Vehicle door control method, device and system, storage medium and vehicle

Abstract

The invention provides a vehicle door control method, device and system, a storage medium and a vehicle. The method comprises the steps that the vehicle speed, the current opening and closing state of a vehicle door, an identity verification result, a travel confirmation state and whether passengers exist in the vehicle or not are collected; performing door opening and door closing logic judgment according to the collected information, and generating a local door control instruction; and according to the local door control instruction, a vehicle door is controlled to execute corresponding door opening or closing actions. By implementing the method and the device, logic judgment can be performed according to the acquired information, and automatic opening or closing operation can be performed on the unmanned operating vehicle, so that the operation efficiency and the safety are improved, the cost is reduced, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned operating vehicles, and in particular to a door control method, device, system, storage medium and vehicle. Background Art

[0002] With the development of driverless technology, some driverless commercial vehicles have also been put into the market. Currently, the opening and closing of the doors of driverless commercial vehicles require manual operation by passengers (or other personnel). If the passenger (or other personnel) leaves the vehicle without closing the door after using it, the vehicle will not be able to activate the automatic driving system to continue driving, causing the vehicle to be "awkwardly" parked on the road, affecting normal traffic.

[0003] The current solution is to send operators to the scene to manually close the door, which not only affects the operational efficiency, but also increases unnecessary labor costs. Therefore, in the prior art, the driverless vehicle does not close the door after the passenger (or other user) leaves, which brings the disadvantages of low operational efficiency and increased operating costs. Summary of the invention

[0004] The technical problem to be solved by the present invention is to propose a door control method, device, system, storage medium and vehicle, which can perform logical judgment based on the collected information, realize local or remote control automatic opening or closing operations of unmanned operating vehicles, improve operational efficiency and safety, reduce costs, and improve user experience.

[0005] As one aspect of the present invention, a door control method is provided for an unmanned vehicle, which comprises the following steps:

[0006] Collect vehicle status information and passenger status information, the vehicle status information includes vehicle speed and current door open / close status, and the passenger status information includes identity verification results, trip confirmation status, and whether there are passengers in the vehicle;

[0007] Make logical judgments on door opening and closing based on the collected information and generate local door control instructions;

[0008] According to the local door control command, the vehicle door is controlled to perform corresponding door opening or door closing actions.

[0009] Among them, in the process of making logical judgments on door opening and closing based on the collected information, when the following conditions are met, a local door control instruction for executing the door opening action is generated:

[0010] The vehicle speed is less than or equal to a preset vehicle speed threshold;

[0011] The door is currently closed; and

[0012] The passenger authentication is passed and the trip is not confirmed, or the trip confirmation information is that the vehicle has arrived at the station and passengers are detected in the vehicle.

[0013] Wherein, in the process of judging the opening and closing logic according to the collected information, when the following conditions are met, a local door control instruction for executing the closing action is generated:

[0014] The vehicle speed is less than or equal to a preset vehicle speed threshold;

[0015] The current state of the vehicle door is open; and

[0016] The trip confirmation information is that the trip is started and the passenger authentication is passed, or the trip confirmation information is that the vehicle has arrived at the station and no passengers are detected in the vehicle.

[0017] Wherein, it further includes:

[0018] Real-time monitor the fault state of the intelligent door control module in the driverless vehicle, and report the fault state, the collected vehicle state information and passenger state information when a fault occurs;

[0019] When the cloud platform receives the fault state signal and detects that the following conditions are met, it generates a remote door control instruction for executing the closing action and sends it to the driverless vehicle:

[0020] The door state is open;

[0021] The intelligent door control module reports the fault state; and

[0022] The vehicle is in a stationary state.

[0023] Wherein, after the vehicle travels more than a preset distance, the passenger authentication information is automatically cleared, and the preset distance is determined by pre-calibration.

[0024] Correspondingly, on the other hand, the present invention further provides a door control device for a driverless vehicle, which at least includes:

[0025] An information collection module, configured to collect vehicle state information and passenger state information, where the vehicle state information includes vehicle speed, and the passenger state information includes authentication result, trip confirmation status, and whether there are passengers in the vehicle;

[0026] An intelligent door control module, configured to judge the opening and closing logic according to the information collected by the information collection module and the current door state, and generate a local door control instruction;

[0027] An electric door module, configured to collect the current door state, receive and execute the local door control instruction, and control the door to perform corresponding opening or closing actions.

[0028] Among them, the intelligent door control module further includes:

[0029] A fault status monitoring module for real-time monitoring of its own fault status;

[0030] An opening instruction generation unit for generating a local door control instruction to perform an opening action when the following conditions are detected: the vehicle speed is less than or equal to a preset vehicle speed threshold, and the current state of the door is closed, and the passenger identity verification is passed and the trip has not been confirmed or the trip confirmation information is that the vehicle has arrived at the station and there are passengers detected in the vehicle;

[0031] A closing instruction generation unit for generating a local door control instruction to perform a closing action when the following conditions are detected: the vehicle speed is less than or equal to a preset vehicle speed threshold, and the current state of the door is open, and the trip confirmation information is to start a trip and the passenger identity verification is passed or the trip confirmation information is that the vehicle has arrived at the station and no passengers are detected in the vehicle;

[0032] A cache processing unit for automatically clearing the passenger identity verification cache information after the vehicle has traveled more than a preset distance, and the preset distance is determined by pre-calibration.

[0033] Among them, the information collection module further includes:

[0034] A passenger identity verification module for verifying passenger identity information;

[0035] A braking control module for obtaining the current vehicle speed information of the vehicle;

[0036] An in-vehicle monitoring module for monitoring whether there are passengers in the vehicle;

[0037] A trip confirmation module for confirming the trip status.

[0038] Among them, it further includes:

[0039] A T-box module for reporting the fault status monitored by the intelligent door control module, the information collected by the information collection module, and the door status to the cloud platform, receiving a remote door control instruction from the cloud platform, and transmitting it to the electric door module.

[0040] As another aspect of the present invention, there is also provided a door control system for an autonomous vehicle, which includes:

[0041] A vehicle end, provided with a door control device as described above;

[0042] A cloud platform, which is used to receive the fault status and vehicle information reported by the vehicle end, generate a remote door control instruction for performing a closing operation, and then send it to the vehicle end.

[0043] Among them, the cloud platform further includes:

[0044] A remote instruction generation unit, configured to generate a remote door control instruction for performing a door closing action when receiving a fault status signal from the vehicle end and detecting that the following conditions are met: the door status is open, the intelligent door control module reports a fault status, and the vehicle is in a stationary state;

[0045] A vehicle status monitoring and display unit, configured to display in real time the door status, fault information, and passenger verification result of the corresponding vehicle.

[0046] Correspondingly, as another aspect of the present invention, there is also provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method as described above are implemented.

[0047] Correspondingly, as another aspect of the present invention, there is also provided a vehicle, in which the door control device as described above is deployed.

[0048] Implementing the embodiments of the present invention has the following beneficial effects:

[0049] The present invention provides a door control method, device, system, storage medium, and vehicle, which can collect the current vehicle speed, door status, passenger identity authentication information, trip confirmation information, and in-vehicle passenger monitoring information, perform comprehensive logical judgment, and generate a local door control instruction; or based on the fault information reported by the vehicle, the cloud platform generates a remote door control instruction according to the information and sends it to the vehicle, so as to realize the automatic opening or closing operation of local or remote control for driverless operating vehicles.

[0050] In the embodiments of the present invention, it is not necessary for passengers to close the door manually, and the system can automatically control the opening or closing of the door according to the vehicle operation scenario and the current vehicle status. At the same time, when the system fails, the door can also be remotely opened or closed through the operation platform.

[0051] Implementing the present invention improves the operation efficiency and safety, reduces the cost, and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, obtaining other drawings based on these drawings still belongs to the scope of the present invention;

[0053] Figure 1 It is a schematic main flow diagram of an embodiment of a door control method provided by the present invention;

[0054] Figure 2 Schematic diagram of the application environment for implementing remote gating of the method provided by the present invention;

[0055] Figure 3 Schematic diagram of the application environment for implementing local gating in the method provided by the present invention;

[0056] Figure 4 Detailed flowchart of the gating operation when the vehicle arrives at the boarding point in an example of the present invention;

[0057] Figure 5 Detailed flowchart of the gating operation when the vehicle arrives at the destination in an example of the present invention;

[0058] Figure 6 Detailed flowchart of the remote control door closing operation in an example of the present invention;

[0059] Figure 7 Schematic diagram of the structure of the intelligent door control module in an embodiment of a vehicle door control system provided by the present invention;

[0060] Figure 8 Schematic diagram of the structure of the cloud platform in an embodiment of a vehicle door control system provided by the present invention. Detailed implementation manners

[0061] To make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0062] As Figure 1 shown, a schematic diagram of the main process of an embodiment of a vehicle door control method provided by the present invention is shown; in conjunction with Figures 2 to 3 shown, in this embodiment, the method is used for driverless vehicles (such as driverless commercial vehicles), and it at least includes the following steps:

[0063] Step S10, collect vehicle state information and passenger state information, where the vehicle state information includes vehicle speed and the current opening and closing state of the vehicle door, and the passenger state information includes the identity verification result, trip confirmation status, and whether there are passengers in the vehicle;

[0064] In an example of the present invention, the vehicle state information and passenger state information are collected by the information collection module 3; specifically, the passenger identity information is verified by the passenger identity verification module 30 (such as face swiping, password, code scanning, etc.), the current vehicle speed information is obtained by the braking control module 31, whether there are passengers in the vehicle is monitored by the in-vehicle monitoring module 32, and the trip status (such as start, in progress, and end, etc.) is confirmed by the trip confirmation module 33.

[0065] Step S12: Based on the collected information, perform door opening and closing logic judgment to generate local door control instructions. Specifically, mainly based on the collected vehicle status information, passenger status information (including the presence or absence of passengers), and fault status information, perform logic judgment and send door control instructions.

[0066] Specifically, in some examples, this step includes:

[0067] During the process of performing door opening and closing logic judgment based on the collected information, when the following conditions are met, generate local door control instructions for performing the door opening action:

[0068] Vehicle speed ≤ 3 km / h;

[0069] The current state of the door is closed; and

[0070] The passenger identity verification is passed and the trip has not been confirmed, or the trip confirmation information is that the vehicle has arrived at the station and passengers are detected inside the vehicle.

[0071] Among them, 3 km / h is a pre-set vehicle speed threshold, and its value can be other values, such as 4 km / h, etc.

[0072] And during the process of performing door opening and closing logic judgment based on the collected information, when the following conditions are met, generate local door control instructions for performing the door closing action:

[0073] Vehicle speed ≤ 3 km / h;

[0074] The current state of the door is open; and

[0075] The trip confirmation information is that the trip is started and the passenger identity verification is passed, or the trip confirmation information is that the vehicle has arrived at the station and no passengers are detected inside the vehicle.

[0076] Step S13: Real-time monitor the fault status of the intelligent door control module in the driverless vehicle. When a fault occurs, report the fault status, the collected vehicle status information, and the passenger status information, and receive remote door control instructions from the cloud platform.

[0077] In a specific example, when the cloud platform receives a fault status signal and detects that the following conditions are met, generate remote door control instructions for performing the door closing action:

[0078] The door status is open;

[0079] The intelligent door control module reports a fault status; and

[0080] The vehicle is in a stationary state.

[0081] It can be understood that in the method of the present invention, the intelligent door control module 2 monitors its own fault status in real time, and reports the fault situation in real time through the T-box module 7. If a fault occurs, remote door opening / closing control is performed through the operation background 9 of the cloud platform 8; if there is no fault, local door opening and closing control can be normally performed;

[0082] Step S14, according to the local door control instruction or the remote door control instruction, control the door to perform the corresponding opening or closing action.

[0083] Furthermore, the method provided by the present invention further includes:

[0084] Automatically clear the passenger's identity verification information after the vehicle has traveled more than a preset distance, and the preset distance is determined by pre-calibration.

[0085] To further understand the essence of the method provided by the present invention, the following will be combined with Figures 4 to 6 Illustrate the application of the method of the present invention in practice. Among them, Figure 4 、 Figure 5 Respectively show the control processes using local door control instructions when the driverless vehicle arrives at the boarding point and the destination point; while Figure 7 Shows the control process using remote door control instructions when a fault occurs.

[0086] Such as Figure 4 As shown, the application scenario shown is as follows:

[0087] Scenario 1: When the driverless online car-hailing vehicle arrives at the boarding point

[0088] The intelligent door control module 2 makes a door control judgment by obtaining the passenger identity verification information of the passenger identity verification module 30, the current vehicle speed information of the brake control module 31, the door state information of the electric door module 1, and the trip confirmation information of the trip confirmation module 33:

[0089] S1: When all of the following conditions are met, the intelligent door control module 2 sends a door unlocking request to the door lock on the passenger boarding side, and then sends an opening request to the electric door. After receiving the opening request, the electric door performs an opening action.

[0090] Vehicle speed < 3 km / h;

[0091] Door state == closed state;

[0092] Passenger identity verification information == passed; and

[0093] Trip confirmation request == no request.

[0094] Otherwise, the intelligent door control module has no door control request.

[0095] After the passenger gets on the vehicle and takes a seat and is ready to depart, the intelligent door control module 2 makes a door control judgment by obtaining the passenger identity verification information of the passenger identity verification module 30, the current vehicle speed information of the brake control module 31, the door state information of the electric door module 1, and the trip confirmation information of the trip confirmation module 33:

[0096] S2: When all of the following conditions are met, the intelligent door control module 2 sends a door closing request to the side door where the passenger gets on, and the electric door executes a door closing action after receiving the door closing request.

[0097] Vehicle speed < 3 km / h;

[0098] Door state == open state;

[0099] Passenger identity verification information == passed; and

[0100] Trip confirmation request == start trip.

[0101] Otherwise, the intelligent door control module has no door control request.

[0102] It can be understood that the intelligent door control module makes a memory storage after obtaining the passenger identity verification passed information, and stops memorizing until the vehicle has traveled a short distance (for example, 500 meters). The passenger identity verification information is an important information for door control at the boarding point scene.

[0103] As Figure 5 shown, the scene shown is as follows:

[0104] Scene 2: When the driverless online car-hailing arrives at the destination

[0105] The intelligent door control module 2 makes a door control judgment by obtaining the in-vehicle passenger monitoring information of the in-vehicle monitoring module 32, the current vehicle speed information of the brake control module 31, the door state information of the electric door module 1, and the trip confirmation information of the trip confirmation module 33:

[0106] S3: When all of the following conditions are met, the intelligent door control module 2 sends a door unlocking request to the side door lock where the passenger gets on, and then sends a door opening request to the electric door. The electric door executes a door opening action after receiving the door opening request.

[0107] Vehicle speed < 3 km / h;

[0108] Door state == closed state;

[0109] Trip confirmation information == vehicle arrived at station; and

[0110] In-vehicle passenger monitoring information == there is a passenger.

[0111] Otherwise, the intelligent door control module has no door control request.

[0112] After the passenger gets off and leaves, the intelligent door control module 2 makes a door control judgment by obtaining the in-vehicle passenger monitoring information of the in-vehicle monitoring module 32, the current vehicle speed information of the braking control module 31, the door state information of the electric door module 1, and the trip confirmation information of the trip confirmation module 33:

[0113] S4: When all of the following conditions are met, the intelligent door control module 2 sends a door closing request to the side door where the passenger gets on, and the electric door performs a door closing action after receiving the door closing request.

[0114] Vehicle speed < 3 km / h;

[0115] Door state == open state;

[0116] Trip confirmation information == vehicle arrives at the station; and

[0117] In-vehicle passenger monitoring information == no passengers.

[0118] Otherwise, the intelligent door control module has no door control request.

[0119] It can be understood that the intelligent door control module stores the memory after obtaining the vehicle arrival information until the vehicle travels a short distance (for example, 500 meters) and then no longer remembers. The trip end information is an important information for door control in the destination arrival scenario.

[0120] As Figure 7 shown, the scenario shown is as follows:

[0121] Scenario 3: If the door is not closed after the passenger gets off and leaves, and at the same time the intelligent door control module 2 is abnormal, when the operation background 9 detects this situation, it can send a remote door closing instruction through the operation background, and the electric door performs a closing action after receiving the closing instruction.

[0122] S5: When the following conditions are met, the operation background 9 sends a door closing request to the electric door through the cloud platform 8 and the T-box module 7, and the electric door performs a door closing action after receiving the request.

[0123] Intelligent door control module fault feedback == fault; and

[0124] Door state == open state.

[0125] Otherwise, the intelligent door control module has no door control request.

[0126] It can be understood that in a specific example, the operation background 9 can be directly integrated into the cloud platform 8.

[0127] It is understandable that the method provided by the present invention mainly relies on obtaining vehicle status and in-vehicle occupant status information for door opening / closing control methods and devices. Different from traditional door opening / closing methods, the present invention does not require manual operation by the user. The system can intelligently open / close the door only by obtaining the vehicle status and occupant status, providing people with an intelligent and comfortable usage experience.

[0128] At the same time, when the intelligent door control module fails to work, the present invention can also remotely control the opening / closing of the door through the vehicle-cloud platform in the operation background.

[0129] As another aspect of the present invention, the present invention also provides a door control system for driverless vehicles. Specifically, reference can be made to Figure 2 、 Figure 3 、 Figure 7 And Figure 8 As shown, in this embodiment, the door control system includes:

[0130] The vehicle end, in which a door control device is provided;

[0131] The cloud platform, which is used to receive the fault status and vehicle information reported by the vehicle end, generate a remote door control instruction for performing a door closing operation, and then send it to the vehicle end.

[0132] More specifically, the door control device at least includes:

[0133] An information collection module 3, which is used to collect vehicle status information and passenger status information. The vehicle status information includes vehicle speed, and the passenger status information includes identity verification results, trip confirmation status, and whether there are passengers in the vehicle;

[0134] An intelligent door control module 2, which is used to monitor its own fault status in real time, and perform opening and closing logic judgments according to the information collected by the information collection module and the current door status, and generate a local door control instruction;

[0135] A T-box module 7, which is used to report the fault status monitored by the intelligent door control module, the information collected by the information collection module, and the door status to the cloud platform, and receive the remote door control instruction from the cloud platform;

[0136] An electric door module 1, which is used to collect the current door status, receive and execute the local door control instruction or the remote door control instruction, and control the door to perform corresponding opening or closing actions.

[0137] As Figure 3 Shown, the information collection module 3 further includes:

[0138] A passenger identity verification module 30, which is used to verify passenger identity information;

[0139] A braking control module 31, configured to obtain information on the current vehicle speed;

[0140] An in-vehicle monitoring module 32, configured to monitor whether there are passengers in the vehicle;

[0141] A trip confirmation module 33, configured to confirm the trip status.

[0142] As Figure 7 described above, the intelligent door control module 2 further includes:

[0143] A fault status monitoring module 20, configured to monitor its own fault status in real time;

[0144] An opening command generation unit 21, configured to generate a local door control command for performing an opening action when it is detected that the following conditions are met: vehicle speed ≤ 3 km / h, and the current door state is closed, and passenger authentication is passed and the trip has not been confirmed or the trip confirmation information is that the vehicle has arrived at the station and passengers are detected in the vehicle;

[0145] A closing command generation unit 22, configured to generate a local door control command for performing a closing action when it is detected that the following conditions are met: vehicle speed ≤ 3 km / h, and the current door state is open, and the trip confirmation information is to start the trip and passenger authentication is passed or the trip confirmation information is that the vehicle has arrived at the station and no passengers are detected in the vehicle;

[0146] A cache processing unit 23, configured to automatically clear the passenger authentication cache information after the vehicle has traveled more than a preset distance, and the preset distance is determined by pre-calibration.

[0147] As Figure 8 shown, the cloud platform 8 further includes:

[0148] A remote command generation unit 80, configured to generate a remote door control command for performing a closing action when a fault status signal from the vehicle end is received and it is detected that the following conditions are met: the door state is open, the intelligent door control module reports a fault status, and the vehicle is in a stationary state;

[0149] A vehicle status monitoring and display unit 81, configured to display in real time the door state, fault information, and passenger verification result of the corresponding vehicle.

[0150] For more details, reference may be made to and combined with the foregoing description of Figures 1 to 6 which will not be elaborated herein.

[0151] As another aspect of the present invention, there is also provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described as Figures 1 to 6 are implemented. For more details, reference may be made to and combined with the foregoing description ofFigures 1 to 6 The description thereof will not be elaborated herein.

[0152] As another aspect of the present invention, a vehicle is further provided, in which a door control device as described in Figure 2 , Figure 3 and Figure 7 is deployed. For more details, reference can be made to and combined with the foregoing description of Figure 2 , Figure 3 and Figure 7 . The description thereof will not be elaborated herein.

[0153] Implementing the embodiments of the present invention has the following beneficial effects:

[0154] The present invention provides a door control method, device, system, storage medium and vehicle, which can collect the current vehicle speed, door state, passenger identity authentication information, trip confirmation information, and in-vehicle passenger monitoring information, perform comprehensive logical judgment, and generate a local door control instruction; or based on the fault information reported by the vehicle, the cloud platform generates a remote door control instruction according to the information and sends it to the vehicle, so as to realize the automatic opening or closing operation of local or remote control for driverless operating vehicles.

[0155] In the embodiments of the present invention, it is not necessary for passengers to manually close the door, and the system can automatically control the opening or closing of the door according to the vehicle operation scenario and the current vehicle state. At the same time, when the system fails, the door can also be remotely opened or closed through the operation platform.

[0156] Implementing the present invention improves the operation efficiency and safety, reduces the cost, and improves the user experience.

[0157] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, and the combination of processes and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0158] The above-disclosed is only a preferred embodiment of the present invention, and of course, it cannot be used to limit the scope of the rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A door control method for an unmanned vehicle, characterized in that: The following steps are involved: Collect vehicle status information and passenger status information, the vehicle status information includes vehicle speed and current door open / close status, and the passenger status information includes identity verification results, trip confirmation status, and whether there are passengers in the vehicle; Make logical judgments on door opening and closing based on the collected information and generate local door control instructions; According to the local door control command, the vehicle door is controlled to perform corresponding door opening or door closing actions.

2. The method according to claim 1, characterized in that In the process of making logical judgments on door opening and closing based on the collected information, a local door control instruction for executing the door opening action is generated when the following conditions are met: The vehicle speed is less than or equal to a preset vehicle speed threshold; The door is currently closed; and The passenger identity verification is passed but the trip is not confirmed, or the trip confirmation information is that the vehicle has arrived at the station and a passenger is detected in the vehicle.

3. The method according to claim 2, characterized in that In the process of making logical judgments on door opening and closing based on the collected information, a local door control instruction for executing the door closing action is generated when the following conditions are met: The vehicle speed is less than or equal to a preset vehicle speed threshold; The door is currently open; and The trip confirmation information is that the trip is started and the passenger identity verification is passed, or the trip confirmation information is that the vehicle has arrived at the station and no passengers are detected in the vehicle.

4. The method according to any one of claims 1 to 3, characterized in that: Further including: Real-time monitoring of the fault status of the intelligent door control module in the driverless vehicle, and reporting of the fault status, collected vehicle status information and passenger status information when a fault occurs; When the cloud platform receives the fault status signal and detects that the following conditions are met, it generates a remote door control command to execute the door closing action and sends it to the unmanned vehicle: The door status is open; The smart door control module reports a fault status; and The vehicle is at a standstill.

5. The method according to claim 4, characterized in that The identity verification information of the passenger is automatically cleared after the vehicle travels over a preset distance, and the preset distance is determined by pre-calibration.

6. A door control device for an unmanned vehicle, characterized in that: At least: An information collection module is used to collect vehicle status information and passenger status information, wherein the vehicle status information includes vehicle speed, and the passenger status information includes identity verification results, itinerary confirmation status, and whether there are passengers in the vehicle; Intelligent door control module, used to make door opening and closing logic judgments based on the information collected by the information collection module and the current door status, and generate local door control instructions; The electric door module is used to collect the current door status, receive and execute the local door control command, and control the door to perform corresponding opening or closing actions.

7. The device according to claim 6, characterized in that The intelligent door control module further comprises: Fault status monitoring module, used to monitor its own fault status in real time; The door opening command generating unit is used to generate a local door control command for executing the door opening action when the following conditions are detected: the vehicle speed is less than or equal to a preset vehicle speed threshold, and the current state of the door is closed, and the passenger identity verification is passed and the trip is not confirmed or the trip confirmation information is that the vehicle has arrived at the station and a passenger is detected in the vehicle; A door closing instruction generating unit is used to generate a local door control instruction for executing a door closing action when the following conditions are detected: the vehicle speed is less than or equal to a preset vehicle speed threshold, and the current state of the door is open, and the trip confirmation information is an open trip and the passenger identity verification is passed or the trip confirmation information is that the vehicle has arrived at the station and no passengers are detected in the vehicle; The cache processing unit is used to automatically clear the passenger identity verification cache information after the vehicle travels over a preset distance, and the preset distance is determined by pre-calibration.

8. The device according to claim 6, characterized in that The information collection module further includes: Passenger identity verification module, used to verify passenger identity information; A brake control module, used to obtain the current speed information of the vehicle; In-car monitoring module, used to monitor whether there are passengers in the car; The trip confirmation module is used to confirm the trip status.

9. The device according to any one of claims 6 to 8, characterized in that Further including: The T-box module is used to report the fault status detected by the intelligent door control module, the information collected by the information collection module and the door status to the cloud platform, receive the remote door control command from the cloud platform and send it to the electric door module.

10. A door control system for an unmanned vehicle, characterized in that: include: A vehicle end is provided with a vehicle door control device as claimed in any one of claims 6 to 9; The cloud platform is used to receive the fault status and vehicle information reported by the vehicle end, generate a remote door control command for executing the door closing operation, and then send it to the vehicle end.

11. The system according to claim 10, characterized in that The cloud platform further comprises: A remote command generating unit, for generating a remote door control command for executing a door closing action upon receiving a fault status signal from the vehicle end and detecting that the following conditions are met: the door state is open, the intelligent door control module reports a fault state, and the vehicle is stationary; The vehicle status monitoring and display unit is used to display the door status, fault information and passenger verification results of the corresponding vehicle in real time.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

13. A vehicle, characterized in that: A vehicle door control device as described in any one of claims 6 to 9 is deployed therein.

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