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

Abstract

Embodiments of the present disclosure relate to a vehicle door control method and device, electronic equipment, storage medium and program product. The method comprises: after the vehicle reaches a use-end point corresponding to a use service currently performed, detecting whether a passenger corresponding to the use service has gotten off; if the passenger has gotten off, detecting whether the vehicle has an open door; and if the vehicle has an open door, performing a door closing process to close the door. The method can realize automatic closing of the door.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and in particular to a door control method, device, electronic device, storage medium, and program product. Background Technology

[0002] With the continuous development of autonomous driving technology, the automation level of autonomous taxis is also constantly improving. However, currently, the opening and closing of the doors is still done manually. For driverless autonomous taxis, there is a problem that the doors cannot be automatically closed when passengers get out and forget to close them. Therefore, how to achieve automatic door closing has become an urgent problem to be solved. Summary of the Invention

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

[0004] In a first aspect, this disclosure provides a vehicle door control method applied to a vehicle. The method includes: after the vehicle arrives at the destination corresponding to the currently executed vehicle service, detecting whether the passenger corresponding to the vehicle service has disembarked; if the passenger has disembarked, detecting whether there is an unclosed vehicle door; if there is an unclosed vehicle door, executing a door closing procedure to close the door.

[0005] In one embodiment, detecting whether the passenger corresponding to the ride-hailing service has disembarked 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 using a seat pressure sensor and / or an infrared temperature sensor; if so, determining that the passenger has disembarked.

[0006] In one embodiment, the method further includes: if it is detected that a passenger has disembarked and there are no open doors in the vehicle, then a door locking process is executed after a second preset time threshold.

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

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

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

[0010] In one embodiment, the method further includes: after the vehicle arrives at the destination, if a door opening operation is detected, then checking whether the safe door opening conditions are met; if the safe door opening conditions are met, then responding to the door opening operation to control the door to open; if the safe door opening conditions are not met, then prohibiting the response to the door opening operation.

[0011] In one embodiment, the method further includes: after the vehicle arrives at the vehicle rental point corresponding to the rental service, if a door opening command is received from the passenger terminal corresponding to the rental service, then the door opening process is executed in response to the door opening command.

[0012] In one embodiment, the door opening process in response to a door opening command includes: after receiving the door opening command, detecting whether the door opening conditions are met; if the door opening conditions are met, controlling the door to open.

[0013] In one embodiment, 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, then it is determined that the door opening condition is met.

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

[0015] Secondly, this disclosure also provides a door control method applied to a passenger terminal. The method includes: after successfully initiating a car rental 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 a server to instruct the server to send a door opening command to the vehicle, so that after the vehicle arrives at the car rental starting point corresponding to the currently executed car rental service, it responds to the door opening command and executes the door opening process.

[0016] In one embodiment, 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 embodiment, 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 embodiment, the method further includes: after successfully initiating a car rental service, if no door opening success information or door opening failure information is received from the server within a third preset time threshold, a pop-up window indicating that the door cannot be opened temporarily is displayed.

[0019] Thirdly, this disclosure provides a vehicle door control device, installed in a vehicle, the device comprising: a first detection module, configured to detect whether the passenger corresponding to the currently executed ride-hailing service has disembarked after the vehicle arrives at the ride-hailing destination; a second detection module, configured to detect whether there is an unclosed door in the vehicle if the passenger has disembarked; and a first execution module, configured to execute a door closing procedure to close the door if there is an unclosed door in the vehicle.

[0020] In one embodiment, the first detection module is specifically used to detect whether the vehicle has reached its destination; if so, it detects whether the door has been opened; if so, it detects whether the number of passengers in the vehicle is zero within a first preset time threshold using a seat pressure sensor and / or an infrared temperature sensor; if so, it determines that the passengers have disembarked.

[0021] In one embodiment, the device further includes a second execution module, configured to execute a door locking process after a second preset time threshold if it is detected that a passenger has disembarked and there are no open doors in the vehicle.

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

[0023] In one embodiment, the device further includes a sending module for sending an alarm message to the vehicle control center if a preset number of times a threshold is reached. The alarm message is used to indicate that the vehicle door is not closing properly.

[0024] In one embodiment, the first execution module is further configured to detect whether there is an obstacle on the movement path of the door during the execution of the door closing process; if there is an obstacle, stop the execution of the door closing process, or control the door to pause closing, and control the door to continue closing when it is determined that there is no obstacle on the movement path.

[0025] In one embodiment, the device further includes a third detection module, which, after the vehicle arrives at its destination, detects whether a safe door opening condition is met if a door opening operation is detected; if the safe door opening condition is met, the module responds to the door opening operation and controls the door to open; if the safe door opening condition is not met, the module prohibits responding to the door opening operation.

[0026] In one embodiment, the device further includes a third execution module, which, after the vehicle arrives at the vehicle rental point corresponding to the rental service, if it receives a door opening command sent by the passenger terminal corresponding to the rental service, responds to the door opening command and executes the door opening process.

[0027] In one embodiment, the third execution module is specifically used to detect whether the door opening conditions are met after receiving the door opening command; if the door opening conditions are met, then control the door to open.

[0028] In one embodiment, 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 embodiment, the third execution module is further configured to detect whether there is an obstacle on the movement path of the door during the process of controlling the door to open; if there is an obstacle, control the door to pause opening, and control the door to continue opening when it is determined that there is no obstacle on the movement path.

[0030] Fourthly, this disclosure provides a vehicle door control device, installed on a passenger terminal. The device includes: a display module, used to display a service interface after a successful initiation of a ride-hailing service, wherein the service interface includes a door opening option; and a sending module, used to send door opening information to a server if a trigger operation for the door opening option is detected, to instruct the server to send a door opening command to the vehicle, so that after the vehicle arrives at the ride-hailing starting point corresponding to the currently executed ride-hailing service, it responds to the door opening command and executes the door opening process.

[0031] In one embodiment, the device further includes a first display module, which displays a pop-up window indicating successful door opening if it receives a door opening success message from the server.

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

[0033] In one embodiment, the device further includes a third display module, which, after successfully initiating a car rental service, displays a pop-up window indicating that the car door cannot be opened temporarily if no door opening success information or door opening failure information is received from the server within a third preset time threshold.

[0034] Fifthly, embodiments of this disclosure provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the methods described in the first or second aspect above.

[0035] In a sixth aspect, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the methods described in the first or second aspect above.

[0036] In a seventh aspect, embodiments of this disclosure provide a computer program product, including a computer program that, when executed by a processor, implements the methods described in the first or second aspect above.

[0037] The vehicle door control method, device, electronic device, storage medium, and computer program product provided in this disclosure automatically close the vehicle door by detecting whether the passenger corresponding to the vehicle service has disembarked after the vehicle arrives at the destination corresponding to the vehicle service. If the passenger has disembarked, the system detects whether there are any unclosed vehicle doors. If there are any unclosed vehicle doors, the system executes the door closing process. Attached Figure Description

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

[0039] Figure 2 This is a flowchart illustrating a door control method in one embodiment;

[0040] Figure 3 This is a flowchart illustrating a door closing method in one embodiment;

[0041] Figure 4 This is a flowchart illustrating another door closing method in one embodiment;

[0042] Figure 5 This is a flowchart illustrating a method for opening a car door in one embodiment;

[0043] Figure 6 This is a flowchart illustrating another door control method in one embodiment;

[0044] Figure 7 This is a business interface diagram in one embodiment;

[0045] Figure 8 This is another business interface diagram in one embodiment;

[0046] Figure 9 This is another business interface diagram in one embodiment;

[0047] Figure 10 This is another business interface diagram in one embodiment;

[0048] Figure 11This is a schematic diagram of a communication link in one embodiment;

[0049] Figure 12 This is a schematic diagram of a door state machine transition process in one embodiment;

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

[0051] Figure 14 This is a structural block diagram of another door control device in one embodiment;

[0052] Figure 15 This is an internal structural diagram of an electronic device in one embodiment. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of this disclosure and are not intended to limit the embodiments of this disclosure.

[0054] With the continuous development of autonomous driving technology, the automation level of autonomous taxis is also constantly improving. However, currently available autonomous taxis (Robotaxi) do not have electric door control functions, and passengers still need to manually unlock and open the doors. Therefore, there are two problems with driverless autonomous taxis: first, passengers cannot remotely control the unlocking and opening of the doors before getting in; second, if passengers forget to close the doors after getting out, the doors cannot be automatically closed or set.

[0055] Therefore, it is necessary to propose effective technical means to solve the above problems. The technical solutions involved in the embodiments of this disclosure will be introduced below in conjunction with the application scenarios of the embodiments of this disclosure.

[0056] The door control method provided in this disclosure can be applied to, for example... Figure 1 The system architecture shown includes a vehicle 101, a passenger terminal 102, and a server 103. The vehicle 101 can be a motor vehicle; the passenger terminal 102 can be a mobile phone, tablet, iPad, or portable wearable device; and the server 103 can be a standalone server or a server cluster consisting of multiple servers. The vehicle 101 is equipped with a communication component, allowing it to communicate wirelessly with the passenger terminal 102 or the server 103. Furthermore, the passenger terminal 102 and the server 103 can communicate wirelessly or via a wired connection. This embodiment of the disclosure does not limit the communication method between the vehicle 101, the passenger terminal 102, and the server 103.

[0057] In one embodiment, such as Figure 2 As shown, a door control method is provided, which is applied to... Figure 1 Taking the vehicle in question as an example, the steps include:

[0058] Step 201: After the vehicle arrives at the destination corresponding to the currently executed car rental service, check whether the passenger corresponding to the car rental service has gotten off the vehicle.

[0059] Optionally, when the vehicle controller in the vehicle recognizes that the passenger has arrived at the destination according to the order information, that is, after arriving at the destination corresponding to the car rental service, the vehicle controller acquires 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 gotten off the vehicle based on the pressure signal acquired within the first preset time threshold.

[0060] The method for determining whether a passenger has disembarked based on the pressure signal obtained within the first preset time threshold can be as follows: if the pressure signal is at a high level within the first preset time threshold, it is determined that the passenger has not disembarked; if the pressure signal is at a low level within the first preset time threshold, it is determined that the passenger has disembarked.

[0061] In another optional embodiment, the target number of passengers in the vehicle is obtained through 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 can be an ACU (Area Control Unit) or a CAN-BUS (Controller Area Network BUS) node.

[0063] Step 202: If the passenger has already disembarked, check if there are any unclosed doors on the vehicle.

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

[0065] Step 203: If there are any unclosed doors in the vehicle, execute the door closing procedure to close the doors.

[0066] Optionally, if passengers have disembarked and there are still open doors on the vehicle, a door closing command is sent to the vehicle's door closing device. Upon receiving the command, the door closing device performs a closing operation to shut 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 via a CAN bus, the motor control unit is connected, and the mechanical structure is connected to both the motor and the door. In this way, after the control unit receives the door closing command, it sends a drive 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 car rental service, it is detected whether the passenger corresponding to the car rental service has gotten off the vehicle. If the passenger has gotten off the vehicle, it is detected whether there is an unclosed door in the vehicle. If there is an unclosed door in the vehicle, the door closing process is executed, thereby realizing the automatic closing of the car door.

[0069] In one embodiment, detecting whether a passenger has disembarked from the ride-hailing service includes: detecting whether the vehicle has reached its destination; if so, detecting whether the vehicle door has been opened; if so, detecting whether the number of passengers in the vehicle is zero within a first preset time threshold using a seat pressure sensor and / or an infrared temperature sensor; if so, determining that the passenger has disembarked. The first preset time threshold can be 10 seconds.

[0070] Optionally, a seat pressure sensor is installed under the passenger seat. The seat pressure sensor detects whether the number of passengers in the vehicle is zero within a first preset time threshold. This includes: the vehicle controller acquiring the pressure signal from the seat pressure sensor within the first preset time threshold; if the pressure signal is high within the first preset time threshold, it is determined that the number of passengers is not zero; if the pressure signal is low within the first preset time threshold, it is determined that the passengers have disembarked.

[0071] The vehicle is equipped with an infrared temperature sensor. The infrared temperature sensor detects whether the number of passengers in the vehicle is zero within a first preset time threshold. This includes: the vehicle controller acquiring the temperature signal from the infrared temperature sensor within the first preset time threshold; if a temperature signal exists within the human body temperature threshold range within the first preset time threshold, then it is determined that the number of passengers is not zero; if the temperature signal does not exist within the human body temperature threshold range within the first preset time threshold, then it is determined that the passengers have disembarked.

[0072] The system detects whether the number of passengers in the vehicle is zero within a first preset time threshold using a seat pressure sensor and an infrared temperature sensor. This includes: the vehicle controller acquiring the pressure signal from the seat pressure sensor and the temperature signal from the infrared temperature sensor within the first preset time threshold; if the pressure signal is high within the first preset time threshold, and / or if the temperature signal is within the human body temperature threshold range within the first preset time threshold, then the number of passengers is determined to be non-zero; if the pressure signal is low within the first preset time threshold, and the temperature signal is not within the human body temperature threshold range within the first preset time threshold, then the passengers have disembarked.

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

[0074] The door locking process after the second preset time threshold includes: if there are no open doors in the vehicle and the number of passengers in the vehicle remains zero for the second preset time threshold, then the door locking process is executed. If the number of passengers in the vehicle remains zero for less than the second preset time threshold, then the step of checking whether the passengers corresponding to the ride-hailing service have disembarked is re-executed.

[0075] If it is detected that a passenger has disembarked and there are no open doors on the vehicle, the door locking process will be executed after a second preset time threshold. The second preset time threshold can be 10 seconds.

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

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

[0078] The preset threshold for the number of times can be 3.

[0079] In addition, for cases where not all vehicle doors support automatic opening and closing, after confirming that the door closing conditions are met, it is also necessary to determine whether the currently open door supports the automatic opening and closing function. If so, the process involves checking whether the number of times the door closing command has been sent to the door closing device in the vehicle has reached a preset threshold. If the preset threshold has not been reached, a door closing command is sent to the door closing device to close the door. If the preset threshold has been reached, an alarm message is sent to the vehicle control center. Otherwise, an alarm message is sent to the vehicle control center.

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

[0081] Optionally, after determining that the door closing conditions are met, the vehicle controller sends a door closing command to the door closing device. During the door closing process, the door closing device receives pressure signals from the pressure sensor in real time and determines whether there are obstacles in the door's movement path during closing based on the pressure signals. If the pressure signal is greater than the second preset signal threshold, it indicates that there are obstacles in the door's movement path during closing, such as when a passenger suddenly boards the vehicle. In this case, it can be set to directly stop the door closing process or to control the door to pause closing. After the sixth preset time threshold, such as 30 seconds, if it is determined that there are no obstacles based on the pressure signals, the door will continue to close until the door's closing angle 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 door closing process, it is detected whether there are obstacles in the door's movement path when it closes. If there are obstacles, the door closing process is stopped or the door is controlled to pause closing, which can prevent the door from squeezing passengers and causing danger during the closing process.

[0084] According to the above door closing procedure, such as Figure 3 The diagram shows a flowchart of a door closing method, which includes:

[0085] After determining that the door closing conditions are met, the vehicle controller sends a door closing command to the door closing device, which then begins to control the door to close.

[0086] During the process of the door closing device controlling the door to close, it receives pressure signals sent by pressure sensors in real time. Based on the pressure signals, it determines whether there are obstacles in the door's movement path when closing, that is, whether the pressure sensors detect obstacles.

[0087] If an obstacle is present, the door closing process will be stopped, and the door will be closed.

[0088] If there are no obstacles, the door will be closed until the closing angle is zero, thus completing the closing process.

[0089] In one embodiment, the method further includes: after the vehicle arrives at the destination, if a door opening operation is detected, then checking whether the safe door opening conditions are met; if the safe door opening conditions are met, then responding to the door opening operation to control the door to open; if the safe door opening conditions are not met, then prohibiting the response to the door opening operation.

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

[0091] Responding to door opening operations includes unlocking the door; disabling door opening operations includes keeping the door locked.

[0092] In one embodiment, after the car door is unlocked, a timer is started. If the door closing condition is met, and if the door closing condition is met, the time taken to execute the door closing process is greater than or equal to a seventh preset time threshold, then an alarm message is sent to the vehicle control center.

[0093] According to the above door closing procedure, such as Figure 4 As shown, a flowchart illustrating another method for closing car doors is provided. This is the most detailed method for closing car doors, including:

[0094] After the vehicle arrives at its destination, if a door opening operation is detected, the system checks whether the safe door opening conditions are met. If the safe door opening conditions are met, the system responds to the door opening operation and controls the door to open. If the safe door opening conditions are not met, the system prohibits responding to the door opening operation.

[0095] After the door is opened in response to the door opening operation, a timer is started, and it is checked whether the passenger corresponding to the ride-hailing service has disembarked.

[0096] If the passenger has not disembarked, the system continues to check if the safety conditions for opening the door are met. If the safety conditions are met, the system responds to the door opening operation and controls the door to open. If the safety conditions are not met, the system prohibits responding to the door opening operation. If the passenger has already disembarked, the system checks if there are any unclosed doors on the vehicle.

[0097] If it is detected that a passenger has disembarked, and there are no open doors in the vehicle, and the number of passengers in the vehicle remains zero for a second preset time threshold, then the door locking process is executed.

[0098] If it is detected that a passenger has disembarked, and there are no open doors in the vehicle, and the number of passengers in the vehicle has been zero for a period of time less than the second preset time threshold, then the step of detecting whether the passenger corresponding to the ride-hailing service has disembarked will be executed again.

[0099] If it is detected that a passenger has disembarked and there are any open doors on the vehicle, then it is determined whether the open doors support the automatic opening and closing function.

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

[0101] If the currently open door supports automatic opening and closing, then check whether the number of times the door closing command is sent to the door closing device in the vehicle has reached a preset threshold.

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

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

[0104] Next, perform the step of checking whether the passengers corresponding to the vehicle rental service have disembarked.

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

[0106] In one embodiment, the method further includes: after the vehicle arrives at the vehicle rental point corresponding to the rental service, if a door opening command is received from the passenger terminal corresponding to the rental service, then the door opening process is executed in response to the door opening command.

[0107] If the door opening command includes a door identifier, the door opening procedure will only be executed on the door corresponding to the door identifier when responding to the door opening command; if the door opening command does not include a door identifier, the door opening procedure can be executed on all doors of the vehicle or on any one door of the vehicle, with priority given to the door on the right rear side of the vehicle.

[0108] In addition, if the door opening command also includes the number of passengers, if the number of passengers is greater than the threshold, the door opening procedure will be executed on both the front right and rear right doors of the vehicle; if the number of passengers is less than or equal to the threshold, the door opening procedure will be executed on the rear right door of the vehicle.

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

[0110] It should be noted that the door opening command is sent from the passenger terminal to the vehicle, while the other door opening command is sent from the vehicle controller to the door opening device in the vehicle. The other door opening command can be exactly the same as the door opening command, or it can be completely different. It can also carry some information from the door opening command. No restrictions are imposed here.

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

[0112] In one embodiment, the door opening process in response to a door opening command includes: after receiving the door opening command, detecting whether the door opening conditions are met; if the door opening conditions are met, controlling the door to open.

[0113] Optionally, the detection of whether the door opening conditions are met includes: detecting whether the vehicle speed is less than a preset speed threshold; if it is less than the preset speed threshold, then the door opening conditions are determined to be met.

[0114] For example, the vehicle's current speed can be obtained from the vehicle speed recording unit via the CAN bus. If the vehicle's current speed is less than 4 km / h, then the conditions for opening the door are met.

[0115] In this embodiment, setting the vehicle speed to be less than a preset speed threshold serves two purposes. First, when the vehicle is traveling at a very low speed that will not affect passengers' normal boarding, responding to the door opening command and controlling the door to open will not affect passengers, and it also avoids the process of turning off and restarting the vehicle. Second, the vehicle will slow down before reaching the pick-up point, and when it reaches the preset speed threshold, it will respond to the door opening command and control the door to open. In this way, the door is already open when the vehicle arrives at the pick-up point, and passengers can board quickly without waiting.

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

[0117] Optionally, the vehicle controller sends another door opening command to the door opening device. During the door opening process, the door opening device receives radar signals from the radar in real time and determines whether there are obstacles in the door's movement path during opening based on the radar signals. 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 indicates that there are obstacles in the door's movement path during opening, such as an automatic vehicle moving behind the vehicle. At this time, the door opening is paused. After the fifth preset time threshold, such as 30 seconds, if it is determined from the radar signals that there are no obstacles, the door continues to open until the door opening angle is the angle threshold, that is, the door opening angle is the maximum angle.

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

[0119] In this embodiment, during the process of controlling the opening of the car door, it is detected whether there is an obstacle in the movement path of the car door when it is opening. If there is an obstacle, the opening of the car door is stopped, which can avoid the car door from touching the obstacle and causing danger during the opening process.

[0120] According to the above door opening procedure, such as Figure 5 The diagram shown illustrates a method for opening a car door, which is the most detailed method for opening a car door, including:

[0121] After receiving a door opening command from the passenger terminal, the vehicle controller checks whether the vehicle speed is less than a preset speed threshold. If it is not less than the preset speed threshold, it does not respond to the door opening command, and the door opening ends; if it is less than the preset speed threshold, it sends another door opening command to the door opening device, and the door opening device begins to control the door to open.

[0122] During the process of controlling the opening of the car door by the door opening device, the radar signal sent by the radar is received in real time. Based on the radar signal, it is determined whether there is an obstacle in the movement path of the door when it is opening, that is, whether the radar has detected an obstacle.

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

[0124] If there are no obstacles, the door will be opened until the opening angle reaches the threshold, thus completing the opening process.

[0125] In one embodiment, such as Figure 6 As shown, another door control method is provided, applied to Figure 1 The method includes the following steps:

[0126] Step 601: After successfully initiating the car rental service, the service interface is displayed, which includes the option to open the car door.

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

[0128] Step 602: 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 command to the vehicle so that after the vehicle arrives at the starting point corresponding to the currently executed car use service, it responds to the door opening command and executes the door opening process.

[0129] Optionally, when the passenger terminal detects that the door has been opened and clicked, it sends door opening information to the server. The door opening information includes the passenger terminal identifier. After receiving the door opening information, the server finds the order information based on the passenger terminal identifier, finds the vehicle identifier based on the order information, and sends a door opening command to the vehicle corresponding to the vehicle identifier.

[0130] After the vehicle receives the door opening command, it executes the door opening process. If the door opens successfully, it will send a door opening success message to the server; if the door opens unsuccessfully, it will send a door opening failure message to the server.

[0131] In one embodiment, the method further includes: if a door opening success message is received from the server, then a door opening success pop-up window is displayed, such as... Figure 8 As shown, at this time, Figure 7 The option to open the right rear door in the business interface has been changed to the option that the door is already open, and the option that the door is already open has been changed to a grayed-out, non-triggerable state.

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

[0133] In one embodiment, the method further includes: after successfully initiating a car rental service, if no door opening success information or door opening failure information is received from the server within a third preset time threshold, a pop-up window indicating that the door cannot be opened temporarily is displayed. Figure 10 As shown. At this time, Figure 7The option to open the right backdoor in the business interface has been changed to a grayed-out, untriggerable state.

[0134] In one embodiment, the business interface also displays the same message even before the vehicle reaches the user's starting point. Figure 10 As shown.

[0135] In one embodiment, such as Figure 11 As shown, a communication link is provided. An application is installed on the passenger terminal. The application can call the services 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 vehicle's door controller via the CAN bus. The door controller includes a door opening device, a door closing device, and a door detection device. The door controller also communicates with radar and pressure sensors via the CAN bus.

[0137] In one embodiment, such as Figure 12 As shown, combining the method embodiments on the vehicle side and the method embodiments on the passenger terminal side, a schematic diagram of the door state machine transition process is provided. The complete process described above is briefly described below. For detailed process, please refer to the above text.

[0138] After the vehicle arrives at the pick-up point, when the passenger terminal detects a trigger operation for the door opening option (i.e., the door opening option is clicked), the vehicle controller receives the door opening command and initiates the door opening process. During the door opening process, if an obstacle is detected, the door opening is paused. Once it is determined that there are no obstacles in the door's opening path, the door continues to open until it reaches its maximum opening angle, thus completing the door opening.

[0139] After the vehicle arrives at its destination, if it detects that the passenger has disembarked and there are any unclosed doors, it sends a door closing command to the door closing device. During the door closing process, if an obstacle is detected, the door closing device will pause and continue closing the door once it is determined that there are no obstacles in the door's movement path during closing, until the door's closing angle reaches zero, thus completing the door closing.

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

[0141] Based on the same inventive concept, this application also provides a door control device for implementing the door control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of the one or more door control device embodiments provided below can be found in the limitations of the door control method described above, and will not be repeated here.

[0142] In one embodiment, such as Figure 13 As shown, a vehicle door control device is provided. The vehicle door control device 1300 includes: 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 disposed in the vehicle.

[0143] The first detection module 1301 is used to detect whether the passenger corresponding to the current ride-hailing service has gotten off the vehicle after the vehicle arrives at the destination corresponding to the current ride-hailing service.

[0144] The second detection module 1302 is used to detect whether there are any unclosed doors in the vehicle if the passenger has already disembarked.

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

[0146] In one embodiment, the first detection module 1301 is specifically used to detect whether the vehicle has reached the destination; if so, it detects whether the door has been opened; if so, it detects whether the number of passengers in the vehicle is zero within a first preset time threshold using a seat pressure sensor and / or an infrared temperature sensor; if so, it determines that the passengers have disembarked.

[0147] In one embodiment, the device further includes a second execution module, configured to execute a door locking process after a second preset time threshold if it is detected that a passenger has disembarked and there are no open doors in the vehicle.

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

[0149] In one embodiment, the device further includes a sending module for sending an alarm message to the vehicle control center if a preset number of times is reached. The alarm message is used to indicate that the vehicle door is not closing properly.

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

[0151] In one embodiment, the device further includes a third detection module, which, after the vehicle arrives at its destination, detects whether a safe door opening condition is met if a door opening operation is detected; if the safe door opening condition is met, the module responds to the door opening operation and controls the door to open; if the safe door opening condition is not met, the module prohibits responding to the door opening operation.

[0152] In one embodiment, the device further includes a third execution module, which, after the vehicle arrives at the vehicle rental point corresponding to the rental service, if it receives a door opening command sent by the passenger terminal corresponding to the rental service, responds to the door opening command and executes the door opening process.

[0153] In one embodiment, the third execution module is specifically used to detect whether the door opening conditions are met after receiving the door opening command; if the door opening conditions are met, then control the door to open.

[0154] In one embodiment, 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 embodiment, the third execution module is further configured to detect whether there is an obstacle on the movement path of the door during the process of controlling the door to open; if there is an obstacle, control the door to pause opening, and control the door to continue opening when it is determined that there is no obstacle on the movement path.

[0156] In one embodiment, such as Figure 14As shown, another door control device is provided. The door control device 1400 includes: a display module 1401 and a transmission module 1402, both of which are located in the passenger terminal.

[0157] The display module 1401 is used to display the service interface after the car rental service is successfully initiated. The service interface includes the 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 command to the vehicle, so that after the vehicle arrives at the starting point corresponding to the currently executed car use service, it responds to the door opening command and executes the door opening process.

[0159] In one embodiment, the device further includes a first display module, which displays a pop-up window indicating successful door opening if it receives a door opening success message from the server.

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

[0161] In one embodiment, the device further includes a third display module, which, after successfully initiating a car rental service, displays a pop-up window indicating that the car door cannot be opened temporarily if no door opening success information or door opening failure information is received from the server within a third preset time threshold.

[0162] In one embodiment, an electronic device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 15As shown, the electronic device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a vehicle control method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the electronic device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the electronic device.

[0163] Those skilled in the art will understand that Figure 15 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which 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 different component arrangements.

[0164] In one exemplary embodiment, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the method embodiments described above.

[0165] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0166] In one embodiment, a computer program product is also provided, which, when executed by a processor, can implement the methods described above. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, some or all of the methods described above can be implemented, wholly or partially, according to the processes or functions described in the embodiments of this disclosure.

[0167] It should be noted that any schemes described in this specification and embodiments that involve the processing of personal information will be carried out under the premise of having a legal basis (such as obtaining the consent of the personal information subject, or being necessary for the performance of a contract), and will only be processed within the scope stipulated or agreed upon. A user's refusal to process personal information beyond what is necessary for basic functions will not affect the user's use of basic functions.

[0168] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this disclosure can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0169] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 are merely illustrative of several implementation methods of the present disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present disclosure embodiments, and these all fall within the protection scope of the present disclosure embodiments. Therefore, the protection scope of the patent for the embodiments of the present disclosure should be determined by the appended claims.

Claims

1. A door control method, characterized in that, Applied to a passenger terminal, the method includes: After successfully initiating a car rental service, the service interface will be displayed. Before the autonomous vehicle used for the car rental service arrives at the car rental starting point corresponding to the car rental service, a prompt message indicating that the car door cannot be opened is displayed on the service interface. In response to the autonomous vehicle arriving at the pick-up point, a door opening option is displayed on the service interface; and 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 command to the autonomous vehicle, so that after the autonomous vehicle arrives at the starting point corresponding to the currently executed car service, it responds to the door opening command and executes the door opening process.

2. The method according to claim 1, characterized in that, The method further includes: If the server sends a message indicating that the car door has been successfully opened, a pop-up window will be displayed indicating that the door has been successfully opened.

3. The method according to claim 1, characterized in that, The method further includes: If a door opening failure message is received from the server, a door opening failure pop-up window will be displayed.

4. The method according to claim 1, characterized in that, The method further includes: After successfully initiating the car rental service, if the server does not send a door opening success message or a door opening failure message within the third preset time threshold, a pop-up window indicating that the door cannot be opened temporarily will be displayed.

5. A vehicle door control device, characterized in that, The device, located at the passenger terminal, includes: The display module is used to display a service interface after a car rental service is successfully initiated. Before the autonomous vehicle used for the car rental service arrives at the car rental starting point corresponding to the car rental service, a prompt message indicating that the car door cannot be opened is displayed on the service interface. In response to the autonomous vehicle arriving at the car rental starting point, a car door opening option is displayed on the service interface. 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 command to the autonomous vehicle, so that the autonomous vehicle can respond to the door opening command and execute the door opening process after arriving at the car use starting point corresponding to the currently executed car use service.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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