Control method of vehicle door, vehicle, and computer-readable storage medium

Abstract

The application discloses a control method of a vehicle door, a vehicle and a computer readable storage medium. The control method comprises the following steps: obtaining a vehicle door opening instruction; determining a target vehicle part according to a trigger source of the vehicle door opening instruction; detecting a target obstacle outside the vehicle door through the target vehicle part; and controlling the opening movement of the vehicle door according to the detection result of the target obstacle. In this way, the target obstacle located outside the vehicle door and capable of hindering the movement of the vehicle door can be detected through the target vehicle part, so that the detection of the target obstacle is realized, thereby reducing the risk of collision between the vehicle door and the target obstacle when the vehicle door performs the opening movement to a certain extent. In addition, the target vehicle part can be determined according to the trigger source of the vehicle door opening instruction to detect the target obstacle, so that the detection of the target obstacle can be associated with the trigger source of the vehicle door opening instruction, thereby improving the detection accuracy of the target obstacle.

Description

Technical Field

[0001] This application relates to the field of vehicle door technology, and in particular to a method for controlling a vehicle door, a vehicle, and a computer-readable storage medium. Background Technology

[0002] In related technologies, to meet user needs, vehicles are equipped with automatic door opening systems. These systems use automatic control systems and electric actuators to automatically open and close the doors. However, during the automatic opening process, the doors may collide with obstacles such as road barriers on the outside, causing damage to the doors and affecting vehicle safety. Summary of the Invention

[0003] This application provides a method for controlling a vehicle door, a vehicle, and a computer-readable storage medium.

[0004] This application provides a method for controlling a vehicle door, including:

[0005] Obtain the door opening command;

[0006] Based on the trigger source of the door opening command, determine the target vehicle component;

[0007] The target vehicle components are used to detect target obstacles on the outside of the door, wherein the target obstacles can impede the movement of the door;

[0008] The opening and closing motion of the vehicle door is controlled based on the detection results of the target obstacle.

[0009] Thus, in this embodiment, a target obstacle located outside the door and capable of obstructing the door's movement can be detected by the target vehicle components. This achieves the detection of the target obstacle, thereby reducing the risk of the door colliding with the target obstacle when the door performs an opening action. Furthermore, in this embodiment, the target vehicle components can be determined based on the triggering source of the door opening command to detect the target obstacle, so that the detection of the target obstacle can be associated with the triggering source of the door opening command, thereby further improving the detection accuracy of the target obstacle.

[0010] In some embodiments of this application, the vehicle includes a first door opening component disposed on the outer side of the vehicle, and the step of determining the target vehicle component based on the trigger source of the door opening command includes:

[0011] When the trigger source is the first door opening component, the first vehicle radar, vehicle camera, and parking assist device are identified as the target vehicle components.

[0012] Thus, in this embodiment, when the trigger source is the opening component of the first door located on the outside of the vehicle, the target obstacle outside the door can be detected by the first vehicle radar, the vehicle camera, and the parking assist device, thereby completing the detection of the target obstacle. Compared with the method of using a single component of the first vehicle radar, the vehicle camera, and the parking assist device to detect the target obstacle, the detection accuracy of the target obstacle is higher, and the situation of missed detection due to the detection blind spot of a single component can be avoided.

[0013] In some embodiments of this application, detecting the target obstacle outside the vehicle door through the target vehicle component includes:

[0014] The target obstacle is detected by the first vehicle radar;

[0015] If the target obstacle is not detected by the first vehicle radar, the target obstacle is detected by the external environment image captured by the vehicle camera;

[0016] If the target obstacle is not detected by the external environment image, the target obstacle is detected by the parking assistance device.

[0017] Thus, in this embodiment of the application, the target obstacle outside the vehicle can be detected sequentially by the first vehicle radar, the vehicle camera, and the parking assistance device, thereby ensuring the detection accuracy of the target obstacle.

[0018] In some embodiments of this application, the vehicle includes a second door opening component disposed inside the vehicle cabin space, and the step of determining the target vehicle component based on the trigger source of the door opening command includes:

[0019] When the trigger source is the second door opening component or the target control device, the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assist device are identified as the target vehicle components.

[0020] Thus, in this embodiment, when the trigger source is the second door opening component, the target obstacle outside the vehicle can be detected sequentially by the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assist device. This ensures the accuracy of target obstacle detection. Compared to using a single component among the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assist device to detect target obstacles, the accuracy of target obstacle detection is higher, and it can avoid missed detections due to the blind spots of a single component.

[0021] In some embodiments of this application, detecting the target obstacle outside the vehicle door through the target vehicle component includes:

[0022] If no door opening warning signal is received from the second vehicle radar, the target obstacle is detected by the first vehicle radar.

[0023] If the target obstacle is not detected by the first vehicle radar, the target obstacle is detected by the external environment image captured by the vehicle camera;

[0024] If the target obstacle is not detected by the external environment image, the target obstacle is detected by the parking assistance device.

[0025] Thus, in this embodiment of the application, the target obstacle outside the vehicle can be detected sequentially by the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assistance device, thereby ensuring the detection accuracy of the target obstacle.

[0026] In some embodiments of this application, detecting the target obstacle using images of the external environment captured by the vehicle camera when the first vehicle radar does not detect the target obstacle includes:

[0027] If the target obstacle is not detected by the first vehicle radar and a heartbeat data packet corresponding to the vehicle camera is obtained, the target obstacle is detected by the external environment image captured by the vehicle camera at the current moment; and / or

[0028] If the target obstacle is not detected by the first vehicle radar and no heartbeat data packet corresponding to the vehicle camera is obtained, the target obstacle is detected by the external environment image captured by the vehicle camera before the last power-off.

[0029] Thus, in this embodiment, if the heartbeat data packet corresponding to the vehicle camera is obtained, the target obstacle can be detected by the vehicle camera's image of the external environment at the current moment, and / or if the heartbeat data packet corresponding to the vehicle camera is not obtained, the target obstacle can be detected by the vehicle camera's image of the external environment before the last power-off, thereby ensuring robust detection of the target obstacle.

[0030] In some embodiments of this application, the step of detecting the target obstacle using the external environment image captured by the vehicle camera at the current moment, when the first vehicle radar does not detect the target obstacle and the heartbeat data packet corresponding to the vehicle camera is obtained, includes:

[0031] If the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, the vehicle camera's external environment image captured before the last power-off is deleted, and the target obstacle is detected by the vehicle camera's external environment image captured at the current moment.

[0032] Thus, in this embodiment of the application, the images of the external environment captured by the vehicle camera before the last power-off can be deleted to avoid the invalid use of the vehicle's storage resources by the images of the external environment captured by the vehicle camera before the last power-off.

[0033] In some embodiments of this application, controlling the opening movement of the vehicle door based on the detection result of the target obstacle includes:

[0034] If the target obstacle is detected by at least one of the target vehicle components, the opening action of the door is paused; and / or

[0035] If no target obstacle is detected by multiple target vehicle components, the opening action of the vehicle door is controlled to begin or continue.

[0036] Thus, in this embodiment of the application, the door opening action can be paused if a target obstacle is detected by at least one target vehicle component, and / or the door opening action can be started or continued if no target obstacle is detected by multiple target vehicle components, thereby ensuring the safe execution of the door opening action.

[0037] This application provides a vehicle including a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements the aforementioned door control method.

[0038] This application provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the aforementioned door control method.

[0039] The vehicle and computer-readable storage medium provided in this application can detect target obstacles located outside the door that can obstruct the door's movement through target vehicle components. This achieves the detection of target obstacles, thereby reducing the risk of the door colliding with the target obstacle when the door performs an opening action to a certain extent. Furthermore, in this application, the target vehicle components can be determined based on the triggering source of the door opening command to detect the target obstacle, so that the detection of the target obstacle can be associated with the triggering source of the door opening command, thereby further improving the detection accuracy of the target obstacle.

[0040] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0041] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0042] Figure 1 This is a flowchart illustrating a door control method in certain embodiments of this application;

[0043] Figure 2 This is a flowchart illustrating a door control method in certain embodiments of this application;

[0044] Figure 3 This is a flowchart illustrating a door control method in certain embodiments of this application;

[0045] Figure 4 This is a schematic diagram illustrating application scenarios in some embodiments of this application;

[0046] Figure 5 This is a schematic diagram illustrating application scenarios in some embodiments of this application;

[0047] Figure 6 This is a schematic diagram illustrating application scenarios in some embodiments of this application. Detailed Implementation

[0048] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0049] In related technologies, to ensure safety during the opening and closing of vehicle doors, automatic door opening systems generally rely on multiple sensors for obstacle detection and identification. However, due to the limitations of various sensors, the system has blind spots or insufficient perception, making it impossible to completely avoid safety hazards. For example, ultrasonic radar has high position sensitivity and can effectively identify most colorless or calibrated obstacles, but its detection performance is weaker when there are highly reflective materials or objects entering or exiting blind spots.

[0050] Based on the issues mentioned above, please refer to Figure 1 This application provides a method for controlling a vehicle door, including:

[0051] 01: Receive the door opening command;

[0052] 02: Identify the target vehicle components based on the trigger source of the door opening command;

[0053] 03: Detect target obstacles on the outside of the car door through the target vehicle's components, where the target obstacle can impede the movement of the car door;

[0054] 04: Control the opening and closing of the car door based on the detection results of the target obstacle.

[0055] This application provides a vehicle door control device. The vehicle door control method of this application can be implemented by the vehicle door control device of this application. Specifically, the control device includes an acquisition module, a determination module, a detection module, and a control module. The acquisition module is used to acquire a vehicle door opening command. The determination module is used to determine a target vehicle component based on the trigger source of the vehicle door opening command. The detection module is used to detect a target obstacle outside the vehicle door through the target vehicle component, wherein the target obstacle can obstruct the movement of the vehicle door. The control module is used to control the opening movement of the vehicle door based on the detection result of the target obstacle.

[0056] This application also provides a vehicle, which includes a memory and a processor. The door control method of this application can be implemented by the vehicle of this application. Specifically, the memory stores a computer program, the processor is used to acquire a door opening command, determine a target vehicle component based on the trigger source of the door opening command, detect a target obstacle outside the door through the target vehicle component, wherein the target obstacle can obstruct the door movement, and control the door opening movement based on the detection result of the target obstacle.

[0057] Specifically, in the embodiments of this application, when a door opening command is received, the vehicle (or door control device) can determine the target vehicle component for detecting target obstacles outside the door according to the trigger source of the door opening command, and then detect whether there are target obstacles outside the door that can hinder the movement of the door through the target vehicle component, and control the opening movement of the door according to the detection result of the target obstacle, so as to reduce the risk of the door colliding with the target obstacle.

[0058] Thus, in this embodiment, a target obstacle located outside the door and capable of obstructing the door's movement can be detected by the target vehicle components. This achieves the detection of the target obstacle, thereby reducing the risk of the door colliding with the target obstacle when the door performs an opening action. Furthermore, in this embodiment, the target vehicle components can be determined based on the triggering source of the door opening command to detect the target obstacle, so that the detection of the target obstacle can be associated with the triggering source of the door opening command, thereby further improving the detection accuracy of the target obstacle.

[0059] It is understood that the door opening command in the embodiments of this application can be understood as an operation command triggered by the user to control the opening of the door, such as an operation command by which the user controls the door to open actively through components such as a mobile terminal or the vehicle's central control screen.

[0060] It is also understood that, in the embodiments of this application, the triggering source of the door opening command can be understood as the device that triggers the door opening command by the user. For example, when the user triggers the door opening command through a mobile terminal to control the door to open, the triggering source of the door opening command is the mobile terminal. Or, when the user speaks a voice command such as "Xiao P, open the door" to the vehicle's central control screen to trigger the door opening command, the triggering source of the door opening command is the vehicle's central control screen.

[0061] Furthermore, in the embodiments of this application, the target obstacle refers to an obstacle that can affect the opening action of the vehicle door, including but not limited to pedestrians, vehicles behind, vehicles approaching from the front, and roadblocks outside the vehicle door.

[0062] Furthermore, in this embodiment, depending on the triggering source, the vehicle can detect target obstacles outside the door through different sequences or different target vehicle components. For example, in one instance, the vehicle can identify at least two of the following as target vehicle components—ultrasonic radar, surround-view camera, parking radar, and millimeter-wave radar—to detect target obstacles, depending on the type of triggering source.

[0063] In some embodiments of this application, the vehicle includes a first door opening component located on the outside of the vehicle, and step 02 includes:

[0064] When the trigger source is the first door opening component, the first vehicle radar, vehicle camera, and parking assistance device are identified as the target vehicle components.

[0065] The determination module in the embodiments of this application is also used to determine the first vehicle radar, vehicle camera and parking assistance device as target vehicle components when the trigger source is the first door opening component.

[0066] The processor in this embodiment is also used to identify the first vehicle radar, vehicle camera and parking assistance device as target vehicle components when the trigger source is the first door opening component.

[0067] Specifically, in the embodiments of this application, when the trigger source is the first door opening component located on the outside of the vehicle, the vehicle can identify the first vehicle radar, the vehicle camera, and the parking assistance device as target vehicle components.

[0068] In one example, the first door opening component refers to the door opening source located on the outside of the vehicle, including but not limited to non-remote switches such as buttons, door handles, and PE switches located on the outside of the vehicle.

[0069] In one example, the first vehicle radar is a lidar mounted on the door. Understandably, during door opening, the ultrasonic radar can cover the FOV (field of view) of the opening path. Simultaneously, the ultrasonic radar has high positional sensitivity, thus effectively identifying most colorless or fixed obstacles, but it is less effective with highly reflective materials or objects entering or exiting blind spots.

[0070] In one example, the vehicle's cameras include surround-view cameras mounted on the vehicle's rearview mirrors. It is understood that the vehicle can use the visual capabilities of the surround-view cameras to supplement the identification of objects that are difficult for ultrasonic radar to detect, such as highly reflective objects or visually confusing obstacles, thereby avoiding detection blind spots.

[0071] In one example, the parking assistance device includes parking radar.

[0072] Thus, in this embodiment, when the trigger source is the opening component of the first door located on the outside of the vehicle, the target obstacle outside the door can be detected by the first vehicle radar, the vehicle camera, and the parking assist device, thereby completing the detection of the target obstacle. Compared with the method of using a single component of the first vehicle radar, the vehicle camera, and the parking assist device to detect the target obstacle, the detection accuracy of the target obstacle is higher, and the situation of missed detection due to the detection blind spot of a single component can be avoided.

[0073] Please see Figure 2 In some embodiments of this application, step 03 includes:

[0074] 030: Detect target obstacles using the radar of the first vehicle;

[0075] 031: If no target obstacle is detected by the first vehicle radar, the target obstacle is detected by the vehicle's external environment image captured by the vehicle camera;

[0076] 032: If no target obstacle is detected by the external environment image, the target obstacle is detected by the parking assist device.

[0077] The detection module in this application embodiment is further configured to detect target obstacles by means of a first vehicle radar, and to detect target obstacles by means of vehicle external environment images captured by a vehicle camera when no target obstacle is detected by means of the first vehicle radar, and to detect target obstacles by means of a parking assist device when no target obstacle is detected by means of vehicle external environment images.

[0078] The processor in this embodiment is further configured to detect target obstacles using a first vehicle radar, and to detect target obstacles using images of the external environment captured by a vehicle camera when no target obstacle is detected by the first vehicle radar, and to detect target obstacles using a parking assist device when no target obstacle is detected by the images of the external environment.

[0079] Specifically, in this embodiment, the vehicle can sequentially detect target obstacles outside the vehicle door via a first vehicle radar, a vehicle camera, and a parking assist device, so that the detection of target obstacles can be achieved according to the power-on sequence and importance of each target component.

[0080] It is understandable that users may start the vehicle to fulfill their travel needs, triggering the door opening command through the first door opening component, or through non-remote switches such as buttons, door handles, or PE switches located on the outside of the vehicle. Therefore, in this case, the vehicle can detect whether there is a target obstacle outside the door in the order of power-on of the first vehicle radar, vehicle camera, and parking assist device, and the order of importance of these three components.

[0081] Furthermore, in this embodiment, the vehicle can first detect whether there is a target obstacle outside the door using a first vehicle radar. If an obstacle is found, the opening of the door is paused. If no obstacle is found, the target obstacle is detected using a vehicle camera.

[0082] Next, if the first vehicle radar detects no target obstacle outside the door, the vehicle camera uses images of the external environment to detect whether there is a target obstacle outside the door. If the external environment image shows at least one target obstacle outside the door, the door opening process is paused. If the external environment image shows no target obstacle outside the door, the parking assist device detects the target obstacle.

[0083] Next, if the external environment image shows that there are no target obstacles outside the car door, a 3D model can be constructed through parking (i.e., parking mapping). This involves using parking radar to create an obstacle model that resembles a pure white pillar, so as to continuously detect, identify, and track the target obstacle, thereby improving the accuracy of sensor collaboration.

[0084] Finally, if a danger point is found in the 3D model generated by the parking radar, it indicates that there is a target obstacle outside the door, thus pausing the door opening movement. Conversely, if no danger point is found in the 3D model generated by the parking radar, it indicates that there is no target obstacle outside the door, thus controlling the door opening movement to begin or continue.

[0085] In one example, if the vehicle detects a target obstacle using a vehicle camera after the first vehicle radar detects that there is no obstacle outside the vehicle for a preset time period (e.g., 3 seconds).

[0086] Thus, in this embodiment of the application, the target obstacle outside the vehicle can be detected sequentially by the first vehicle radar, the vehicle camera, and the parking assistance device, thereby ensuring the detection accuracy of the target obstacle.

[0087] In some embodiments of this application, the vehicle includes a second door opening component disposed inside the vehicle cabin space; therefore, step 02 includes:

[0088] When the trigger source is the second door opening component or the target control device, the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assistance device are identified as the target vehicle components.

[0089] The determination module in this application embodiment is also used to determine the second vehicle radar, the first vehicle radar, the vehicle camera and the parking assistance device as target vehicle components when the trigger source is the second door opening component or the target control device.

[0090] The processor in this application embodiment is also used to identify the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assistance device as target vehicle components when the trigger source is the second door opening component or the target control device.

[0091] Specifically, in the embodiments of this application, the vehicle can identify the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assistance device as target obstacles when the trigger source is the second door opening component or the target control device.

[0092] In one example, the second door opening component is a door handle located inside the vehicle's cabin.

[0093] In one example, the component for opening the second door is the central control screen. When a user interacts with the central control screen through voice, touch screen clicks, or other means to trigger the door opening command, the triggering source for the door opening command is the central control screen.

[0094] In one example, the target control device refers to a mobile terminal equipped with an application (App) capable of generating door opening commands.

[0095] In one example, the target control device is a vehicle remote key, or car key.

[0096] In one example, the second vehicle radar is a millimeter-wave radar installed at the rear of the vehicle. Understandably, compared to lidar, millimeter-wave radar can identify moving obstacles at greater distances and provide early warnings of potential risks during door opening. Furthermore, the high-precision moving target detection capabilities of millimeter-wave radar can significantly increase the safety of door opening actions.

[0097] In one example, the first vehicle radar is a lidar mounted on the door. Understandably, during door opening, the ultrasonic radar can cover the FOV (field of view) of the opening path. Simultaneously, the ultrasonic radar has high positional sensitivity, thus effectively identifying most colorless or fixed obstacles, but it is less effective with highly reflective materials or objects entering or exiting blind spots.

[0098] In one example, the vehicle's cameras include surround-view cameras mounted on the vehicle's rearview mirrors. It is understood that the vehicle can use the visual capabilities of the surround-view cameras to supplement the identification of objects that are difficult for ultrasonic radar to detect, such as highly reflective objects or visually confusing obstacles, to avoid detection blind spots.

[0099] In one example, the parking assistance device includes parking radar.

[0100] Thus, in this embodiment, when the trigger source is the second door opening component, the target obstacle outside the vehicle can be detected sequentially by the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assist device. This ensures the accuracy of target obstacle detection. Compared to using a single component among the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assist device to detect target obstacles, the accuracy of target obstacle detection is higher, and it can avoid missed detections due to the blind spots of a single component.

[0101] Please see Figure 3 In some embodiments of this application, step 03 includes:

[0102] 033: In the absence of a door opening warning signal from the second vehicle radar, the target obstacle is detected by the first vehicle radar;

[0103] 034: If no target obstacle is detected by the first vehicle radar, the target obstacle is detected by the vehicle's external environment image captured by the vehicle's camera;

[0104] 035: If no target obstacle is detected by the external environment image, the target obstacle is detected by the parking assist device.

[0105] The detection module in this application embodiment is also used to detect target obstacles by the first vehicle radar when no door opening warning signal is received from the second vehicle radar, and to detect target obstacles by the vehicle external environment image captured by the vehicle camera when no target obstacle is detected by the first vehicle radar, and to detect target obstacles by the parking assist device when no target obstacle is detected by the vehicle external environment image.

[0106] The processor in this embodiment is further configured to detect a target obstacle using a first vehicle radar when no door opening warning signal is received from a second vehicle radar, and to detect a target obstacle using an external environment image captured by a vehicle camera when no target obstacle is detected by the first vehicle radar, and to detect a target obstacle using a parking assist device when no target obstacle is detected by the external environment image.

[0107] Specifically, in this embodiment of the application, the vehicle can detect target obstacles outside the vehicle door in sequence through a second vehicle radar, a first vehicle radar, a vehicle camera, and a parking assist device.

[0108] It is understandable that when a user completes their travel needs and parks the vehicle, they may trigger a door opening command through the second door opening component or target control device. Therefore, in this case, the vehicle can detect whether there is a target obstacle outside the door in sequence through the first vehicle radar, the vehicle camera, and the parking assist device, based on the importance of the four components: the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assist device.

[0109] Furthermore, in this embodiment, the vehicle first determines whether the millimeter-wave radar has issued a DOW (Door Open Warning) signal. If the millimeter-wave radar issues a DOW signal at the current moment, it determines that there is a target obstacle outside the vehicle, and thus suspends the door opening movement. If the millimeter-wave radar does not issue a DOW signal at the current moment, the target obstacle is detected by the first vehicle radar.

[0110] Then, the vehicle's radar detects whether there is a target obstacle outside the door. If it is, the door opening process is paused. If it is not, the vehicle's camera detects the target obstacle.

[0111] Next, if the first vehicle radar detects no target obstacle outside the vehicle, the vehicle camera uses images of the external environment to detect whether there is a target obstacle outside the door. If the external environment image shows at least one target obstacle outside the door, the door opening process is paused. If the external environment image shows no target obstacle outside the door, the parking assist device detects the target obstacle.

[0112] Next, if the external environment image shows that there are no target obstacles outside the car door, a 3D model can be constructed through parking (i.e., parking mapping). This involves using parking radar to create an obstacle model that resembles a pure white pillar, so as to continuously detect, identify, and track the target obstacle, thereby improving the accuracy of sensor collaboration.

[0113] Finally, if a danger point is found in the 3D model generated by the parking radar, it indicates that there is a target obstacle outside the door, thus pausing the door opening movement. Conversely, if no danger point is found in the 3D model generated by the parking radar, it indicates that there is no target obstacle outside the door, thus controlling the door opening movement to begin or continue.

[0114] In one example, if the vehicle detects a target obstacle using a vehicle camera after the first vehicle radar detects that there is no obstacle outside the vehicle for a preset time period (e.g., 3 seconds).

[0115] Thus, in this embodiment of the application, the target obstacle outside the vehicle can be detected sequentially by the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assistance device, thereby ensuring the detection accuracy of the target obstacle.

[0116] In some embodiments of this application, step 031 or step 034 includes:

[0117] If no target obstacle is detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, the target obstacle is detected by the external environment image captured by the vehicle camera at the current moment; and / or

[0118] If no target obstacle is detected by the first vehicle radar and no heartbeat data packet corresponding to the vehicle camera is obtained, the target obstacle is detected by the external environment image captured by the vehicle camera before the last power-off.

[0119] The detection module in this application embodiment is further configured to detect the target obstacle by means of the vehicle camera's external environment image captured at the current moment when no target obstacle is detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, and / or to detect the target obstacle by means of the vehicle camera's external environment image captured before the last power-off when no target obstacle is detected by the first vehicle radar and no heartbeat data packet corresponding to the vehicle camera is obtained.

[0120] The processor in this application embodiment is further configured to detect the target obstacle using the vehicle camera's external environment image captured at the current moment when no target obstacle is detected by the first vehicle radar and a heartbeat data packet corresponding to the vehicle camera is obtained, and / or to detect the target obstacle using the vehicle camera's external environment image captured before the last power-off when no target obstacle is detected by the first vehicle radar and no heartbeat data packet corresponding to the vehicle camera is obtained.

[0121] Specifically, in this embodiment, when the vehicle detects no target obstacle outside the door via the first vehicle radar, it can determine whether the vehicle camera is powered on and working normally, that is, whether the vehicle camera periodically sends heartbeat data packets. It is understood that if the vehicle camera periodically sends heartbeat data packets, it indicates that the vehicle camera is powered on and working normally; conversely, if the vehicle camera does not periodically send heartbeat data packets, it indicates that the vehicle camera is powered off or not working normally.

[0122] Furthermore, when the vehicle camera periodically sends heartbeat data packets, or when the heartbeat data packets corresponding to the vehicle camera are obtained, the vehicle camera is powered on and in normal working condition. Therefore, the vehicle can directly take pictures of the outside of the door through the vehicle camera to obtain the current image of the external environment, and detect whether there are target obstacles outside the door based on the image of the external environment.

[0123] Conversely, if the vehicle camera does not periodically send heartbeat data packets, or if the corresponding heartbeat data packets for the vehicle camera are not obtained, the vehicle camera is either powered off or not in normal working condition. Therefore, the vehicle can directly read the images taken by the vehicle camera before the last power-off to the outside of the door to obtain the external environment image before the power-off, and detect whether there are target obstacles outside the door based on the external environment image.

[0124] Thus, in this embodiment, if the heartbeat data packet corresponding to the vehicle camera is obtained, the target obstacle can be detected by the vehicle camera's image of the external environment at the current moment, and / or if the heartbeat data packet corresponding to the vehicle camera is not obtained, the target obstacle can be detected by the vehicle camera's image of the external environment before the last power-off, thereby ensuring robust detection of the target obstacle.

[0125] In some embodiments of this application, the step of detecting a target obstacle using the vehicle camera's current-time external environment image when no target obstacle is detected by the first vehicle radar and a heartbeat data packet corresponding to the vehicle camera is obtained includes:

[0126] If no target obstacle is detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, the external environment image captured by the vehicle camera before the last power-off is deleted, and the target obstacle is detected by the external environment image captured by the vehicle camera at the current moment.

[0127] The detection module in this application embodiment is further configured to, when no target obstacle is detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, delete the external environment image captured by the vehicle camera before the last power-off, and detect the target obstacle by the external environment image captured by the vehicle camera at the current moment.

[0128] The processor in this embodiment is further configured to, when no target obstacle is detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, delete the external environment image captured by the vehicle camera before the last power-off, and detect the target obstacle by using the external environment image captured by the vehicle camera at the current moment.

[0129] Specifically, in this embodiment, when the vehicle camera periodically sends heartbeat data packets, or in other words, when the heartbeat data packet corresponding to the vehicle camera is received, the vehicle camera is powered on and in normal working condition. It can then capture images of the external environment outside the vehicle door to obtain an image of the current external environment, and detect whether there are any target obstacles outside the door based on this image. Correspondingly, the pre-stored images of the external environment captured by the vehicle camera before the last power-off can be replaced by the current image of the external environment. Therefore, the images captured by the vehicle camera before the last power-off are deleted, thus preventing the use of vehicle storage resources by the images captured by the vehicle camera before the last power-off.

[0130] Thus, in this embodiment of the application, the images of the external environment captured by the vehicle camera before the last power-off can be deleted to avoid the invalid use of the vehicle's storage resources by the images of the external environment captured by the vehicle camera before the last power-off.

[0131] In some embodiments of this application, step 04 includes:

[0132] If a target obstacle is detected by at least one target vehicle component, the opening of the control door is suspended; and / or

[0133] If no target obstacle is detected after passing through multiple target vehicle components, the door opening action is initiated or continues.

[0134] The control module in this embodiment is also used to pause the opening action of the door when a target obstacle is detected by at least one target vehicle component, and / or to start or continue the opening action of the door when no target obstacle is detected by multiple target vehicle components.

[0135] The processor in this application embodiment is also used to control the opening action of the door to pause when a target obstacle is detected by at least one target vehicle component, and / or to control the opening action of the door to start or continue when no target obstacle is detected by multiple target vehicle components.

[0136] Specifically, in this embodiment of the application, if the vehicle detects a target obstacle on the outside of the vehicle through any target component, the opening action of the door can be paused to reduce the risk of collision between the door and the target obstacle.

[0137] Conversely, the vehicle can also control the opening action of the door to continue or start if all target components detect the target obstacle and each target component does not detect the target obstacle outside the vehicle. This allows the door to perform the opening action when the risk of collision with the target obstacle is low, thereby ensuring the safe execution of the door opening action.

[0138] Thus, in this embodiment of the application, the door opening action can be paused if a target obstacle is detected by at least one target vehicle component, and / or the door opening action can be started or continued if no target obstacle is detected by multiple target vehicle components, thereby ensuring the safe execution of the door opening action.

[0139] To more clearly illustrate the door control logic in the embodiments of this application, please refer to [link / reference needed]. Figure 4 , Figure 5 as well as Figure 6 , Figure 4, Figure 5 as well as Figure 6 These are all schematic diagrams illustrating application scenarios in certain embodiments of this application. Specifically, such as... Figure 4 and Figure 6 As shown in this embodiment, when an external door opening source (button, external handle, PE switch, or other non-remote switch) triggers a door opening command, the XPU can detect whether there is a "danger point (i.e., target obstacle) that could cause the door opening process" outside the door via an ultrasonic radar installed on the door. If such a point exists, the door will only unlock and open at a small angle before ceasing the opening action. If the danger point can be detected by the ultrasonic radar for a certain period of time, the door opening process ends, and the user is awaited to trigger the door opening command again.

[0140] If the ultrasonic radar detects no danger points on the outside of the car door, other sensors are invoked to assist in the detection. Specifically, it first checks whether the vehicle vision detection module, composed of the vehicle's left and right side panoramic cameras, is periodically sending heartbeat detection packets so that the heartbeat packets increase according to a normal cycle, thereby determining whether the vehicle vision detection module is working properly.

[0141] Furthermore, if the heart rate increases according to the normal cycle, thus confirming that the vehicle vision detection module is working properly, then the historical memory, such as the image data of the outside of the door taken by the vehicle vision detection module before the last power-off, is cleared. At the same time, the real-time image data of the outside of the door is obtained through the vehicle vision detection module, and the presence of danger points outside the door is detected through the image data of the outside of the door. If there are danger points, the door will not open automatically. If there are no danger points, the parking mapping data is checked. If the parking mapping data is not empty and there are danger points in the parking mapping, the door will not be opened automatically.

[0142] Similarly, such as Figure 5 and Figure 6 As shown in this embodiment, when the XPU detects a door opening source inside the vehicle or a door opening command triggered by a remote switch such as a mobile app or remote door key, it first checks whether the millimeter-wave radar issues a DOW (Door Open Warning) signal. If the DOW signal is present, it does not respond to the door opening, or the door stops opening.

[0143] Conversely, if the DOW signal is absent, other sensors are used for auxiliary detection. Specifically, the ultrasonic radar installed on the door checks for any "dangerous points (i.e., target obstacles) outside the door that could cause the door to open." If such obstacles are found, the door is only unlocked and opened at a small angle before ceasing the opening process. If the ultrasonic radar detects a danger point for a certain period, the door opening process ends, and the system waits for the user to trigger the door opening command again.

[0144] If the ultrasonic radar detects no danger points on the outside of the car door, other sensors are invoked to assist in the detection. Specifically, it first checks whether the vehicle vision detection module, composed of the vehicle's left and right side panoramic cameras, is periodically sending heartbeat detection packets, ensuring that the heartbeat packets increase according to a normal cycle, thereby determining whether the vehicle vision detection module is working properly.

[0145] Furthermore, if the heart rate increases according to the normal cycle, it is determined that the vehicle vision detection module is working normally. Then, the historical memory, such as the image data of the outside of the door taken by the vehicle vision detection module before the last power-off, is cleared. At the same time, the real-time image data of the outside of the door is obtained through the vehicle vision detection module, and the presence of danger points outside the door is detected through the image data of the outside of the door. If there are danger points, the door will not be opened automatically. If there are no danger points, the parking map data is checked. If the parking map data is not empty and there are danger points in the parking map, the door will not be opened automatically.

[0146] Additionally, it is understandable that XPU is a general term for various types of processors. XPU can refer to at least one of the following processors: CPU (Central Processing Unit), GPU (Graphics Processing Unit), FPGA (Field-Programmable Gate Array), DSP (Digital Signal Processor).

[0147] This application also provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the above-described door control method.

[0148] In this specification, the terms "specifically," "furthermore," "particularly," "understandably," etc., refer to specific features, structures, materials, or characteristics described in connection with embodiments or examples that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0149] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0150] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for controlling a vehicle door, characterized in that, include: Obtain the door opening command; Based on the trigger source of the door opening command, determine the target vehicle component; The target vehicle components are used to detect target obstacles on the outside of the door, wherein the target obstacles can impede the movement of the door; The opening and closing motion of the vehicle door is controlled based on the detection result of the target obstacle; The step of controlling the opening movement of the vehicle door based on the detection result of the target obstacle includes: If the target obstacle is detected by at least one of the target vehicle components, the opening action of the door is paused; and / or If no target obstacle is detected by multiple target vehicle components, the opening action of the vehicle door is controlled to begin or continue.

2. The method according to claim 1, characterized in that, The vehicle includes a first door opening component located on the outside of the vehicle. The step of determining the target vehicle component based on the trigger source of the door opening command includes: When the trigger source is the first door opening component, the first vehicle radar, vehicle camera, and parking assist device are identified as the target vehicle components.

3. The method according to claim 2, characterized in that, The detection of target obstacles outside the vehicle door via the target vehicle components includes: The target obstacle is detected by the first vehicle radar; If the target obstacle is not detected by the first vehicle radar, the target obstacle is detected by the external environment image captured by the vehicle camera; If the target obstacle is not detected by the external environment image, the target obstacle is detected by the parking assistance device.

4. The method according to claim 1, characterized in that, The vehicle includes a second door opening component located inside the vehicle's passenger compartment. The step of determining the target vehicle component based on the trigger source of the door opening command includes: When the trigger source is the second door opening component or the target control device, the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assist device are identified as the target vehicle components.

5. The method according to claim 4, characterized in that, The detection of target obstacles outside the vehicle door via the target vehicle components includes: If no door opening warning signal is received from the second vehicle radar, the target obstacle is detected by the first vehicle radar. If the target obstacle is not detected by the first vehicle radar, the target obstacle is detected by the external environment image captured by the vehicle camera; If the target obstacle is not detected by the external environment image, the target obstacle is detected by the parking assistance device.

6. The method according to claim 3 or 5, characterized in that, The step of detecting the target obstacle using images of the external environment captured by the vehicle's camera when the first vehicle radar does not detect the target obstacle includes: If the target obstacle is not detected by the first vehicle radar and a heartbeat data packet corresponding to the vehicle camera is obtained, the target obstacle is detected by the external environment image captured by the vehicle camera at the current moment; and / or If the target obstacle is not detected by the first vehicle radar and no heartbeat data packet corresponding to the vehicle camera is obtained, the target obstacle is detected by the external environment image captured by the vehicle camera before the last power-off.

7. The method according to claim 6, characterized in that, The step of detecting the target obstacle using the external environment image captured by the vehicle camera at the current moment, when the first vehicle radar does not detect the target obstacle and the heartbeat data packet corresponding to the vehicle camera is obtained, includes: If the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, the vehicle camera's external environment image captured before the last power-off is deleted, and the target obstacle is detected by the vehicle camera's external environment image captured at the current moment.

8. A vehicle, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the method according to any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by one or more processors, implements the method of any one of claims 1-7.

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