period, and the count number of counter A reaches the target number (i.e. 3), an unlocking command (i.e. LatchXXRls=1) can be initiated to the vehicle lock control module. At the same time, timers B2 and B3 can be turned off, counter A stops counting, and timer A is directly turned off, or when the user presses the button next time, timer A is reset and counted again. Alternatively, when the instruction LatchXXRls=1 is used, timer B2 may be turned off and timer B3 may continue to time, and timer B3 may be directly reset and turned off when the target duration is reached.

[0112] according to Figure 2 It can be seen that in the embodiment of the present disclosure, when the user triggers the button or the central control screen three times in a row within the target time, an unlocking command can be initiated to the vehicle lock control module.

[0113] like Figure 3 FIG. 1 is a schematic diagram of another timer and counter provided in an embodiment of the present disclosure. Figure 2 In the example of non-voice triggering to unlock the door, when the user presses the button for the first time, the user continues to press the button for a period of time exceeding the time threshold ( Figure 3 300ms), at this time, the unlocking command can be directly sent to the vehicle lock control module. Figure 3 It can be seen that in the embodiment of the present disclosure, when the user triggers a button or the central control screen, if the trigger duration reaches a duration threshold, an unlocking command can be initiated to the vehicle lock control module.

[0114] In one embodiment, when the user has a door unlocking demand, the vehicle is usually parked. That is, the user will initiate a door unlocking request only after the vehicle is parked. However, in some special cases, the vehicle may start moving again after parking. In this case, in order to ensure the safety of the user getting off the vehicle, the door unlocking may be refused if the speed of the vehicle is detected to be greater than the speed threshold.

[0115] The speed threshold can be set based on experience, and the embodiment of the present disclosure does not set it specifically. For example, the speed threshold can be 0, 5 km / h, or 10 km / h. When the speed threshold is 0, it can be said that the door will be refused to be unlocked once the vehicle starts running. When the speed threshold is not 0, it can be said that when the vehicle is running at a low speed, the door can be unlocked, and when the vehicle is running at a high speed, the door is not allowed to be unlocked, wherein the distinction between high speed and low speed is the speed threshold.

[0116] For example, in the process of counting whether the target number of door unlocking requests received within the target duration has been reached, or in the process of counting the duration of any non-voice triggering method, the real-time speed of the vehicle can be detected. Once it is detected that the speed of the vehicle is greater than the speed threshold, the unlocking can be refused regardless of whether the number of requests has reached the target number or whether the triggering duration has reached the duration threshold.

[0117] In one embodiment, when any timer is used to time the target duration, if the value of the DOW_XX signal jumps to the second preset value, an unlocking instruction can be directly sent to the vehicle lock control module, and each timer that has been turned on can be closed and the counter can be reset. This is because when the value of the DOW_XX signal jumps to the second preset value, it can be said that there is no object approaching behind the door, and it is safe for the user to open the door and get off the vehicle, so the door can be unlocked directly.

[0118] For example, when a door unlock request is received, if there is an object approaching from the rear side of the door, the timer and counter can be turned on and timing and counting statistics can be performed. However, during the statistical process, if the object approaching from the rear side of the door disappears, the timer and counter can be directly turned off and an unlock command can be initiated to the vehicle lock control module.

[0119] It is understandable that during any timer timing, if the user initiates a new door unlock request and there is no object approaching from the rear side of the door at this time, an unlock command can be directly initiated to the vehicle lock control module, and the already started timer can be turned off and the counter reset (or the counter can be reset and counted again when a non-voice triggered door unlock request is received next time).

[0120] like Figure 4 As shown, it is a specific implementation flow chart of a door unlocking method provided by an embodiment of the present disclosure, which may include the following steps: when the door is not unlocked, the lock release state of the door lock on any door is that the lock is closed (DrXXSts=locked) and there is no unlocking instruction (LatchXXRls=0). The vehicle body gateway module BGM receives the door unlocking request (DrXXOpRqt), wherein the triggering method of the door unlocking request may include voice triggering, button triggering or central control screen triggering. BGM determines whether the value of the prompt signal DOW_XX is equal to 1 (i.e. if DOW_XX=1?). If not, it can directly initiate an unlocking instruction (LatchXXRls=1) to the lock control module (LatchControlModule), thereby completing the door unlocking, and the lock release state becomes that the lock is opened (DrXXSts=unlocked). If so, the CDC can be used to play a warning voice and / or turn on the vehicle warning light. Then, it is determined whether the target number of door unlocking requests have been received within the target duration, or whether the trigger duration has reached the duration threshold, or whether the value of DOW_XX has changed to 0; if at least one of the three conditions is met, an unlocking command (LatchXXRls=1) is sent to the vehicle lock control module to complete the door unlocking. If none of the three conditions are met, it continues to wait, and the vehicle lock release state remains as the vehicle lock is closed (DrXXSts=locked) and there is no unlocking command (LatchXXRls=0).

[0121] In the entire control process, BGM combines external input signals DrXXSts (signal trigger source is the door lock), DrXXOpRqt (signal trigger source can be buttons inside the door, central control screen and voice) and DOW_XX (trigger source is BGM) to control whether to unlock the door. It is understandable that the execution subject of the door unlocking method provided by the embodiment of the present disclosure can also be LatchControlModule. LatchControlModule controls whether to generate an unlocking command by receiving DrXXOpRqt and the DOW_XX signal sent by BGM, thereby realizing the control of door unlocking. The present disclosure prevents the problem that the user is not aware of the object approaching from the side and rear before opening the door by adjusting the control logic when opening the door, and can independently decide whether to open the door and the opening range after helping the user to realize the approaching object, giving the user full door control authority.

[0122] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0123] In addition, an embodiment of the present disclosure further provides a vehicle, wherein the vehicle includes a controller, wherein the controller includes:

[0124] a memory for storing machine-readable instructions; and

[0125] The processor is used to call and execute the machine-readable instructions stored in the memory to implement the steps of the vehicle door unlocking method as described in the above embodiments.

[0126] Based on the same inventive concept, a door unlocking device corresponding to the door unlocking method is also provided in the embodiment of the present disclosure. Since the principle of solving the problem by the device in the embodiment of the present disclosure is similar to the above-mentioned door unlocking method in the embodiment of the present disclosure, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0127] like Figure 5 FIG. 1 is a schematic diagram of a vehicle door unlocking device provided by an embodiment of the present disclosure, comprising:

[0128] The first determination module 501 is used to determine whether there is an approaching object behind the door in response to receiving a door unlocking request;

[0129] A second determination module 502 is used to determine whether a target number of door unlocking requests have been received within a target time after determining that there is an approaching object;

[0130] The unlocking module 503 is used to send an unlocking instruction to the vehicle lock control module if so; the vehicle lock control module is used to control the door to unlock according to the unlocking instruction.

[0131] In a possible implementation manner, the first determination module 501, when determining whether there is an approaching object behind the vehicle door, is used to:

[0132] Determine whether a target signal is received within a preset time period, wherein the target signal is used to indicate that there is an approaching object behind the door; the target signal is output by the body gateway module after detecting a door unlock request signal and identifying the door rear side sensor data collected by the vehicle sensor.

[0133] In a possible implementation, the device further includes:

[0134] The prompt module 504 is used to play a warning voice and / or turn on the vehicle warning light after determining that there is an approaching object.

[0135] In a possible implementation manner, the second determination module 502, after determining that there is an approaching object, determines whether a target number of door unlocking requests have been received within a target duration, is configured to:

[0136] If it is determined that there is an approaching object and the door unlocking request is an unlocking request triggered by a non-voice mode, determining whether a target number of door unlocking requests have been received within a target duration;

[0137] The unlocking module 503 is further configured to reject door unlocking if the second judging module 502 determines that there is an approaching object and the door unlocking request is a voice-triggered unlocking request.

[0138] In a possible implementation manner, the unlocking module 503 is further configured to:

[0139] After determining that there is an approaching object, when the triggering mode of the door unlocking request is a button trigger or a central control screen trigger, counting the triggering duration of the triggering mode;

[0140] If the trigger duration reaches the duration threshold, an unlocking command is initiated to the vehicle lock control module.

[0141] In a possible implementation manner, the second determination module 502, when determining whether a target number of door unlocking requests have been received within a target duration, is configured to:

[0142] Determine whether there is a first timer that has been turned on;

[0143] If yes, when the timing duration of the first timer does not reach the target duration, the count quantity of the counter associated with the first timer is increased by 1, and it is determined whether the count quantity of the counter reaches the target quantity;

[0144] If the target number is reached, it is determined that the target number of door unlocking requests has been received within the target time period.

[0145] In a possible implementation manner, the second determining module 502 is further configured to:

[0146] When the timing duration of the first timer does not reach the target duration, and the counted number of the counter does not reach the target number, the first timer continues to run and the second timer is started;

[0147] If the timing duration of the first timer reaches the target duration, but the counted number of the counter still does not reach the target number, the first timer is turned off, the counted number of the counter is reduced by 1, and it is determined whether there is a third timer that has been turned on; the third timer is the second timer or other timer, and the third timer is the first timer that is turned on after the first timer is turned on;

[0148] The turned-on third timer is used as a new first timer and is associated with the counter after the count amount is reduced by 1.

[0149] In a possible implementation manner, the unlocking module 503 is further configured to:

[0150] If the vehicle's speed is detected to be greater than the speed threshold, the door unlocking is rejected.

[0151] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference may be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0152] Based on the same technical concept, the embodiment of the present application also provides a computer device. Figure 6 FIG. 1 is a schematic diagram of a computer device provided in an embodiment of the present application, including:

[0153] Processor 601, memory 602 and bus 603. The memory 602 stores machine-readable instructions executable by the processor 601, and the processor 601 is used to execute the machine-readable instructions stored in the memory 602. When the machine-readable instructions are executed by the processor 601, the processor 601 executes the above S101 to S103.

[0154] The above-mentioned memory 602 includes a memory 6021 and an external memory 6022; the memory 6021 here is also called an internal memory, which is used to temporarily store the calculation data in the processor 601, as well as the data exchanged with the external memory 6022 such as a hard disk. The processor 601 exchanges data with the external memory 6022 through the memory 6021. When the computer device is running, the processor 601 communicates with the memory 602 through the bus 603, so that the processor 601 executes the execution instructions mentioned in the above method embodiment.

[0155] The embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the vehicle door unlocking method described in the above method embodiment are executed. The storage medium can be a volatile or non-volatile computer-readable storage medium.

[0156] The computer program product of the vehicle door unlocking method provided in the embodiment of the present disclosure includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the steps of the vehicle door unlocking method described in the above method embodiment. Please refer to the above method embodiment for details, which will not be repeated here.

[0157] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK) and the like.

[0158] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present disclosure, it should be understood that the disclosed device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined, 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 communication interfaces, and the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0159] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0160] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0161] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0162] If the technical solution of this application involves personal information, the product using the technical solution of this application has clearly informed the personal information processing rules and obtained the individual's voluntary consent before processing the personal information. If the technical solution of this application involves sensitive personal information, the product using the technical solution of this application has obtained the individual's separate consent before processing the sensitive personal information, and at the same time meets the "explicit consent" requirement. For example, on personal information collection devices such as cameras, clear and prominent signs are set to inform that the personal information collection scope has been entered and personal information will be collected. If the individual voluntarily enters the collection scope, it is deemed that he or she agrees to the collection of his or her personal information; or on the device that processes personal information, the personal information processing rules are notified by obvious signs / information, and the individual's authorization is obtained through pop-up information or by asking the individual to upload his or her personal information; among them, the personal information processing rules may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the type of personal information processed.

[0163] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The protection scope of the present disclosure is not limited thereto. Although the present disclosure is described in detail with reference to the aforementioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the aforementioned embodiments within the technical scope disclosed in the present disclosure, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be based on the protection scope of the claims.

Claims

1. A vehicle door unlocking method, characterized in that: include: In response to receiving a door unlocking request, determining whether there is an approaching object behind the door; After determining that there is an approaching object, determining whether a target number of door unlocking requests have been received within a target duration; If yes, an unlock command is sent to the vehicle lock control module; The vehicle lock control module is used to control the vehicle door to unlock according to the unlocking instruction.

2. The method according to claim 1, characterized in that The determining whether there is an approaching object behind the door includes: Determine whether a target signal is received within a preset time period, wherein the target signal is used to indicate that there is an approaching object behind the door; the target signal is output by the body gateway module after detecting a door unlock request signal and identifying the door rear side sensor data collected by the vehicle sensor.

3. The method according to claim 1, characterized in that After determining that there is an approaching object, the method further includes: Play warning voice and / or turn on vehicle warning lights.

4. The method according to claim 3, characterized in that After determining that there is an approaching object, determining whether a target number of door unlocking requests have been received within a target duration includes: If it is determined that there is an approaching object and the door unlocking request is an unlocking request triggered by a non-voice mode, determining whether a target number of door unlocking requests have been received within a target duration; The method further comprises: If it is determined that there is an approaching object and the door unlocking request is an unlocking request triggered by voice, the door unlocking is rejected.

5. The method according to claim 3, characterized in that: After determining that there is an approaching object, the method further includes: When the door unlocking request is triggered by a button or a central control screen, counting the duration of the triggering of the triggering mode; If the trigger duration reaches the duration threshold, an unlocking command is initiated to the vehicle lock control module.

6. The method according to claim 1, characterized in that The determining whether a target number of door unlocking requests have been received within a target duration includes: Determine whether there is a first timer that has been turned on; If yes, when the timing duration of the first timer does not reach the target duration, the count quantity of the counter associated with the first timer is increased by 1, and it is determined whether the count quantity of the counter reaches the target quantity; If the target number is reached, it is determined that the target number of door unlocking requests has been received within the target time period.

7. The method according to claim 6, characterized in that The method further comprises: When the timing duration of the first timer does not reach the target duration, and the counted number of the counter does not reach the target number, the first timer continues to run and the second timer is started; If the timing duration of the first timer reaches the target duration, but the counted number of the counter still does not reach the target number, the first timer is turned off, the counted number of the counter is reduced by 1, and it is determined whether there is a third timer that has been turned on; the third timer is the second timer or other timer, and the third timer is the first timer that is turned on after the first timer is turned on; The turned-on third timer is used as a new first timer and is associated with the counter after the count amount is reduced by 1.

8. The method according to claim 1, characterized in that The method further comprises: If the vehicle's speed is detected to be greater than the speed threshold, the door unlocking is rejected.

9. A vehicle, characterized in that: A controller is included, the controller comprising: a memory for storing machine-readable instructions; and A processor is used to call and execute the machine-readable instructions stored in the memory to implement the steps of the vehicle door unlocking method as claimed in any one of claims 1 to 8.

10. A computer device, characterized in that: include: A processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and the processor is used to execute the machine-readable instructions stored in the memory. When the machine-readable instructions are executed by the processor, the processor executes the steps of the vehicle door unlocking method as described in any one of claims 1 to 8.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a computer device, the computer device executes the steps of the vehicle door unlocking method according to any one of claims 1 to 8.

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