Vehicle door control method and vehicle

Abstract

The invention discloses a vehicle door control method and a vehicle, and belongs to the technical field of vehicles. According to the technical scheme provided by the embodiment of the invention, the initial steering angle of the target wheel in the opening direction of the target sliding vehicle door is determined in response to the opening instruction of the target sliding vehicle door of the target vehicle provided with the through-type sliding hinged door. When the angle value of the initial steering angle of the target wheel is large, it is indicated that the risk that the target sliding vehicle door collides with the target wheel exists, and at the moment, the target wheel is controlled to rotate so as to reduce the angle value of the steering angle of the target wheel. And under the condition that the reduction of the angle value of the initial steering angle of the target wheel meets the requirement, the target sliding vehicle door is controlled to be opened, so that the target sliding vehicle door is prevented from colliding with the wheel when opened, and the safety of the target sliding vehicle door during opening is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a door control method and a vehicle in the field of vehicle technology. Background Art

[0002] With the rapid development of the automobile industry, the types and functions of vehicles are becoming increasingly diverse. Among them, vehicles with through-type sliding double doors are widely welcomed by consumers because of their unique door opening method and spacious interior space.

[0003] However, when opening the sliding doors of such vehicles, there is a risk of collision between the sliding doors and the wheels, thereby affecting the normal opening of the sliding doors and even damaging the sliding doors or the wheels.

[0004] Therefore, how to prevent the sliding door from colliding with the wheel when it is opened is a problem that needs to be solved urgently. Summary of the invention

[0005] The embodiment of the present application provides a door control method and a vehicle, which can prevent the sliding door from colliding with the wheel when it is opened. The technical solution is as follows:

[0006] In one aspect, a method for controlling a vehicle door is provided, the method comprising:

[0007] In response to an opening instruction for a target sliding door of a target vehicle, determining an initial steering angle of a target wheel of the target vehicle, the target wheel being a wheel in an opening direction of the target sliding door, the target vehicle being configured with a through-type sliding double door;

[0008] When the angle value of the initial steering angle of the target wheel is greater than or equal to the angle value threshold, controlling the target wheel to rotate the target steering angle so that the angle value of the steering angle of the target wheel is less than the angle value threshold;

[0009] When the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, the target sliding door is controlled to be opened.

[0010] In a possible implementation manner, in response to an opening instruction for a target sliding door of a target vehicle, determining an initial steering angle of a target wheel of the target vehicle includes:

[0011] In response to an opening instruction for a target sliding door of a target vehicle, determining the target wheel in the opening direction of the target sliding door and acquiring steering information corresponding to the target wheel;

[0012] Based on the steering information, an initial steering angle of the target wheel is determined.

[0013] In a possible implementation manner, determining the initial steering angle of the target wheel based on the steering information includes:

[0014] In a case where the steering information is a first steering wheel angle of the target vehicle, determining an initial steering angle of the target wheel based on the first steering wheel angle;

[0015] In a case where the steering information is a wheel image of the target wheel, an initial steering angle of the target wheel is determined based on the wheel image of the target wheel.

[0016] In a possible implementation manner, when the angle value of the initial steering angle of the target wheel is greater than or equal to an angle value threshold, controlling the target wheel to rotate a target steering angle includes:

[0017] When the angle value of the initial steering angle of the target wheel is greater than or equal to the angle value threshold, determining the target steering angle corresponding to the target wheel;

[0018] The steering wheel of the target vehicle is controlled to rotate a second steering wheel angle corresponding to the target steering angle, so as to control the target wheel to rotate the target steering angle.

[0019] In a possible implementation manner, when the angle value of the initial steering angle of the target wheel is greater than or equal to an angle value threshold, determining the target steering angle corresponding to the target wheel includes:

[0020] When the angle value of the steering angle of the target wheel is greater than or equal to the angle value threshold, the difference between the angle value of the initial steering angle and the angle value threshold is determined as the angle value of the target steering angle, and the opposite direction of the angle direction of the initial steering angle is determined as the angle direction of the target steering angle;

[0021] Alternatively, when the angle value of the steering angle of the target wheel is greater than or equal to an angle value threshold, the difference between the angle value of the initial steering angle and the preset angle value is determined as the angle value of the target steering angle, and the opposite direction of the angle direction of the initial steering angle is determined as the angle direction of the target steering angle, and the preset angle value is the angle value when the target wheel returns to the center.

[0022] In a possible implementation, the method for determining the angle value threshold includes:

[0023] Acquire the wheel radius and wheel width of the target wheel and the distance between the target sliding door and the target wheel when the target sliding door is fully opened when the target wheel is returned to the correct position;

[0024] The angle value threshold is determined based on the wheel radius, the wheel width, and the distance.

[0025] In a possible implementation manner, when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, controlling the target sliding door to open includes:

[0026] determining a target sliding position of the target sliding door when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold;

[0027] The target sliding door is controlled to slide to the target sliding position.

[0028] In a possible implementation manner, when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, determining the target sliding position of the target sliding door includes:

[0029] When the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, acquiring an interior image of the target vehicle; determining the number of passengers in the target vehicle based on the interior image; and determining the target sliding position based on the number of passengers in the target vehicle;

[0030] Alternatively, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, an interior image of the target vehicle is acquired; based on the interior image, a seat position and a seat orientation of a target seat next to the target sliding door are determined, wherein the seat orientation includes forward and backward; and the target sliding position is determined based on the seat position and seat orientation of the target seat;

[0031] Alternatively, when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, obtaining weather information of the location of the target vehicle; and determining the target sliding position based on the weather information;

[0032] Alternatively, when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, it is determined whether the opening instruction carries the opening degree information; when the opening instruction carries the opening degree information, the sliding position corresponding to the opening degree information is determined as the target sliding position; when the opening instruction does not carry the opening degree information, a preset sliding position is determined as the target sliding position, and the preset sliding position is the sliding position when the target sliding door is fully opened.

[0033] In a possible implementation manner, determining the target sliding position based on the number of passengers in the target vehicle includes:

[0034] Determining a target sliding door opening degree corresponding to the number of passengers in the target vehicle, wherein the door opening degree is positively correlated with the number of passengers in the target vehicle; determining a sliding position corresponding to the target sliding door opening degree as the target sliding position;

[0035] The determining the target sliding position based on the seat position and seat orientation of the target seat includes:

[0036] When the target seat is a passenger seat and the seat is facing forward, a sliding position corresponding to a first door opening degree is determined as the target sliding position; when the target seat is a passenger seat and the seat is facing backward, a sliding position corresponding to a second door opening degree is determined as the target sliding position, and the second door opening degree is less than the first door opening degree;

[0037] The determining the target sliding position based on the weather information includes:

[0038] When the weather information indicates that the weather at the location of the target vehicle is raining or snowing, the sliding position corresponding to the third door opening degree is determined as the target sliding position; when the weather information indicates that the weather at the location of the target vehicle is sunny, the sliding position corresponding to the fourth door opening degree is determined as the target sliding position, and the fourth door opening degree is smaller than the third door opening degree.

[0039] In a possible implementation manner, when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, after controlling the target sliding door to be opened, the method further includes:

[0040] When the target sliding door completes sliding closing, the steering angle of the target wheel is controlled to return to the initial steering angle.

[0041] In one aspect, a vehicle door control device is provided, the device comprising:

[0042] an initial steering angle determination module, for determining an initial steering angle of a target wheel of the target vehicle in response to an opening instruction for a target sliding door of the target vehicle, wherein the target wheel is a wheel in an opening direction of the target sliding door, and the target vehicle is equipped with a through-type sliding double door;

[0043] a wheel control module, configured to control the target wheel to rotate a target steering angle when the angle value of the initial steering angle of the target wheel is greater than or equal to an angle value threshold, so that the angle value of the steering angle of the target wheel is less than the angle value threshold;

[0044] The door control module is used to control the target sliding door to open when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold.

[0045] In one possible implementation, the initial steering angle determination module is used to determine the target wheel in the opening direction of the target sliding door and obtain the steering information corresponding to the target wheel in response to an opening instruction for the target sliding door of the target vehicle; and determine the initial steering angle of the target wheel based on the steering information.

[0046] In one possible implementation, the initial steering angle determination module is used to determine the initial steering angle of the target wheel based on the first steering wheel angle when the steering information is the first steering wheel angle of the target vehicle; and to determine the initial steering angle of the target wheel based on the wheel image of the target wheel when the steering information is the wheel image of the target wheel.

[0047] In one possible implementation, the wheel control module is used to determine the target steering angle corresponding to the target wheel when the angle value of the initial steering angle of the target wheel is greater than or equal to an angle value threshold; and control the steering wheel of the target vehicle to rotate a second steering wheel angle corresponding to the target steering angle to control the target wheel to rotate the target steering angle.

[0048] In one possible implementation, the wheel control module is used to determine the difference between the angle value of the initial steering angle and the angle value threshold as the angle value of the target steering angle, and determine the opposite direction of the angle direction of the initial steering angle as the angle direction of the target steering angle, when the angle value of the steering angle of the target wheel is greater than or equal to the angle value threshold; or, when the angle value of the steering angle of the target wheel is greater than or equal to the angle value threshold, determine the difference between the angle value of the initial steering angle and a preset angle value as the angle value of the target steering angle, and determine the opposite direction of the angle direction of the initial steering angle as the angle direction of the target steering angle, and the preset angle value is the angle value of the target wheel when it is returned to the center.

[0049] In a possible embodiment, the device also includes a threshold determination module, which is used to obtain the wheel radius, wheel width of the target wheel and the distance between the target sliding door and the target wheel when the target wheel is fully opened when the target wheel is returned to the center position; based on the wheel radius, wheel width and the distance, the angle value threshold is determined.

[0050] In a possible implementation, the door control module is used to determine the target sliding position of the target sliding door when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold; and control the target sliding door to slide to the target sliding position.

[0051] In a possible implementation manner, the door control module is used to obtain an interior image of the target vehicle when the angle value of the steering angle of the target wheel becomes less than the angle value threshold; determine the number of passengers in the target vehicle based on the interior image; determine the target sliding position based on the number of passengers in the target vehicle; or, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, obtain an interior image of the target vehicle; determine the seat position and seat orientation of a target seat next to the target sliding door based on the interior image, the seat orientation including forward and backward; determine the target sliding door based on the seat position and seat orientation of the target seat. position; or, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, obtaining weather information of the position of the target vehicle; based on the weather information, determining the target sliding position; or, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, determining whether the opening instruction carries the opening degree information; when the opening instruction carries the opening degree information, determining the sliding position corresponding to the opening degree information as the target sliding position; when the opening instruction does not carry the opening degree information, determining a preset sliding position as the target sliding position, the preset sliding position being the sliding position when the target sliding door is fully opened.

[0052] In a possible implementation manner, the door control module is used to determine a target sliding door opening degree corresponding to the number of passengers in the target vehicle, the door opening degree being positively correlated with the number of passengers in the target vehicle; and determine a sliding position corresponding to the target sliding door opening degree as the target sliding position;

[0053] The door control module is used to determine the sliding position corresponding to the first door opening degree as the target sliding position when the target seat is the passenger seat and the seat is facing forward; and to determine the sliding position corresponding to the second door opening degree as the target sliding position when the target seat is the passenger seat and the seat is facing backward, the second door opening degree being smaller than the first door opening degree;

[0054] The door control module is used to determine the sliding position corresponding to the third door opening degree as the target sliding position when the weather information indicates that the weather at the location of the target vehicle is raining or snowing; and to determine the sliding position corresponding to the fourth door opening degree as the target sliding position when the weather information indicates that the weather at the location of the target vehicle is sunny, and the fourth door opening degree is smaller than the third door opening degree.

[0055] In a possible implementation manner, the wheel control module is further configured to control the steering angle of the target wheel to return to the initial steering angle when the target sliding door completes sliding closing.

[0056] On the one hand, a vehicle is provided, comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the program code is loaded and executed by the one or more processors to implement the operations performed by the vehicle door control method.

[0057] On the one hand, a computer-readable storage medium is provided, in which at least one program code is stored, and the program code is loaded and executed by a processor to implement the operations performed by the vehicle door control method.

[0058] Through the technical solution provided in the embodiment of the present application, in response to an opening instruction of a target sliding door of a target vehicle equipped with a through-type sliding double door, the initial steering angle of the target wheel in the opening direction of the target sliding door is determined. When the angle value of the initial steering angle of the target wheel is large, it indicates that there is a risk of collision between the target sliding door and the target wheel. At this time, the target wheel is controlled to rotate to reduce the angle value of the steering angle of the target wheel. When the angle value of the initial steering angle of the target wheel is reduced to meet the requirements, the target sliding door is controlled to open, thereby avoiding collision between the target sliding door and the wheel when opening, and improving the safety of the target sliding door when opening. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 is a schematic diagram of an implementation environment of a vehicle door control method provided in an embodiment of the present application;

[0060] Figure 2 is a flow chart of a vehicle door control method provided by an embodiment of the present application;

[0061] Figure 3 is a flow chart of another vehicle door control method provided by an embodiment of the present application;

[0062] Figure 4is a flow chart of another vehicle door control method provided by an embodiment of the present application;

[0063] Figure 5 is a flow chart of another vehicle door control method provided by an embodiment of the present application;

[0064] Figure 6 is a structural schematic diagram of a vehicle door control device provided in an embodiment of the present application;

[0065] Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] The following will be combined with the accompanying drawings to clearly and thoroughly describe the technical solutions in this application. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of 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. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0067] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features reflected. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0068] In order to illustrate the technical solution provided by the embodiments of the present application, some terms involved in the embodiments of the present application are first explained.

[0069] Through-type sliding double-leaf door: Through-type sliding double-leaf door is a door design that combines rotation and sliding motion. It is usually used in vehicles that require a larger space. Vehicles with through-type sliding double-leaf doors do not have a fixed B-pillar. The B-pillar is inside the door and will slide with the sliding of the door. This door design allows the two doors to move in different directions, thus achieving the effect of double-leaf doors. For example, see Figure 1 The vehicle 100 includes a passenger door 101 and a rear door 102, which form a through-type sliding double door. When the doors of the vehicle 100 are fully opened, the passenger door 101 can move forward and the rear door 102 can move backward, thereby forming a larger boarding and alighting space for passengers to board and alight.

[0070] In the related art, in a vehicle with through-type sliding double doors, taking the passenger door as an example, the passenger door will slide forward when it is opened. Then, in the case of excessive steering of the front wheels of the vehicle, the passenger door may collide with the front wheels during movement, thereby causing damage to the passenger door or the wheel, affecting the user's normal use of the vehicle. After adopting the technical solution provided in the embodiment of the present application, the problem of the door colliding with the wheel of a vehicle with through-type sliding double doors during the process of opening the door can be avoided, thereby improving the safety of the through-type sliding double doors.

[0071] The implementation environment of the embodiment of the present application is introduced below. Figure 2 The implementation environment of the vehicle door control method provided in the embodiment of the present application includes a vehicle terminal 201, a vehicle door controller 202 and a steering wheel controller 203.

[0072] The vehicle-mounted terminal 201 is a terminal installed on the vehicle, and is used to obtain and process vehicle-related data. The vehicle-mounted terminal 201 is connected to the door controller 202 and the steering wheel controller 203 via CAN. The vehicle-mounted terminal 201 can send a door control instruction to the door controller 202, thereby controlling the vehicle door through the door controller 202, that is, controlling the vehicle door to be opened or closed. Correspondingly, the vehicle-mounted terminal 201 can control the vehicle's steering wheel to rotate through the steering wheel controller 203 by sending a steering wheel control instruction to the steering wheel controller 203, so as to drive the vehicle's wheels to rotate.

[0073] After introducing the implementation environment of the embodiment of the present application, the application scenario of the technical solution provided by the embodiment of the present application is introduced below. The technical solution provided by the embodiment of the present application can be applied to a vehicle equipped with a through-type sliding double door. By adopting the technical solution provided by the embodiment of the present application, the wheels of the vehicle can be controlled before the door is opened to avoid the door colliding with the wheel during the opening process, thereby improving the safety of the door and the wheel.

[0074] After introducing the implementation environment and application scenarios of the embodiments of the present application, the technical solutions provided by the embodiments of the present application are introduced below. Figure 3 Taking the execution subject as a vehicle-mounted terminal as an example, the method includes the following steps.

[0075] 301. In response to an opening instruction for a target sliding door of a target vehicle, the vehicle-mounted terminal determines an initial steering angle of a target wheel of the target vehicle, where the target wheel is a wheel in an opening direction of the target sliding door, and the target vehicle is equipped with a through-type sliding double door.

[0076] The target vehicle is a vehicle equipped with through-type sliding double doors. In the embodiment of the present application, the through-type sliding double doors are electric doors, that is, the through-type sliding double doors can be opened and closed under the drive of an electric motor. In some embodiments, both sides of the target vehicle are through-type sliding double doors, or one side of the target vehicle is a through-type sliding double door and the other side is a combination of an electric suction door and an ordinary sliding door, which is not limited in the embodiment of the present application. The target sliding door is one of the through-type sliding double doors, that is, the target sliding door is the front door or the rear door of the through-type sliding double doors. The target wheel and the target sliding door are located on the same side of the target vehicle. When the target sliding door is a front door, the opening direction of the target sliding door is from the rear of the target vehicle to the front of the target vehicle. Accordingly, the target wheel is the front wheel on one side of the target sliding door. When the target sliding door is a rear door, the opening direction of the target sliding door is from the front of the target vehicle to the rear of the target vehicle. Accordingly, the target wheel is the rear wheel on one side of the target sliding door. Of course, the premise that the target wheel is the rear wheel is that the target vehicle has a rear wheel steering function. The initial steering angle of the target wheel is the current steering angle of the target wheel. Since the through-type sliding double-leaf door can usually only be opened or closed when the vehicle is stopped, the initial steering angle of the target wheel is the steering angle of the target vehicle when the target vehicle is stopped. The steering angle is a vector, and the steering angle includes an angle direction and an angle value. For example, the angle values ​​of the steering angles 10° and -10° are the same, but the angle directions are opposite.

[0077] 302. When the angle value of the initial steering angle of the target wheel is greater than or equal to the angle value threshold, the vehicle-mounted terminal controls the target wheel to rotate the target steering angle so that the steering angle of the target wheel is less than the angle value threshold.

[0078] Among them, the angle value of the initial steering angle is greater than or equal to the angle value threshold, which means that the angle value of the steering angle of the target wheel is large, and the target sliding door may collide with the target wheel when the target sliding door is directly opened. The angle value threshold is set by the technician according to the actual situation, or determined according to the size information of the target wheel and the distance between the target sliding door and the target vehicle. The target steering angle is to adjust the angle value of the steering angle of the target wheel to an angle less than or equal to the angle value threshold. When the target wheel is at different initial steering angles, the corresponding target steering angle is different.

[0079] 303. When the steering angle of the target wheel becomes smaller than the angle value threshold, the vehicle-mounted terminal controls the target sliding door to open.

[0080] Among them, the angle value of the initial steering angle is less than the angle value threshold, which means that the steering angle of the target wheel is small, and the target wheel will not affect the opening of the target sliding door. At this time, the target sliding door can be controlled to open.

[0081] Through the technical solution provided in the embodiment of the present application, in response to an opening instruction of a target sliding door of a target vehicle equipped with a through-type sliding double door, the initial steering angle of the target wheel in the opening direction of the target sliding door is determined. When the angle value of the initial steering angle of the target wheel is large, it indicates that there is a risk of collision between the target sliding door and the target wheel. At this time, the target wheel is controlled to rotate to reduce the angle value of the steering angle of the target wheel. When the angle value of the initial steering angle of the target wheel is reduced to meet the requirements, the target sliding door is controlled to open, thereby avoiding collision between the target sliding door and the wheel when opening, and improving the safety of the target sliding door when opening.

[0082] It should be noted that the above steps 301-303 are a simple description of the door control method provided in the embodiment of the present application. The door control method provided in the embodiment of the present application will be described in more detail below with reference to some examples. Figure 4 Taking the execution subject as a vehicle-mounted terminal as an example, the method includes the following steps.

[0083] 401. The vehicle-mounted terminal obtains an opening instruction for a target sliding door of a target vehicle.

[0084] Among them, the target vehicle is a vehicle equipped with a through-type sliding double-door. In the embodiment of the present application, the through-type sliding double-door is an electric door, that is, the through-type sliding double-door can be opened and closed under the drive of an electric motor. In some embodiments, both sides of the target vehicle are through-type sliding double-doors, or one side of the target vehicle is a through-type sliding double-door, and the other side is a combination of an electric suction door and an ordinary sliding door. The embodiment of the present application does not limit this. The target sliding door is one of the through-type sliding double-doors, that is, the target sliding door is the front door or the rear door of the through-type sliding double-door. The opening instruction is used to instruct the opening of the target sliding door. When the target sliding door is the front door, opening the target sliding door means controlling the target sliding door to slide toward the front of the vehicle; when the target sliding door is the rear door, opening the target sliding door means controlling the target sliding door to slide toward the rear of the vehicle.

[0085] In some embodiments, the opening command of the target sliding door is triggered by a voice command or by clicking a target button. The embodiments of the present application are not limited to this. The target button is a physical button in the target vehicle, or a virtual button on the on-board screen of the target vehicle, or a virtual button on a target terminal. The target terminal is a mobile terminal connected to the target vehicle and having authority to control the target vehicle.

[0086] 402. In response to an opening instruction for a target sliding door of a target vehicle, the vehicle-mounted terminal determines an initial steering angle of a target wheel of the target vehicle, the target wheel being a wheel in an opening direction of the target sliding door, and the target vehicle is equipped with a through-type sliding double door.

[0087] Wherein, the target wheel and the target sliding door are located on the same side of the target vehicle. When the target sliding door is a front door, the opening direction of the target sliding door is from the rear of the target vehicle to the front of the target vehicle. Accordingly, the target wheel is the front wheel on one side of the target sliding door. When the target sliding door is a rear door, the opening direction of the target sliding door is from the front of the target vehicle to the rear of the target vehicle. Accordingly, the target wheel is the rear wheel on one side of the target sliding door. Of course, the premise that the target wheel is the rear wheel is that the target vehicle has a rear wheel steering function. The initial steering angle of the target wheel is the current steering angle of the target wheel. Since the through-type sliding double-leaf door can usually only be opened or closed when the vehicle is stopped, the initial steering angle of the target wheel is the steering angle of the target vehicle when the target vehicle is parked. The steering angle is a vector, and the steering angle includes an angle direction and an angle value. For example, the angle values ​​of the steering angles 10° and -10° are the same, but the angle directions are opposite.

[0088] In a possible implementation, in response to an opening instruction for a target sliding door of a target vehicle, the vehicle terminal determines a target wheel in an opening direction of the target sliding door and obtains steering information corresponding to the target wheel. Based on the steering information, the vehicle terminal determines an initial steering angle of the target wheel.

[0089] The steering information corresponding to the target wheel is relevant information for determining the steering angle of the target wheel.

[0090] In this embodiment, in response to the opening instruction of the target sliding door of the target vehicle, the target wheel corresponding to the target sliding door is determined and the steering information corresponding to the target wheel is obtained. The initial steering angle of the target wheel is determined by using the steering information, thereby achieving the determination of the initial steering angle of the target wheel.

[0091] In order to explain the above implementation more clearly, the above implementation will be explained in several parts below.

[0092] Part 1: In response to an opening instruction for a target sliding door of a target vehicle, the vehicle-mounted terminal determines a target wheel in an opening direction of the target sliding door and obtains steering information corresponding to the target wheel.

[0093] In a possible implementation, in response to the opening instruction of the target sliding door, the vehicle terminal determines, based on the position of the target sliding door on the target vehicle, a target wheel located on the same side as the target sliding door and in the opening direction of the target sliding door from among multiple wheels of the target vehicle. The vehicle terminal obtains steering information corresponding to the target wheel through a sensor.

[0094] Among them, in the case where both sides of the target vehicle's doors are through-type sliding double doors, taking the target vehicle as a right-hand-drive vehicle as an example, the positions of the target sliding doors on the target vehicle include the left front door (driver's door), the right front door (passenger's door), the left rear door, and the right rear door. In the case where only one side of the target vehicle's doors is a through-type sliding double door, taking the target vehicle as a right-hand-drive vehicle as an example, the positions of the target sliding doors on the target vehicle include the right front door (passenger's door) and the right rear door. In some embodiments, the steering information includes the first steering wheel angle of the target vehicle and the wheel image of the target wheel, etc. The sensor is a different type of sensor when the steering information is different types of data. For example, when the steering information is the first steering wheel angle, the sensor is a steering wheel steering sensor; when the steering information is a wheel image, the sensor is an external image sensor of the target vehicle.

[0095] For example, in response to an opening instruction to the target sliding door, the vehicle-mounted terminal determines the position of the target sliding door on the target vehicle based on the door identification of the target sliding door. The vehicle-mounted terminal determines the opening direction of the target sliding door based on the position of the target sliding door on the target vehicle. The vehicle-mounted terminal uses the position and opening direction of the target sliding door on the target vehicle to determine the target wheel from multiple wheels of the target vehicle. The vehicle-mounted terminal obtains the steering information corresponding to the target wheel through a sensor.

[0096] In the second part, the vehicle-mounted terminal determines the initial steering angle of the target wheel based on the steering information.

[0097] In a possible implementation manner, when the steering information is a first steering wheel angle of the target vehicle, the vehicle-mounted terminal determines an initial steering angle of the target wheel based on the first steering wheel angle.

[0098] The first steering wheel angle is the current steering wheel angle of the steering wheel of the target vehicle, and the steering wheel angle is obtained by a steering wheel steering sensor. Since the steering angle of the target wheel is directly related to the steering wheel angle of the steering wheel, the current steering wheel angle of the target wheel can be used to determine the current steering angle of the target wheel, that is, to determine the initial steering angle of the target wheel.

[0099] In this implementation, the initial steering angle of the target wheel can be determined using the first steering wheel angle, and the accuracy of the initial steering angle is relatively high.

[0100] For example, when the steering information is the first steering wheel angle of the target vehicle, the vehicle terminal obtains the first steering wheel angle of the steering wheel of the target vehicle. The vehicle terminal determines the initial steering angle of the target wheel based on the first steering wheel angle and the steering gear ratio.

[0101] Among them, the steering transmission ratio is also called the steering ratio, which represents the proportional relationship between the steering wheel angle and the steering angle of the wheel. Therefore, the above-mentioned method of determining the initial steering angle of the target wheel based on the first steering wheel angle and the steering transmission ratio is actually to multiply the angle value of the first steering wheel angle by the steering transmission ratio to obtain the angle value of the initial steering angle of the target wheel, and determine the angle direction of the first steering wheel angle as the angle direction of the initial steering angle. It should be noted that the above is illustrated by taking the target wheel and the steering wheel rotating in the same direction as an example. In other possible implementations, when the target wheel and the steering wheel rotate in the opposite direction, such as when the target wheel is the rear wheel of the target vehicle, the method for determining the angle value of the initial steering angle remains unchanged, and the angle direction of the initial steering angle is the opposite direction of the angle direction of the first steering wheel angle. In the case where the steering wheel and the wheel of the target vehicle are mechanically transmitted, the steering transmission ratio is determined by the gears between the steering wheel and the wheel; in the case where the target vehicle is a wire-controlled steering, the steering transmission ratio is set by the technician according to the actual situation, and the embodiment of the present application does not limit this.

[0102] Another implementation of the second part is described below.

[0103] In a possible implementation manner, when the steering information is a wheel image of the target wheel, the vehicle-mounted terminal determines an initial steering angle of the target wheel based on the wheel image of the target wheel.

[0104] Among them, the wheel image is an image including the target wheel, and the wheel image is collected by an external image sensor of the target vehicle. In some embodiments, the external image sensor is an image sensor under the rearview mirror of the target vehicle, or an image sensor on the outside of the door of the target vehicle, which is not limited in the embodiments of the present application.

[0105] In this implementation manner, the initial steering angle of the target wheel can be directly determined through the wheel image of the target wheel, and the initial steering angle is closer to the actual steering angle of the target wheel.

[0106] For example, when the steering information is a wheel image of the target wheel, the vehicle-mounted terminal obtains the wheel image of the target wheel. The vehicle-mounted terminal performs target detection on the wheel object to obtain the contour of the target wheel in the wheel image. The vehicle-mounted terminal determines the initial steering angle of the target wheel based on the contour of the target wheel and the reference contour of the target wheel.

[0107] The reference profile of the target wheel is the profile of the target wheel in the wheel image collected when the target wheel is aligned.

[0108] For example, when the steering information is a wheel image of the target wheel, the vehicle-mounted terminal obtains the wheel image of the target wheel. The vehicle-mounted terminal inputs the wheel image into a target detection model, performs target detection on the wheel image through the target detection model, and obtains the contour of the target wheel in the wheel image. The vehicle-mounted terminal determines the initial steering angle of the target wheel based on the angle between the central axis of the contour of the target wheel and the central axis of the reference contour of the target wheel.

[0109] Wherein, because wheel image is usually not taken from directly above the target wheel, therefore directly using the angle between the center axis of the profile of the target wheel and the center axis of the reference profile of the target wheel as the initial steering angle of the target wheel can have deviation. In the embodiment of the present application, the angle between the center axis of the profile of the target wheel and the center axis of the reference profile of the target wheel is multiplied with a correction factor, thereby obtaining the initial steering angle of the target wheel, and the correction factor is calibrated by technical personnel according to actual conditions, and the embodiment of the present application is not limited to this.

[0110] In addition, when the target vehicle is equipped with a wheel steering sensor, the vehicle-mounted terminal can also directly obtain the initial steering angle of the target wheel through the wheel steering sensor.

[0111] 403. When the angle value of the initial steering angle of the target wheel is greater than or equal to the angle value threshold, the vehicle-mounted terminal controls the target wheel to rotate the target steering angle so that the steering angle of the target wheel is less than the angle value threshold.

[0112] Among them, the angle value of the initial steering angle is greater than or equal to the angle value threshold, which means that the angle value of the steering angle of the target wheel is large, and the target sliding door may collide with the target wheel when the target sliding door is directly opened. The angle value threshold is set by the technician according to the actual situation, or determined according to the size information of the target wheel and the distance between the target sliding door and the target vehicle. The target steering angle is to adjust the angle value of the steering angle of the target wheel to an angle less than or equal to the angle value threshold. When the target wheel is at different initial steering angles, the corresponding target steering angle is different.

[0113] In a possible implementation, when the angle value of the initial steering angle of the target wheel is greater than or equal to the angle value threshold, the vehicle terminal determines the target steering angle corresponding to the target wheel. The vehicle terminal controls the steering wheel of the target vehicle to rotate a second steering wheel angle corresponding to the target steering angle to control the target wheel to rotate the target steering angle.

[0114] In this embodiment, when the angle value of the initial steering angle of the target wheel is greater than or equal to the angle value threshold, the target steering angle that the target wheel needs to rotate is determined, and the steering wheel is controlled to rotate a second steering wheel angle to control the target wheel to rotate the target steering angle.

[0115] In order to explain the above implementation more clearly, the above implementation is explained in several parts below.

[0116] Part 1: When the angle value of the initial steering angle of the target wheel is greater than or equal to the angle value threshold, the vehicle-mounted terminal determines the target steering angle corresponding to the target wheel.

[0117] In one possible implementation, when the angle value of the steering angle of the target wheel is greater than or equal to an angle value threshold, the vehicle-mounted terminal determines the difference between the angle value of the initial steering angle and the angle value threshold as the angle value of the target steering angle, and determines the opposite direction of the angle direction of the initial steering angle as the angle direction of the target steering angle.

[0118] The angular direction of the initial steering angle is the rotation direction of the target wheel from returning to the initial steering angle. In some embodiments, the angular direction of the target wheel rotating clockwise is defined as a positive direction; the angular direction of the target wheel rotating counterclockwise is defined as a negative direction. When the angular direction of the initial steering angle is a positive direction, it indicates that the target wheel is rotating to the right; when the angular direction of the initial steering angle is a negative direction, it indicates that the target wheel is rotating to the left.

[0119] In this embodiment, the angle value of the target steering angle is determined using the angle value of the initial steering angle and the angle value threshold, and the angle direction of the target steering angle is determined using the angle direction of the initial steering angle, so that after the target wheel rotates to the target steering angle, the angle value can be less than the angle value threshold.

[0120] Another implementation of the first part is described below.

[0121] In one possible implementation, when the angle value of the steering angle of the target wheel is greater than or equal to an angle value threshold, the vehicle-mounted terminal determines the difference between the angle value of the initial steering angle and the preset angle value as the angle value of the target steering angle, and determines the opposite direction of the angle direction of the initial steering angle as the angle direction of the target steering angle, and the preset angle value is the angle value when the target wheel returns to the center.

[0122] The preset angle value is 0.

[0123] In this way, the angle value of the target steering angle is determined using the angle value of the initial steering angle and the preset angle value, and the angle direction of the target steering angle is determined using the angle direction of the initial steering angle, so that after the target wheel rotates to the target steering angle, it can return to the center position, so that the angle value of the steering angle of the target vehicle can be less than the angle value threshold.

[0124] In the second part, the vehicle-mounted terminal controls the steering wheel of the target vehicle to rotate a second steering wheel angle corresponding to the target steering angle.

[0125] In a possible implementation, the vehicle terminal determines a second steering wheel angle corresponding to the target steering angle. The vehicle terminal sends a steering wheel control instruction to a steering wheel controller of the target vehicle, and the steering wheel control instruction carries the second steering wheel angle. The steering wheel controller responds to the steering wheel control instruction, obtains the second steering wheel angle from the steering wheel control instruction, and controls the steering wheel of the target vehicle to rotate the second steering wheel angle, so as to drive the target wheel to rotate the target steering angle.

[0126] The steering wheel controller is an EPS (Electric Power Steering), and the EPS can be used to control the steering wheel to rotate. Similar to the above step 402, in the process of determining the second steering wheel angle corresponding to the target steering angle, the steering transmission ratio is used, that is, the angle value of the second steering wheel angle can be obtained by dividing the angle value of the target steering angle by the steering transmission ratio, and the angle direction of the target steering angle or the opposite direction of the angle direction (the target wheel is the rear wheel and the target wheel rotates in the opposite direction to the steering wheel) is determined as the angle direction of the second steering wheel angle.

[0127] In this implementation manner, the steering wheel controller is used to control the steering wheel to rotate to the second steering wheel angle, thereby controlling the target wheel to rotate to the target steering angle, and the control of the target wheel is more convenient.

[0128] In addition, in addition to being calibrated by a technician, the embodiment of the present application also provides the following method for determining the angle value threshold.

[0129] In a possible implementation, the vehicle terminal obtains the wheel radius and wheel width of the target wheel and the distance between the target sliding door and the target wheel when the target sliding door is fully opened when the target wheel is straightened. The vehicle terminal determines the angle value threshold based on the wheel radius, wheel width and the distance.

[0130] Among them, the wheel radius and the wheel width can be directly obtained from the memory. When the target wheel is straightened, the distance between the target sliding door and the target wheel when it is fully opened is configured by the technician according to the actual situation.

[0131] The following describes a method for determining the angle value threshold based on the wheel radius, the wheel width and the distance in the above embodiment.

[0132] In some embodiments, see Figure 5 The left side is a schematic diagram of the target wheel from returning to rotation to colliding with the target sliding door, and the right side is a simplified mathematical model, where R is the radius of the target wheel, W is the wheel width, and D is the distance. Figure 5 The mathematical model on the right can solve ∠a, which is also the angle value threshold.

[0133] 404. When the steering angle of the target wheel becomes smaller than the angle value threshold, the vehicle-mounted terminal controls the target sliding door to open.

[0134] Among them, the angle value of the initial steering angle is less than the angle value threshold, which means that the steering angle of the target wheel is small, and the target wheel will not affect the opening of the target sliding door. At this time, the target sliding door can be controlled to open.

[0135] In a possible implementation manner, when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, the vehicle terminal determines the target sliding position of the target sliding door and controls the target sliding door to slide to the target sliding position.

[0136] The target sliding position is the stop position when the target sliding door is opened.

[0137] In this embodiment, when the steering angle of the target wheel becomes smaller than the angle threshold, the stop position of the target sliding door when it is opened is determined, and the stop position can be used to control the door opening degree of the target sliding door, thereby achieving refined control of the target sliding door.

[0138] In order to explain the above-mentioned implementation mode, the above-mentioned implementation mode will be explained in several parts below.

[0139] Part 1: When the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, the vehicle-mounted terminal determines the target sliding position of the target sliding door.

[0140] In a possible implementation, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, the vehicle-mounted terminal acquires an interior image of the target vehicle. The vehicle-mounted terminal determines the number of passengers in the target vehicle based on the interior image. The vehicle-mounted terminal determines the target sliding position based on the number of passengers in the target vehicle.

[0141] The in-vehicle image is acquired by the in-vehicle image sensor of the target vehicle. If there are a large number of passengers in the target vehicle, the target sliding door needs to be opened to a larger door opening degree to meet the passengers' needs to get off the vehicle; correspondingly, if there are a small number of passengers in the target vehicle, the target sliding door needs to be opened to a smaller door opening degree, thereby reducing energy consumption while meeting the passengers' needs to get off the vehicle.

[0142] In this embodiment, when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, the number of passengers in the target vehicle is determined using the in-vehicle image. The target sliding position is determined according to the number of passengers, thereby determining the door opening degree of the target sliding door, so that the door opening degree of the target sliding door matches the number of passengers.

[0143] For example, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, the vehicle-mounted terminal obtains the interior image of the target vehicle. The vehicle-mounted terminal performs target detection on the interior image to obtain the number of passengers in the target vehicle. The target detection is used to detect passengers in the interior image. The vehicle-mounted terminal determines the target sliding door opening degree corresponding to the number of passengers in the target vehicle, and the door opening degree is positively correlated with the number of passengers in the target vehicle. The vehicle-mounted terminal determines the sliding position corresponding to the target sliding door opening degree as the target sliding position.

[0144] Another implementation of the first part is described below.

[0145] In a possible implementation, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, the vehicle-mounted terminal acquires the interior image of the target vehicle. Based on the interior image, the vehicle-mounted terminal determines the seat position and seat orientation of the target seat next to the target sliding door, the seat orientation including forward and backward. Based on the seat position and seat orientation of the target seat, the vehicle-mounted terminal determines the target sliding position.

[0146] Among them, the seat positions include the passenger seat and the rear seat, forward refers to the front of the vehicle, and rearward refers to the rear of the vehicle. When the target seat is the passenger seat and the seat is facing forward, the target sliding door needs to be opened to a larger door opening degree to facilitate passengers to get off the vehicle; when the target seat is the passenger seat and the seat is facing rearward, the target sliding door does not need to be opened to a larger door opening degree, and passengers can get off the vehicle conveniently. Correspondingly, when the target seat is the rear seat and the seat is facing forward, the target sliding door does not need to be opened to a larger door opening degree, and passengers can get off the vehicle conveniently; when the target seat is the rear seat and the seat is facing rearward, the target sliding door needs to be opened to a larger door opening degree to facilitate passengers to get off the vehicle.

[0147] For example, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, the vehicle-mounted terminal obtains the in-vehicle image of the target vehicle. The vehicle-mounted terminal performs target detection on the in-vehicle image to obtain the seat position and seat orientation of the target seat next to the target sliding door. The target detection is to find the target seat in the in-vehicle image and determine the seat position and orientation of the target seat. In the case where the target seat is a passenger seat and the seat orientation is forward, the vehicle-mounted terminal determines the sliding position corresponding to the first door opening degree as the target sliding position. In the case where the target seat is a passenger seat and the seat orientation is backward, the vehicle-mounted terminal determines the sliding position corresponding to the second door opening degree as the target sliding position, and the second door opening degree is less than the first door opening degree. In the case where the target seat is a rear seat and the seat orientation is forward, the vehicle-mounted terminal determines the sliding position corresponding to the second door opening degree as the target sliding position. In the case where the target seat is a rear seat and the seat orientation is backward, the vehicle-mounted terminal determines the sliding position corresponding to the first door opening degree as the target sliding position.

[0148] Another implementation of the first part is described below.

[0149] In a possible implementation, when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, the vehicle-mounted terminal obtains weather information of the location of the target vehicle, and determines the target sliding position based on the weather information.

[0150] The weather information is used to indicate the weather conditions at the location of the target vehicle. If the weather information indicates that the weather conditions are rainy or snowy, the door opening degree of the target sliding door is determined to be a smaller door opening degree, thereby preventing a large amount of rain and snow from entering the vehicle. If the weather information indicates that the weather conditions are sunny, the door opening degree of the target sliding door is determined to be a larger door opening degree, thereby facilitating passengers to get off the vehicle.

[0151] In this implementation, the door opening degree of the target sliding door can be determined according to the weather conditions at the location of the vehicle, and the door opening degree is more closely matched with the weather conditions.

[0152] For example, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, the vehicle terminal acquires the external environment image. The vehicle terminal determines the weather information of the location of the target vehicle through the external environment image. When the weather information indicates that the weather at the location of the target vehicle is raining or snowing, the vehicle terminal determines the sliding position corresponding to the third door opening degree as the target sliding position. When the weather information indicates that the weather at the location of the target vehicle is sunny, the vehicle terminal determines the sliding position corresponding to the fourth door opening degree as the target sliding position, and the fourth door opening degree is less than the third door opening degree.

[0153] Another implementation of the first part is described below.

[0154] In a possible implementation, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, the vehicle terminal determines whether the opening instruction carries the opening degree information. When the opening instruction carries the opening degree information, the vehicle terminal determines the sliding position corresponding to the opening degree information as the target sliding position. When the opening instruction does not carry the opening degree information, the vehicle terminal determines the preset sliding position as the target sliding position, and the preset sliding position is the sliding position when the target sliding door is fully opened.

[0155] In this implementation, when the opening instruction carries a sliding position, the carried sliding position is determined as the target sliding position, thereby meeting the user's personalized door opening requirements. When the opening instruction does not carry a sliding position, the sliding position when the target sliding door is fully opened is directly determined as the target sliding position, so as to facilitate passengers to get on and off the vehicle.

[0156] In the second part, the vehicle-mounted terminal controls the target sliding door to slide to the target sliding position.

[0157] In a possible implementation, the vehicle terminal sends a door control instruction to the door controller, and the door control instruction carries the door identification and the target sliding position of the target sliding door. The door controller obtains the door control instruction, obtains the door identification and the target sliding position from the door control instruction, and controls the target sliding door indicated by the door identification to open to the target sliding position.

[0158] Optionally, after step 404, the following step 405 can also be performed.

[0159] 405. When the target sliding door completes sliding closing, the vehicle-mounted terminal controls the steering angle of the target wheel to return to the initial steering angle.

[0160] Through step 405, when the target sliding door is in operation, the steering angle of the target wheel can be restored to the state before the target sliding door is opened, so as to meet the user's demand for the target wheel to be at the initial steering angle in a specific scenario.

[0161] In a possible implementation, when the target sliding door completes sliding closing, the vehicle-mounted terminal controls the steering wheel of the target vehicle to return to the first steering wheel angle, so as to control the target wheel to return to the initial steering angle.

[0162] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0163] Through the technical solution provided in the embodiment of the present application, in response to an opening instruction of a target sliding door of a target vehicle equipped with a through-type sliding double door, the initial steering angle of the target wheel in the opening direction of the target sliding door is determined. When the angle value of the initial steering angle of the target wheel is large, it indicates that there is a risk of collision between the target sliding door and the target wheel. At this time, the target wheel is controlled to rotate to reduce the angle value of the steering angle of the target wheel. When the angle value of the initial steering angle of the target wheel is reduced to meet the requirements, the target sliding door is controlled to open, thereby avoiding collision between the target sliding door and the wheel when opening, and improving the safety of the target sliding door when opening.

[0164] Figure 6 is a schematic diagram of the structure of a door control device provided in an embodiment of the present application, see Figure 6 The device includes: an initial steering angle determination module 601, a wheel control module 602 and a door control module 603.

[0165] The initial steering angle determination module 601 is used to determine the initial steering angle of the target wheel of the target vehicle in response to an opening instruction for the target sliding door of the target vehicle. The target wheel is a wheel in the opening direction of the target sliding door, and the target vehicle is equipped with a through-type sliding double door.

[0166] The wheel control module 602 is used to control the target wheel to rotate to a target steering angle when the angle value of the initial steering angle of the target wheel is greater than or equal to the angle value threshold, so that the angle value of the steering angle of the target wheel is less than the angle value threshold.

[0167] The door control module 603 is used to control the target sliding door to open when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold.

[0168] In a possible implementation, the initial steering angle determination module 601 is used to determine the target wheel in the opening direction of the target sliding door and obtain the steering information corresponding to the target wheel in response to the opening instruction of the target sliding door of the target vehicle, and determine the initial steering angle of the target wheel based on the steering information.

[0169] In a possible implementation, the initial steering angle determination module 601 is used to determine the initial steering angle of the target wheel based on the first steering wheel angle when the steering information is the first steering wheel angle of the target vehicle. When the steering information is the wheel image of the target wheel, the initial steering angle of the target wheel is determined based on the wheel image of the target wheel.

[0170] In a possible implementation, the wheel control module 602 is used to determine the target steering angle corresponding to the target wheel when the angle value of the initial steering angle of the target wheel is greater than or equal to the angle value threshold, and control the steering wheel of the target vehicle to rotate a second steering wheel angle corresponding to the target steering angle to control the target wheel to rotate the target steering angle.

[0171] In a possible implementation, the wheel control module 602 is used to determine the difference between the angle value of the initial steering angle and the angle value threshold as the angle value of the target steering angle, and determine the opposite direction of the angle direction of the initial steering angle as the angle direction of the target steering angle when the angle value of the steering angle of the target wheel is greater than or equal to the angle value threshold. Alternatively, when the angle value of the steering angle of the target wheel is greater than or equal to the angle value threshold, determine the difference between the angle value of the initial steering angle and the preset angle value as the angle value of the target steering angle, and determine the opposite direction of the angle direction of the initial steering angle as the angle direction of the target steering angle, and the preset angle value is the angle value of the target wheel when it is straightened.

[0172] In a possible implementation, the device further includes a threshold determination module, which is used to obtain the wheel radius and wheel width of the target wheel and the distance between the target sliding door and the target wheel when the target wheel is returned to the correct position, and determine the angle value threshold based on the wheel radius, wheel width and the distance.

[0173] In a possible implementation, the door control module 603 is configured to determine the target sliding position of the target sliding door when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, and control the target sliding door to slide to the target sliding position.

[0174] In a possible implementation, the door control module 603 is used to obtain an in-vehicle image of the target vehicle when the angle value of the steering angle of the target wheel becomes less than the angle value threshold. Based on the in-vehicle image, determine the number of passengers in the target vehicle. Based on the number of passengers in the target vehicle, determine the target sliding position. Alternatively, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, obtain an in-vehicle image of the target vehicle. Based on the in-vehicle image, determine the seat position and seat orientation of the target seat next to the target sliding door, the seat orientation includes forward and backward. Based on the seat position and seat orientation of the target seat, determine the target sliding position. Alternatively, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, obtain weather information at the location of the target vehicle. Based on the weather information, determine the target sliding position. Alternatively, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, determine whether the opening instruction carries the opening degree information. When the opening instruction carries the opening degree information, determine the sliding position corresponding to the opening degree information as the target sliding position. In the case where the opening instruction does not carry the opening degree information, a preset sliding position is determined as the target sliding position, and the preset sliding position is the sliding position when the target sliding door is fully opened.

[0175] In a possible implementation, the door control module 603 is used to determine a target sliding door opening degree corresponding to the number of passengers in the target vehicle, where the door opening degree is positively correlated with the number of passengers in the target vehicle, and determine the sliding position corresponding to the target sliding door opening degree as the target sliding position.

[0176] The door control module 603 is used to determine the sliding position corresponding to the first door opening degree as the target sliding position when the target seat is the passenger seat and the seat is facing forward. When the target seat is the passenger seat and the seat is facing backward, determine the sliding position corresponding to the second door opening degree as the target sliding position, and the second door opening degree is smaller than the first door opening degree.

[0177] The door control module 603 is used to determine the sliding position corresponding to the third door opening degree as the target sliding position when the weather information indicates that the weather at the location of the target vehicle is raining or snowing. When the weather information indicates that the weather at the location of the target vehicle is sunny, determine the sliding position corresponding to the fourth door opening degree as the target sliding position, and the fourth door opening degree is less than the third door opening degree.

[0178] In a possible implementation manner, the wheel control module 602 is further configured to control the steering angle of the target wheel to return to the initial steering angle when the target sliding door completes sliding closing.

[0179] It should be noted that: the control device for the vehicle door provided in the above embodiment only uses the division of the above functional modules as an example to illustrate when controlling the vehicle door. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the vehicle terminal is divided into different functional modules to complete all or part of the functions described above. In addition, the control device for the vehicle door provided in the above embodiment and the embodiment of the control method for the vehicle door belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0180] Through the technical solution provided in the embodiment of the present application, in response to an opening instruction of a target sliding door of a target vehicle equipped with a through-type sliding double door, the initial steering angle of the target wheel in the opening direction of the target sliding door is determined. When the angle value of the initial steering angle of the target wheel is large, it indicates that there is a risk of collision between the target sliding door and the target wheel. At this time, the target wheel is controlled to rotate to reduce the angle value of the steering angle of the target wheel. When the angle value of the initial steering angle of the target wheel is reduced to meet the requirements, the target sliding door is controlled to open, thereby avoiding collision between the target sliding door and the wheel when opening, and improving the safety of the target sliding door when opening.

[0181] The embodiment of the present application also provides a vehicle, Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0182] Typically, the vehicle 700 includes an on-board terminal, which includes one or more processors 701 and one or more memories 702 .

[0183] The processor 701 may include one or more processing cores, such as a 4-core processor, a 7-core processor, etc. The processor 701 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 701 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 701 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0184] The memory 702 may include one or more computer-readable storage media, which may be non-transitory. The memory 702 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 702 is used to store at least one computer program, which is executed by the processor 701 to implement the vehicle door control method provided in the method embodiment of the present application.

[0185] Those skilled in the art will understand that Figure 7 The structure shown in the figure does not constitute a limitation on the vehicle 700, and the vehicle 700 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different arrangement of components.

[0186] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for controlling a vehicle door provided in the above embodiments.

[0187] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a method for controlling a vehicle door provided in the above embodiment.

[0188] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a method for controlling a vehicle door provided in the above embodiment.

[0189] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0190] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0191] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0192] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling a vehicle door, characterized in that: The method comprises: In response to an opening instruction for a target sliding door of a target vehicle, determining an initial steering angle of a target wheel of the target vehicle, the target wheel being a wheel in an opening direction of the target sliding door, the target vehicle being configured with a through-type sliding double door; When the angle value of the initial steering angle of the target wheel is greater than or equal to the angle value threshold, controlling the target wheel to rotate the target steering angle so that the angle value of the steering angle of the target wheel is less than the angle value threshold; When the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, the target sliding door is controlled to be opened.

2. The method according to claim 1, characterized in that The step of determining an initial steering angle of a target wheel of the target vehicle in response to an opening instruction for a target sliding door of the target vehicle comprises: In response to an opening instruction for a target sliding door of a target vehicle, determining the target wheel in the opening direction of the target sliding door and acquiring steering information corresponding to the target wheel; Based on the steering information, an initial steering angle of the target wheel is determined.

3. The method according to claim 2, characterized in that The determining, based on the steering information, an initial steering angle of the target wheel comprises: In a case where the steering information is a first steering wheel angle of the target vehicle, determining an initial steering angle of the target wheel based on the first steering wheel angle; In a case where the steering information is a wheel image of the target wheel, an initial steering angle of the target wheel is determined based on the wheel image of the target wheel.

4. The method according to claim 1, characterized in that When the angle value of the initial steering angle of the target wheel is greater than or equal to the angle value threshold, controlling the target wheel to rotate the target steering angle includes: When the angle value of the initial steering angle of the target wheel is greater than or equal to the angle value threshold, determining the target steering angle corresponding to the target wheel; The steering wheel of the target vehicle is controlled to rotate a second steering wheel angle corresponding to the target steering angle, so as to control the target wheel to rotate the target steering angle.

5. The method according to claim 4, characterized in that When the angle value of the initial steering angle of the target wheel is greater than or equal to the angle value threshold, determining the target steering angle corresponding to the target wheel includes: When the angle value of the steering angle of the target wheel is greater than or equal to the angle value threshold, the difference between the angle value of the initial steering angle and the angle value threshold is determined as the angle value of the target steering angle, and the opposite direction of the angle direction of the initial steering angle is determined as the angle direction of the target steering angle; Alternatively, when the angle value of the steering angle of the target wheel is greater than or equal to an angle value threshold, the difference between the angle value of the initial steering angle and the preset angle value is determined as the angle value of the target steering angle, and the opposite direction of the angle direction of the initial steering angle is determined as the angle direction of the target steering angle, and the preset angle value is the angle value when the target wheel returns to the center.

6. The method according to claim 1, 4 or 5, characterized in that: The method for determining the angle value threshold includes: Acquire the wheel radius and wheel width of the target wheel and the distance between the target sliding door and the target wheel when the target sliding door is fully opened when the target wheel is returned to the correct position; The angle value threshold is determined based on the wheel radius, the wheel width, and the distance.

7. The method according to claim 1, characterized in that When the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, controlling the target sliding door to open includes: determining a target sliding position of the target sliding door when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold; The target sliding door is controlled to slide to the target sliding position.

8. The method according to claim 7, characterized in that When the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, determining the target sliding position of the target sliding door comprises: When the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, acquiring an interior image of the target vehicle; determining the number of passengers in the target vehicle based on the interior image; and determining the target sliding position based on the number of passengers in the target vehicle; Alternatively, when the angle value of the steering angle of the target wheel becomes less than the angle value threshold, an interior image of the target vehicle is acquired; based on the interior image, a seat position and a seat orientation of a target seat next to the target sliding door are determined, wherein the seat orientation includes forward and backward; and the target sliding position is determined based on the seat position and seat orientation of the target seat; Alternatively, when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, obtaining weather information of the location of the target vehicle; and determining the target sliding position based on the weather information; Alternatively, when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, it is determined whether the opening instruction carries the opening degree information; when the opening instruction carries the opening degree information, the sliding position corresponding to the opening degree information is determined as the target sliding position; when the opening instruction does not carry the opening degree information, a preset sliding position is determined as the target sliding position, and the preset sliding position is the sliding position when the target sliding door is fully opened.

9. The method according to claim 8, characterized in that The determining the target sliding position based on the number of passengers in the target vehicle includes: Determining a target sliding door opening degree corresponding to the number of passengers in the target vehicle, wherein the door opening degree is positively correlated with the number of passengers in the target vehicle; determining a sliding position corresponding to the target sliding door opening degree as the target sliding position; The determining the target sliding position based on the seat position and seat orientation of the target seat includes: When the target seat is a passenger seat and the seat is facing forward, a sliding position corresponding to a first door opening degree is determined as the target sliding position; when the target seat is a passenger seat and the seat is facing backward, a sliding position corresponding to a second door opening degree is determined as the target sliding position, and the second door opening degree is less than the first door opening degree; The determining the target sliding position based on the weather information includes: When the weather information indicates that the weather at the location of the target vehicle is raining or snowing, the sliding position corresponding to the third door opening degree is determined as the target sliding position; when the weather information indicates that the weather at the location of the target vehicle is sunny, the sliding position corresponding to the fourth door opening degree is determined as the target sliding position, and the fourth door opening degree is smaller than the third door opening degree.

10. The method according to claim 1, characterized in that After controlling the target sliding door to be opened when the angle value of the steering angle of the target wheel becomes smaller than the angle value threshold, the method further includes: When the target sliding door completes sliding closing, the steering angle of the target wheel is controlled to return to the initial steering angle.

11. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle door control method as described in any one of claims 1 to 10.

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