Vehicle control method, device, equipment and storage medium

Abstract

The present application relates to the field of vehicle control technology, and discloses a vehicle control method, device, equipment and storage medium, including: monitoring the changes of the safety sensing components in the vehicle when a collision stops; determining the door to be opened according to the changes; sending an unlocking instruction to the door to be opened through the first domain controller and the second domain controller to unlock the door. Due to the redundant design adopted in the vehicle, multiple domain controllers are set up, and through line transformation, it is ensured that each domain controller has the ability to control all the doors in the vehicle, ensuring that when a collision occurs, even if one domain controller fails due to the collision, the door results can still be performed by using other redundant domain controllers, thereby improving the safety and reliability of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to vehicle control methods, devices, equipment and storage media. Background Art

[0002] At present, a large number of vehicles use smart door locks, and the opening of the door locks in such vehicles is actually controlled by a single domain controller. However, if a single domain controller is used, when a vehicle collides, once the domain controller is damaged due to the collision, the vehicle's doors will be difficult to open, making it difficult to rescue the collided vehicle. Summary of the invention

[0003] The main purpose of the present application is to provide a vehicle control method, device, equipment and storage medium, aiming to solve the technical problem that the related technology uses a single controller to control the vehicle door lock, which may easily make the vehicle door difficult to open once it is damaged due to a collision.

[0004] To achieve the above object, the present application proposes a vehicle control method, which is applied to a vehicle, wherein a first domain controller and a second domain controller are provided in the vehicle, wherein the first domain controller has a main line connected to a left door and a secondary line connected to a right door, and the second domain controller has a main line connected to the right door and a secondary line connected to the left door;

[0005] The method comprises:

[0006] Monitoring changes in safety sensing components in the vehicle when a crash stop is detected;

[0007] Determine the door to be opened according to the change;

[0008] An unlocking instruction is sent to the door to be opened through the first domain controller and the second domain controller to unlock the door.

[0009] Optionally, before monitoring the changes of the safety sensing components in the vehicle when the collision stops, the method further includes:

[0010] When a sudden instantaneous change in the acceleration of the vehicle is detected, a locking instruction is sent through the first domain controller and the second domain controller to lock the vehicle door;

[0011] Monitoring the speed and / or location data of the vehicle;

[0012] When the vehicle speed decreases to a preset threshold value and / or the positioning data stops changing, it is determined that the collision stops.

[0013] Optionally, determining the door to be opened according to the change includes:

[0014] Obtain the collision level and find the monitoring time corresponding to the collision level;

[0015] If it is detected within the monitoring time that the safety sensing component in the vehicle is unlocked, determining the door to be opened according to the setting position of the unlocked safety sensing component;

[0016] If the duration is greater than or equal to the monitoring duration and the security sensing component in the vehicle is still not detected to be unlocked, all the doors of the vehicle are regarded as doors to be opened.

[0017] Optionally, if it is detected within the monitoring time that a safety sensing component in the vehicle is unlocked, determining the door to be opened according to the setting position of the unlocked safety sensing component includes:

[0018] If it is detected within the monitoring time that the safety sensing component in the vehicle is unlocked, obtaining the setting position of the unlocked safety sensing component;

[0019] Detect whether the collision level is greater than the preset risk level;

[0020] If the collision level is greater than a preset risk level, obtaining a collision direction;

[0021] The door to be opened is determined according to the collision direction and the setting position.

[0022] Optionally, if the collision level is greater than a preset risk level, obtaining the collision direction includes:

[0023] If the collision level is greater than the preset risk level, obtaining the mutation moment when the vehicle acceleration undergoes an instantaneous mutation;

[0024] Determine the direction reference time according to the mutation time and the preset duration;

[0025] The collision direction is determined according to the vehicle acceleration direction at the mutation moment and the vehicle acceleration direction at the direction reference moment.

[0026] Optionally, if the collision level is greater than a preset risk level, after obtaining the collision direction, the method further includes:

[0027] determining a seat to be moved according to the collision direction;

[0028] Detecting whether there is a passenger behind the seat to be moved;

[0029] If there is no passenger, the seat to be moved is controlled to move backward.

[0030] Optionally, after sending an unlocking instruction to the door to be opened through the available domain controller to unlock the door, the method further includes:

[0031] When the interval length of sending the unlocking instruction reaches a preset interval length, detecting the door lock open / closed state of the door to be opened;

[0032] If the door lock opening and closing state is a locked state, a window opening instruction is sent to the door to be opened through the first domain controller and the second domain controller.

[0033] In addition, to achieve the above-mentioned purpose, the present application also provides a vehicle control device, which is applied to a vehicle, wherein a first domain controller and a second domain controller are provided in the vehicle, wherein a main line of the first domain controller is connected to a left door, and a secondary line is connected to a right door, and a main line of the second domain controller is connected to the right door, and a secondary line is connected to the left door;

[0034] The device comprises:

[0035] A monitoring module, for monitoring changes in safety sensing components in the vehicle when a collision stop is detected;

[0036] A determination module, used for determining a door to be opened according to the change;

[0037] A control module is used to send an unlocking instruction to the door to be opened through the first domain controller and the second domain controller to unlock the door.

[0038] In addition, to achieve the above-mentioned purpose, the present application also provides a vehicle control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle control method as described above.

[0039] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0041] One or more technical solutions proposed in this application have at least the following technical effects:

[0042] Due to the redundant design adopted in the vehicle, multiple domain controllers are set up, and through line modification, it is ensured that each domain controller has the ability to control all the doors in the vehicle. In the event of a collision, even if one domain controller fails due to the collision, the redundant domain controllers can still be used to perform door operations, thereby improving the safety and reliability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the vehicle control method of the present application;

[0046] Figure 2 A schematic diagram of setting a domain controller according to an embodiment of the present application;

[0047] Figure 3 A flow chart of the second embodiment of the vehicle control method of the present application;

[0048] Figure 4 A schematic diagram of the vehicle acceleration direction angle according to an embodiment of the present application;

[0049] Figure 5 This is a schematic diagram of the module structure of the vehicle control device according to an embodiment of the present application;

[0050] Figure 6 Schematic diagram of the device structure of the hardware operating environment involved in the vehicle control method in the embodiment of the present application.

[0051] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0053] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0054] Based on this, the embodiment of the present application provides a vehicle control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle control method of the present application.

[0055] In this embodiment, the vehicle control method is applied to a vehicle, wherein a first domain controller and a second domain controller are provided in the vehicle, wherein the first domain controller has a main line connected to a left door and a secondary line connected to a right door, and the second domain controller has a main line connected to the right door and a secondary line connected to the left door;

[0056] For ease of understanding, now combined Figure 2 This is for illustration only, but not for limitation. Figure 2 This is a schematic diagram of the domain controller settings of this embodiment.

[0057] like Figure 2 As shown, a plurality of body domain controllers may be provided in a vehicle, and the configuration method thereof may be as follows: Figure 2 As shown in the figure, the body domain controller on the left (i.e., the first domain controller) and the body domain controller on the right (i.e., the second domain controller), each line with the controller may include a main line (such as Figure 2 The black lines in the middle) and the secondary lines (such as Figure 2 As shown by the blue line in the middle, the main line of the left body domain control is connected to the left door of the vehicle, which can control the door lock of the left door of the vehicle. The secondary line of the left body domain control is connected to the right door of the vehicle, which can control the door lock of the right door of the vehicle.

[0058] Similarly, the main line of the right body domain control is connected to the right door of the vehicle, which can control the door lock of the right door of the vehicle. The secondary line of the right body domain control is connected to the left door of the vehicle, which can control the door lock of the left door of the vehicle.

[0059] Among them, the secondary line can reuse part of the main line of another body domain controller. If necessary, in order to ensure redundancy and safety, it can also not be reused. This embodiment does not limit this.

[0060] The vehicle control method comprises steps S10 to S30:

[0061] Step S10: When the collision stop is detected, monitor the changes of the safety sensing components in the vehicle.

[0062] It should be noted that the executor of this embodiment can be the vehicle itself, or it can be a vehicle control device arranged in the vehicle and capable of controlling various controllers in the vehicle. The vehicle control device can be a controller arranged in the vehicle, such as an ECU controller, or other devices capable of achieving the same or similar functions. This embodiment does not impose any restrictions on this. In this embodiment and the following embodiments, the vehicle control method of the present invention is described by taking the vehicle control device as an example.

[0063] It should be noted that the safety sensing components may include seat belts, seat sensors and other components.

[0064] In actual use, if the vehicle collision is minor, the driver or passengers in the vehicle may not be seriously affected and still have the ability to move. At this time, in order to deal with the collision accident, they will most likely get out of the vehicle and take corresponding measures. At this time, they will try to unbuckle their seat belts or leave their seats. Therefore, when the collision stops, the changes in the safety sensing components in the vehicle can be monitored to determine whether the driver or passengers in the vehicle are still able to move.

[0065] Step S20: Determine the door to be opened according to the change.

[0066] In actual use, by monitoring the changes in safety sensing components, it is possible to determine whether the driver or passenger in the vehicle is still able to move, and whether they try to get out of the vehicle to deal with the corresponding accident. Based on the changes, it is possible to determine which space in the vehicle the driver or passenger was originally in, and thus determine which door needs to be opened at this time.

[0067] Step S30: sending an unlocking instruction to the door to be opened through the first domain controller and the second domain controller to unlock the door.

[0068] In actual use, after determining the available domain controller, an unlocking command can be sent to the door to be opened through the available domain controller to control the door lock of the door to be opened to unlock, thereby unlocking the door of the vehicle and ensuring that the people in the vehicle can get out of the vehicle to deal with the accident or wait for rescue.

[0069] In the specific implementation, in order to achieve precise control and to ensure that the door to be opened can be controlled to open, it is also possible to first detect whether the first domain controller and the second domain controller are damaged, whether they can still control the opening and closing of the door, determine the available domain controller, and then send an unlock command to the door to be opened based on the available domain controller to unlock the door.

[0070] It can be understood that if both the first domain controller and the second domain controller are not damaged, then both the first domain controller and the second domain controller can be used as available domain controllers, or one of them can be selected as an available domain controller;

[0071] If any one of the first domain controller and the second domain controller is damaged, the other undamaged domain controller can be used as an available domain controller.

[0072] In a specific implementation, the vehicle control device can send a detection request to the first domain controller and the second domain controller, and ask the first domain controller and the second domain controller to feedback response data to determine whether the first domain controller and the second domain controller are damaged. If the response data can be fed back, it can be determined that the domain controller is not damaged, that is, it is normally available.

[0073] In a specific implementation, in order to ensure the safety of the people in the vehicle, before step S10 in this embodiment, the following may also be included:

[0074] When a sudden instantaneous change in the acceleration of the vehicle is detected, a locking instruction is sent through the first domain controller and the second domain controller to lock the vehicle door;

[0075] Monitoring the speed and / or location data of the vehicle;

[0076] When the vehicle speed decreases to a preset threshold value and / or the positioning data stops changing, it is determined that the collision stops.

[0077] It should be noted that if a sudden change in the vehicle acceleration is detected, that is, a sudden decrease or increase, it can be determined that the vehicle has collided. At this time, in order to ensure the safety of the people in the vehicle, a locking command can be sent to each door through the first domain controller and the second domain controller to lock the vehicle doors to prevent the people in the vehicle from being thrown out of the vehicle.

[0078] Among them, when locking the vehicle, the door can be controlled through the locking command to provide a higher locking force than the normal conventional closing of the door. At the same time, the seat belts in the car can be controlled to increase the restraining force to minimize the impact of the collision on the people in the car. The specific increase in locking force and comfort force can be set in advance by the manager of the vehicle control equipment.

[0079] In actual use, since the acceleration of a vehicle will also change during normal driving, the value that can be reduced or increased when the vehicle acceleration is greater than a threshold value (such as 5m / s 2 ) is detected, then it is determined that a sudden change in vehicle acceleration has occurred.

[0080] In a specific implementation, in order to reduce the difficulty of rescue as much as possible, after step S30 in this embodiment, the following steps may also be included:

[0081] When the interval length of sending the unlocking instruction reaches a preset interval length, detecting the door lock open / closed state of the door to be opened;

[0082] If the door lock opening and closing state is a locked state, a window opening instruction is sent to the door to be opened through the first domain controller and the second domain controller.

[0083] It should be noted that the preset interval time can be pre-set by the manager of the vehicle control equipment. Since the vehicle is subject to a collision, its door lock control may take more time than normal control. The preset interval time can be set to be higher than the time required for normal door lock opening. For example: assuming that the time required for normal door lock opening is 0.5 seconds, the preset interval time can be set to 2 seconds.

[0084] It is understandable that in some cases, the domain controller may not be damaged, but the vehicle's door lock may become abnormal due to a collision. At this time, although the unlock command is sent through the available domain controller, the door may still not be able to open normally. Therefore, when the interval length of sending the unlock command reaches the preset interval length, the door lock opening and closing status of the door to be opened can be detected to determine whether the door to be opened is opened normally.

[0085] In actual use, if the door lock of the door to be opened is in the locked state, it means that the door to be opened fails. At this time, in order to reduce the difficulty of rescue as much as possible, the window opening command can be sent to the door to be opened through the first domain controller and the second domain controller to open the window of the door to be opened, so as to ensure that when the door cannot be opened, the open window can be used for rescue.

[0086] This embodiment provides a vehicle control method. Due to the use of redundant design in the vehicle, multiple domain controllers are set up, and through line modification, it is ensured that each domain controller has the ability to control all doors in the vehicle. It is ensured that when a collision occurs, even if one domain controller fails due to the collision, the redundant other domain controllers can still be used to perform door control results, thereby improving the safety and reliability of the vehicle.

[0087] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 , step S20 includes steps S201 to S203:

[0088] Step S201: Obtain a collision level, and search for a monitoring duration corresponding to the collision level.

[0089] It should be noted that the collision level may be quantitative data used to characterize the severity of the collision. A higher collision level represents a higher severity of the collision.

[0090] In actual use, the more severe the collision is, the more serious the impact on the occupants of the vehicle may be. Therefore, the collision level and the monitoring time may be inversely proportional, that is, the higher the collision level, the shorter the monitoring time. The correspondence between the collision level and the monitoring time can be pre-set by the management personnel of the vehicle control equipment and stored in a level-time mapping table. At this time, the monitoring time corresponding to the collision level can be found in the level-time mapping table.

[0091] In actual application, if an airbag control unit (ACU) is provided in the vehicle, the collision level can be determined according to the feedback signal of the ACU by obtaining the feedback signal.

[0092] If the vehicle is not equipped with an airbag controller or the signal of the airbag controller cannot be obtained, the sudden change value of the vehicle acceleration during the collision can be obtained, and the collision level can be determined based on the size of the sudden change value.

[0093] Step S202: If it is detected within the monitoring time that the safety sensing component in the vehicle is unlocked, the door to be opened is determined according to the setting position of the unlocked safety sensing component.

[0094] It should be noted that if during the monitoring period, the safety sensing components in the vehicle are detected to be unlocked, such as the seat belt is detected to be unfastened, or a person leaves the seat (that is, the weight detected by the seat sensor is significantly reduced), it means that the person in the car is trying to get out of the car to deal with the accident or wait for rescue. Therefore, the door to be opened can be determined based on the setting position of the unlocked safety sensing components. For example: after the collision stops, during the monitoring period, it is detected that the driver has unfastened the driver's seat belt and tried to get up and leave the seat. At this time, the driver's side door can be used as the door to be opened.

[0095] Step S203: If the duration is greater than or equal to the monitoring duration and the security sensing component in the vehicle is still not detected to be unlocked, all the doors of the vehicle are treated as doors to be opened.

[0096] It should be noted that if the duration is greater than or equal to the monitoring duration and the safety sensing components in the vehicle are still not detected to be unlocked, the people in the vehicle may be greatly affected by the collision and may have fallen into a coma or lost their ability to move. At this time, in order to facilitate rescue, all the doors of the vehicle can be treated as doors to be opened.

[0097] In a specific implementation, in order to avoid secondary damage to the occupants of the vehicle, step S202 in this embodiment may include:

[0098] If it is detected within the monitoring time that the safety sensing component in the vehicle is unlocked, obtaining the setting position of the unlocked safety sensing component;

[0099] Detect whether the collision level is greater than the preset risk level;

[0100] If the collision level is greater than a preset risk level, obtaining a collision direction;

[0101] The door to be opened is determined according to the collision direction and the setting position.

[0102] It should be noted that if the collision is severe, the side of the vehicle that was hit may be severely damaged, and the degree of deformation of this part of the vehicle body may be severe. If you still try to open the door of this part, the mechanical action when trying to open the door may cause further deformation of the vehicle, and may even further injure the people in the vehicle. In order to avoid this situation, when it is detected that the safety sensing component in the vehicle is unlocked, the setting position of the unlocked safety sensing component can be obtained, and then it is detected whether the collision level is greater than the preset risk level.

[0103] Among them, the preset risk level can be set in advance by the manager of the vehicle control equipment.

[0104] In actual use, if the collision level is greater than the preset risk level, it means that the vehicle is at a high collision distance. In order to avoid secondary injuries to the occupants of the vehicle, the collision direction can be obtained. Then, the door to be opened is determined based on the collision direction and the setting position of the unlocked safety sensing component.

[0105] The damaged side of the vehicle can be determined according to the collision direction. If the damaged side of the vehicle and the location of the unlocked safety sensing component are on the same side of the vehicle, the door on the opposite side of the damaged side of the vehicle can be used as the door to be opened.

[0106] And if the damaged side of the vehicle is on a different side from the setting position of the unlocked safety sensing component, the door on the side of the setting position of the unlocked safety sensing component can be used as the door to be opened.

[0107] For example, taking a left-hand drive car as an example, the unlocked safety sensing component is set at the main driving position. If the collision direction is to the left, the opposite door on the left, that is, the right door, can be used as the door to be opened; if the collision direction is to the right, the left door can be used as the door to be opened.

[0108] In actual use, the collision direction can be determined based on the sensors installed on the vehicle doors. For example, if the sensor of the left door is damaged, it can be determined that the collision direction is the left side.

[0109] In a specific implementation, in some cases, there may not be too many sensors installed on the vehicle door. In order to ensure that the collision direction can also be determined in this case, if the collision level is greater than the preset risk level, the step of obtaining the collision direction in this embodiment may include:

[0110] If the collision level is greater than the preset risk level, obtaining the mutation moment when the vehicle acceleration undergoes an instantaneous mutation;

[0111] Determine the direction reference time according to the mutation time and the preset duration;

[0112] The collision direction is determined according to the vehicle acceleration direction at the mutation moment and the vehicle acceleration direction at the direction reference moment.

[0113] It should be noted that when a vehicle is driving normally, its acceleration generally changes in the same direction. When a vehicle collides, the vehicle is subjected to a collision force and the direction of its acceleration changes suddenly. Therefore, if the collision direction cannot be detected based on the sensor installed on the door, you can try to determine the collision direction based on the change in the acceleration direction before and after the collision. Therefore, if the collision level is greater than the preset risk level, the mutation moment when the vehicle acceleration suddenly changes can be obtained, and this mutation moment can be regarded as the moment when the collision occurs.

[0114] In actual use, the direction reference moment can be obtained by subtracting the preset duration from the mutation moment.

[0115] The preset time length may be pre-set by the administrator of the vehicle control device. In order to avoid a long interval which would reduce the reference value of the data, the preset time length may be set to a smaller value, such as 0.5 seconds.

[0116] In specific applications, the vehicle acceleration direction at the direction reference time may be used as a reference to calculate the angle between the vehicle acceleration direction at the direction reference time and the vehicle acceleration direction at the sudden change time, and the collision direction may be determined based on the angle.

[0117] The vehicle acceleration direction may be acquired through an acceleration sensor provided in the vehicle.

[0118] For ease of understanding, now combined Figure 4 This is for illustration only, but not for limitation. Figure 4 Schematic diagram of the vehicle acceleration direction angle in this embodiment.

[0119] If the vehicle acceleration direction at the direction reference moment is X1, and the vehicle acceleration direction at the mutation moment is X2, it means that the vehicle is actually subjected to a force in the direction of F (i.e., the collision force generated during the collision), causing the vehicle acceleration direction to shift. Therefore, the collision direction can be determined. Taking X1 as the reference, the collision direction can be determined based on the angle value θ3 between X1 and X2.

[0120] In a specific implementation, in order to ensure the safety of the occupants of the vehicle as much as possible, if the collision level is greater than the preset risk level, after the step of obtaining the collision direction in this embodiment, the following may also be included:

[0121] determining a seat to be moved according to the collision direction;

[0122] Detecting whether there is a passenger behind the seat to be moved;

[0123] If there is no passenger, the seat to be moved is controlled to move backward.

[0124] It should be noted that when a violent collision occurs, the vehicle may undergo a large deformation. At this time, the space inside the vehicle may change greatly, and the occupants may be squeezed. In order to avoid squeezing of the occupants as much as possible and ensure their safety, you can try to move the seats to ensure that the space available for movement of the occupants is expanded. Therefore, the seats to be moved can be determined according to the direction of the collision.

[0125] For example: if the left side of the vehicle is hit, the left side seat of the vehicle can be used as the seat to be moved. Taking a left-hand drive vehicle as an example, the driver's seat and the seat behind the driver's seat can be used as seats to be moved.

[0126] In actual use, after determining the seat to be moved, it is also necessary to avoid squeezing the rear passengers due to the seat movement. Therefore, it is possible to detect whether there are passengers behind the seat to be moved. If there are passengers behind the seat to be moved, the seat can be abandoned to avoid squeezing the rear passengers.

[0127] If there is no passenger behind the seat to be moved, the seat to be moved can be controlled to move backward to expand the activity space for people in the car. In order to expand the activity space as much as possible, the seat to be moved can be controlled to move continuously backward until it reaches its limit.

[0128] Among them, when detecting whether there is a passenger, it can be determined by at least one of a seat sensor of a rear seat, an infrared sensor or image recognition.

[0129] This embodiment provides a vehicle control method. Since the detection time for monitoring the safety sensing components is set according to different collision levels, it is ensured that different responses can be made according to the severity of the collision.

[0130] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle control method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0131] The present application also provides a vehicle control device, wherein a first domain controller and a second domain controller are provided in the vehicle, wherein the first domain controller has a main line connected to a left door and a secondary line connected to a right door, and the second domain controller has a main line connected to the right door and a secondary line connected to the left door;

[0132] Please refer to Figure 5 , the vehicle control device comprises:

[0133] The monitoring module 10 is used to monitor the changes of the safety sensing components in the vehicle when the collision stop is detected;

[0134] A determination module 20, for determining a door to be opened according to the change;

[0135] The control module 30 is used to send an unlocking instruction to the door to be opened through the first domain controller and the second domain controller to unlock the door.

[0136] The vehicle control device provided by the present application adopts the vehicle control method in the above embodiment, which can solve the technical problem that the vehicle door lock is easily difficult to open once it is damaged by a collision by using a single controller to control the vehicle door lock in the related art. Compared with the prior art, the beneficial effects of the vehicle control device provided by the present application are the same as the beneficial effects of the vehicle control method provided by the above embodiment, and the other technical features in the vehicle control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0137] The present application provides a vehicle control device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle control method in the above-mentioned embodiment one.

[0138] Reference below Figure 6, which shows a schematic diagram of the structure of a vehicle control device suitable for implementing an embodiment of the present application. The vehicle control device in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The vehicle control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0139] like Figure 6 As shown, the vehicle control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the vehicle control device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0140] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0141] The vehicle control device provided by the present application adopts the vehicle control method in the above embodiment, which can solve the technical problem that the vehicle door lock is easily difficult to open once it is damaged by a collision by using a single controller in the related art. Compared with the prior art, the beneficial effects of the vehicle control device provided by the present application are the same as the beneficial effects of the vehicle control method provided by the above embodiment, and the other technical features in the vehicle control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0142] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0143] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present 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.

[0144] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle control method in the above-mentioned embodiment.

[0145] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0146] The computer-readable storage medium may be included in the vehicle control device; or may exist independently without being assembled into the vehicle control device.

[0147] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle control device, the vehicle control device: monitors the changes of the safety sensing components in the vehicle when the collision stop is detected; determines the door to be opened according to the changes, and detects the first domain controller and the second domain controller to determine the available domain controller; sends an unlocking instruction to the door to be opened through the available domain controller to unlock the door.

[0148] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0149] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0150] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0151] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle control method, and can solve the technical problem that the related art uses a single controller to control the door lock of the vehicle, which easily makes the vehicle door difficult to open once it is damaged by a collision. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the vehicle control method provided by the above-mentioned embodiment, and will not be repeated here.

[0152] The present application also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the vehicle control method as described above are implemented.

[0153] The computer program product provided by the present application can solve the technical problem that the vehicle door lock is difficult to open once it is damaged by a collision, because a single controller is used to control the vehicle door lock in the related art. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the vehicle control method provided by the above embodiment, and will not be described in detail here.

[0154] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: Applied to a vehicle, the vehicle is provided with a first domain controller and a second domain controller, the first domain controller has a main line connected to a left door and a secondary line connected to a right door, the second domain controller has a main line connected to the right door and a secondary line connected to the left door; The method comprises: Monitoring changes in safety sensing components in the vehicle when a crash stop is detected; Determine the door to be opened according to the change; An unlocking instruction is sent to the door to be opened through the first domain controller and the second domain controller to unlock the door.

2. The vehicle control method according to claim 1, characterized in that: Before monitoring the changes of the safety sensing components in the vehicle when the collision stop is detected, the method further includes: When a sudden instantaneous change in the acceleration of the vehicle is detected, a locking instruction is sent through the first domain controller and the second domain controller to lock the vehicle door; Monitoring the speed and / or location data of the vehicle; When the speed of the vehicle decreases to a preset threshold and / or the positioning data stops changing, it is determined that the collision stops.

3. The vehicle control method according to claim 1, characterized in that: The determining of the door to be opened according to the change comprises: Obtain the collision level and find the monitoring time corresponding to the collision level; If it is detected within the monitoring time that the safety sensing component in the vehicle is unlocked, determining the door to be opened according to the setting position of the unlocked safety sensing component; If the duration is greater than or equal to the monitoring duration and the security sensing component in the vehicle is still not detected to be unlocked, all the doors of the vehicle are regarded as doors to be opened.

4. The vehicle control method according to claim 3, characterized in that: If it is detected within the monitoring time that the safety sensing component in the vehicle is unlocked, determining the door to be opened according to the setting position of the unlocked safety sensing component includes: If it is detected within the monitoring time that the safety sensing component in the vehicle is unlocked, obtaining the setting position of the unlocked safety sensing component; Detect whether the collision level is greater than the preset risk level; If the collision level is greater than a preset risk level, obtaining a collision direction; The door to be opened is determined according to the collision direction and the setting position.

5. The vehicle control method according to claim 4, characterized in that: If the collision level is greater than the preset risk level, obtaining the collision direction includes: If the collision level is greater than the preset risk level, obtaining the mutation moment when the vehicle acceleration undergoes an instantaneous mutation; Determine the direction reference time according to the mutation time and the preset duration; The collision direction is determined according to the vehicle acceleration direction at the mutation moment and the vehicle acceleration direction at the direction reference moment.

6. The vehicle control method according to claim 4, characterized in that: If the collision level is greater than the preset risk level, after obtaining the collision direction, the method further includes: determining a seat to be moved according to the collision direction; Detecting whether there is a passenger behind the seat to be moved; If there is no passenger, the seat to be moved is controlled to move backward.

7. The vehicle control method according to any one of claims 1 to 6, characterized in that: After sending an unlocking instruction to the door to be opened by the first domain controller and the second domain controller to unlock the door, the method further includes: When the interval length of sending the unlocking instruction reaches a preset interval length, detecting the door lock open / closed state of the door to be opened; If the door lock opening and closing state is a locked state, a window opening instruction is sent to the door to be opened through the first domain controller and the second domain controller.

8. A vehicle control device, characterized in that: Applied to a vehicle, the vehicle is provided with a first domain controller and a second domain controller, the first domain controller has a main line connected to a left door and a secondary line connected to a right door, the second domain controller has a main line connected to the right door and a secondary line connected to the left door; The device comprises: A monitoring module, for monitoring changes in safety sensing components in the vehicle when a collision stop is detected; A determination module, used for determining a door to be opened according to the change; A control module is used to send an unlocking instruction to the door to be opened through the first domain controller and the second domain controller to unlock the door.

9. A vehicle control device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 7 are implemented.

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