Vehicle door control method and device, electronic equipment, storage medium and program product

Abstract

The embodiment of the invention relates to a vehicle door control method and device, electronic equipment, a storage medium and a program product. The method comprises the following steps: after a vehicle arrives at a vehicle using terminal point corresponding to a currently executed vehicle using service, detecting whether a passenger corresponding to the vehicle using service gets off the vehicle or not; if the passenger gets off, detecting whether the vehicle has an unclosed door or not; and if the vehicle has the unclosed vehicle door, executing a vehicle door closing process to close the vehicle door. By adopting the method, the vehicle door can be automatically closed.

Description

Technical Field

[0001] The disclosed embodiments relate to the field of autonomous driving technology, and in particular, to a vehicle door control method, device, electronic device, storage medium, and program product. Background Art

[0002] With the continuous development of autonomous driving technology, the automation level of autonomous taxis is also constantly improving, but the opening and closing of car doors are still done manually. For unmanned autonomous taxis, when passengers forget to close the car doors after getting off the car, there is a problem that the car doors cannot be closed automatically. Therefore, how to achieve automatic door closing has become an urgent problem to be solved. Summary of the invention

[0003] The embodiments of the present disclosure provide a vehicle door control method, device, electronic device, storage medium and computer program product, which can be used to realize automatic closing of a vehicle door.

[0004] In a first aspect, an embodiment of the present disclosure provides a door control method, which is applied to a vehicle, and the method includes: after the vehicle arrives at the vehicle use destination corresponding to the currently executed vehicle use business, detecting whether the passenger corresponding to the vehicle use business has got off the vehicle; if the passenger has got off the vehicle, detecting whether there are any open doors of the vehicle; if there are any open doors of the vehicle, executing the door closing process to close the door.

[0005] In one of the embodiments, detecting whether the passenger corresponding to the vehicle use service has got off the vehicle includes: detecting whether the vehicle has reached the vehicle use destination; if so, detecting whether the door is opened; if so, detecting through a seat pressure sensor and / or an infrared temperature sensor whether the number of passengers in the vehicle within a first preset time threshold is zero; if so, determining that the passenger has got off the vehicle.

[0006] In one of the embodiments, the method further includes: if it is detected that the passenger has got off the vehicle and there are no unclosed doors of the vehicle, then executing the door locking process after a second preset time threshold.

[0007] In one embodiment, executing the door closing process includes: detecting whether the number of times a door closing instruction is sent to a door closing device in the vehicle reaches a preset number threshold; if the preset number threshold is not reached, sending a door closing instruction to the door closing device to close the door.

[0008] In one of the embodiments, the method further includes: if a preset number threshold is reached, sending an alarm message to a vehicle control center, the alarm message is used to indicate that the vehicle door is abnormally closed.

[0009] In one of the embodiments, the method further includes: during the execution of the door closing process, detecting whether there is an obstacle on the movement path of the door when closing; if there is an obstacle, stopping the door closing process, or controlling the door to pause closing, and when it is determined that there is no obstacle on the movement path, controlling the door to continue closing.

[0010] In one embodiment, the method further includes: after the vehicle arrives at the vehicle use destination, if a door opening operation is detected, detecting whether a safe door opening condition is met; if the safe door opening condition is met, controlling the door to open in response to the door opening operation; if the safe door opening condition is not met, prohibiting responding to the door opening operation.

[0011] In one of the embodiments, the method further includes: after the vehicle arrives at the starting point corresponding to the vehicle use business, if a door opening instruction sent by a passenger terminal corresponding to the vehicle use business is received, the door opening process is executed in response to the door opening instruction.

[0012] In one of the embodiments, executing a door opening process in response to a door opening command includes: after receiving the door opening command, detecting whether a door opening condition is met; if the door opening condition is met, controlling the door to open.

[0013] In one of the embodiments, detecting whether the door opening condition is met includes: detecting whether the vehicle speed is less than a preset vehicle speed threshold; if it is less than the preset vehicle speed threshold, determining that the door opening condition is met.

[0014] In one of the embodiments, the method further includes: in the process of controlling the opening of the vehicle door, detecting whether there is an obstacle on the movement path of the vehicle door when opening; if there is an obstacle, controlling the vehicle door to pause opening, and when it is determined that there is no obstacle on the movement path, controlling the vehicle door to continue opening.

[0015] In the second aspect, the embodiment of the present disclosure also provides a door control method, which is applied to a passenger terminal, and the method includes: after successfully initiating a car use service, displaying a service interface, wherein the service interface includes a door opening option; if a trigger operation for the door opening option is detected, sending door opening information to the server to instruct the server to send a door opening instruction to the vehicle, so that after the vehicle reaches the starting point of the car use service currently being executed, it responds to the door opening instruction to execute the door opening process.

[0016] In one of the embodiments, the method further includes: if a door opening success message is received from the server, a door opening success pop-up window is displayed.

[0017] In one of the embodiments, the method further includes: if a door opening failure message is received from the server, a door opening failure pop-up window is displayed.

[0018] In one of the embodiments, the method further includes: after successfully initiating the car use service, if the door opening success information or door opening failure information sent by the server is not received within a third preset time threshold, a pop-up window indicating that the door cannot be opened temporarily is displayed.

[0019] In a third aspect, an embodiment of the present disclosure provides a door control device, which is arranged in a vehicle, and the device includes: a first detection module, which is used to detect whether a passenger corresponding to a vehicle use service has got off the vehicle after the vehicle reaches a destination corresponding to the vehicle use service currently being executed; a second detection module, which is used to detect whether there are any open doors of the vehicle if the passenger has got off the vehicle; and a first execution module, which is used to execute a door closing process to close the door if there are any open doors of the vehicle.

[0020] In one of the embodiments, the first detection module is specifically used to detect whether the vehicle has reached the end of the vehicle use; if so, to detect whether the door is opened; if so, to detect through a seat pressure sensor and / or an infrared temperature sensor whether the number of passengers in the vehicle within a first preset time threshold is zero; if so, to determine that the passengers have got off the vehicle.

[0021] In one embodiment, the device further includes a second execution module, which is used to execute the door locking process after a second preset time threshold if it is detected that the passenger has got off the vehicle and there are no unclosed doors of the vehicle.

[0022] In one embodiment, the first execution module is specifically used to detect whether the number of times a door closing instruction is sent to a door closing device in the vehicle reaches a preset number threshold; if the preset number threshold is not reached, a door closing instruction is sent to the door closing device to close the door.

[0023] In one of the embodiments, the device further comprises a sending module, which is used to send an alarm message to a vehicle control center if a preset number threshold is reached, and the alarm message is used to indicate that the vehicle door is abnormally closed.

[0024] In one of the embodiments, the first execution module is also used to detect whether there is an obstacle on the movement path of the door when closing during the execution of the door closing process; if there is an obstacle, the door closing process is stopped, or the door is controlled to pause closing, and when it is determined that there is no obstacle on the movement path, the door is controlled to continue closing.

[0025] In one embodiment, the device also includes a third detection module, which is used to detect whether the safe door opening conditions are met if a door opening operation is detected after the vehicle arrives at the vehicle use destination; if the safe door opening conditions are met, the vehicle door is controlled to open in response to the door opening operation; if the safe door opening conditions are not met, the door opening operation is prohibited from being responded to.

[0026] In one embodiment, the device also includes a third execution module, which is used to respond to the door opening instruction and execute the door opening process if it receives a door opening instruction sent by the passenger terminal corresponding to the vehicle use business after the vehicle arrives at the vehicle use starting point corresponding to the vehicle use business.

[0027] In one of the embodiments, the third execution module is specifically used to detect whether the door opening condition is met after receiving the door opening instruction; if the door opening condition is met, control the door to open.

[0028] In one of the embodiments, the third execution module is specifically used to detect whether the vehicle speed is less than a preset speed threshold; if it is less than the preset speed threshold, it is determined that the door opening condition is met.

[0029] In one of the embodiments, the third execution module is also used to detect whether there is an obstacle on the movement path of the door when it is opened during the process of controlling the opening of the door; if there is an obstacle, the door is controlled to pause opening, and when it is determined that there is no obstacle on the movement path, the door is controlled to continue opening.

[0030] In a fourth aspect, an embodiment of the present disclosure provides a door control device, which is arranged at a passenger terminal, and the device includes: a display module, which is used to display a service interface after successfully initiating a vehicle use service, wherein the service interface includes a door opening option; a sending module, which is used to send door opening information to a server if a trigger operation for the door opening option is detected, so as to instruct the server to send a door opening instruction to the vehicle, so that after the vehicle reaches the vehicle use starting point corresponding to the currently executed vehicle use service, it responds to the door opening instruction to execute the door opening process.

[0031] In one of the embodiments, the device further includes a first display module, which is used to display a pop-up window indicating successful door opening if a door opening success message is received from a server.

[0032] In one of the embodiments, the device further includes a second display module, which is used to display a door opening failure pop-up window if a door opening failure message is received from the server.

[0033] In one of the embodiments, the device also includes a third display module, which is used to display a pop-up window indicating that the door cannot be opened temporarily if the door opening success information or door opening failure information sent by the server is not received within a third preset time threshold after the car use service is successfully initiated.

[0034] In a fifth aspect, an embodiment of the present disclosure provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect or the second aspect when executing the computer program.

[0035] In a sixth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method described in the first aspect or the second aspect above is implemented.

[0036] In a seventh aspect, an embodiment of the present disclosure provides a computer program product, including a computer program, which implements the method described in the first aspect or the second aspect when executed by a processor.

[0037] The door control method, device, electronic device, storage medium and computer program product provided by the embodiments of the present disclosure detect whether the passenger corresponding to the vehicle use business has got off the vehicle after the vehicle arrives at the vehicle use destination corresponding to the vehicle use business. If the passenger has got off the vehicle, it detects whether there are any open doors of the vehicle. If there are any open doors of the vehicle, it executes the door closing process to achieve automatic closing of the door. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is an application environment diagram of a door control method in an embodiment;

[0039] Figure 2 is a flow chart of a door control method in one embodiment;

[0040] Figure 3 is a schematic flow chart of a vehicle door closing method in one embodiment;

[0041] Figure 4 is a flow chart of another vehicle door closing method in one embodiment;

[0042] Figure 5 A schematic flow chart of a vehicle door opening method in one embodiment;

[0043] Figure 6 is a flow chart of another vehicle door control method in one embodiment;

[0044] Figure 7 A business interface diagram in an embodiment;

[0045] Figure 8 Another business interface diagram in one embodiment;

[0046] Fig. 9 It is another business interface diagram in an embodiment;

[0047] Fig.10 It is another business interface diagram in an embodiment;

[0048] Fig.11A schematic diagram of a communication link in an embodiment;

[0049] Fig.12 A schematic diagram of a door state machine jump process in an embodiment;

[0050] Fig.13 is a structural block diagram of a door control device in one embodiment;

[0051] Fig.14 is a structural block diagram of another vehicle door control device in one embodiment;

[0052] Fig.15 The figure is a diagram of the internal structure of an electronic device in one embodiment. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure more clear, the embodiments of the present disclosure are further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present disclosure and are not used to limit the embodiments of the present disclosure.

[0054] With the continuous development of autonomous driving technology, the automation level of autonomous taxis is also constantly improving. However, the autonomous taxis (Robotaxi) currently on the market do not have electric door control functions, and they still need to be unlocked and opened manually. Therefore, there are two problems for unmanned autonomous taxis: first, passengers cannot remotely control the unlocking and opening of the doors before getting on the car, and second, if passengers forget to close the doors after getting off the car, the doors cannot be automatically closed and set.

[0055] Based on this, it is necessary to propose effective technical means to solve the above problems. The following introduces the technical solutions involved in the embodiments of the present disclosure in combination with the scenarios in which the embodiments of the present disclosure are applied.

[0056] The door control method provided by the embodiment of the present disclosure can be applied to Figure 1 In the system architecture shown. The system architecture includes a vehicle 101, a passenger terminal 102 and a server 103. Among them, the vehicle 101 can be a motor vehicle; the passenger terminal 102 can be a mobile phone, a tablet computer, an IPAD and a portable wearable device, etc.; the server 103 can be an independent server or a server cluster composed of multiple servers. Among them, the vehicle 101 is provided with a communication component, which can communicate with the passenger terminal 102 or the server 103 in a wireless manner. In addition, the passenger terminal 102 and the server 103 can communicate wirelessly or by wire. The embodiment of the present disclosure does not limit the communication method between the vehicle 101, the passenger terminal 102 and the server 103.

[0057] In one embodiment, Figure 2 As shown, a door control method is provided, which is applied to Figure 1 The vehicle in the example is used as an example to illustrate, including the following steps:

[0058] Step 201, after the vehicle arrives at the destination corresponding to the currently executed vehicle service, it is detected whether the passenger corresponding to the vehicle service has gotten off the vehicle.

[0059] Optionally, when the vehicle controller in the vehicle identifies that the passenger has arrived at the destination based on the order information, that is, has arrived at the end point of the vehicle use corresponding to the vehicle use business, the vehicle controller obtains the pressure signal of the seat pressure sensor installed under the passenger seat within a first preset time threshold, and determines whether the passenger has got off the vehicle based on the pressure signal obtained within the first preset time threshold.

[0060] The implementation method of judging whether the passenger has got off the bus based on the pressure signal obtained within the first preset time threshold can be that if the pressure signal within the first preset time threshold is at a high level, it is determined that the passenger has not got off the bus; if the pressure signal within the first preset time threshold is at a low level, it is determined that the passenger has got off the bus.

[0061] In another optional embodiment, the target number of passengers in the vehicle is obtained through an OMS (Order Management System), and then it is determined whether the number of passengers in the vehicle is zero based on the target number of passengers.

[0062] In addition, the vehicle controller may be an ACU (Area Control Unit) or a CAN-BUS (Controller Area Network BUS) node.

[0063] Step 202: If the passenger has gotten off the vehicle, check whether there are any doors of the vehicle that are not closed.

[0064] Optionally, if the passenger has already got off the vehicle, the vehicle controller obtains the door status and determines whether the vehicle has any open doors based on the door status. This can be achieved by the vehicle controller receiving a door status message sent by a door detection device in the vehicle. If the door status message includes information that the door is completely closed, it is determined that the vehicle has no open doors; if the door status message includes information that the door is not completely closed, it is determined that the vehicle has open doors.

[0065] Step 203, if there is an open door of the vehicle, execute the door closing process to close the door.

[0066] Optionally, when the passenger has gotten off the vehicle and there is an open door in the vehicle, a door closing instruction is sent to a door closing device in the vehicle. After receiving the door closing instruction, the door closing device performs a door closing operation to close the door.

[0067] The door closing device includes a control unit, a motor and a mechanical structure. The control unit is connected to the door closing device through a CAN bus, and the motor control unit is connected. The mechanical structure is connected to the motor and the door respectively. In this way, after the control unit receives the door closing command, it sends a driving signal to the motor to make the motor work. When the motor is working, the mechanical mechanism transmits the pulling force of the motor on the mechanical structure to the door to close the door.

[0068] In the above-mentioned door control method, after the vehicle arrives at the destination corresponding to the vehicle use service, it is detected whether the passenger corresponding to the vehicle use service has got off the vehicle. If the passenger has got off the vehicle, it is detected whether there are any open doors of the vehicle. If there are any open doors of the vehicle, the door closing process is executed to realize the automatic closing of the door.

[0069] In one embodiment, detecting whether the passenger corresponding to the vehicle service has gotten off the vehicle includes: detecting whether the vehicle has reached the destination; if so, detecting whether the door has been opened; if so, detecting whether the number of passengers in the vehicle is zero within a first preset time threshold through a seat pressure sensor and / or an infrared temperature sensor; if so, determining that the passenger has gotten off the vehicle. The first preset time threshold may be 10 seconds.

[0070] Optionally, a seat pressure sensor is installed under the passenger seat, and the seat pressure sensor is used to detect whether the number of passengers in the vehicle is zero within a first preset time threshold, including: the vehicle controller obtains the pressure signal of the seat pressure sensor within the first preset time threshold, if the pressure signal has a high level within the first preset time threshold, it is determined that the number of passengers is not zero; if the pressure signals within the first preset time threshold are all low levels, it is determined that the passengers have got off the vehicle.

[0071] An infrared temperature sensor is installed in the vehicle, and the infrared temperature sensor is used to detect whether the number of passengers in the vehicle is zero within a first preset time threshold, including: a vehicle controller obtains a temperature signal of the infrared temperature sensor within the first preset time threshold; if a temperature signal exists within a human body temperature threshold range within the first preset time, it is determined that the number of passengers is not zero; if all temperature signals within the first preset time are not within the human body temperature threshold range, it is determined that the passengers have got off the vehicle.

[0072] The method detects whether the number of passengers in the vehicle is zero within a first preset time threshold by using a seat pressure sensor and an infrared temperature sensor, including: a vehicle controller obtains a pressure signal of the seat pressure sensor and a temperature signal of the infrared temperature sensor within the first preset time threshold; if the pressure signal is at a high level within the first preset time threshold, and / or the temperature signal is within the human body temperature threshold range within the first preset time, it is determined that the number of passengers is not zero; if the pressure signals are all at a low level within the first preset time threshold, and the temperature signals are all outside the human body temperature threshold range within the first preset time, it is determined that the passengers have got off the vehicle.

[0073] It should be noted that the seat pressure sensor and the infrared temperature sensor are both connected to the vehicle controller via the CAN bus.

[0074] The door locking process is executed after the second preset time threshold, including: when there is no open door of the vehicle and the number of passengers in the vehicle is zero for a second preset time threshold, the door locking process is executed. If the number of passengers in the vehicle is zero but does not last for the second preset time threshold, the step of detecting whether the passenger corresponding to the vehicle service has got off the vehicle is re-executed.

[0075] If it is detected that the passenger has gotten off the vehicle and there is no unclosed door of the vehicle, the door locking process is performed after the second preset time threshold, wherein the second preset time threshold may be 10s.

[0076] In one embodiment, executing the door closing process includes: detecting whether the number of times a door closing instruction is sent to a door closing device in the vehicle reaches a preset number threshold; if the preset number threshold is not reached, sending a door closing instruction to the door closing device to close the door.

[0077] If the preset number of times is reached, an alarm message is sent to the vehicle control center, and the alarm message is used to indicate that the vehicle door is closed abnormally.

[0078] Among them, the preset number threshold can be 3 times.

[0079] In addition, if not all doors of the vehicle support automatic opening and closing, after determining that the door closing conditions are met, it is also necessary to determine whether the doors that are not currently closed support the automatic opening and closing function. If so, a detection is performed to determine whether the number of times a door closing command is sent to a door closing device in the vehicle reaches a preset number threshold. If the preset number threshold is not reached, a door closing command is sent to the door closing device to close the door. If the preset number threshold is reached, an alarm message is sent to the vehicle control center; if not, an alarm message is sent to the vehicle control center.

[0080] In one of the embodiments, the method further includes: during the execution of the door closing process, detecting whether there is an obstacle on the movement path of the door when closing; if there is an obstacle, stopping the door closing process, or controlling the door to pause closing, and when it is determined that there is no obstacle on the movement path, controlling the door to continue closing.

[0081] Optionally, after determining that the door closing conditions are met, the vehicle controller sends a door closing instruction to the door closing device. During the process of the door closing device controlling the door closing, it will receive the pressure signal sent by the pressure sensor in real time, and judge whether there is an obstacle on the movement path of the door when closing according to the pressure signal. If the pressure signal is greater than the second preset signal threshold, it means that there is an obstacle on the movement path of the door when closing, such as a passenger suddenly getting on the car. At this time, it can be set to directly stop the door closing process, or it can be set to control the door to pause closing. After the sixth preset time threshold, for example 30s, when it is judged according to the pressure signal that there is no obstacle, the door is controlled to continue closing until the closing angle of the door is zero.

[0082] The communication between the pressure sensor and the door closing device is via the CAN bus.

[0083] In this embodiment, during the execution of the door closing process, it is detected whether there is an obstacle on the movement path of the door when closing. If there is an obstacle, the door closing process is stopped, or the door is controlled to pause closing, which can avoid the door squeezing the passengers and causing danger during the closing process.

[0084] According to the above door closing process, if Figure 3 As shown, a flow chart of a door closing method is provided, and the door closing method includes:

[0085] After determining that the door closing condition is met, the vehicle controller sends a door closing instruction to the door closing device, and the door closing device starts to control the door to close.

[0086] When the door closing device controls the door to close, it will receive the pressure signal sent by the pressure sensor in real time, and judge whether there is an obstacle on the movement path of the door when closing according to the pressure signal, that is, judge whether the pressure sensor detects the obstacle.

[0087] If there is an obstacle, the door closing process is stopped and the door closing process is completed.

[0088] If there is no obstacle, the door is controlled to close until the closing angle of the door is zero, thus completing the door closing process.

[0089] In one embodiment, the method further includes: after the vehicle arrives at the vehicle use destination, if a door opening operation is detected, detecting whether a safe door opening condition is met; if the safe door opening condition is met, controlling the door to open in response to the door opening operation; if the safe door opening condition is not met, prohibiting responding to the door opening operation.

[0090] Optionally, detecting whether the safe door opening condition is met includes: detecting whether there is a target object behind the side of the vehicle, the target object including at least one of a vehicle, a person, and an animal; if there is no target object, it is determined that the safe door opening condition is met.

[0091] Controlling the door opening in response to the door opening operation includes: unlocking the door; prohibiting the door opening operation in response includes: keeping the door locked.

[0092] In one of the embodiments, after the vehicle door is unlocked, timing is performed to detect whether the door closing condition is met. If the door closing condition is met, the time spent on executing the steps of the door closing process is greater than or equal to a seventh preset time threshold, and an alarm message is sent to the vehicle control center.

[0093] According to the above door closing process, if Figure 4 As shown, a flow chart of another door closing method is provided, which is the most detailed door closing method, including:

[0094] After the vehicle arrives at the destination, if a door opening operation is detected, it is checked whether the safe door opening conditions are met; if the safe door opening conditions are met, the door is controlled to open in response to the door opening operation; if the safe door opening conditions are not met, the door opening operation is prohibited from being responded to.

[0095] After the door is opened in response to the door opening operation, the timing starts and it is detected whether the passenger corresponding to the car-using business has got off the car.

[0096] If the passenger has not gotten off the vehicle, the detection is continued to determine whether the safety door opening condition is met; if the safety door opening condition is met, the door is controlled to open in response to the door opening operation; if the safety door opening condition is not met, the step of prohibiting the response to the door opening operation is prohibited. If the passenger has gotten off the vehicle, the detection is performed to determine whether there are any doors that are not closed.

[0097] If it is detected that the passengers have got off the vehicle, and there is no unclosed door of the vehicle, and after it is detected that the number of passengers in the vehicle is zero for a second preset time threshold, the door locking process is executed.

[0098] If it is detected that the passenger has got off the vehicle, and there is no unclosed door of the vehicle, and it is detected that the number of passengers in the vehicle is zero and has not continued for a second preset time threshold, the step of detecting whether the passenger corresponding to the vehicle use business has got off the vehicle is re-executed.

[0099] If it is detected that the passenger has gotten off the vehicle and there are open doors on the vehicle, it is determined whether the currently open doors support the automatic opening and closing function.

[0100] If the door that is not currently closed does not support the automatic opening and closing function, an alarm message is sent to the vehicle control center.

[0101] If the currently open door supports the automatic opening and closing function, it is detected whether the number of times the door closing command is sent to the door closing device in the vehicle reaches a preset number threshold.

[0102] If the preset number of times is reached, an alarm message is sent to the vehicle control center.

[0103] If the preset number of times is not reached, a door closing instruction is sent to the door closing device to close the door.

[0104] Then execute the step of detecting whether the passenger corresponding to the car-using business has got off the car.

[0105] In addition, after the timing starts, if the process from the start of the timing to the execution of the door locking process is not completed within the seventh preset time threshold, an alarm message is sent to the vehicle control center.

[0106] In one of the embodiments, the method further includes: after the vehicle arrives at the starting point corresponding to the vehicle use business, if a door opening instruction sent by a passenger terminal corresponding to the vehicle use business is received, the door opening process is executed in response to the door opening instruction.

[0107] Among them, if the door opening instruction carries a door identification, the door opening process will only be executed for the door corresponding to the door identification when responding to the door opening instruction; if the door opening instruction does not carry a door identification, the response to the door opening instruction can be to execute the door opening process for all doors of the vehicle, or to execute the door opening process for any door of the vehicle, and preferentially, the door opening process will be executed for the door on the right rear side of the vehicle.

[0108] In addition, if the door opening instruction also carries the number of passengers, if the number of passengers is greater than the number threshold, the door opening process will be executed for the right front and right rear doors of the vehicle; if the number of passengers is less than or equal to the number threshold, the door opening process will be executed for the right rear door of the vehicle.

[0109] Optionally, in a scenario where the vehicle goes to pick up passengers, when the vehicle controller in the vehicle recognizes that it has arrived at the pick-up point based on the order information, that is, when it has arrived at the starting point of the vehicle corresponding to the currently executed vehicle service, and the passenger clicks on the door opening option on the service interface on the passenger terminal, the passenger terminal will directly send a door opening instruction to the vehicle, or send a door opening instruction to the vehicle through the server. In this way, if the vehicle controller directly receives or receives through the server a door opening instruction sent by a passenger terminal corresponding to the passenger terminal identifier in the order information, the vehicle controller will send another door opening instruction to the door opening device in the vehicle. When the door opening device receives the other door opening instruction, it controls the door to open.

[0110] It should be noted that the door opening command is sent by the passenger terminal to the vehicle, and the other door opening command is sent by the vehicle controller in the vehicle to the door opening device in the vehicle. The other door opening command may be exactly the same as the door opening command, or may be completely different, or the other door opening command may carry some of the information in the door opening command, which is not limited here.

[0111] In this embodiment, after the vehicle arrives at the starting point corresponding to the vehicle use service, if a door opening command sent by the passenger terminal corresponding to the vehicle use service is received, the door opening process is executed in response to the door opening command, thereby realizing automatic opening of the door.

[0112] In one of the embodiments, executing a door opening process in response to a door opening command includes: after receiving the door opening command, detecting whether a door opening condition is met; if the door opening condition is met, controlling the door to open.

[0113] Optionally, detecting whether the door opening condition is met includes: detecting whether the vehicle speed is less than a preset speed threshold; if it is less than the preset speed threshold, determining that the door opening condition is met.

[0114] For example, the current speed of the vehicle is obtained from a speed recording unit in the vehicle via the CAN bus. If the current speed of the vehicle is less than 4 km / h, it is determined that the door opening condition is met.

[0115] In this embodiment, the purpose of setting the vehicle speed to be less than the preset vehicle speed threshold is, first, when the vehicle is traveling at a very slow speed that will not affect the normal boarding of passengers, responding to the door opening command and controlling the door to open will not affect the passengers, and also avoid the process of the vehicle being turned off and restarted. Second, before the vehicle reaches the starting point, it will slow down, and when it reaches the preset vehicle speed threshold, it will respond to the door opening command and control the door to open, so that when the vehicle arrives at the starting point, the door is already open, and passengers can get on the vehicle quickly without waiting.

[0116] In one of the embodiments, the method further includes: in the process of controlling the opening of the vehicle door, detecting whether there is an obstacle on the movement path of the vehicle door when opening; if there is an obstacle, controlling the vehicle door to pause opening, and when it is determined that there is no obstacle on the movement path, controlling the vehicle door to continue opening.

[0117] Optionally, the vehicle controller sends another door opening instruction to the door opening device. During the process of the door opening device controlling the door opening, it will receive the radar signal sent by the radar in real time, and judge whether there is an obstacle on the movement path of the door when it is opened according to the radar signal. If the radar signals within the fourth preset time threshold are all greater than the first preset signal threshold and show an increasing trend, it means that there is an obstacle on the movement path of the door when it is opened, such as a moving automatic vehicle behind the vehicle. At this time, the door is controlled to pause opening. After the fifth preset time threshold, for example 30s, when it is judged according to the radar signal that there is no obstacle, the door is controlled to continue opening until the opening angle of the door reaches the angle threshold, that is, the opening angle of the door is the maximum angle.

[0118] The communication between the radar and the door opening device is through the CAN bus.

[0119] In this embodiment, during the process of controlling the opening of the vehicle door, it is detected whether there is an obstacle on the movement path of the vehicle door when it is opened. If there is an obstacle, the vehicle door is controlled to pause opening, which can avoid the vehicle door touching the obstacle during the opening process and causing danger.

[0120] According to the above door opening process, if Figure 5 As shown, a flow chart of a door opening method is provided, which is the most detailed door opening method, including:

[0121] After receiving the door opening command sent by the passenger terminal, the vehicle controller detects whether the vehicle speed is less than the preset speed threshold. If it is not less than the preset speed threshold, it will not respond to the door opening command and the door opening will be completed; if it is less than the preset speed threshold, it will send another door opening command to the door opening device, and the door opening device will start to control the door opening.

[0122] When the door opening device controls the door to open, it will receive the radar signal sent by the radar in real time, and judge whether there is an obstacle on the movement path of the door when it is opened according to the radar signal, that is, judge whether the radar detects the obstacle.

[0123] If there is an obstacle, after the fifth preset time threshold, it is determined based on the radar signal whether the radar has detected the obstacle.

[0124] If there is no obstacle, the door is controlled to open until the door opening angle reaches the angle threshold, thereby completing the door opening.

[0125] In one embodiment, Figure 6 As shown, another door control method is provided, which is applied to Figure 1 The passenger terminal in the embodiment of the present invention comprises the following steps:

[0126] Step 601, after successfully initiating the car service, display the service interface, wherein the service interface includes a door opening option.

[0127] like Figure 7 As shown, a business interface is provided, in which a door opening option is used as an example to open the right rear door option.

[0128] Step 602, if a trigger operation for the door opening option is detected, the door opening information is sent to the server to instruct the server to send a door opening instruction to the vehicle, so that after the vehicle reaches the vehicle use starting point corresponding to the currently executed vehicle use business, it responds to the door opening instruction to execute the door opening process.

[0129] Optionally, when the passenger terminal detects that the door opening is clicked, it sends door opening information to the server. The door opening information includes the passenger terminal identification. After receiving the door opening information, the server searches for order information based on the passenger terminal identification, searches for the vehicle identification based on the order information, and sends a door opening instruction to the vehicle corresponding to the vehicle identification.

[0130] After the vehicle receives the door opening command and executes the door opening process, if the door is opened successfully, a door opening success message will be sent to the server. If the door fails to open, a door opening failure message will be sent to the server.

[0131] In one embodiment, the method further includes: if the door opening success information sent by the server is received, a pop-up window of door opening success is displayed, such as Figure 8 As shown, at this time, Figure 7 The Open Right Rear Door option in the business interface is changed to the Door Already Open option, and the Door Already Open option is changed to a gray and cannot be triggered state.

[0132] In one embodiment, the method further includes: if a door opening failure message sent by the server is received, displaying a door opening failure pop-up window, such as Fig. 9 As shown, at this time, Figure 7 The option to open the right rear door in the business interface remains unchanged.

[0133] In one embodiment, the method further includes: after the vehicle service is successfully initiated, if the vehicle door opening success message or the vehicle door opening failure message sent by the server is not received within the third preset time threshold, a pop-up window indicating that the vehicle door cannot be opened temporarily is displayed, such as Fig.10 At this time, Figure 7The Open Right Rear Door option in the business interface is changed to gray and cannot be triggered.

[0134] In one embodiment, when the vehicle has not reached the user's starting point, the business interface is also as follows: Fig.10 shown.

[0135] In one embodiment, Fig.11 As shown, a communication link is provided. An application is installed on the passenger terminal. The application can call the service of the CAN-BUS node in the vehicle through gRPC (google Remote Procedure Call Protocol). The CAN-BUS node can communicate with other nodes in the autonomous driving system through the topic communication method in ROS (Robot Operating System) to obtain the status information of each node and the vehicle.

[0136] The CAN-BUS node communicates with the door controller in the vehicle through the CAN bus. The door controller includes a door opening device, a door closing device and a door detection device. The door controller communicates with the radar and the pressure sensor through the CAN bus.

[0137] In one embodiment, Fig.12 As shown, in combination with the vehicle side method embodiment and the passenger terminal side method embodiment, a schematic diagram of the door state machine jump process is provided, and the above complete process is briefly described below. Please refer to the above for the detailed process.

[0138] After the vehicle arrives at the starting point, when the passenger terminal detects the trigger operation for the door opening option, that is, when the door opening option is clicked, the vehicle controller will receive the door opening command, and then the door opening process will begin. During the door opening process, that is, when the door is opening, if an obstacle is detected, the door opening will be paused, and when it is determined that there is no obstacle on the door's movement path when it is opened, the door will continue to open until the door's opening angle reaches the maximum angle, completing the door opening process.

[0139] After the vehicle arrives at the destination, if it is detected that the passengers have got off the vehicle and there are open doors on the vehicle, a door closing command is sent to the door closing device. During the process of the door closing device controlling the door to close, if an obstacle is detected, the door closing is paused, and when it is determined that there is no obstacle on the movement path of the door when closing, the door is controlled to continue closing until the closing angle of the door reaches zero, thereby completing the door closing.

[0140] It should be understood that although Figure 2-6The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2-6 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0141] Based on the same inventive concept, the embodiment of the present application also provides a vehicle door control device for implementing the vehicle door control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle door control device embodiments provided below can refer to the limitations of the vehicle door control method above, and will not be repeated here.

[0142] In one embodiment, Fig.13 As shown, a vehicle door control device is provided, the vehicle door control device 1300 comprises: a first detection module 1301, a second detection module 1302 and a first execution module 1303, the first detection module 1301, the second detection module 1302 and the first execution module 1303 are all arranged in a vehicle, wherein:

[0143] The first detection module 1301 is used to detect whether the passenger corresponding to the currently executed car-using service has got off the vehicle after the vehicle arrives at the destination corresponding to the currently executed car-using service.

[0144] The second detection module 1302 is used to detect whether there are any doors of the vehicle that are not closed if the passenger has gotten off the vehicle.

[0145] The first execution module 1303 is used to execute a door closing process to close the door if there is an open door of the vehicle.

[0146] In one embodiment, the first detection module 1301 is specifically used to detect whether the vehicle has reached the end of the vehicle use; if so, to detect whether the door is opened; if so, to detect through a seat pressure sensor and / or an infrared temperature sensor whether the number of passengers in the vehicle within a first preset time threshold is zero; if so, to determine that the passengers have got off the vehicle.

[0147] In one embodiment, the device further includes a second execution module, which is used to execute the door locking process after a second preset time threshold if it is detected that the passenger has got off the vehicle and there are no unclosed doors of the vehicle.

[0148] In one embodiment, the first execution module 1303 is specifically used to detect whether the number of times a door closing instruction is sent to a door closing device in the vehicle reaches a preset number threshold; if the preset number threshold is not reached, a door closing instruction is sent to the door closing device to close the door.

[0149] In one of the embodiments, the device further comprises a sending module, which is used to send an alarm message to a vehicle control center if a preset number threshold is reached, and the alarm message is used to indicate that the vehicle door is abnormally closed.

[0150] In one embodiment, the first execution module 1303 is also used to detect whether there is an obstacle on the movement path of the door when closing during the execution of the door closing process; if there is an obstacle, the door closing process is stopped, or the door is controlled to pause closing, and when it is determined that there is no obstacle on the movement path, the door is controlled to continue closing.

[0151] In one embodiment, the device also includes a third detection module, which is used to detect whether the safe door opening conditions are met if a door opening operation is detected after the vehicle arrives at the vehicle use destination; if the safe door opening conditions are met, the vehicle door is controlled to open in response to the door opening operation; if the safe door opening conditions are not met, the door opening operation is prohibited from being responded to.

[0152] In one embodiment, the device also includes a third execution module, which is used to respond to the door opening instruction and execute the door opening process if it receives a door opening instruction sent by the passenger terminal corresponding to the vehicle use business after the vehicle arrives at the vehicle use starting point corresponding to the vehicle use business.

[0153] In one of the embodiments, the third execution module is specifically used to detect whether the door opening condition is met after receiving the door opening instruction; if the door opening condition is met, control the door to open.

[0154] In one of the embodiments, the third execution module is specifically used to detect whether the vehicle speed is less than a preset speed threshold; if it is less than the preset speed threshold, it is determined that the door opening condition is met.

[0155] In one of the embodiments, the third execution module is also used to detect whether there is an obstacle on the movement path of the door when it is opened during the process of controlling the opening of the door; if there is an obstacle, the door is controlled to pause opening, and when it is determined that there is no obstacle on the movement path, the door is controlled to continue opening.

[0156] In one embodiment, Fig.14As shown, another door control device is provided, the door control device 1400 includes: a display module 1401 and a sending module 1402, the display module 1401 and the sending module 1402 are both arranged in the passenger terminal, wherein:

[0157] The display module 1401 is used to display the service interface after the car service is successfully initiated, wherein the service interface includes a door opening option.

[0158] The sending module 1402 is used to send door opening information to the server if a trigger operation for the door opening option is detected, so as to instruct the server to send a door opening instruction to the vehicle, so that after the vehicle reaches the starting point corresponding to the currently executed vehicle use business, it responds to the door opening instruction to execute the door opening process.

[0159] In one of the embodiments, the device further includes a first display module, which is used to display a pop-up window indicating successful door opening if a door opening success message is received from a server.

[0160] In one of the embodiments, the device further includes a second display module, which is used to display a door opening failure pop-up window if a door opening failure message is received from the server.

[0161] In one of the embodiments, the device also includes a third display module, which is used to display a pop-up window indicating that the door cannot be opened temporarily if the door opening success information or door opening failure information sent by the server is not received within a third preset time threshold after the car use service is successfully initiated.

[0162] In one embodiment, an electronic device is provided. The electronic device may be a terminal, and its internal structure diagram may be as follows: Fig.15As shown. The electronic device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the electronic device is used to exchange information between the processor and the external device. The communication interface of the electronic device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a vehicle control method is implemented. The display unit of the electronic device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen may be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device may be a touch layer covered on the display screen, or may be a key, trackball or touchpad provided on the housing of the electronic device.

[0163] Those skilled in the art will understand that Fig.15 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0164] In an exemplary embodiment, an electronic device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiment when executing the computer program.

[0165] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiment are implemented.

[0166] In one embodiment, a computer program product is also provided. When the computer program is executed by a processor, the above method can be implemented. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, part or all of the above method can be implemented in whole or in part according to the process or function described in the embodiment of the present disclosure.

[0167] It should be noted that the solutions described in this specification and the embodiments, if they involve the processing of personal information, will be processed on the premise of having a legal basis (such as obtaining the consent of the subject of personal information, or being necessary for the performance of a contract, etc.), and will only be processed within the scope of regulations or agreements. If a user refuses to process personal information other than the necessary information for basic functions, it will not affect the user's use of basic functions.

[0168] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the embodiments of the present disclosure can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0169] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0170] The above-described embodiments only express several implementation methods of the embodiments of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the embodiments of the present disclosure, and these all belong to the protection scope of the embodiments of the present disclosure. Therefore, the protection scope of the patent of the embodiments of the present disclosure shall be subject to the attached claims.

Claims

1. A door control method, characterized in that: Applied to a vehicle, the method comprises: After the vehicle arrives at the destination corresponding to the currently executed vehicle service, detecting whether the passenger corresponding to the vehicle service has gotten off the vehicle; If the passenger has gotten off the vehicle, detecting whether there is an open door of the vehicle; If there is an unclosed door of the vehicle, the door closing process is executed to close the door.

2. The method according to claim 1, characterized in that: The detecting whether the passenger corresponding to the car-using service has gotten off the car includes: Detecting whether the vehicle has reached the vehicle use destination; If yes, detecting whether the door is opened; If yes, detecting by a seat pressure sensor and / or an infrared temperature sensor whether the number of passengers in the vehicle is zero within a first preset time threshold; If so, it is determined that the passenger has gotten off the bus.

3. The method according to claim 1, characterized in that The method further comprises: If it is detected that the passenger has gotten off the vehicle and there is no unclosed door of the vehicle, the door locking process is executed after a second preset time threshold.

4. The method according to any one of claims 1 to 3, characterized in that: The door closing process includes: Detecting whether the number of times a door closing instruction is sent to a door closing device in the vehicle reaches a preset number threshold; If the preset number of times is not reached, the door closing instruction is sent to the door closing device to close the door.

5. The method according to claim 4, characterized in that The method further comprises: If the preset number threshold is reached, an alarm message is sent to the vehicle control center, and the alarm message is used to indicate that the vehicle door is abnormally closed.

6. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: During the process of executing the door closing process, detecting whether there is an obstacle on the movement path of the door when closing; If there is an obstacle, the door closing process is stopped, or the door is controlled to be temporarily closed, and when it is determined that there is no obstacle on the motion path, the door is controlled to continue closing.

7. The method according to claim 1, characterized in that The method further comprises: After the vehicle arrives at the vehicle use destination, if a door opening operation is detected, detecting whether a safe door opening condition is met; If the safety door opening condition is met, the door is controlled to open in response to the door opening operation; if the safety door opening condition is not met, the door opening operation is prohibited from being responded to.

8. The method according to claim 1, characterized in that: The method further comprises: After the vehicle arrives at the vehicle use starting point corresponding to the vehicle use service, if a door opening instruction sent by the passenger terminal corresponding to the vehicle use service is received, the door opening process is executed in response to the door opening instruction.

9. The method according to claim 8, characterized in that The step of executing the door opening process in response to the door opening instruction includes: After receiving the door opening instruction, detecting whether the door opening condition is met; If the door opening condition is met, the door is controlled to open.

10. The method according to claim 9, characterized in that The detecting whether the door opening condition is met includes: Detecting whether the speed of the vehicle is less than a preset speed threshold; If it is less than the preset vehicle speed threshold, it is determined that the door opening condition is met.

11. The method according to claim 9, characterized in that The method further comprises: In the process of controlling the door to be opened, detecting whether there is an obstacle on the movement path of the door when it is opened; If there is an obstacle, the vehicle door is controlled to stop opening, and when it is determined that there is no obstacle on the movement path, the vehicle door is controlled to continue opening.

12. A vehicle door control method, characterized in that: Applied to a passenger terminal, the method comprises: After successfully initiating the car service, displaying the service interface, wherein the service interface includes a door opening option; If a trigger operation for the door opening option is detected, door opening information is sent to the server to instruct the server to send a door opening instruction to the vehicle, so that after the vehicle reaches the starting point corresponding to the currently executed vehicle use business, it responds to the door opening instruction to execute the door opening process.

13. The method according to claim 12, characterized in that The method further comprises: If the door opening success information sent by the server is received, a door opening success pop-up window is displayed.

14. The method according to claim 12, characterized in that The method further comprises: If the door opening failure information sent by the server is received, a door opening failure pop-up window is displayed.

15. The method according to claim 12, characterized in that The method further comprises: After the car use service is successfully initiated, if the door opening success information or door opening failure information sent by the server is not received within the third preset time threshold, a pop-up window indicating that the door cannot be opened temporarily is displayed.

16. A vehicle door control device, characterized in that: The device is arranged in a vehicle and comprises: A first detection module is used to detect whether the passenger corresponding to the currently executed vehicle use service has gotten off the vehicle after the vehicle arrives at the vehicle use destination corresponding to the currently executed vehicle use service; A second detection module is used to detect whether there is an open door of the vehicle if the passenger has gotten off the vehicle; The first execution module is used for executing a door closing process to close the door if there is an open door of the vehicle.

17. A vehicle door control device, characterized in that: Set up at the passenger terminal, the device includes: A display module, used to display a service interface after successfully initiating a car service, wherein the service interface includes a door opening option; The sending module is used to send door opening information to the server if a trigger operation for the door opening option is detected, so as to instruct the server to send a door opening instruction to the vehicle, so that after the vehicle reaches the vehicle use starting point corresponding to the currently executed vehicle use business, it responds to the door opening instruction to execute the door opening process.

18. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 11 or 12 to 15 are implemented.

19. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 or 12 to 15 are implemented.

20. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 or 12 to 15 are implemented.

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