Vehicle door control method, controller, system, medium and product

Abstract

The embodiment of the invention provides a vehicle door control method, a controller, a system, a medium and a product, the method is applied to a vehicle, the vehicle comprises a vehicle door, a distance sensor, a projection module and a vehicle door locking module, the distance sensor and the projection module are arranged on the vehicle door, and the method comprises the steps that surrounding environment information is obtained through the distance sensor; the safety condition of the vehicle is determined according to the surrounding environment information; then, the locking state of the vehicle door locking module is obtained, so that the vehicle door locking module is controlled according to the safety condition and / or the locking state; in addition, under the condition that the safety condition is dangerous, the projection module is controlled to carry out warning projection. Therefore, according to the embodiment of the invention, the locking state of the vehicle door locking module can be controlled according to the safety condition and / or the locking state of the vehicle, and the projection module is controlled to carry out warning projection under the dangerous condition, so that the occurrence of a'vehicle door collision accident 'caused by door opening after parking can be prevented.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a door control method, controller, system, medium and product. Background Art

[0002] In the relevant technologies, with the increasing number of cars, "door collision accidents" caused by opening the door after parking have become a key problem that needs to be solved in the field of traffic safety. Current technical means still have many limitations in preventing such accidents. Traditional prevention methods, such as interior rearview mirrors, exterior rearview mirrors, and blind spot monitoring systems installed on some vehicles, mainly serve the people in the car to help them observe the situation behind the vehicle. However, these measures cannot directly convey the warning signal that the vehicle is about to open the door to the vehicles and pedestrians behind. Traditional optical warning measures, such as reflective signs and small lights, are easily restricted by light conditions, have poor visual effects, and have limited warning coverage areas. As for sensor-based systems, some only issue prompts to people in the car, and it is difficult for people outside the car to quickly perceive potential dangers; at the same time, the detection accuracy of these systems is easily affected by bad weather and complex road environments, resulting in frequent false alarms or missed alarms. Therefore, how to prevent the occurrence of "door collision accidents" caused by opening the door after parking is the main problem facing the industry at present. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a door control method, controller, system, medium and product, which are intended to prevent the occurrence of a "door collision accident" caused by opening the door after parking.

[0004] In a first aspect, an embodiment of the present application provides a door control method, which is applied to a vehicle, wherein the vehicle includes a door, a distance sensor, a projection module, and a door locking module, wherein the distance sensor and the projection module are disposed on the door, and the method includes: Acquiring surrounding environment information through the distance sensor; Determining the safety status of the vehicle according to the surrounding environment information; Acquiring a locking state of the door locking module, and controlling the door locking module according to the safety condition and / or the locking state; When the safety condition is dangerous, the projection module is controlled to perform warning projection.

[0005] According to some embodiments of the present application, the surrounding environment information includes a pedestrian distance and a neighboring vehicle distance, and acquiring the surrounding environment information through the distance sensor includes: The environment outside the vehicle door is detected by the distance sensor to obtain the pedestrian distance and the neighboring vehicle distance.

[0006] According to some embodiments of the present application, determining the safety status of the vehicle based on the surrounding environment information includes: When the pedestrian distance and / or the distance to the adjacent vehicle are outside the preset warning range, determining that the safety status of the vehicle is safe; When the pedestrian distance and / or the distance to the adjacent vehicle are within the preset warning range, determining that the safety status of the vehicle is dangerous.

[0007] According to some embodiments of the present application, controlling the door locking module based on the safety status and / or the locking state includes at least one of the following: When the safety status is safe, maintaining the locking state of the door locking module; When the safety status is dangerous, controlling the door locking module according to the locking state.

[0008] According to some embodiments of the present application, controlling the door locking module according to the locking state includes at least one of the following: When the locking state is the unlocked state, adjusting the locking state of the door locking module to the locked state; When the locking state is the locked state, maintaining the locking state of the door locking module as the locked state.

[0009] According to some embodiments of the present application, when the safety status is dangerous, controlling the projection module to perform warning projection includes: When the safety status is dangerous, controlling the projection module to perform warning projection according to the preset position and the preset warning image.

[0010] In a second aspect, an embodiment of the present application provides a controller, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where when the processor runs the computer program, it executes the door control method in the first aspect above.

[0011] In a third aspect, an embodiment of the present application provides a door control system, including the controller in the second aspect above.

[0012] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, storing computer-executable instructions for executing the door control method as described in the first aspect above.

[0013] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program or computer instructions. The computer program or the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer program or the computer instructions from the computer-readable storage medium, and the processor executes the computer program or the computer instructions, so that the computer device executes the door control method as described in the first aspect above.

[0014] According to the technical solution of the embodiment of the present application, it has at least the following beneficial effects: The embodiment of the present application proposes a door control method, a controller, a system, a medium and a product. The method is applied to a vehicle, and the vehicle includes a door, a distance sensor, a projection module and a door locking module. The distance sensor and the projection module are arranged on the door. The method includes: obtaining surrounding environment information through the distance sensor, and thus determining the safety condition of the vehicle through the surrounding environment information; then, obtaining the locking state of the door locking module, and thus controlling the door locking module through the safety condition and / or the locking state; in addition, when the safety condition is dangerous, controlling the projection module to perform a warning projection. Therefore, the embodiment of the present application can control the locking state of the door locking module through the safety condition and / or the locking state of the vehicle, and control the projection module to perform a warning projection in a dangerous situation, so as to prevent the occurrence of a "door collision accident" caused by opening the door after parking.

[0015] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Description of the Drawings

[0016] The drawings are used to provide a further understanding of the technical solution of the present application, and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application, and do not constitute a limitation to the technical solution of the present application.

[0017] Figure 1 is a flowchart of a door control method provided by an embodiment of the present application; Figure 2 is a flowchart of a door control method provided by another embodiment of the present application; Figure 3 is a flowchart of a door control method provided by another embodiment of the present application; Figure 4 is a flowchart of a door control method provided by another embodiment of the present application; Figure 5 is an overall flowchart of a door control method provided by an embodiment of the present application; Figure 6It is a schematic diagram of a controller for executing a door control method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0018] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0019] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0020] In the description of this application, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0021] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0022] In some cases, with the increasing number of cars, "door collision accidents" caused by opening the door after parking have become a key issue that needs to be solved in the field of traffic safety. Current technical means still have many limitations in preventing such accidents. Traditional prevention methods, such as interior rearview mirrors, exterior rearview mirrors, and blind spot monitoring systems installed on some vehicles, mainly serve the people in the car to help them observe the situation behind the vehicle. However, these measures cannot directly convey the warning signal that the vehicle is about to open the door to the vehicles and pedestrians behind. Traditional optical warning measures, such as reflective signs and small lights, are easily restricted by light conditions, have poor visual effects, and have limited warning coverage areas. As for sensor-based systems, some only issue prompts to people in the car, and it is difficult for people outside the car to quickly perceive potential dangers; at the same time, the detection accuracy of these systems is easily affected by bad weather and complex road environments, resulting in frequent false alarms or missed alarms. Therefore, how to prevent the occurrence of "door collision accidents" caused by opening the door after parking is the main problem facing the industry at present.

[0023] Based on the above situation, the embodiments of the present application propose a door control method, a controller, a system, a medium and a product, aiming to prevent the occurrence of "door collision accidents" caused by opening the door after parking.

[0024] The following further elaborates on each embodiment of the door control method of the present application in conjunction with the accompanying drawings.

[0025] As Figure 1 shown, Figure 1 is a flowchart of a door control method provided by an embodiment of the present application; the door control method may include but is not limited to step S110, step S120, step S130 and step S140.

[0026] Step S110: Obtain surrounding environment information through a distance sensor; Step S120: Determine the safety status of the vehicle according to the surrounding environment information; Step S130: Obtain the locking state of the door locking module, and control the door locking module according to the safety status and / or the locking state; Step S140: When the safety status is dangerous, control the projection module to perform warning projection.

[0027] In one embodiment, the embodiments of the present application are applied to a vehicle. The surrounding environment information is obtained through a distance sensor, and thus the safety status of the vehicle is determined according to the surrounding environment information; then, the locking state of the door locking module is obtained, and thus the door locking module is controlled according to the safety status and / or the locking state; in addition, when the safety status is dangerous, the projection module is controlled to perform warning projection. Therefore, the embodiments of the present application can control the locking state of the door locking module through the safety status and / or the locking state of the vehicle, and control the projection module to perform warning projection in a dangerous situation, thereby being able to prevent the occurrence of "door collision accidents" caused by opening the door after parking.

[0028] It can be understood that the vehicle includes a door, a distance sensor, a projection module and a door locking module, and the distance sensor and the projection module are arranged on the door.

[0029] It can be understood that the locking state of the door locking module is controlled through the safety status and / or the locking state, so as to be able to avoid the "door slamming" accident that occurs when opening the door in a dangerous state.

[0030] It can be understood that when the safety status is dangerous, it means that there are pedestrians or vehicles near the vehicle. If the door is opened at this time, a "door slamming" accident may occur. Therefore, warning projection is performed through the projection module, so as to be able to explain to the nearby pedestrians or vehicles that the current vehicle is about to open the door, and thus be able to reduce the occurrence of "door slamming" accidents.

[0031] It is understandable that the surrounding environment information includes the distance of pedestrians and the distance of adjacent vehicles.

[0032] In addition, in one embodiment, the environment outside the vehicle door is detected by a distance sensor to obtain the distance of pedestrians and the distance of adjacent vehicles.

[0033] It is understandable that the distance sensor can be a radar sensor, an infrared sensor, a combination of a radar sensor and an infrared sensor, or a sensor capable of measuring distance. The embodiments of the present application do not make specific limitations on it.

[0034] In addition, as Figure 2 shown, Figure 2 is a flowchart of a vehicle door control method provided by another embodiment of the present application; regarding the above step S120, it may include but is not limited to step S210 and step S220.

[0035] Step S210: When the distance of pedestrians and / or the distance of adjacent vehicles are outside the preset warning range, determine that the safety status of the vehicle is safe; Step S220: When the distance of pedestrians and / or the distance of adjacent vehicles are within the preset warning range, determine that the safety status of the vehicle is dangerous.

[0036] It is understandable that when the distance of pedestrians and / or the distance of adjacent vehicles are outside the preset warning range, it indicates that the pedestrians and / or adjacent vehicles are in a safe range, and thus the safety status of the vehicle is determined to be safe.

[0037] It is understandable that when the distance of pedestrians and / or the distance of adjacent vehicles are within the preset warning range, it indicates that the pedestrians and / or adjacent vehicles are in a dangerous range, and thus the safety status of the vehicle is determined to be dangerous.

[0038] It is understandable that regarding the above preset warning range, it can be a range of 1-2 meters from the vehicle door, or a range of 3-5 meters from the vehicle door, and it can be set according to the actual situation. The embodiments of the present application do not make specific limitations on it.

[0039] In addition, as Figure 3 shown, Figure 3 is a flowchart of a vehicle door control method provided by another embodiment of the present application; regarding the control of the vehicle door locking module according to the safety status and / or the locking state in the above step S130, it may include but is not limited to step S310 and step S320.

[0040] Step S310: When the safety status is safe, maintain the locking state of the vehicle door locking module; Step S320: When the safety status is dangerous, control the vehicle door locking module according to the locking state.

[0041] It is understandable that when the safety condition of the vehicle is safe, there is no need to adjust the door locking module; when the safety condition is dangerous, the door locking module is controlled according to the locking state, so as to avoid the occurrence of "door collision accidents" caused by the opening of the door.

[0042] In addition, as Figure 4 shown, Figure 4 FIG. is a flowchart of a door control method provided by another embodiment of the present application; regarding the control of the door locking module according to the locking state in step S320 above, it may include but is not limited to step S410 and step S420.

[0043] Step S410, when the locking state is the unlocked state, adjust the locking state of the door locking module to the locked state; Step S420, when the locking state is the locked state, keep the locking state of the door locking module as the locked state.

[0044] It is understandable that when the vehicle is in a dangerous condition and the locking state is the unlocked state, in order to avoid the occurrence of "door collision accidents" due to the opening of the door, the locking state of the door locking module is adjusted to the locked state, so as to avoid the occurrence of "door collision accidents" by locking the door; when the locking state is the locked state, in order to avoid the occurrence of "door collision accidents" due to the opening of the door, the locking state of the door locking module is kept as the locked state.

[0045] In addition, in one embodiment, when the safety condition is dangerous, control the projection module to project according to a preset position and a preset warning image.

[0046] It is understandable that by projecting according to a preset position and a preset warning image when the vehicle is in a dangerous condition, it is possible to explain to nearby pedestrians or vehicles that the current vehicle is about to open the door, thereby reducing the occurrence of "door slamming" accidents.

[0047] It is understandable that regarding the above-mentioned preset position, it can be the ground near the door, or surrounding objects, and can be set according to actual needs. The embodiments of the present application do not make specific limitations on it.

[0048] It is understandable that regarding the above-mentioned preset warning image, it can be a triangular warning sign, and can be set according to actual needs. The embodiments of the present application do not make specific limitations on it.

[0049] Based on the door control methods of the above various embodiments, the overall embodiments of the door control method of the present application are respectively proposed below.

[0050] As Figure 5 shown,Figure 5 This is the overall flowchart of the door control method provided by an embodiment of the present application.

[0051] Sensor module: It includes distance sensors such as radar sensors and infrared sensors installed on the edge of the door, which are used to detect the distance between the door and surrounding objects; at the same time, it is equipped with a door opening state detection sensor, which can accurately judge when the door is in the opening action state.

[0052] Control module: With a microprocessor as the core control unit, it receives signals from sensor modules such as radar and infrared, and analyzes and processes them according to preset logic and algorithms to determine whether to trigger the projection warning action and control relevant parameters such as the projection content, brightness, and duration of the projection.

[0053] Projection module: It is built-in with a high-brightness and high-resolution DLP projection element, has an adjustable-angle installation structure, is installed inside the door near the door handle, and its lens faces outward, and can project the generated warning image onto the ground outside the door. It clearly projects warning effects such as generated warning images or texts onto the ground near the vehicle, ensuring that they are within the field of vision of pedestrians and cyclists, so as to be able to attract their attention in time. The projection module can flexibly adjust parameters such as the brightness, contrast, and size of the projection according to different environmental light conditions and warning requirements. Increase the projection brightness in a brighter environment to ensure that the warning information is clearly visible; adjust the size and position of the projection in different scenarios to achieve the best warning effect.

[0054] Power supply module: It is connected to the vehicle power supply system and is equipped with power management components such as a voltage stabilizing circuit to ensure stable power supply for all components of the entire device. At the same time, it has a low-power design to reduce the additional consumption of vehicle power. When an abnormal power supply situation occurs, it can quickly cut off the power supply or take corresponding protection measures to prevent each module from being damaged due to power supply problems, extend the service life of the device, and improve the safety and reliability of the system.

[0055] It can be understood that the distance sensor transmits the identified pedestrian or vehicle information to the control system. The system will analyze this information to judge whether the pedestrian or vehicle is in the dangerous area where "door slamming" may occur. When it is judged as a dangerous situation, the control system will send a signal to the door locking mechanism to prevent the door from opening. At the same time, in order to remind the people in the car, it may also trigger the warning device in the car to inform the passengers that there is a current safety risk and they cannot open the door.

[0056] It can be understood that after the distance sensor detects a dangerous situation and transmits the information to the control system, the system will send an instruction to the projection module. According to the preset warning pattern or text, the control system emits light from the reflected light source, and after the focusing and adjustment of the optical system, projects the corresponding warning content clearly onto the ground outside the vehicle, playing a warning role for nearby pedestrians or vehicles and reducing the possibility of "door kill".

[0057] It is worth noting that the warning projection display will gradually make the following vehicles and pedestrians become alert to the risk of vehicle door opening, and improve their traffic safety awareness in daily travel. This not only helps prevent the "door kill" accidents of the current vehicle, but also has a positive impact on the entire traffic environment, prompting other road users to pay more attention to observing the dynamics of surrounding vehicles and reducing the occurrence of similar traffic accidents. It helps to cultivate civilized and safe traffic habits. After seeing the projection warning, the following personnel will actively slow down or keep a distance, and the personnel inside the vehicle will also be more conscious of observing the situation behind before opening the door, forming a virtuous traffic interaction.

[0058] Based on the door control methods of the above various embodiments, the following respectively present various embodiments of the controller, door control system, computer-readable storage medium, and computer program product of the present application.

[0059] As Figure 6 shown, Figure 6 is a schematic diagram of a controller for executing the door control method provided by an embodiment of the present application. The controller 700 implemented in the present application includes: a processor 710, a memory 720, and a computer program stored on the memory 720 and executable on the processor 710. Among them, Figure 6 one processor 710 and one memory 720 are taken as examples.

[0060] The processor 710 and the memory 720 can be connected through a bus or other means, Figure 6 and taking the connection through the bus as an example.

[0061] The memory 720, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory 720 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 720 may optionally include a memory 720 remotely set relative to the processor 710, and these remote memories 720 can be connected to the controller 700 through a network. Examples of the above network include but are not limited to the Internet, enterprise intranet, local area network, mobile communication network, and their combinations.

[0062] Those skilled in the art can understand,Figure 6 The device structure shown does not constitute a limitation on the controller 700, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0063] In Figure 6 In the controller 700 shown, the processor 710 can be used to call the control program stored in the memory 720, so as to implement the above-mentioned vehicle door control method. Specifically, the non-transitory software program and instructions required to implement the vehicle door control method of the above embodiment are stored in the memory 720, and when executed by the processor 710, the vehicle door control method of the above embodiment is executed.

[0064] It should be noted that since the controller 700 of the embodiment of the present application can execute the vehicle door control method of any of the above embodiments, therefore, the specific implementation manners and technical effects of the controller 700 of the embodiment of the present application can refer to the specific implementation manners and technical effects of the vehicle door control method of any of the above embodiments.

[0065] In addition, an embodiment of the present application further provides a vehicle door control system, and the vehicle door control system includes the controller of the above embodiment.

[0066] It should be noted that since the vehicle door control system of the embodiment of the present application includes the controller of the above embodiment, and the controller of the above embodiment can execute the vehicle door control method of any of the above embodiments, therefore, the specific implementation manners and technical effects of the vehicle door control system of the embodiment of the present application can refer to the specific implementation manners and technical effects of the vehicle door control method of any of the above embodiments.

[0067] In addition, an embodiment of the present application further provides a computer-readable storage medium, and the computer-readable storage medium stores computer-executable instructions for executing the above-mentioned vehicle door control method. Exemplarily, execute the method steps in Figures 1 to 5 the above description.

[0068] It should be noted that since the computer-readable storage medium of the embodiment of the present application can execute the vehicle door control method of any of the above embodiments, therefore, the specific implementation manners and technical effects of the computer-readable storage medium of the embodiment of the present application can refer to the specific implementation manners and technical effects of the vehicle door control method of any of the above embodiments.

[0069] In addition, an embodiment of the present application further provides a computer program product, including a computer program or computer instructions. The computer program or computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the above-mentioned door control method. Exemplarily, execute the Figures 1 to 5 method steps in the above description.

[0070] It should be noted that since the computer program product of the embodiment of the present application can execute the door control method of any of the above embodiments, therefore, for the specific implementation manners and technical effects of the computer program product of the embodiment of the present application, reference may be made to the specific implementation manners and technical effects of the door control method of any of the above embodiments.

[0071] Those of ordinary skill in the art can understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and their appropriate combinations. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or can be implemented as hardware, or can be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those of ordinary skill in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0072] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the relationship between associated objects and indicates that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Here, A and B can be singular or plural. The character " / " generally indicates an "or" relationship between the associated objects before and after. "At least one (one)" or a similar expression below refers to any combination of these items, including any combination of single item (one) or plural items (ones). For example, at least one (one) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0073] In 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 merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling, direct coupling, or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0074] It should also be understood that the various embodiments provided in the embodiments of this application can be combined arbitrarily to achieve different technical effects.

[0075] The above is a specific description of the preferred embodiments of this application, but this application is not limited to the above embodiments. Those skilled in the art can also make various equivalent deformations or substitutions without violating the spirit of this application. These equivalent deformations or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A door control method, characterized in that: Applied to a vehicle, the vehicle comprises a door, a distance sensor, a projection module and a door locking module, the distance sensor and the projection module are arranged on the door, and the method comprises: Acquiring surrounding environment information through the distance sensor; Determining the safety status of the vehicle according to the surrounding environment information; Acquiring a locking state of the door locking module, and controlling the door locking module according to the safety condition and / or the locking state; When the safety condition is dangerous, the projection module is controlled to perform warning projection.

2. A vehicle door control method according to claim 1, characterized in that: The surrounding environment information includes the distance between pedestrians and adjacent vehicles, and the obtaining of the surrounding environment information by the distance sensor includes: The environment outside the vehicle door is detected by the distance sensor to obtain the pedestrian distance and the neighboring vehicle distance.

3. A vehicle door control method according to claim 2, characterized in that: The determining the safety status of the vehicle according to the surrounding environment information includes: When the pedestrian distance and / or the neighboring vehicle distance is outside a preset warning range, determining that the safety status of the vehicle is safe; When the pedestrian distance and / or the neighboring vehicle distance is within a preset warning range, it is determined that the safety status of the vehicle is dangerous.

4. A vehicle door control method according to claim 3, characterized in that: The controlling the door locking module according to the safety condition and / or the locking state includes at least one of the following: When the safety condition is safe, maintaining the locked state of the door locking module; When the safety condition is dangerous, the door locking module is controlled according to the locking state.

5. A vehicle door control method according to claim 4, characterized in that: The controlling the door locking module according to the locking state includes at least one of the following: When the locking state is the unlocking state, adjusting the locking state of the door locking module to the locking state; When the locking state is the locked state, the locking state of the door locking module is maintained as the locked state.

6. A vehicle door control method according to claim 2, characterized in that: When the safety condition is dangerous, controlling the projection module to perform warning projection includes: When the safety condition is dangerous, the projection module is controlled to perform warning projection according to a preset position and a preset warning image.

7. A controller, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the vehicle door control method according to any one of claims 1 to 6 when executing the computer program.

8. A door control system, characterized in that: Comprising a controller as claimed in claim 7.

9. A computer-readable storage medium, characterized in that: Computer executable instructions are stored, and the computer executable instructions are used to execute the vehicle door control method as described in any one of claims 1 to 6.

10. A computer program product comprising a computer program or computer instructions, characterized in that The computer program or the computer instructions are stored in a computer-readable storage medium, and the processor of a computer device reads the computer program or the computer instructions from the computer-readable storage medium. The processor executes the computer program or the computer instructions, so that the computer device executes the vehicle door control method as described in any one of claims 1 to 6.

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