Vehicle door control method, vehicle-mounted equipment and storage medium

Abstract

The invention relates to the technical field of vehicle door control, and provides a vehicle door control method, vehicle-mounted equipment and a storage medium. The method comprises the steps that when it is detected that a vehicle stops running, and / or when it is determined that a user in the vehicle has the door opening intention, whether obstacles exist in a vehicle door opening area and a vehicle door rear side area of the vehicle or not is detected; if it is detected that an obstacle exists in the vehicle door opening area and / or the vehicle door rear side area, obstacle information of the obstacle is obtained; and a target vehicle door corresponding to the obstacle is determined, and damping force applied to the target vehicle door by a damper corresponding to the target vehicle door is controlled according to the obstacle information. By means of the method, vehicle door collision accidents caused by opening the door by people in the vehicle can be effectively reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a door control method, a vehicle-mounted device and a storage medium. Background Art

[0002] When the vehicle stops and the occupants open the door, they may fail to pay attention to the vehicle's surroundings and the opened door may hit an obstacle or a moving object (e.g., a pedestrian, a vehicle, etc.), causing a traffic accident. In the related art, some vehicles are equipped with a door opening warning system that will issue a sound or light warning when a collision is likely. However, the effectiveness of this warning method is heavily dependent on the occupants' reception of the warning signal. In situations where the music in the car is too loud, the passenger is on the phone, or the passenger does not notice the warning sound, the occupants may not receive the warning signal in time, making it difficult to effectively avoid a collision accident. Summary of the invention

[0003] In view of the above, it is necessary to provide a door control method, a vehicle-mounted device and a storage medium that can solve the technical problem that it is difficult to effectively avoid collision accidents because the occupants of the vehicle cannot receive warning signals in time.

[0004] On the one hand, the present application provides a door control method, which includes: when it is detected that a vehicle has stopped driving, and / or when it is determined that a user in the vehicle has the intention to open the door, detecting whether there are obstacles in the door opening area and / or the rear area of ​​the door of the vehicle, if an obstacle is detected in the door opening area and / or the rear area of ​​the door, obtaining obstacle information of the obstacle, determining the target door corresponding to the obstacle, and controlling the damping force applied to the target door by the damper corresponding to the target door according to the obstacle information.

[0005] In some embodiments of the present application, determining whether the user has the intention to open the door includes: if a touch signal sent from a touch sensor of the vehicle door is received, determining that the user has the intention to open the door.

[0006] In some embodiments of the present application, determining whether the user has the intention to open the door includes: if a touch signal sent from a touch sensor of a vehicle door is received, decoding the touch signal to obtain a decoded signal, extracting touch features from the decoded signal, calling a prediction model to predict the touch features to obtain a prediction result, and determining whether the user has the intention to open the door based on the prediction result, wherein the prediction model is trained by preset touch features and user intentions corresponding to the preset touch features.

[0007] In some embodiments of the present application, the touch feature includes one or more of touch position, touch speed, touch shape, touch duration and touch intensity.

[0008] In some embodiments of the present application, the obstacle information includes an obstacle speed, and controlling the damping force applied to the target door by the damper corresponding to the target door according to the obstacle information includes: determining a state of the obstacle according to the obstacle speed, determining a target damping force corresponding to the obstacle according to the state and the obstacle, and controlling the damping force applied to the target door by the damper according to the target damping force.

[0009] In some embodiments of the present application, determining the target damping force corresponding to the obstacle based on the state and the obstacle includes: if the state of the obstacle is dynamic and the obstacle belongs to a first preset category, determining the first preset damping force corresponding to the first preset category as the target damping force; or, if the state of the obstacle is dynamic and the obstacle belongs to a second preset category, determining the second preset damping force corresponding to the second preset category as the target damping force; or, if the state of the obstacle is static, determining a third preset damping force as the target damping force.

[0010] In some embodiments of the present application, controlling the damping force applied by the damper to the target door according to the target damping force includes: adjusting parameters of the damper so that the damping force applied by the damper to the target door reaches the target damping force.

[0011] In some embodiments of the present application, the method also includes: if the state of the obstacle is static, calculating the opening angle of the target door according to the door parameters of the target door and the distance between the obstacle and the target door, and controlling the opening of the target door by the opening angle.

[0012] On the other hand, the present application provides a vehicle-mounted device, which includes: a memory storing at least one instruction; and a processor acquiring the instruction stored in the memory to implement the door control method.

[0013] On the other hand, the present application provides a computer-readable storage medium, in which at least one instruction is stored. The at least one instruction is acquired by a processor in a vehicle-mounted device to implement the door control method.

[0014] Through the above implementation, when it is determined that the user intends to open the door, it is detected whether there are obstacles in the door opening area and the rear area of ​​the door, which can improve the comprehensiveness of detection. When it is detected that there are obstacles in the door opening area and / or the rear area of ​​the door, the corresponding damping force is directly applied to the door according to the obstacle information, which can effectively prevent the user from opening the door without relying on the user's reception of the warning signal, thereby effectively reducing the door collision accidents caused by the occupants opening the door. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural diagram of a vehicle-mounted device provided in one embodiment of the present application.

[0016] Figure 2 It is a flow chart of a door control method provided in one embodiment of the present application.

[0017] Figure 3 This is a flow chart of a method for determining door opening intention provided by another embodiment of the present application.

[0018] Figure 4 This is a flow chart of a method for determining door opening intention provided in one embodiment of the present application.

[0019] Figure 5 This is an application scenario diagram corresponding to the first preset damping force provided in an embodiment of the present application.

[0020] Figure 6 This is an application scenario diagram corresponding to the first preset damping force provided in another embodiment of the present application.

[0021] Figure 7 This is an application scenario diagram corresponding to the second preset damping force provided in an embodiment of the present application.

[0022] Figure 8 This is an application scenario diagram corresponding to the third preset damping force provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0024] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" 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 "exemplary" or "for example" is intended to present related concepts in a specific way.

[0025] When the vehicle stops and the occupants open the door, they may fail to pay attention to the vehicle's surroundings and the door may hit an obstacle or a moving object (e.g., a pedestrian, a vehicle, etc.), causing a traffic accident. In the related art, some vehicles are equipped with door opening warning systems that will issue sound or light warnings when a collision is likely. However, the effectiveness of this warning method is heavily dependent on the occupants' reception of the warning signal. In situations where the music in the car is too loud, the passenger is on the phone, or the passenger does not notice the warning sound, the occupants may not receive the warning signal in time, making it difficult to effectively avoid door collision accidents.

[0026] In order to solve the above technical problems, the present application provides a vehicle door control method, a vehicle-mounted device and a storage medium, which can effectively reduce vehicle door collision accidents caused by vehicle occupants opening the door. The vehicle door control method provided in the embodiments of the present application can be applied to one or more vehicle-mounted devices.

[0027] like Figure 1 , which is a structural diagram of a vehicle-mounted device provided in an embodiment of the present application. The vehicle-mounted device 10 may be a vehicle-mounted device such as an electronic control unit (ECU) or a body control module (BCM) of a vehicle, and the present embodiment of the present application does not impose any restrictions on the specific type of the vehicle-mounted device.

[0028] like Figure 1 As shown, the vehicle-mounted device 10 may include a communication module 101, a memory 102, a processor 103, an input / output (I / O) interface 104 and a bus 105. The processor 103 is coupled to the communication module 101, the memory 102 and the input / output interface 104 through the bus 105.

[0029] The communication module 101 may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more wired communication solutions such as universal serial bus (USB), controller area network bus (CAN), local interconnect network bus (LIN) and flexible network bus (FlexRay). The wireless communication module may provide one or more wireless communication solutions such as wireless fidelity (Wi-Fi), Bluetooth (BT), mobile communication network, frequency modulation (FM), near field communication technology (NFC), infrared technology (IR), etc.

[0030] The memory 102 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the processor 103, and can be used to store executable programs (such as machine instructions) of other running programs, and can also be used to store user and application data. The random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0031] The non-volatile memory may also store executable programs and user and application data, etc., and may be pre-loaded into the random access memory for direct reading and writing by the processor 110. The non-volatile memory may include a disk storage device and a flash memory.

[0032] The memory 102 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 103. The one or more computer programs include a plurality of instructions, and when the plurality of instructions are executed by the processor 103, the vehicle door control method executed on the vehicle-mounted device 10 can be implemented.

[0033] In other embodiments, Figure 1 The vehicle-mounted device 10 shown also includes an external memory interface for connecting to an external memory to expand the storage capacity of the vehicle-mounted device 10 .

[0034] The processor 103 may include one or more processing units, for example, the processor 103 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0035] The processor 103 provides computing and control capabilities. For example, the processor 103 is used to execute a computer program stored in the memory 102 to implement the above-mentioned vehicle door control method.

[0036] The input / output interface 104 is used to provide a channel for user input or output. For example, the input / output interface 104 can be used to connect various input and output devices, such as a mouse, keyboard, touch device, display screen, etc., so that the user can enter information or visualize information.

[0037] The bus 105 is at least used to provide a channel for mutual communication among the communication module 101 , the memory 102 , the processor 103 , and the input / output interface 104 in the vehicle-mounted device 10 .

[0038] It is understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the vehicle-mounted device 10. In other embodiments of the present application, the vehicle-mounted device 10 may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0039] In other embodiments of the present application, the vehicle-mounted device 10 can also be replaced by an electronic device that can realize vehicle control. The electronic device includes, but is not limited to: mobile phones, tablet computers, laptop computers, computers, etc. This application does not limit the electronic device.

[0040] like Figure 2 FIG. 1 is a flow chart of a vehicle door control method provided by an embodiment of the present application. According to different requirements, the order of each step in the flow chart can be adjusted according to actual requirements, and some steps can be omitted. The execution subject of the method is a vehicle-mounted device, such as Figure 1 The vehicle-mounted device 10 is shown.

[0041] S11, when it is detected that the vehicle stops, and / or when it is determined that the user in the vehicle intends to open the door, the door opening area and / or the rear area of ​​the door of the vehicle are detected to obtain a detection result.

[0042] In some embodiments of the present application, the vehicle-mounted device can obtain information such as the gear position, speed, and engine status of the vehicle, and determine whether the vehicle has stopped driving based on the gear position, speed, and engine status of the vehicle. The gear position and speed of the vehicle can be obtained through corresponding sensors (such as a gear position sensor and a speed sensor, etc.), and the engine status information can be obtained through a controller area network (CAN) interface. For example, when the gear position information of the vehicle is P gear, or the speed of the vehicle is zero, or the engine is in an off state, it is determined that the vehicle has stopped driving.

[0043] In other embodiments of the present application, the vehicle-mounted device may also determine whether the vehicle has stopped driving by other means, which is not limited by the present application. For example, by determining whether the lateral acceleration and wheel speed of the vehicle are zero, it is determined whether the vehicle has stopped driving.

[0044] In some embodiments of the present application, the touch sensor is used to detect and respond to human contact, so that a touch signal can be sent to an on-board device (such as an electronic control unit) to open a door, close a door, lock a vehicle, or unlock a vehicle. The touch sensor is usually located in a door handle or in an area around a door so that it can sense the user's contact. Touch sensors include, but are not limited to: capacitive sensing sensors and resistive sensing sensors. Capacitive sensing sensors use the principle of capacitive sensing to detect touch signals, and resistive sensing sensors use the principle of resistive sensing to detect touch signals and send touch signals to an on-board device (such as an electronic control unit). The touch signal can be an electrical signal, which is not limited in the present application.

[0045] For example, the surface of a capacitive sensor is covered with an electric field. When a finger or other object touches the surface of the capacitive sensor, the distribution of the electric field will change to produce a capacitance change. The capacitive sensor can convert the capacitance change into a touch signal and send the touch signal to the vehicle-mounted device (such as an electronic control unit). When a finger or other object touches the surface of a resistive sensor, the resistance value of the resistive sensor will change. When the resistive sensor senses a change in resistance value, a touch signal will be triggered and sent to (such as an electronic control unit).

[0046] In some embodiments of the present application, the vehicle-mounted device determines whether the user has the intention to open the door, including: if a touch signal sent from a touch sensor of the vehicle door is received, determining that the user has the intention to open the door.

[0047] In some embodiments of the present application, the door opening area may be a space formed during or after the door is opened, and the door rear area may be a preset space behind the door (from the door to the rear of the vehicle), wherein the preset space may be determined according to the detection distance of the vehicle's sensors (such as radar and camera, etc.). For example, if the radar detection distance is 20 meters, the door rear area may be a space within 20 meters behind the door.

[0048] In some embodiments of the present application, obstacles include, but are not limited to: vehicles, pedestrians, cats, dogs, walls, street lights, stone piers and telephone poles, etc. This embodiment does not limit the obstacles.

[0049] In some embodiments of the present application, the door opening area and / or the door rear area can be detected by multiple sensors in the vehicle to obtain detection results. Multiple sensors include, but are not limited to: radar, lidar, camera, camera and rangefinder, etc., and the present application does not limit this. For example, if the sensor is a camera or camera, the detection result can be an image captured by the camera or camera, or if the sensor is a radar or lidar, the detection result can be a signal reflected back by an electromagnetic wave or ultrasonic wave sent by the radar or lidar.

[0050] In this embodiment, detecting whether there are obstacles in multiple areas of the door opening area and the door rear area can improve the comprehensiveness of the detection.

[0051] S12, judging whether there are obstacles in the door opening area and / or the door rear area according to the detection result.

[0052] For example, the vehicle-mounted equipment controls the sending of electromagnetic waves or ultrasonic waves to the door opening area and / or the rear area of ​​the door through the radar, and receives the signals reflected by these electromagnetic waves or ultrasonic waves. When the intensity of the reflected signal is greater than a preset value, it is determined that there are obstacles in the door opening area and / or the rear area of ​​the door, wherein the preset value can be set by oneself, and this application does not impose any restrictions on this.

[0053] In some embodiments of the present application, if an obstacle is detected in the door opening area and / or the door rear area, step S13 is executed, or if no obstacle is detected in the door opening area and / or the door rear area, step S15 is executed.

[0054] S13, obtaining obstacle information of the obstacle.

[0055] In some embodiments of the present application, obstacle information includes, but is not limited to: obstacle speed, obstacle position, obstacle category, obstacle height, obstacle width, and the distance between the obstacle and the vehicle, etc., and the present application does not impose any restrictions on this.

[0056] In some embodiments of the present application, the obstacle speed, obstacle position, obstacle height, obstacle width and the distance between the obstacle and the vehicle can be obtained by radar, ultrasound or lidar, and the obstacle can be photographed by a shooting device (such as a camera or a camera) to obtain an obstacle image, and the obstacle category can be obtained by identifying the obstacle image. It is also possible to randomly combine multiple sensors to obtain a sensor group, and obtain the required obstacle information through the sensor group. Among them, the method of obtaining obstacle information through sensors can refer to the relevant technology, and this application does not limit this. For example, following the above embodiment, the vehicle-mounted device controls the transmission of electromagnetic wave signals or ultrasonic signals to the door opening area and / or the rear area of ​​the door through radar, and receives the signal reflected by the electromagnetic wave signal or ultrasonic signal, determines the obstacle speed according to the change between the reflected signal and the frequency of the electromagnetic wave signal or ultrasonic signal, determines the obstacle height and width according to the change between the reflected signal and the amplitude of the electromagnetic wave signal or ultrasonic signal, and determines the obstacle position and the distance between the obstacle and the vehicle according to the change between the reception time of the reflected signal and the transmission time of the electromagnetic wave signal or ultrasonic signal.

[0057] In other embodiments of the present application, obstacle information may be obtained by other methods, which are not limited in the present application. For example, the obstacle speed may be obtained by measuring the distance using a rangefinder, or may be obtained by identifying multiple continuous obstacle images.

[0058] In this embodiment, comprehensive obstacle information can be acquired through multiple sensors, and the door control can be performed more accurately through the comprehensive obstacle information.

[0059] S14, determining a target door corresponding to the obstacle, and controlling a damper corresponding to the target door to apply a damping force to the target door according to the obstacle information.

[0060] In some embodiments of the present application, the target door may be the door closest to the obstacle, or the door on the same side as the obstacle, and the target door may be one or more. Since a vehicle has multiple doors, and an obstacle usually only affects the opening of some doors, accurate control of the door can be achieved by determining the target door corresponding to the obstacle.

[0061] In some embodiments of the present application, the damper is a controllable damper. For example, the damper may be a spring damper, a hydraulic damper, a pneumatic damper, an electromagnetic damper, etc. The damping force applied to the target door corresponds to the obstacle information, and different obstacle information applies different damping forces to the target door.

[0062] In this embodiment, since different obstacle information applies different damping forces to the target door, the target door is controlled in a differentiated manner through different damping forces, thereby achieving flexible and precise control of the door.

[0063] In other embodiments of the present application, obstacles may be detected in real time, and when it is determined that there are no obstacles in the door opening area and / or the door rear area, the damping force applied to the target door is released.

[0064] S15, no damping force is applied to the door.

[0065] In this embodiment, when it is detected that there is no obstacle in the door opening area and / or the door rear area, it means that the person in the vehicle will not collide with the obstacle when opening the door, so no damping force is applied to the door.

[0066] Through the above implementation, when it is determined that the user intends to open the door, it is detected whether there are obstacles in the door opening area and the rear area of ​​the door, which can improve the comprehensiveness of detection. When it is detected that there are obstacles in the door opening area and / or the rear area of ​​the door, the corresponding damping force is directly applied to the door according to the obstacle information, which can effectively prevent the user from opening the door without relying on the user's reception of the warning signal, thereby effectively reducing the door collision accidents caused by the occupants opening the door.

[0067] In some embodiments of the present application, such as Figure 3 FIG. 1 is a flow chart of a method for determining a door opening intention provided by another embodiment of the present application, which specifically includes the following steps:

[0068] S111, determining whether a touch signal sent by a touch sensor of a vehicle door is received.

[0069] In this embodiment, if a touch signal sent from the touch sensor of the vehicle door is received, step S112 is executed, and if a touch signal sent from the touch sensor of the vehicle door is not received, step S115 is executed.

[0070] S112, decoding the touch signal to obtain a decoded signal.

[0071] In some embodiments of the present application, the touch signal is an analog signal or a digital signal. Before decoding the touch signal, the touch signal may be filtered and de-noised.

[0072] In some embodiments of the present application, a decoding method corresponding to the touch signal can be used to decode the touch signal after denoising and filtering to obtain a decoded signal. For example, if the touch signal is an analog signal, the decoding method includes, but is not limited to: demodulation methods such as envelope detection method and coherent detection method. The process of decoding the touch signal according to the decoding algorithm to obtain the decoded signal can refer to the relevant technology, and this application will not describe it in detail.

[0073] S113, extracting touch features from the decoded signal.

[0074] In some embodiments of the present application, the touch feature includes one or more of touch position, touch speed, touch shape, touch duration, and touch intensity.

[0075] In some embodiments of the present application, touch features can be extracted in a variety of ways. For example, the vehicle-mounted device determines the point where the finger or other object contacts the touch sensor as the touch point, and the position of the touch point as the touch position, and each touch point corresponds to a touch position and a touch time. The vehicle-mounted device calculates the position difference between the touch positions of multiple continuous touch points, and the time difference between the touch times of multiple time-continuous touch points, and determines the ratio between the position difference and the time difference as the touch speed. The vehicle-mounted device determines the curve or polygon obtained by connecting multiple time-continuous touch points as the touch shape. The vehicle-mounted device determines the difference between the touch time corresponding to the last touch point and the touch time corresponding to the first touch point among multiple time-continuous touch points as the touch duration, where time continuity means that the time intervals between the touch times of multiple touch points are the same or the gaps between multiple time intervals are within a preset range, and the preset range can be set by itself, for example, the preset range can be [1, 2]. If the touch point is not detected within the preset time, the vehicle-mounted device determines the most recently detected touch point as the last touch point, and the preset time can be set by itself, and the present application does not limit this. For example, the preset time can be 8s. The onboard device determines the signal peak in the decoded signal as the touch intensity.

[0076] For example, the vehicle-mounted device detects the first touch point at 9:05:10, the second touch point at 9:05:12, the third touch point at 9:05:14, and the fourth touch point at 9:05:24. If the preset time is 8s, since the time intervals between the touch times of the first touch point, the second touch point and the third touch point are all 2s, the time interval between the touch times of the fourth touch point and the third touch point is 10s, and 10s is greater than the preset time 8s, the first touch point, the second touch point and the third touch point are multiple touch points that are continuous in time. The vehicle-mounted device determines the third touch point as the last touch point, and the difference of 4 seconds between the touch time of the last touch point, 9:05:14, and the touch time of the first touch point, 9:05:10, is determined as the touch duration.

[0077] S114, calling the prediction model to predict the touch feature, obtaining a prediction result, and determining whether the user has an intention to open the door based on the prediction result.

[0078] In some embodiments of the present application, the prediction model includes, but is not limited to: a convolutional neural network model, a recurrent neural network model, and a long short-term memory network model, etc., and the present application does not impose any restrictions on this.

[0079] In some embodiments of the present application, the prediction model is obtained by training the preset touch features and the user intentions corresponding to the preset touch features. There may be multiple preset touch features, and the preset touch features are basically the same as the above touch features, so this application will not repeat the description. The user intention can be set by itself, and this application does not limit this. For example, the user intention includes opening the car door, accidental touch, opening the car window, and closing the car door.

[0080] The quantitative correspondence between the user intention and the preset touch features can be set arbitrarily, and this application does not limit this. For example, one user intention can correspond to one preset touch feature, or one user intention can correspond to multiple preset touch features.

[0081] In some embodiments of the present application, when the prediction result is to open the car door, the in-vehicle device determines that the user has the intention to open the door.

[0082] In this embodiment, since the prediction model is obtained by training the preset touch features and the user intentions corresponding to the preset touch features, it is possible to predict whether the user has the intention to open the door based on the touch features.

[0083] S115, determining that the user has no intention to open the door.

[0084] In this embodiment, if the touch signal sent from the touch sensor of the vehicle door is not received, it means that the user has not touched the vehicle door, and it is determined that the user has no intention to open the door.

[0085] In some embodiments of the present application, such as Figure 4 FIG. 1 is a flow chart of a method for determining a door opening intention provided by an embodiment of the present application, which specifically includes the following steps:

[0086] S131, determining the state of the obstacle according to the speed of the obstacle.

[0087] In some embodiments of the present application, the state of the obstacle includes static and dynamic. When the speed of the obstacle is zero, the vehicle-mounted device determines that the state of the obstacle is static, or, when the speed of the obstacle is not zero, the vehicle-mounted device determines that the state of the obstacle is dynamic.

[0088] S132, determining a target damping force corresponding to the obstacle according to the state and the obstacle, and controlling the damping force applied by the damper to the target door according to the target damping force.

[0089] In some embodiments of the present application, the vehicle-mounted device determines the target damping force corresponding to the obstacle based on the state and the obstacle, including: if the state of the obstacle is dynamic and the obstacle belongs to a first preset category, the first preset damping force corresponding to the first preset category is determined as the target damping force, or, if the state of the obstacle is dynamic and the obstacle belongs to a second preset category, the second preset damping force corresponding to the second preset category is determined as the target damping force, or, if the state of the obstacle is static, the third preset damping force is determined as the target damping force.

[0090] Among them, the first preset category can be vehicles (such as trucks, cars, bicycles and trucks, etc.), the second preset category can be people and animals (such as kittens and puppies, etc.), and the third preset category can be inanimate objects (such as walls and stone piers, etc.). The first preset damping force corresponding to the first preset category is greater than the second preset damping force corresponding to the second preset category, and the second preset damping force corresponding to the second preset category is greater than the third preset damping force corresponding to the third preset category. The first preset damping force, the second preset damping force and the third preset damping force can be set by yourself, and this application does not limit this. For example, the first preset damping force can be 3000 Newtons (N), the second preset damping force can be 1800 Newtons (N), and the third preset damping force can be 800 Newtons (N).

[0091] For example, Figure 5As shown, it is an application scenario diagram corresponding to the first preset damping force provided by an embodiment of the present application. A target vehicle stops driving, and a car drives from the rear of the stopped target vehicle. When the car drives to the door position of the target vehicle, if the user in the target vehicle opens the target door and gets off the vehicle at this time, it may cause the driving car to collide with the opened target door or the user who gets off the vehicle, causing a traffic accident. Since the driving speed of the car is usually very fast and the risk factor is high, therefore, in this scenario, the maximum first preset damping force can be used as the target damping force to control the damper to apply damping force to the target door, making it difficult for the user to open the target door or even impossible to open the target door, so as to avoid the car colliding with the opened target door or the user who gets off the car colliding with the car.

[0092] For example, Figure 6 As shown, it is an application scenario diagram corresponding to the first preset damping force provided by another embodiment of the present application. A target vehicle stops, and a bicycle drives from the rear of the stopped target vehicle. When the bicycle drives to the door position of the target vehicle, if the user in the target vehicle opens the target door and gets off at this time, it may cause the moving bicycle to collide with the opened target door or the user who gets off, causing a traffic accident. Since the speed of the bicycle is fast and the risk factor is high, therefore, in this scenario, the maximum first preset damping force can be used as the target damping force to control the damper to apply damping force to the target door, making it difficult for the user to open the target door or even impossible to open the target door, so as to avoid the bicycle colliding with the opened target door or the user who gets off colliding with the bicycle.

[0093] For example, Figure 7 As shown, it is an application scenario diagram corresponding to the second preset damping force provided by an embodiment of the present application. A target vehicle stops, and a group of people walk from the rear of the stopped target vehicle. When the pedestrians walk to the door position of the target vehicle, if the user in the target vehicle opens the target door and gets off, it may cause the pedestrian to collide with the opened target door or the user who gets off, causing a traffic accident. Since the pedestrians walk at a high speed, there is a certain danger. Therefore, in this scenario, the second preset damping force can be used as the target damping force to control the damper to apply damping force to the target door, so that the user feels a certain door opening resistance and reduces the user's door opening speed, so as to reduce the problem of pedestrians colliding with the opened target door or pedestrians colliding with the user who gets off the vehicle.

[0094] Specifically, the vehicle-mounted device controls the damping force applied by the damper to the target door according to the target damping force, including: the vehicle-mounted device adjusts the parameters of the damper so that the damping force applied by the damper to the target door reaches the target damping force.

[0095] The parameters of the damper may be determined according to the type of the damper. For example, if the damper is a hydraulic damper, the parameters of the damper may be the flow rate, pressure, and viscosity of the liquid, or if the damper is a pneumatic damper, the parameters of the damper may be the flow rate, pressure, and density of the gas, or if the damper is an electromagnetic damper, the parameters of the damper may be the strength of the electromagnetic field, the excitation current, and the coil.

[0096] In this embodiment, when the damper is controlled to apply damping force to the target door according to the first preset damping force, it is difficult for the user to open the target door or even impossible to open the target door, thereby effectively avoiding the door collision accident caused by the occupant opening the door. When the damper is controlled to apply damping force to the target door according to the second preset damping force, the user is subjected to greater resistance when opening the target door, which can effectively warn the user and reduce the speed of the user opening the target door, thereby avoiding the door collision accident caused by the occupant opening the door. When the damper is controlled to apply damping force to the target door according to the third preset damping force, the user is subjected to certain resistance when opening the target door, which can effectively warn the user, thereby reducing the door collision accident caused by the occupant opening the door.

[0097] In other embodiments of the present application, if the state of the obstacle is static, the door control method also includes: the vehicle-mounted equipment calculates the opening angle of the target door according to the door parameters of the target door and the distance between the obstacle and the target door, and controls the opening of the target door through the opening angle.

[0098] The door parameters of the target door include, but are not limited to: the height and width of the target door. The distance between the obstacle and the target door is the horizontal distance. The calculation method of the opening angle can refer to formula (1):

[0099]

[0100] Among them, θ represents the opening angle, W represents the width of the target door, D represents the distance between the obstacle and the target door, and H represents the height of the target door.

[0101] In other embodiments of the present application, the vehicle-mounted device may also calculate the opening angle in other ways, and the present application does not limit the method for calculating the opening angle.

[0102] For example, Figure 8As shown, it is an application scenario diagram corresponding to the third preset damping force provided in an embodiment of the present application. A target vehicle is parked around a wall, and the distance between the target vehicle and the wall is small. If the target door of the target vehicle is fully opened, the opened target door will collide with the wall, causing damage to the door. Therefore, in this scenario, the damper can be controlled to apply damping force to the target door according to the third preset damping force, and the opening of the target door can be controlled according to the opening angle, so that the opened target door will not hit the wall, which can prevent the opened target door from hitting the wall and causing damage to the target door.

[0103] In this embodiment, the opening angle is the maximum opening angle of the door calculated based on the door parameters of the target door and the distance between the obstacle and the target door. By controlling the opening of the target door by the opening angle, the opened target door will not hit the wall, thereby avoiding the problem of the opened target door hitting the wall and causing damage to the target door.

[0104] In other embodiments of the present application, in addition to controlling the damping force applied by the damper to the target door according to the target damping force, the user may also be alerted by voice, light or the like.

[0105] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0106] The computer-readable storage medium may be an internal memory of the electronic device described in the above embodiment, such as a hard disk or memory of the electronic device. The computer-readable storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device.

[0107] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the electronic device, etc.

[0108] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0109] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0110] The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, the functional modules in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0111] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present application is limited by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application. Any associated figure marks in the claims should not be regarded as limiting the claims involved. In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in this application can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A door control method, It is characterized in that The method comprises: When it is detected that the vehicle stops, and / or when it is determined that the user in the vehicle intends to open the door, detecting whether there is an obstacle in the door opening area and / or the rear area of ​​the door of the vehicle; If it is detected that there is an obstacle in the door opening area and / or the door rear area, obtaining obstacle information of the obstacle; A target door corresponding to the obstacle is determined, and a damping force applied to the target door by a damper corresponding to the target door is controlled according to the obstacle information.

2. The vehicle door control method according to claim 1, It is characterized in that Determining whether the user has an intention to open the door includes: If a touch signal sent from the touch sensor of the vehicle door is received, it is determined that the user has the intention to open the door.

3. The vehicle door control method according to claim 1, It is characterized in that Determining whether the user has an intention to open the door includes: If a touch signal sent from a touch sensor of the vehicle door is received, the touch signal is decoded to obtain a decoded signal; extracting touch features from the decoded signal; A prediction model is called to predict the touch feature to obtain a prediction result, and whether the user has an intention to open the door is determined based on the prediction result, wherein the prediction model is trained by preset touch features and user intentions corresponding to the preset touch features.

4. The vehicle door control method according to claim 3, It is characterized in that The touch feature includes one or more of a touch position, a touch speed, a touch shape, a touch duration, and a touch intensity.

5. The vehicle door control method according to claim 1, It is characterized in that The obstacle information includes obstacle speed, and controlling the damping force applied to the target door by the damper corresponding to the target door according to the obstacle information includes: determining a state of the obstacle according to a speed of the obstacle; According to the state and the obstacle, a target damping force corresponding to the obstacle is determined, and the damping force applied by the damper to the target door is controlled according to the target damping force.

6. The vehicle door control method according to claim 5, It is characterized in that The step of determining a target damping force corresponding to the obstacle according to the state and the obstacle includes: If the state of the obstacle is dynamic and the obstacle belongs to a first preset category, determining a first preset damping force corresponding to the first preset category as the target damping force; or If the state of the obstacle is dynamic and the obstacle belongs to a second preset category, determining a second preset damping force corresponding to the second preset category as the target damping force; or If the state of the obstacle is static, the third preset damping force is determined as the target damping force.

7. The vehicle door control method according to claim 5, It is characterized in that The controlling the damping force applied by the damper to the target door according to the target damping force comprises: The parameters of the damper are adjusted so that the damping force applied by the damper to the target door reaches the target damping force.

8. The vehicle door control method according to claim 6, It is characterized in that The method further comprises: If the state of the obstacle is static, the opening angle of the target door is calculated according to the door parameters of the target door and the distance between the obstacle and the target door, and the opening of the target door is controlled by the opening angle.

9. A vehicle-mounted device, It is characterized in that The vehicle-mounted equipment includes: a memory storing at least one instruction; and A processor executes the at least one instruction to implement the vehicle door control method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, Features: The computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor in the vehicle-mounted device, the vehicle door control method according to any one of claims 1 to 8 is implemented.

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