Vehicle door control method and device, electronic equipment and vehicle

Abstract

The invention discloses a vehicle door control method and device, electronic equipment and a vehicle, relates to the technical field of vehicle control and is used for guaranteeing user experience when a vehicle door is opened / closed. The method comprises the steps that a first control instruction is responded, and a vehicle door of a vehicle is controlled to move to a first position; in response to the second control instruction, the vehicle door is controlled to move from the first position to the second position, the first position and the second position are located on the movement track of the vehicle door, and the first position is different from the second position.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a door control method, device, electronic equipment and vehicle. Background Art

[0002] As people's living standards improve, cars play an increasingly indispensable role in people's lives. How to make cars intelligent and improve user experience is increasingly valued by developers. As part of modern automotive technology, the electric door opening system has a stylish and simple appearance design and intelligent operation mode, which enhances the vehicle's sense of technology and modernity.

[0003] The door control method in the related art mainly uses ultrasonic radar or millimeter wave radar to identify the distance between the obstacle and the door, and then adjusts the opening and closing of the door through the controller. However, due to the accuracy of the radar, the control program will leave a large safety margin when designing, resulting in the user often standing next to the door and unable to open the door electrically when they need to get on the car, which seriously affects the car experience. Summary of the invention

[0004] The present application provides a door control method, device, electronic device and vehicle for improving the user's vehicle experience.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a door control method, comprising: in response to a first control instruction, controlling a vehicle door to move to a first position; in response to a second control instruction, controlling the door to move from the first position to a second position, the first position and the second position being located on a movement trajectory of the door and the first position being different from the second position.

[0007] The vehicle door control method provided in the embodiment of the present application can accurately control the movement trajectory and position of the vehicle door through different control instructions, thereby more flexibly controlling the opening and closing degree of the vehicle door, thereby being able to meet different usage requirements.

[0008] In some embodiments, when the first control instruction is used to represent the control of door opening, controlling the vehicle door to move to a first position includes: controlling the door to move from an initial position to the first position, the initial position being used to represent the door position when the first control instruction is received.

[0009] In some embodiments, when the second control instruction is used to represent the control of opening of a vehicle door, the distance between the second position and the initial position on the motion trajectory is greater than the distance between the first position and the initial position on the motion trajectory.

[0010] In some embodiments, the second position is a final stop position of the door during the opening process.

[0011] In some embodiments, when the second control instruction is used to represent the control of closing the vehicle door, the distance between the second position and the initial position on the motion trajectory is smaller than the distance between the first position and the initial position on the motion trajectory.

[0012] In some embodiments, when the first control instruction is used to represent controlling the closing of a vehicle door, controlling the vehicle door to move to a first position includes: controlling the vehicle door to move from an initial position to the first position, the initial position being used to represent the door position when the first control instruction is received.

[0013] In some embodiments, when the second control instruction is used to represent controlling the vehicle door to continue closing, the distance between the second position and the initial position on the motion trajectory is greater than the distance between the first position and the initial position on the motion trajectory.

[0014] In some embodiments, the second position is a final stop position of the door during the closing process.

[0015] In some embodiments, when the second control instruction is used to represent the control of opening of a vehicle door, the distance between the second position and the initial position on the motion trajectory is smaller than the distance between the first position and the initial position on the motion trajectory.

[0016] In some embodiments, the second control instruction is triggered by any one or more of the following methods:

[0017] A touch operation on the force on / off button is detected;

[0018] A touch operation on the door open / close button is detected;

[0019] A voice command carrying a forced on / off command is received;

[0020] Receiving a forced opening / closing instruction for a vehicle door sent by a remote control device;

[0021] An interactive action on the vehicle door is detected, and the interactive action includes but is not limited to: a push or pull action, a knock action, or a tap action.

[0022] In some embodiments, a touch operation on a door open / close button is detected, specifically: it is detected that the touch operation on the door open / close button meets a preset condition, and the preset condition includes at least one of the following: the operation time is greater than or equal to the target time, and the number of operations within the target time period is greater than or equal to the target number.

[0023] In some embodiments, the door open / close button, and / or the forced open / close button are located in one or more of the following locations: in the display interface of the vehicle's display device, in the vehicle's center console, on the inside handle of the vehicle's door, on the outside of the vehicle's door, in the vehicle's sunroof control area, or on the door panel or control panel at the vehicle's driving position.

[0024] In some embodiments, controlling the vehicle door to move to the first position includes: controlling the vehicle door to move to the first position and stop based on obstacle information around the vehicle door.

[0025] In some embodiments, controlling the vehicle door to move to a first position and stop based on the obstacle information includes:

[0026] The movement of the vehicle door is controlled, and obstacle information around the vehicle door is obtained; when the obstacle information is located in the real-time safety area of ​​the vehicle door, the vehicle door is controlled to stop moving to reach the first position.

[0027] In some embodiments, the real-time safety zone includes a space range of a first preset size around the current position of the vehicle door.

[0028] In some embodiments, in response to a first control instruction, a vehicle door is controlled to move to a first position, including: in response to the first control instruction, detecting whether there is obstacle information in a full-stroke safety area; and when there is no obstacle information in the full-stroke safety area, controlling the vehicle door to move to the first position.

[0029] In some embodiments, when there is no obstacle information in the full-travel safety area, controlling the vehicle door to move to the first position includes:

[0030] When there is no obstacle information in the full-travel safety area, the vehicle door is controlled to move to a first position at a first preset speed.

[0031] In some embodiments, the method further includes: if there is obstacle information in the full-travel safety area, detecting whether the obstacle information is located in the real-time safety area; if there is no obstacle information in the real-time safety area, controlling the vehicle door to move to the first position.

[0032] In some embodiments, when there is no obstacle information in the real-time safety zone, the vehicle door is controlled to move to the first position, including: when there is no obstacle information in the real-time safety zone, the vehicle door is controlled to move to the first position at a second preset speed, the second preset speed is lower than the first preset speed, and the first preset speed is the operating speed of the vehicle door when there is no obstacle information in the full-stroke safety zone.

[0033] In some embodiments, in response to a second control instruction, controlling the vehicle door to move from a first position to a second position includes: in response to the second control instruction, controlling the vehicle door to move from the first position to the second position at a third preset speed, the third preset speed being lower than the second preset speed.

[0034] In some embodiments, the method further includes: in a case where there is obstacle information within the full-travel safety area, determining the first position based on the obstacle position represented by the obstacle information.

[0035] In some embodiments, the distance between the obstacle location and the first location is less than or equal to the target distance.

[0036] In some embodiments, the full-travel safety zone includes a spatial range of a second preset size around the movement trajectory of the vehicle door.

[0037] In some embodiments, in response to a first control instruction, a door of a vehicle is controlled to move to a first position, including: in response to the first control instruction, controlling a glass lifter to operate to drive a window glass in the door to lower a preset height; controlling a door lock of the door to release, and controlling an electric strut to operate to drive the door to move to the first position.

[0038] In some embodiments, the obstacle information is obtained by detecting the environment around the vehicle door through a radar device and / or an image acquisition device in the vehicle.

[0039] In some embodiments, the vehicle door is any one of the following: a scissor door, a side-opening door, or a butterfly door.

[0040] In the second aspect, an embodiment of the present application provides a door control device, including: a control module, used to control the vehicle door to move to a first position in response to a first control instruction; the control module is also used to control the door to move from the first position to the second position in response to a second control instruction, the first position and the second position are located on the movement trajectory of the door and the first position is different from the second position.

[0041] In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein the processor is connected to the memory, and the memory stores computer instructions. When the computer instructions are executed on the electronic device, the electronic device executes the method provided in the first aspect and its possible implementation methods.

[0042] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising the door control device provided in the second aspect, or the electronic device provided in the third aspect.

[0043] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed on a computer, the computer executes the method provided by the first aspect and its possible implementation methods.

[0044] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer, the computer executes the method provided by the first aspect and its possible implementation methods.

[0045] The technical effects brought about by any implementation method in the above-mentioned second to sixth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of the structure of a door control system provided in an embodiment of the present application;

[0047] Figure 2 A schematic diagram of a scissor door provided in an embodiment of the present application;

[0048] Figure 3 A method flow of a door control method provided in an embodiment of the present application Figure 1 ;

[0049] Figure 4 A schematic diagram of a real-time security zone provided in an embodiment of the present application;

[0050] Figure 5 A method flow of a door control method provided in an embodiment of the present application Figure 2 ;

[0051] Figure 6 An overall flow chart of a door control method provided in an embodiment of the present application;

[0052] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0054] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0055] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0056] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, when describing pipelines or channels, the "connected" and "connected" used in this application have the meaning of conduction. The specific meaning needs to be understood in conjunction with the context.

[0057] In the embodiments of the present application, the words "exemplarily" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0058] As part of modern automotive technology, the electric door opening system has a stylish and simple appearance design and intelligent operation mode, which enhances the vehicle's sense of technology and modernity. Especially when the car door is a scissor door, the movement trajectory of the scissor door during the door opening process is a spatial curve, which makes it difficult for users to grasp the direction of force when manually opening and closing the door, that is, the feel of mechanical door opening and closing is very poor, so electric door opening is usually used.

[0059] The door control method in the related art mainly uses ultrasonic radar or millimeter wave radar to identify the distance between the obstacle and the door, and then adjusts the opening and closing of the door through the controller. However, due to the accuracy of the radar, the control program will leave a large safety margin when designing, resulting in the user often standing next to the door and unable to open the door electrically when they need to get on the car, which seriously affects the car experience.

[0060] Based on this, an embodiment of the present application provides a door control method, which controls the vehicle door to move to a first position in response to a first control instruction; and controls the door to move from the first position to a second position in response to a second control instruction. The first position and the second position are located on the movement trajectory of the door and the first position is different from the second position.

[0061] It can be seen that the door control method provided in the embodiment of the present application can accurately control the movement trajectory and position of the door through different control instructions, thereby more flexibly controlling the opening and closing degree of the door, thereby meeting different usage requirements.

[0062] It should be understood that the door control method provided in the embodiment of the present application can be applied to the door control system in the vehicle. Figure 1 As shown, the vehicle door control system 100 may include: a vehicle door 11 , a driver 12 and a controller 13 .

[0063] The driver 12 is used to drive the door 11 to open and close. The controller 13 is used to control the operation of the driver 12, thereby controlling the door 11 to open and close.

[0064] The embodiments of the present application do not limit the specific types of vehicles and doors. The vehicles may be sedans, SUVs, multi-purpose vehicles, trucks, etc. The doors may be located at different positions of the vehicle, such as side doors located at the sides of the vehicle, rear doors located at the rear of the vehicle, etc. Moreover, the embodiments of the present application do not limit the opening method of the doors. According to the opening method of the doors, the doors may be scissor doors, side-opening doors, or butterfly doors, etc., which are not limited in the embodiments of the present application.

[0065] Among them, the hinges of scissor doors are usually located on the front fenders or the fenders on both sides of the engine compartment. This design allows the door to open upward and outward, and the shape of the door opening is similar to scissors. The main feature of the side-opening door is that the door leaf rotates along one side of the door frame and automatically remains closed when closed. The hinges of butterfly doors are usually installed at the intersection of the front edge of the roof and the A-pillar, or on the fenders near the A-pillar. This design allows the door to open forward and upward, forming a shape similar to butterfly wings.

[0066] For example, when the door body is a scissor door, the hinges of the scissor door are located at the front fender or the fenders on both sides of the engine compartment, such as Figure 2 As shown, when it is in the open state, the door can be opened vertically upward like a pair of scissors.

[0067] In some embodiments, the driver 12 may be a support rod, which is usually a gas spring or a hydraulic rod filled with high-pressure gas or hydraulic oil. When the door 11 is opened, the support rod releases the stored energy to help the door to be lifted smoothly and maintained in a fixed open position. When the door is closed, the support rod absorbs the impact force generated when the door falls, ensuring that the door can be closed slowly and quietly, while reducing the impact of the door on the vehicle body.

[0068] The controller 13 may also be referred to as an electronic control unit (ECU). It should be understood that the controller in the present application may be a master controller of the vehicle or a door controller, and the present embodiment does not limit this.

[0069] In some embodiments, the door control system may further include: a plurality of sensors connected to the controller. Figure 1 As shown, the multiple sensors may include a radar 14 and an image acquisition device 15, both of which are used to detect obstacle information around the vehicle door and send it to the controller, so that the controller controls the movement of the vehicle according to the obstacles detected by the sensor during the movement of the vehicle door.

[0070] Exemplarily, as a feasible implementation method, the radar may include one or more of the following: ultrasonic radar, millimeter wave radar, parking radar or laser radar, etc.

[0071] It should be understood that ultrasonic radar is mainly used for short-range obstacle detection. It calculates the distance to objects by emitting ultrasonic waves and receiving reflected signals. Millimeter-wave radar uses electromagnetic waves in the millimeter-wave band for detection, which can achieve high-precision obstacle detection and distance measurement. Parking radar is a system specially used to detect the distance to obstacles in front or behind when the car is parking or driving slowly. LiDAR calculates the distance to obstacles by emitting laser pulses and measuring the reflected signals, and can also obtain characteristic attributes of the obstacle such as speed, size, and direction.

[0072] The image acquisition device 15 may include one or more of the following: a front-view camera for acquiring a forward video stream within a preset forward field of view of the vehicle; a rear-view camera for acquiring a rearward video stream within a preset rearward field of view of the vehicle; and a panoramic camera for acquiring a panoramic video stream within a preset radius of the vehicle.

[0073] In some embodiments, Figure 1As shown, the vehicle door control system 100 may further include: a vehicle window glass 16 and a glass lifter 17. The glass lifter 17 is used to control the lifting and lowering of the vehicle window glass 16.

[0074] It should be understood that in the case of a scissor door, since the design feature of the scissor door is that the door opens at an upward slope, if the window glass is in a raised state during the door opening process, it may interfere with the opened door, resulting in the door not being able to open completely or the window glass being damaged. Therefore, as a feasible implementation method, the window glass can be automatically lowered by the glass lifter before the door is opened or closed, so that the window glass is lowered to a preset height, which can avoid interference between the door and the window glass and ensure that the door can move smoothly.

[0075] In some embodiments, Figure 1 As shown, the vehicle door control system 100 may further include: a vehicle lock 18. The vehicle lock 18 may include a lock core, a lock body, a lock tongue, a connecting rod mechanism and other parts.

[0076] It should be understood that the lock cylinder is the key component that controls the door lock, and unlocks or locks the door by inserting and turning the key. The lock body is the main structure that accommodates and supports other components. The lock tongue interacts with the lock catch on the door frame to close the door. The linkage mechanism is responsible for transmitting the action of the lock cylinder to the lock tongue to complete the unlocking and locking operations.

[0077] The primary function of the vehicle lock 18 is to ensure the safety of passengers during the driving process. When the door is locked, the passenger cannot open the door at will, thereby avoiding accidents caused by the passenger suddenly opening the door during driving. Therefore, before opening the door, it is necessary to control the lock to open so that the door can be opened correctly; after closing the door, the lock can be controlled to lock the door.

[0078] It should be understood that the door control method provided in the embodiment of the present application can be applied to Figure 1 The controller 13 in the door control system 100 shown in FIG. Figure 3 As shown, the door control method includes the following steps S101-S102:

[0079] S101 . In response to a first control instruction, control a door of a vehicle to move to a first position.

[0080] It should be understood that the embodiment of the present application does not limit the triggering conditions and specific content of the first control instruction. The user can trigger the first control instruction in one of the following ways, including but not limited to: mobile phone APP application, remote control key / card, physical switch, sensor switch, face / voice recognition, etc. The physical switch can be a mechanical button, an external handle, etc., and the sensor switch can be a kick sensor, a gesture sensor, a touch sensor, a push-pull sensor, etc.; the embodiment of the present application does not limit this.

[0081] In practical applications, the specific content of the first control instruction can be determined according to the current state of the door. For example, when the door is in a closed state, if one of the above multiple triggering modes is detected, the generated first control instruction can be used to indicate opening the door. For another example, when the door is in an open state, if one of the above multiple triggering modes is detected, the generated first control instruction can be used to indicate closing the door.

[0082] After receiving the first control instruction, the vehicle door is controlled to start moving to the first position. The first position is located in the movement trajectory of the vehicle door. It should be understood that the present application does not limit the specific position of the first position in the movement trajectory of the vehicle door.

[0083] In some embodiments, the first position can be determined based on information about obstacles around the vehicle door. The specific process of determining obstacles can be found in the following embodiments, and this application will not repeat them here.

[0084] As a feasible implementation method, when there are no obstacles around the vehicle door or the obstacle and the movement trajectory of the vehicle door do not overlap, the first position may be a stop position corresponding to the movement state of the vehicle door.

[0085] As another feasible implementation manner, when the movement trajectory of the obstacle and the vehicle door overlap, the first position can be determined according to the position of the obstacle.

[0086] S102 . In response to a second control instruction, control the vehicle door to move from a first position to a second position.

[0087] The first position and the second position are located on a movement track of the vehicle door and the first position is different from the second position.

[0088] When the second control instruction is received, the second position can be determined according to the door movement state represented in the second control instruction, and the door can be controlled to move from the first position to the second position.

[0089] In an embodiment of the present application, the door movement states represented by the first control instruction and the second control instruction may be the same or different. In actual application, they may be determined based on the actual movement of the door and the triggering method of the instruction. The embodiment of the present application does not impose any restrictions on this.

[0090] The embodiment of the present application does not limit the triggering condition of the second control instruction. In the actual application process, the triggering condition of the second control instruction can be set according to user needs. For example, the triggering condition of the second control instruction can be: long pressing of the switch button, forced motion button, voice control, etc.

[0091] Specifically, as a feasible implementation method, when a touch operation on the forced on / off button is detected, it can be determined that the second control instruction of the vehicle door has been received.

[0092] That is to say, a forced opening / closing button may be provided in the vehicle or the car key, and when the user needs to force the door to be opened / closed, the user may issue a second control instruction by touching the corresponding forced opening / closing button.

[0093] As another feasible implementation manner, when a touch operation of a door opening / closing button by a user is detected, it can be determined that the second control instruction of the door is received.

[0094] Further, as a feasible implementation, detecting the user's touch operation on the door opening / closing button may include: detecting that the user's touch operation on the door opening / closing button meets a preset condition. The preset condition includes at least one of the following: the operation time of the touch operation is greater than or equal to the target time, and the number of touch operation operations within the target time period is greater than or equal to the target number of times.

[0095] It should be understood that the target time, target time period and target number of times are all preset, and the embodiments of the present application do not limit this. Exemplarily, as a feasible implementation method, the preset conditions include at least one of the following: the operation time of the touch operation is greater than or equal to 10S, and the number of touch operations within 3S is greater than or equal to 5 times.

[0096] That is, some control logic can be added on the basis of the conventional door open / close button to determine whether the corresponding second control instruction is triggered when the door open / close button is touched for a long time or repeatedly touched continuously.

[0097] It can be seen that this solution does not require the addition of additional hardware components, such as forced door opening / closing buttons, additional sensors or actuators, etc., thus avoiding the cost of hardware procurement, installation and debugging. In addition, since no new hardware is added, users can still use the regular open / close button to open and close the door without learning new operation methods, maintaining the original convenience. Although no new hardware is added, through the improvement of control logic, the vehicle can respond to user needs more intelligently, improving the overall intelligent experience.

[0098] It should be noted that the embodiments of the present application do not limit the specific form and setting position of the above-mentioned forced on / off button and the door on / off button. It can be a physical button set at any position of the vehicle or the vehicle remote control, or it can be a display control set on the display interface of a display device (such as an in-vehicle display or a terminal device).

[0099] Exemplarily, as a feasible implementation method, the setting location of the door open / close button, and / or the forced open / close button may include one or more of the following: in the display interface of the vehicle's display device, in the vehicle's center console, on the inside handle of the vehicle's door, on the outside of the vehicle's door, in the vehicle's sunroof control area, on the door panel or control panel at the vehicle's driving position.

[0100] As another feasible implementation manner, when a voice command carrying the second control command is received, it can be determined that the second control command for the vehicle door has been received.

[0101] It should be understood that the interior of the vehicle is usually equipped with a microphone for capturing the user's voice commands. Therefore, the microphone can be used to collect voice signals in the environment, and then the text in the voice signal can be recognized by voice recognition technology. Then, keywords are extracted from the recognized text, and these keywords are usually related to the door movement operation, such as "open door", "unlock", etc. The extracted keywords are matched with the preset instruction library. If the keywords are completely matched or highly similar to the keywords of the second control instruction, it can be considered that the second control instruction of the door has been received.

[0102] It should be understood that before executing the second control instruction, the vehicle may need to verify the identity of the user. This can be achieved through voice recognition (such as voiceprint recognition), facial recognition, fingerprint recognition or password input, etc., which will not be described in detail in the present embodiment of the application.

[0103] As another feasible implementation manner, when a forced opening / closing instruction for the vehicle door sent by the remote control device is received, it can be determined that the second control instruction for the vehicle door is received.

[0104] It should be understood that the remote control device may be a user's terminal device, etc., and the embodiments of the present application do not limit this.

[0105] Data can be transmitted between the remote control device and the vehicle through a communication protocol (such as Bluetooth, Wi-Fi, cellular network or dedicated vehicle communication system). A matching communication interface is required inside the vehicle to receive these instructions. The user can send a second control instruction to the vehicle based on the remote control device, which can follow a specific format, such as including the instruction type, target device (such as a door), operation type (such as forced motion) and possible additional parameters (such as timestamp, device ID, etc.).

[0106] After receiving the second control instruction, the vehicle will first perform a format check to ensure its integrity and validity, and then control the door to move to the second position if it is determined that the second control instruction is valid.

[0107] As a feasible implementation method, it can be determined that the second control instruction has been received when an interactive action on the vehicle door is detected, wherein the interactive action includes but is not limited to: a push-pull action, a knocking action, or a tapping action.

[0108] That is, after the vehicle door moves to the first position, if it detects that the user pushes, pulls, knocks or taps the vehicle door, it indicates that the user needs the vehicle door to continue moving. At this time, the vehicle door can be controlled to move from the first position to the second position.

[0109] Furthermore, the second position may be determined based on the user's desired movement of the door represented by the user's interactive action. For example, when the user directly pushes or pulls the door with his hands, the system may detect this action through sensors on the door (such as displacement sensors, force sensors, etc.), and determine the position to which the user wants the door to move based on the direction and strength of the action. For example, if the user pulls the door outward with force, the system may determine that the user wants the door to be opened further; if the user pushes the door inward lightly, the system may determine that the user only wants the door to be closed to a certain extent.

[0110] It can be seen that the door control method provided in the embodiment of the present application can accurately control the movement trajectory and position of the door through different control instructions, thereby more flexibly controlling the opening and closing degree of the door, thereby meeting different usage requirements.

[0111] In some embodiments, when a user needs to open / close a vehicle door, a first control instruction needs to be triggered in a certain triggering manner; and then the controller controls the movement of the vehicle door based on the vehicle door movement state represented in the first control instruction.

[0112] As a feasible implementation method, when the first control instruction is used to represent opening a door, controlling the vehicle door to move to the first position in S101 includes: controlling the vehicle door to move from an initial position to the first position.

[0113] The initial position is used to represent the door position when the first control instruction is received. It is understandable that when the user triggers the door opening instruction, the door is usually in a closed state, so when the first control instruction is received, the initial position may be the door closed position.

[0114] In order to avoid collision during the movement of the car door, it will detect whether the car door is likely to collide with an obstacle. In actual situations, in order to ensure safety, a large safety margin will be left when detecting obstacles. That is, it is possible that the car door will not actually collide with an obstacle, but the car door cannot continue to move. In this case, it is necessary to use a second control instruction to continue to control the movement of the door.

[0115] In a possible implementation, when the second control instruction is used to represent the control of the vehicle door continuing to open, the distance between the second position and the initial position on the motion trajectory is greater than the distance between the first position and the initial position on the motion trajectory.

[0116] When the user determines that the car door will not collide and needs to control the car door to continue opening, a second control instruction for controlling the car door to continue opening can be triggered, thereby controlling the car door to continue opening, so that the car door moves to a position farther from the initial position on the motion trajectory, that is, the car door is more open.

[0117] Further, as an example, the second position may be the final stop position of the door during the opening process, that is, the final position where the door stops moving during the opening process, at which position the door will not continue to open.

[0118] It should be understood that the final stop position of the vehicle door during the opening process can be pre-set by the system or set by the user according to his or her own needs, and the embodiments of the present application do not limit this.

[0119] It can be seen that when the car door is opened to the first position, the solution provided in this embodiment can continue to control the opening of the car door according to the second control instruction, thereby avoiding the situation where the car door does not actually collide with an obstacle but the car door cannot be opened, so as to ensure the user's door opening needs and thus improve the user's experience.

[0120] In another possible implementation, when the second control instruction is used to represent the control of closing the vehicle door, the distance between the second position and the initial position on the motion trajectory is smaller than the distance between the first position and the initial position on the motion trajectory.

[0121] After the door opens to the first position, although the door may not be fully opened at this time, there may be enough opening space for the user to pass through, or there may be a collision if the door continues to open, or the door has already collided with an obstacle. At this time, the user or other sensors in the system will trigger a second control instruction representing the control of closing the door.

[0122] In response to the second control instruction, the controller can control the vehicle door to move to the second position, so that the distance between the second position and the initial position on the motion trajectory is smaller than the distance between the first position and the initial position on the motion trajectory, that is, the degree of opening of the vehicle door is reduced, or even the vehicle door is directly closed.

[0123] It can be seen that when the vehicle door is opened to the first position, the solution provided in this embodiment can control the vehicle door to close according to the second control instruction to avoid a collision caused by the vehicle door continuing to open, or to prevent the risk of objects or people being clamped when the vehicle door continues to open, thereby improving the safety of the vehicle door during movement.

[0124] As another feasible implementation method, when the first control instruction is used to represent the control of door closing, controlling the vehicle door to move to a first position includes: controlling the door to move from an initial position to the first position, the initial position being used to represent the door position when the first control instruction is received.

[0125] When the user triggers the command to close the car door, it indicates that the car door is in an open state. At this time, the car door may be in the final stop position in the opening process, or it may be in a position about to hit an obstacle. Since the car door needs to be controlled to close, it is necessary to control the car door to move from the current initial position to the first position.

[0126] It should be understood that the distance between the first position and the closed position on the motion trajectory is greater than the distance between the initial position and the closed position on the motion trajectory, that is, the vehicle door needs to move in the direction of closing the door to the first position.

[0127] During the process of closing the door, there may be problems such as obstacles being detected, which may cause the door to be unable to close completely. At this time, if the user determines that the door will continue to close without touching the obstacle, the second control instruction representing the control of the door to continue closing can be triggered, such as long pressing the door closing button, triggering the forced door closing button, etc. Or if the obstacle is detected to move within a certain period of time and will not continue to collide, the system can also automatically trigger the second control instruction representing the control of the door to continue closing.

[0128] In a possible implementation, when the second control instruction is used to represent controlling the vehicle door to continue closing, the distance between the second position and the initial position on the motion trajectory is greater than the distance between the first position and the initial position on the motion trajectory.

[0129] That is, when it is determined that the triggered second control instruction is indicative of controlling the vehicle door to continue closing, the vehicle door is controlled to continue closing to the second position, so that the distance between the vehicle door and the initial position on the motion trajectory gradually increases.

[0130] Further, as an example, the second position may be the final stop position of the door during the closing process, that is, the final position where the door stops moving during the closing process, at which position the door will no longer continue to close.

[0131] It can be seen that when the car door is closed to the first position, the solution provided in this embodiment can continue to control the closing of the car door according to the second control instruction, thereby avoiding the situation where the car door does not actually collide with the obstacle but the car door cannot be closed, so as to ensure the user's door closing needs and thus improve the user's experience.

[0132] In another possible implementation, when the second control instruction is used to represent the control of opening of a vehicle door, the distance between the second position and the initial position on the motion trajectory is smaller than the distance between the first position and the initial position on the motion trajectory.

[0133] After the door is closed to the first position, although the door may not be completely closed at this time, the door may continue to move and touch an obstacle, posing a safety hazard. At this time, the user or other sensors in the system will trigger a second control instruction representing the control of opening the door.

[0134] In response to the second control instruction, the controller can control the vehicle door to move to the second position, that is, the vehicle door is opened, so that the distance between the second position and the initial position on the motion trajectory is smaller than the distance between the first position and the initial position on the motion trajectory, that is, the degree of opening of the vehicle door is increased, and a collision may occur when the vehicle door continues to close, or the risk of objects or people being clamped may occur when the vehicle door continues to close, thereby improving the safety of the vehicle door during movement.

[0135] In some embodiments, since there may be some obstacles around the door, the door may touch the obstacles during the movement. Therefore, in order to ensure the safety of people and vehicles, the movement of the door can be controlled based on the obstacle information around the door during the movement of the door. That is, controlling the door to move to the first position in S101 can be specifically: controlling the door to move to the first position and stop based on the obstacle information around the door.

[0136] As a feasible implementation method, the above-mentioned controlling the vehicle door to move to the first position and stop based on the obstacle information around the vehicle door can be specifically implemented as follows S201-S202:

[0137] S201, controlling the movement of the door and obtaining obstacle information around the door.

[0138] After receiving the first control instruction, the vehicle door can be controlled to start moving. When the vehicle door is in motion, multiple sensors provided in the vehicle can detect obstacles around the vehicle, and then, if it is determined that the obstacle is located in the real-time safety area of ​​the vehicle door, the vehicle door is controlled to stop moving in order to avoid collision between the vehicle door and the obstacle.

[0139] As a feasible implementation method, the multiple sensors installed in the vehicle may include a radar device and / or an image acquisition device, that is, the radar device and / or the image acquisition device are used to detect the environment around the door and identify obstacle information around the door.

[0140] It should be understood that the radar device is used to transmit electromagnetic wave signals around the car door. When these signals encounter obstacles, they will be reflected back to form echo signals. After receiving these echo signals, the radar device will process them to calculate information such as the distance, speed and direction of the obstacle.

[0141] The image acquisition device is used to acquire an image of the environment around the vehicle door, and then the acquired environment image can be analyzed by image processing technology to identify the type, shape and other information of obstacles. For example, the obstacle information of various obstacles such as traffic signs, signal lights, pedestrians, and vehicles can be identified.

[0142] Therefore, when the radar device receives an echo signal and / or analyzes the existence of an obstacle in the environment image, it can be determined that there is an obstacle around the door and the obstacle information can be obtained.

[0143] As a feasible implementation method, the information of the two sensors, radar equipment and image acquisition device, can be associated to achieve comprehensive perception and accurate understanding of the environment around the door, thereby providing a more reliable decision-making basis for the vehicle controller. In other words, the data of the radar equipment and the image acquisition device are fused and matched to form a complete perception of the obstacle. Then, based on information such as timestamp or spatial position, the data of the radar and camera are matched and associated through data fusion algorithms, multi-sensor fusion models, etc. to determine the exact location of the obstacle.

[0144] S202: When the obstacle information indicates that the vehicle door is located in the real-time safety area of ​​the vehicle door, the vehicle door is controlled to stop moving so as to reach the first position.

[0145] After obtaining the obstacle information, the position of the obstacle is compared with the spatial range of the real-time safety zone to determine whether the obstacle is located in the real-time safety zone. If so, it is determined that the obstacle is detected to be located in the real-time safety zone of the door.

[0146] If the obstacle information is located in the real-time safety area of ​​the door, the system will immediately stop the movement of the door and keep it in the current position to ensure safety. That is, if there is an obstacle during the movement of the door, the first position is the position where the door has moved when the obstacle is detected. Immediately, stopping the movement of the door can avoid the door from colliding with the obstacle, thereby protecting the safety of the vehicle and passengers.

[0147] It should be understood that, when there are no obstacles during the movement of the door, the first position may also be a preset position (fully closed position or open stop position) corresponding to the current movement state of the door.

[0148] As a feasible implementation manner, the real-time safety area includes a space range of a first preset size around the current position of the vehicle door.

[0149] The first preset size is determined according to actual conditions and safety requirements, and the present application embodiment does not limit this. For example, as a feasible implementation method, the real-time safety area can be a space range of 10 cm around the door in the current moving state.

[0150] It can be seen that the real-time safety area is a dynamic concept. It refers to a protective space range set according to the current position of the door while the door is moving, so as to avoid collision between the door and obstacles.

[0151] In some embodiments, since the door will move during the movement, and the sensor detecting the obstacle is not accurate enough during the movement, it may be impossible to accurately determine the position of the obstacle. Therefore, as another feasible implementation method, the real-time safety area can be determined based on the movement state of the door.

[0152] It can be understood that the real-time safety area includes the range where the vehicle door is located, the spatial range on one side of the movement direction of the vehicle door, and the spatial range on the other side relative to the movement direction of the vehicle door.

[0153] In order to prevent the door from colliding in the moving direction, the moving direction of the door can be determined based on the moving state of the door, and then the side of the door facing the moving direction corresponds to a larger spatial range, and the other side of the door facing the moving direction corresponds to a smaller spatial range. This allows the door to have a larger spatial range to accommodate its moving trajectory during the movement process, preventing it from colliding with obstacles on the side facing the moving direction during the movement process.

[0154] For example, Figure 4 As shown, the real-time safety area of ​​the door includes: the door area, the area above the door, and the area below the door. When the door is in the closed state, the area below the door is larger than the area above the door, so that when the door moves downward, there is a larger safety area below the door for the door to move.

[0155] It can be seen from the above S201-S202 that the door control method provided in this embodiment detects in real time whether the obstacle information is located in the real-time safety area of ​​the door when the door is in motion. When it is detected that the obstacle information is located in the real-time safety area of ​​the door, the door is controlled to stop moving to reach the first position, which can effectively avoid the collision between the door and the obstacle, thereby ensuring the safety of the vehicle and the user.

[0156] In some embodiments, in actual situations, a large safety margin is left to ensure safety when detecting obstacles. That is, the door may not actually collide with an obstacle, but the door cannot be closed. Based on this, the solution provided in this application controls the door to continue moving when the second control instruction of the door is received to ensure the user's need to open the door, thereby improving the user's experience.

[0157] As a feasible implementation, S102 may specifically include: in response to receiving the second control instruction of the vehicle door, controlling the vehicle door to continue to move until the vehicle door stops at a preset position corresponding to the current motion state. That is, the second position may be a preset position corresponding to the current motion state of the vehicle door.

[0158] It should be understood that when the door is in the process of closing, its corresponding preset position indicates the fully closed position of the door. When the door is in the process of opening, its corresponding preset position is the opening stop position of the door in the process of opening set by the user or preset by the system. If the door opens to the opening stop, it indicates that the door has been fully opened and needs to stop moving.

[0159] It is understandable that each user has different requirements for the degree of opening of the car door, and different users may have different usage habits and requirements. Some people may prefer the car door to move a little larger to make it easier to get in and out of the vehicle or place items; while others may prefer the car door to open a little smaller to save space or avoid unnecessary trouble. Therefore, the car door in the embodiment of the present application has the function of customizing the degree of movement, that is, the user can set the degree of opening of the car door, and the controller determines the corresponding opening stop position of the car door during the opening process according to the degree of opening set by the user, and then controls the movement of the car door, so as to meet the personalized needs of the user.

[0160] It can be seen from the above embodiments that the door control method provided in this embodiment, in order to ensure the safety of obstacle detection under actual circumstances, will leave a large safety margin, that is, it may happen that the door will not actually collide with the obstacle, but the door cannot be closed. Based on this, the solution provided in this application controls the door to continue moving when receiving the second control instruction of the door, so as to ensure the user's door opening needs, thereby improving the user's experience.

[0161] In some embodiments, when the user has a door opening requirement, a movement instruction for the door needs to be issued before the door can enter the moving state. However, if there are obstacles around the door in the preparation stage before the door moves, a collision may also occur in the initial state of the door movement.

[0162] Based on this, as a feasible implementation method, please refer to Figure 5The door control method provided in the embodiment of the present application, S101 can be specifically implemented as follows:

[0163] S301 . In response to a first control instruction, detect whether there is obstacle information in a full-travel safety area.

[0164] Among them, the range of the full-stroke safety area is larger than the range of the real-time safety area.

[0165] It should be understood that the embodiment of the present application does not limit the triggering method of the first control instruction of the vehicle door, and the first control instruction can be triggered by a variety of methods. For example, the user can trigger the vehicle door movement instruction through a remote control device (mobile phone APP application), a remote control key / card, a physical switch, a sensor switch, face / voice recognition, etc. The physical switch can be a mechanical button, an external handle, etc., and the sensor switch can be a kick sensor, a gesture sensor, a touch sensor, etc., which are not limited in the embodiment of the present application.

[0166] After receiving the first control instruction for the door, the position of surrounding obstacles can be detected by various sensors of the vehicle. Among them, the most common are radar and ultrasonic sensors. These sensors can transmit signals to the surrounding environment and receive reflected signals. By analyzing the changes in these signals, the system can determine whether there is an obstacle, as well as the location, size and shape of the obstacle. It should be understood that in addition to radar and ultrasonic sensors, the system may also use infrared sensors, cameras and other visual sensors to enhance detection capabilities. These sensors can provide more detailed environmental information to help the system more accurately determine the existence and nature of obstacles.

[0167] After the obstacle is detected, it is determined whether there is an obstacle in the full-travel safety area based on the position of the obstacle and the range of the full-travel safety area.

[0168] As a feasible implementation manner, the full-travel safety area includes a space range of a second preset size around the motion envelope of the vehicle door.

[0169] It should be understood that the movement envelope of the door is a range that describes the three-dimensional space occupied by the door during the movement from fully closed to fully opened. That is, the full-travel safety area includes a spatial range of a second preset size around the movement trajectory of the door, and the movement range is the spatial range occupied by the door during the opening or closing process.

[0170] Furthermore, since the motion envelope of the car door is related to the model of the vehicle, as a feasible implementation method, in actual applications, the stopping position of the car door after opening can be input into the motion envelope calculation model corresponding to the vehicle model, and the motion envelope of the car door from the closed state to the fully open state can be obtained.

[0171] S302: When there is no obstacle information in the full-travel safety area, control the vehicle door to move to the first position.

[0172] When there is no obstacle information in the full-stroke safety area, it indicates that the possibility of the door colliding with the obstacle during movement is small, so the movement of the door can be controlled so that the door is in motion, moving from the initial position at the beginning of the movement to the first position.

[0173] It should be understood that the specific implementation process of controlling the vehicle door to move to the first position can refer to the above embodiment, and the present application will not elaborate on it here.

[0174] It is understandable that after receiving the first control instruction, the solution provided by this embodiment first determines whether the door will move by detecting whether the obstacle is located in the full-travel safety area. During the movement, it will determine whether the door will continue to move or stop moving based on the obstacle information. That is, even if the solution provided by this embodiment determines that there is no obstacle in the full-travel safety area before opening / closing the door, it will detect whether there is an obstacle in the real-time safety area during the opening / closing process, that is, it will detect in real time whether there is a new obstacle around the door, which can further ensure the safety when opening / closing the door.

[0175] Real-time monitoring of obstacles mainly detects obstacles at the moment they enter the door's movement trajectory, while monitoring the full-travel safety zone can provide early warnings in the preparation stage before the door moves, giving drivers and passengers enough time to take measures, such as pausing to open the door or choosing a safer position to open the door, thereby further reducing the risk of accidents and improving the safety of the door opening process. It should be understood that both real-time monitoring of obstacles and full-travel safety zone monitoring can reduce additional operations such as parking, reversing, or reselecting the door opening position due to the door colliding with obstacles, thereby improving driving efficiency.

[0176] As a feasible implementation method, when there is no obstacle information in the full-travel safety area, the door can be controlled to move at a first preset speed.

[0177] The first preset speed is preset by the system or the user, and the embodiment of the present application does not limit this. It is understandable that when there are no obstacles in the full-travel safety area, the possibility of the surface door colliding with the obstacle during movement is small, so the door can be controlled to move at a higher speed to quickly reach the door state required by the user and meet the user's usage needs.

[0178] In other embodiments, when there are obstacles in the full-travel safety area, it can be further determined whether there are obstacles in a smaller range.

[0179] For details, please continue to refer to Figure 5 , the method provided in the embodiment of the present application also includes:

[0180] S303: When there is obstacle information in the full-travel safety area, detect whether the obstacle information is located in the real-time safety area.

[0181] Since the real-time safety zone is determined based on the current position of the door, the full-travel safety zone is related to the operating range of the door during operation, that is, the spatial range of the real-time safety zone is smaller than the spatial range of the full-travel safety zone. Therefore, when there is obstacle information in the full-travel safety zone, the obstacle may be located in the real-time safety zone, or it may be located outside the real-time safety zone but still within the full-travel safety zone. If it is located in the real-time safety zone, it is likely to collide with the door; if it is located outside the real-time safety zone but still within the full-travel safety zone, it will not collide with the obstacle within a certain angle range of the door movement.

[0182] Therefore, the solution provided in this embodiment can detect whether the obstacle information is located in the real-time safety area when there is obstacle information in the full-travel safety area, so as to more accurately determine whether the obstacle will collide with the vehicle door.

[0183] As a feasible implementation method, if there is obstacle information in the full-stroke safety area, a prompt message can be issued before the door starts to move, giving the user more time to react and avoid collision accidents.

[0184] S304: When there is no obstacle information in the real-time safety area, control the vehicle door to move to the first position.

[0185] If there is no obstacle in the real-time safety area, it means that the door will not collide when moving in the real-time safety area, so the door can be controlled to move to the first position. Then, during the movement, it is determined in real time whether there is an obstacle in the real-time safety area at the current position of the door to avoid collision.

[0186] As a feasible implementation method, when there are obstacles in the full-travel safety zone and no obstacles in the real-time safety zone, the door movement can be controlled to a preset angle. The preset angle is related to the range of the real-time safety zone and can be set according to needs in actual applications.

[0187] As a feasible implementation method, when there is an obstacle in the full-travel safety zone and no obstacle in the real-time safety zone, the door can be controlled to move at a second preset speed, wherein the second preset speed can be lower than the first preset speed in the above embodiment.

[0188] That is, when there is no obstacle in the full-travel safety zone, the door can be controlled to move at a higher first preset speed to quickly open or close the door. When there is an obstacle in the full-travel safety zone and there is no obstacle in the real-time safety zone, it indicates that the obstacle is close to the door and a collision may occur, so the door can be controlled to move at a lower second preset speed to avoid a collision between the door and the obstacle.

[0189] It can be seen that the door control method provided in this embodiment detects whether the obstacle is located in the real-time safety area when there is an obstacle in the full-travel safety area, so as to more precisely determine whether the obstacle will collide with the door. If there is no obstacle in the real-time safety area, it indicates that the door will not collide when moving in the real-time safety area, so the movement of the door can be controlled to more accurately avoid the door from colliding.

[0190] In some embodiments, since the second control instruction is usually a manual instruction triggered by the user after the obstacle is detected during the movement of the door and the user determines the relationship between the obstacle and the door. There may be some errors in manual judgment, especially when the door is a scissor door, it is difficult to accurately judge the movement trajectory of the door. Therefore, in the process of forcibly opening / closing the door, the probability of collision between the door and the obstacle is relatively high.

[0191] Therefore, as a feasible implementation method, after receiving the second control instruction, the vehicle door can be controlled to move at a third preset speed. The third preset speed is lower than the first preset speed and the second preset speed in the above embodiment. That is, the movement speed of the vehicle door during forced movement is lower than the normal movement speed of the vehicle door.

[0192] During the process of forcibly opening / closing the door, the door is controlled to move at a lower speed, so that the user can more easily judge the movement trajectory and speed of the door, thereby having enough time to react and avoid collision between obstacles and the door.

[0193] In some other embodiments, when obstacle information is detected within the full range safety area of ​​the vehicle, the movement of the door can be directly controlled based on the obstacle information because the position of the obstacle may not change in a short period of time or the change distance is short.

[0194] Specifically, as a feasible implementation method, the method provided in the embodiment of the present application also includes: when there is obstacle information in the full-stroke safety area, determining the first position based on the obstacle position represented by the obstacle information.

[0195] If there is obstacle information in the full travel safety area, it indicates that the door will collide with the obstacle during the movement from the initial position to the final stop position. Therefore, the solution provided in this embodiment determines the first position based on the obstacle position represented by the obstacle information.

[0196] It is understandable that the first position should be safe, that is, not within the range of any obstacles, and may also meet other specific conditions (such as being closest to the end point of the movement).

[0197] As a feasible implementation method, the distance between the obstacle position and the first position is less than or equal to the target distance. That is, the first position and the obstacle position do not overlap (the door and the obstacle will not collide), and the distance between the first position and the obstacle position is close, ensuring that the door can achieve the maximum movement without collision.

[0198] Specifically, the obstacle area to which the obstacle belongs can be determined based on the position and size of the obstacle. This area is the space where the door will not collide with the obstacle during movement. When determining this area, factors such as the trajectory, speed and acceleration of the door movement need to be considered, and this application does not limit this.

[0199] In the obstacle area corresponding to the obstacle, select a point that is closest to the obstacle but does not overlap with it as the "first position". This position should ensure that the door will not contact the obstacle when starting or stopping movement.

[0200] It can be seen that the solution provided in this embodiment can ensure that the door can complete its movement safely and efficiently during the opening or closing process by accurately determining the "first position", thereby minimizing the potential collision risk between the door and obstacles and ensuring that the door can move to the maximum extent, thereby ensuring the safety and efficiency of the door movement.

[0201] In some embodiments, see Figure 6 Taking the door opening process as an example, the overall process of the door control method provided by the embodiment of the present application may include the following steps:

[0202] S11, the user triggers a door opening command.

[0203] It should be understood that the user can trigger the door opening command in a variety of ways, including but not limited to: mobile phone APP application, remote control key / card, physical switch, sensor switch, face / voice recognition, etc. The physical switch can be a mechanical button, an external handle, etc., and the sensor switch can be a kick sensor, a gesture sensor, a touch sensor, etc.; this embodiment of the application does not limit this.

[0204] S12: The controller receives a door opening command.

[0205] It should be understood that the door opening instruction may be the first control instruction in the above embodiment. The controller may be a vehicle controller, a door controller, etc. In practical applications, it may be determined according to the electrical control architecture corresponding to the vehicle model, and the present application embodiment does not limit this.

[0206] It should be understood that after receiving the door opening command, the controller can determine whether to execute the door opening operation based on the vehicle's operating conditions. For example, when the vehicle speed is high, it is determined that opening the door may pose certain safety hazards. At this time, after receiving the door opening command, the controller can output a prompt message.

[0207] S13. Detect obstacle information around the vehicle through sensors.

[0208] The sensor may include a radar and an image acquisition device. For example, the radar may include one or more of the following: an ultrasonic radar, a millimeter wave radar, a parking radar, or a laser radar. The image acquisition device may include a front-view camera, a rear-view camera, a panoramic camera, etc.

[0209] S14: Determine whether the obstacle information is in the full-travel safety area.

[0210] If not, execute S151; if so, execute S161.

[0211] It should be understood that the full-stroke safety zone is related to the motion envelope of the vehicle door, and determining whether an obstacle exceeds the full-stroke safety zone means determining whether there is an obstacle within the motion range of the vehicle door.

[0212] S151, control the door to open.

[0213] Control the operation of the glass lifter, drive the window glass to lower, control the door lock to release, and then control the electric strut to drive the door to open.

[0214] S152. Detect whether a new obstacle appears by using a sensor.

[0215] During the opening process, it is detected whether there are new obstacles around the vehicle. If so, execute S161; if not, execute S153.

[0216] S153: Determine whether the vehicle door has reached a preset position.

[0217] It should be understood that the preset position is the final parking position of the door during the door opening process set by the user or the system. If the door reaches the preset position, it indicates that the door has been fully opened. Therefore, if yes, it indicates that the door has been fully opened, and the operation is stopped; if no, it indicates that the door needs to be opened further, and the operation returns to S151.

[0218] S161. Determine whether the obstacle is in a real-time safety area.

[0219] The real-time safety zone is determined based on the current position of the door to determine whether the obstacle is in the real-time safety zone, that is, to determine whether there is an obstacle within a certain distance around the current position of the door.

[0220] If so, the door is controlled to stop, and after the door stops, S171 is executed; if not, the door is controlled to open, and S161 is continued to be executed during the door opening process.

[0221] S171, detecting whether a forced opening instruction is received.

[0222] It should be understood that the forced opening instruction can be the second control instruction in the above embodiment. The triggering condition of the forced opening instruction can be: long pressing of the switch button, forced opening button, voice control, etc., which is not limited in the embodiment of the present application.

[0223] If so, the door continues to be controlled to open until it reaches the preset position and then stops.

[0224] That is, after the forced opening command is triggered, its execution priority is the highest, and the door is immediately controlled to open without considering whether there are obstacles in the safety area.

[0225] It can be seen that the door control method provided in this embodiment can more accurately prevent the door from colliding with obstacles by identifying the position of obstacles before the door is opened and combining the movement space requirements of the door to reduce the tolerance of the safety area detected by the sensor. And real-time identification of obstacles during the door opening process can further prevent new obstacles from colliding with the door. In addition, the solution of this application can also provide users with the function of forcibly opening the door body, so that in some extreme working conditions, users can control the door body to open and close electrically according to their own needs.

[0226] The embodiment of the present application can divide the functional modules of the door control device or the electronic device according to the above method. For example, the door control device or the electronic device can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0227] An embodiment of the present application also provides a vehicle door control device, including: a control module.

[0228] Among them, the control module is used to control the vehicle door to move to a first position in response to a first control instruction; the control module is also used to control the vehicle door to move from a first position to a second position in response to a second control instruction. The first position and the second position are located on the movement trajectory of the door and the first position is different from the second position.

[0229] In some embodiments, the control module is specifically used to control the vehicle door to move from an initial position to a first position when the first control instruction is used to represent the control of opening the vehicle door, and the initial position is used to represent the position of the vehicle door when the first control instruction is received.

[0230] In some embodiments, when the second control instruction is used to represent controlling the vehicle door to continue opening, the distance between the second position and the initial position on the motion trajectory is greater than the distance between the first position and the initial position on the motion trajectory.

[0231] In some embodiments, the second position is a final stop position of the door during the opening process.

[0232] In some embodiments, when the second control instruction is used to represent the control of closing the vehicle door, the distance between the second position and the initial position on the motion trajectory is smaller than the distance between the first position and the initial position on the motion trajectory.

[0233] In some embodiments, the control module is specifically used to control the door to move from an initial position to a first position when the first control instruction is used to represent controlling the door to close, and the initial position is used to represent the door position when the first control instruction is received.

[0234] In some embodiments, when the second control instruction is used to represent controlling the vehicle door to continue closing, the distance between the second position and the initial position on the motion trajectory is greater than the distance between the first position and the initial position on the motion trajectory.

[0235] In some embodiments, the second position is a final stop position of the door during the closing process.

[0236] In some embodiments, when the second control instruction is used to represent the control of opening of a vehicle door, the distance between the second position and an initial position when the vehicle door starts to move is smaller than the distance between the first position and the initial position.

[0237] In some embodiments, the second control instruction is triggered by any one or more of the following methods:

[0238] A touch operation on the force on / off button is detected;

[0239] A touch operation on the door open / close button is detected;

[0240] A voice command carrying a forced on / off command is received;

[0241] Receiving a forced opening / closing instruction for a vehicle door sent by a remote control device;

[0242] An interactive action on the vehicle door is detected, and the interactive action includes but is not limited to: a push or pull action, a knock action, or a tap action.

[0243] In some embodiments, the above-mentioned detection of the touch operation on the door open / close button is specifically: detecting that the touch operation on the door open / close button meets a preset condition, and the preset condition includes at least one of the following: the operation time is greater than or equal to the target time, and the number of operations within the target time period is greater than or equal to the target number.

[0244] In some embodiments, the door open / close button, and / or the forced open / close button are located in one or more of the following locations: in the display interface of the vehicle's display device, in the vehicle's center console, on the inside handle of the vehicle's door, on the outside of the vehicle's door, in the vehicle's sunroof control area, or on the door panel or control panel at the vehicle's driving position.

[0245] In some embodiments, the control module is specifically configured to control the vehicle door to move to a first position and stop based on obstacle information around the vehicle door.

[0246] In some embodiments, the control module is specifically used to control the movement of the vehicle door and obtain obstacle information around the vehicle door; when the obstacle information is located in the real-time safety area of ​​the vehicle door, the vehicle door is controlled to stop moving to reach the first position.

[0247] In some embodiments, the real-time safety zone includes a space range of a first preset size around the current position of the vehicle door.

[0248] In some embodiments, the control module is specifically used to detect whether there is obstacle information in the full-travel safety area in response to a first control instruction; when there is no obstacle information in the full-travel safety area, control the vehicle door to move to the first position.

[0249] In some embodiments, the control module is specifically used to control the vehicle door to move to the first position at a first preset speed when there is no obstacle information in the full-travel safety area.

[0250] In some embodiments, the door control device also includes: a detection module, which is used to detect whether the obstacle information is located in the real-time safety area when there is obstacle information in the full-stroke safety area; the control module is also used to control the door to move to the first position when there is no obstacle information in the real-time safety area.

[0251] In some embodiments, the control module is specifically used to control the vehicle door to move to the first position at a second preset speed when there is no obstacle information in the real-time safety area, and the second preset speed is lower than the first preset speed. The first preset speed is the operating speed of the vehicle door when there is no obstacle information in the full-stroke safety area.

[0252] In some embodiments, the control module is specifically configured to, in response to the second control instruction, control the vehicle door to move from the first position to the second position at a third preset speed, where the third preset speed is lower than the second preset speed.

[0253] In some embodiments, the door control device further includes: a determination module, configured to determine the first position based on the obstacle position represented by the obstacle information when there is obstacle information in the full-travel safety area.

[0254] In some embodiments, the distance between the obstacle location and the first location is less than or equal to the target distance.

[0255] In some embodiments, the full-travel safety zone includes a spatial range of a second preset size around the movement trajectory of the vehicle door.

[0256] In some embodiments, the control module is specifically used to, in response to a first control instruction, control the operation of a glass lifter to drive the window glass in the door to lower to a preset height; control the release of a door lock of the door, and control the operation of an electric strut to drive the door to move to a first position.

[0257] In some embodiments, the obstacle information is obtained by detecting the environment around the vehicle door through a radar device and / or an image acquisition device in the vehicle.

[0258] Figure 7 The following is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 7 As shown, the electronic device 130 includes but is not limited to: a processor 1301 and a memory 1302 .

[0259] The memory 1302 is used to store executable instructions of the processor 1301. It can be understood that the processor 1301 is configured to execute instructions to implement the noise reduction method for the interior of the vehicle in the above embodiment.

[0260] The processor 1301 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1302, and calling data stored in the memory 1302, it performs various functions of the electronic device and processes data, thereby controlling the electronic device as a whole. The processor 1301 may include one or more processing modules. Optionally, the processor 1301 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1301.

[0261] The memory 1302 may be used to store software programs and various data. The memory 1302 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as an acquisition unit, a determination module, a processing unit, etc.), etc. In addition, the memory 1302 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0262] The present application also provides a vehicle, comprising the above-mentioned electronic device or door control device.

[0263] In some embodiments, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a device, the device executes any of the methods described above.

[0264] In this way, the computer program in the computer program product can be customized according to the specific needs and operating conditions of the device, realizing a personalized control method and improving the adaptability and flexibility of the device control.

[0265] In addition, computer program products can be executed on different devices or systems to achieve cross-platform applicability, provide a unified control method for different types of devices, and improve system integration and interoperability.

[0266] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0267] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A door control method, characterized in that: include: In response to a first control instruction, controlling a door of the vehicle to move to a first position; In response to a second control instruction, the vehicle door is controlled to move from the first position to a second position, the first position and the second position are located on a movement trajectory of the vehicle door and the first position is different from the second position.

2. The method according to claim 1, characterized in that In a case where the first control instruction is used to represent controlling the door to be opened, controlling the door of the vehicle to move to the first position includes: The vehicle door is controlled to move from an initial position to the first position, wherein the initial position is used to represent the position of the vehicle door when the first control instruction is received.

3. The method according to claim 2, characterized in that When the second control instruction is used to represent the control of opening of the vehicle door, the distance between the second position and the initial position on the motion trajectory is greater than the distance between the first position and the initial position on the motion trajectory.

4. The method according to claim 3, characterized in that: The second position is the final stop position of the vehicle door during the opening process.

5. The method according to claim 2, characterized in that: When the second control instruction is used to represent the control of closing the vehicle door, the distance between the second position and the initial position on the motion trajectory is smaller than the distance between the first position and the initial position on the motion trajectory.

6. The method according to claim 1, characterized in that In a case where the first control instruction is used to represent controlling the closing of a vehicle door, controlling the vehicle door to move to a first position includes: The vehicle door is controlled to move from an initial position to the first position, wherein the initial position is used to represent the position of the vehicle door when the first control instruction is received.

7. The method according to claim 6, characterized in that When the second control instruction is used to represent controlling the vehicle door to continue closing, the distance between the second position and the initial position on the motion trajectory is greater than the distance between the first position and the initial position on the motion trajectory.

8. The method according to claim 7, characterized in that The second position is the final stop position of the vehicle door during the closing process.

9. The method according to claim 6, characterized in that When the second control instruction is used to represent the control of opening of a vehicle door, a distance between the second position and the initial position on the motion trajectory is smaller than a distance between the first position and the initial position on the motion trajectory.

10. The method according to any one of claims 1 to 9, characterized in that: The second control instruction is triggered by any one or more of the following methods: A touch operation on the force on / off button is detected; A touch operation on the door open / close button is detected; A voice command carrying a forced on / off command is received; Receiving a forced opening / closing instruction for the vehicle door sent by a remote control device; An interactive action on the vehicle door is detected, and the interactive action includes but is not limited to: a push-pull action, a knocking action, or a tapping action.

11. The method according to claim 10, characterized in that The detection of the touch operation on the door opening / closing button is specifically as follows: It is detected that the touch operation on the door open / close button meets a preset condition, and the preset condition includes at least one of the following: the operation time is greater than or equal to the target time, and the number of operations within the target time period is greater than or equal to the target number.

12. The method according to claim 10 or 11, characterized in that: The door opening / closing button and / or the forced opening / closing button may be arranged at one or more of the following positions: In the display interface of the display device of the vehicle, in the center console of the vehicle, at the inner door handle of the vehicle, at the outer door of the vehicle, at the sunroof control area of ​​the vehicle, or at the door panel or control panel of the driving position of the vehicle.

13. The method according to any one of claims 1 to 12, characterized in that: The controlling the vehicle door to move to the first position comprises: The vehicle door is controlled to move to the first position and stop based on obstacle information around the vehicle door.

14. The method according to claim 13, characterized in that The controlling the vehicle door to move to the first position and stop based on the obstacle information includes: Controlling the movement of the vehicle door and obtaining obstacle information around the vehicle door; When the obstacle information is located in the real-time safety area of ​​the vehicle door, the vehicle door is controlled to stop moving so as to reach the first position.

15. The method according to claim 14, characterized in that The real-time safety area includes a space range of a first preset size around the current position of the vehicle door.

16. The method according to any one of claims 1 to 12, characterized in that: In response to the first control instruction, controlling the vehicle door to move to the first position includes: In response to the first control instruction, detecting whether there is obstacle information in the full-travel safety area; When there is no obstacle information in the full-travel safety area, the vehicle door is controlled to move to the first position.

17. The method according to claim 16, characterized in that When there is no obstacle information in the full-travel safety area, controlling the vehicle door to move to the first position includes: When there is no obstacle information in the full-travel safety area, the vehicle door is controlled to move to the first position at a first preset speed.

18. The method according to claim 16 or 17, characterized in that The method further comprises: In the case where there is obstacle information in the full-travel safety area, detecting whether the obstacle information is located in the real-time safety area; When the obstacle information does not exist in the real-time safety area, the vehicle door is controlled to move to the first position.

19. The method according to claim 18, characterized in that When the obstacle information does not exist in the real-time safety area, controlling the vehicle door to move to the first position includes: When the obstacle information does not exist in the real-time safety area, the vehicle door is controlled to move to the first position at a second preset speed, wherein the second preset speed is lower than the first preset speed, and the first preset speed is the operating speed of the vehicle door when there is no obstacle information in the full-stroke safety area.

20. The method according to claim 19, characterized in that In response to the second control instruction, controlling the vehicle door to move from the first position to the second position includes: In response to the second control instruction, the vehicle door is controlled to move from the first position to the second position at a third preset speed, wherein the third preset speed is lower than the second preset speed.

21. The method according to claim 16 or 17, characterized in that The method further comprises: In a case where there is obstacle information within the full-travel safety area, the first position is determined based on the obstacle position represented by the obstacle information.

22. The method according to claim 21, characterized in that The distance between the obstacle position and the first position is less than or equal to the target distance.

23. The method according to any one of claims 16 to 22, characterized in that: The full-travel safety area includes a space range of a second preset size around the movement trajectory of the vehicle door.

24. The method according to any one of claims 1 to 12, characterized in that: In response to the first control instruction, controlling the vehicle door to move to the first position includes: In response to the first control instruction, controlling the glass lifter to operate so as to drive the window glass in the door to be lowered to a preset height; The door lock of the vehicle door is controlled to be released, and the electric support rod is controlled to operate to drive the vehicle door to move to the first position.

25. The method according to any one of claims 13 to 23, characterized in that: The obstacle information is obtained by detecting the surrounding environment of the vehicle door through a radar device and / or an image acquisition device in the vehicle.

26. The method according to any one of claims 1 to 25, characterized in that The vehicle door is any one of the following: a scissor door, a side-opening door or a butterfly door.

27. A vehicle door control device, characterized in that: include: A control module, configured to control a door of the vehicle to move to a first position in response to a first control instruction; The control module is further used to control the vehicle door to move from the first position to a second position in response to a second control instruction, wherein the first position and the second position are located on a movement trajectory of the vehicle door and the first position is different from the second position.

28. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the processor is connected to the memory, and the memory stores computer instructions. When the computer instructions are executed on the electronic device, the electronic device executes the method according to any one of claims 1 to 26.

29. A vehicle, characterized in that: Includes the door control device according to claim 27, or the electronic device according to claim 28.

30. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed on a computer, the computer is enabled to execute the method according to any one of claims 1 to 25.

31. A computer program product, comprising instructions, characterized in that: When the instructions are executed on a computer, the computer performs the method according to any one of claims 1 to 25.

Images