Vehicle door control method and device, electronic equipment and vehicle

Abstract

The invention discloses a vehicle door control method and device, electronic equipment and a vehicle, and belongs to the technical field of vehicles. The method comprises the steps that when the vehicle senses an external knocking action, the environment sound intensity is detected; the response feasibility of the knocking signal is determined according to the environment sound intensity to control the vehicle door to be opened. According to the method, a user can unlock and open the vehicle door only through simple knocking without traditional key or key operation, the method is particularly suitable for the situation that a heavy object is held by hand or the key cannot be easily taken out, whether the knocking signal is responded or not is determined according to the environment sound intensity, false triggering can be reduced, high accuracy of knocking to open the door in the complex environment is achieved, and the user experience is improved. And the trouble that the user can take effect and is invalid when knocking to open the vehicle door is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and particularly relates to a door control method, device, electronic device and vehicle. Background Art

[0002] With the development of intelligent vehicles, contactless control methods for vehicle doors have received extensive attention. Among them, the knock-to-open door technology, as a convenient interaction method, enables users to open the door by knocking on the vehicle body when their hands are inconvenient, improving the usage experience.

[0003] In related technologies, knocking to open the door mainly opens the door by sensing the vibration of knocking on the door. However, the vibration of the door is easily interfered with, resulting in fluctuations or even errors in the knocking signal, and thus the stability and accuracy of knocking to open the door are relatively low. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the related technologies. For this purpose, the present invention provides a door control method, device, electronic device and vehicle to improve the stability and accuracy of knocking to open the door.

[0005] In a first aspect, the present invention provides a door control method, the method comprising:

[0006] When the vehicle senses an external knocking action, detecting the ambient sound intensity;

[0007] Determining the response feasibility of the knocking signal according to the ambient sound intensity, and controlling the door to open when it is determined to respond to the knocking signal.

[0008] In the above technical solution, when the vehicle senses an external knocking action, the ambient sound intensity is detected, and then the response feasibility of the knocking signal is determined according to the ambient sound intensity. When it is determined to respond to the knocking signal, the door is controlled to open. Thus, by analyzing the ambient sound intensity, it is possible to ensure to a great extent that the knock-to-open door function is triggered under appropriate circumstances, avoiding misidentification or mis-triggering, and thereby improving the intelligent level of knocking to open the door.

[0009] According to an embodiment of the present invention, determining the response feasibility of the knocking signal according to the ambient sound intensity includes: determining not to respond to the knocking signal when the ambient sound intensity exceeds a preset sound intensity threshold; and / or determining to respond to the knocking signal when the ambient sound intensity does not exceed the sound intensity threshold.

[0010] According to an embodiment of the present invention, determining the response feasibility of the knocking signal according to the ambient sound intensity further includes: determining the signal sound intensity of the knocking signal; and determining to respond to the knocking signal when the significant value of the signal sound intensity is higher than the significant value of the ambient sound intensity.

[0011] According to an embodiment of the present invention, detecting the ambient sound intensity includes: detecting the speaker volume inside the vehicle and / or detecting the noise intensity inside the vehicle.

[0012] According to an embodiment of the present invention, when the vehicle senses an external knocking action, detecting the ambient sound intensity includes: when the vehicle senses an external knocking action, detecting the knocking signal; when it is determined that the knocking signal is valid, detecting the operating state of the vehicle; and when it is determined that the operating state meets the door opening permission condition, detecting the ambient sound intensity.

[0013] According to an embodiment of the present invention, determining that the knocking signal is valid includes: determining that the knocking signal is valid when the knocking frequency corresponding to the knocking signal exceeds a preset frequency threshold.

[0014] According to an embodiment of the present invention, determining that the knocking signal is valid further includes: determining that the knocking signal is valid when the number of knocking times corresponding to the knocking signal reaches a preset number within a preset time period.

[0015] According to an embodiment of the present invention, determining that the knocking signal is valid further includes: determining that the knocking signal is valid when the detection position corresponding to the knocking signal is within a preset knocking induction area.

[0016] According to an embodiment of the present invention, determining that the knocking signal is valid further includes: determining that the knocking signal is valid when the knocking force corresponding to the knocking signal exceeds a preset knocking force threshold.

[0017] According to an embodiment of the present invention, the operating state includes at least one of the door state, the locking state, and the vehicle speed; determining that the operating state meets the door opening permission condition includes: determining that the operating state meets the door opening permission condition when the door is closed, the vehicle is unlocked, and the vehicle speed is less than a preset speed.

[0018] According to an embodiment of the present invention, the operating state further includes the key signal state; determining that the operating state meets the door opening permission condition further includes: when the locking state is the locked state, detecting the key signal; and when it is determined that the key signal is valid, determining that the operating state meets the door opening permission condition.

[0019] In a second aspect, the present invention provides a vehicle door control device, which includes:

[0020] a detection module for detecting the environmental sound intensity;

[0021] an execution module for determining the response feasibility of the tapping signal according to the environmental sound intensity, and controlling the opening of the vehicle door when it is determined to respond to the tapping signal.

[0022] In the above technical solution, when the vehicle senses an external tapping action, the environmental sound intensity is detected, and then the response feasibility of the tapping signal is determined according to the environmental sound intensity. When it is determined to respond to the tapping signal, the vehicle door is controlled to open. Thus, by analyzing the environmental sound intensity, it is possible to ensure to a great extent that the tapping door opening function is triggered under appropriate circumstances, avoid misidentification or mis-triggering, and further improve the intelligence level of tapping door opening.

[0023] In a third aspect, the present invention provides a vehicle, which includes the vehicle door control device described in the second aspect.

[0024] In a fourth aspect, the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the vehicle door control method described in the first aspect above is implemented.

[0025] In a fifth aspect, the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the vehicle door control method described in the first aspect above is implemented.

[0026] In a sixth aspect, the present invention provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the vehicle door control method described in the first aspect above.

[0027] In a seventh aspect, the present invention provides a computer program product, including a computer program. When the computer program is executed by a processor, the vehicle door control method described in the first aspect above is implemented.

[0028] Additional aspects and advantages of the present invention 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 invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, where:

[0030] Figure 1 It is a schematic diagram of the application scenario of the vehicle door control method provided in some embodiments of the present invention;

[0031] Figure 2 It is a schematic diagram of the vehicle structure provided in some embodiments of the present invention;

[0032] Figure 3 It is a schematic diagram of the structure of the vehicle door control system provided in some embodiments of the present invention;

[0033] Figure 4 It is a schematic diagram of the process of the vehicle door knock response provided in some embodiments of the present invention;

[0034] Figure 5 It is a schematic diagram for judging the vehicle door knock response provided in some embodiments of the present invention;

[0035] Figure 6 It is a schematic diagram of the structure of the vehicle door control method device provided in some embodiments of the present invention;

[0036] Figure 7 It is a schematic diagram of the structure of the electronic device provided in some embodiments of the present invention. Detailed implementation manners

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0038] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs; the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above drawings are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification and claims of the present invention or the above drawings are used to distinguish different objects and are not used to describe a specific order or primary-secondary relationship.

[0039] Referring to "embodiments" in the present invention means that specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present invention. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described in the present invention can be combined with other embodiments.

[0040] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "linked", and "attached" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0041] The term "and / or" in the present invention is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in the present invention generally represents an "or" relationship between the front and rear associated objects.

[0042] The term "a plurality of" in the present invention refers to two or more (including two). Similarly, "a plurality of groups" refers to two or more groups (including two groups), and "a plurality of pieces" refers to two or more pieces (including two pieces).

[0043] Driven by the electrification of automobiles, the market's demand for the intelligence of body accessories is increasing day by day, and the application of electric vehicle doors is becoming more and more widespread. Currently, the common ways to open the door outside the vehicle mainly include external handle switches, proximity keys, B-pillar buttons, etc. These methods all rely on physical buttons or sensing signals to trigger the automatic opening of the door.

[0044] Regarding the electric opening of automatic doors, a knocking-sensing-based door-opening solution has been proposed in the related art, which realizes knocking to open the door by detecting the vibration signal of the door. However, this solution has the following problems: First, there is no linkage with the remote control key. If the whole vehicle is in the insured state, the user needs to manually unlock it first before knocking to open the door, and the process is cumbersome, making it difficult to reflect the intelligent convenience.

[0045] In addition, this solution relies on vibration sensors, and whether it is a capacitive, piezoelectric, or resistive sensor, it may be interfered by environmental sound waves. When high-amplitude sound waves cause the vibration of the door sheet metal, the sensor signal may fluctuate or even be misjudged, resulting in the system misidentifying the knocking signal. This will not only affect the door-opening judgment of the vehicle but also make it difficult for users to determine whether the knocking signal is correctly identified, thus reducing the user experience.

[0046] In summary, the knock-to-open door solution in the related art lacks the judgment of the operating state. For example, when the vehicle is in certain states (such as driving or not unlocked), the knock signal may be wrongly triggered or the door-opening instruction cannot be correctly executed, affecting safety and the user experience. And it is easily interfered by the outside world. For example, other sound vibrations are likely to cause false triggering or signal interference, reducing the accuracy of knock-to-open door recognition. Moreover, the user interaction is not intuitive enough. For example, in a noisy environment, it is difficult for the user to determine when the vehicle can accurately recognize the knock signal, thus affecting the door-opening experience.

[0047] In view of this, the present invention provides a vehicle door control method, which combines knock signal detection and in-vehicle volume analysis to achieve accurate and stable vehicle door control, can effectively reduce the false triggering rate, improve the recognition accuracy and reliability in complex environments, and can accurately recognize the user's door-opening intention, improving the user's door-opening experience.

[0048] The following combines the drawings and details the vehicle door control method and the like provided by the embodiments of the present invention through specific embodiments and their application scenarios.

[0049] The vehicle door control method provided by the embodiments of the present invention can be applied to an application scenario as Figure 1 shown. Among them, the user can trigger knock-to-open door by knocking on a preset position on the vehicle 101. After the vehicle detects the knock signal, it analyzes and sends an instruction through the controller 102 to control the vehicle door to remain closed or the vehicle door to open.

[0050] Among them, the vehicle door control method can be applied to the controller, and specifically can be executed by the hardware or software in the controller.

[0051] Among them, the controller can be one or more of an electronic control unit (ECU), a body control module (BCM), a door control module (DCM), a domain controller (including but not limited to a body domain controller or an intelligent cockpit domain controller, etc.).

[0052] The vehicle door control method provided by the embodiments of the present invention, the execution subject of the vehicle door control method can be the controller or a functional module or functional entity in the controller that can implement the vehicle door control method. The following takes the controller as the execution subject as an example to illustrate the vehicle door control method provided by the embodiments of the present invention.

[0053] As Figure 2 shown, the vehicle door control method includes: step 210 to step 220.

[0054] Step 210: When the vehicle senses an external knocking action, detect the knocking signal.

[0055] Among them, the vehicle mentioned in the embodiments of the present invention includes, but is not limited to, plug-in hybrid vehicles or new energy vehicles, etc. The present invention does not make specific limitations on this.

[0056] The knocking action refers to the behavior of the user knocking on the specified area of the vehicle (such as the car door or the body, etc.) from the outside of the vehicle with a finger, palm or other object to trigger the knocking signal. The knocking action has knocking characteristics, including the strength, frequency or rhythm of the knocking, etc., for being recognized by the controller.

[0057] Among them, the specified area of the vehicle can be called the knocking sensing area, which refers to the area preset by the vehicle for detecting the knocking signal, including but not limited to specific positions such as the door panel, B-pillar, side skirt, etc. The knocking signals in these areas can be accurately detected and processed by the sensor. The knocking sensing area can be set to a rectangle, a circle or other geometric shapes, etc. according to actual needs.

[0058] The knocking signal refers to the physical signal generated by the knocking action, usually manifested as a vibration signal or a sound signal, which can be collected and processed by a vibration sensor, a sound wave sensor or other detection devices to determine whether the knocking signal is a valid door opening instruction.

[0059] Among them, the process of the vehicle sensing the external knocking action can be the process of the vehicle detecting and recognizing the user's operations (such as knocking actions, remote control key approaching, etc.) through sensors, control systems, etc. For example, the vehicle senses the knocking signal, or the vehicle senses the key approaching, etc.

[0060] Specifically, when the vehicle senses an external knocking action, the vehicle collects the knocking signal through the knocking sensor installed on the inner side of the door and transmits the knocking signal to the controller to achieve the detection of the knocking signal. The knocking sensor includes, but is not limited to, one or more of a piezoelectric vibration sensor, a capacitive vibration sensor or a resistive vibration sensor, etc. For example, the piezoelectric vibration sensor has high sensitivity to the mechanical vibration generated by the external knocking action, and can exclude non-expected signal interference through signal filtering and pattern recognition algorithms. The sound intensity of the knocking signal can be the intensity of the mechanical wave or sound wave caused by the knocking.

[0061] Among them, the ambient sound intensity includes, but is not limited to, the sound intensity of ambient sounds inside and outside the vehicle. The ambient sound inside the vehicle can be, for example, the sound emitted by the speakers, engine, and air conditioner fan inside the vehicle. The ambient sound outside the vehicle can be, for example, the ambient noise outside the vehicle, etc. The sound intensity can generally be detected by a microphone or an acoustic sensor, etc., and is measured in decibels (dB). The analysis of the ambient sound intensity helps to determine whether there is high-noise interference, which affects the accurate identification of the knocking signal.

[0062] In some embodiments, the controller detects the ambient sound intensity, which can be monitored by a microphone array or a sound sensor installed inside or outside the vehicle; alternatively, the sound intensity inside the vehicle can also be analyzed by obtaining the volume of the in-vehicle audio system (including the stereo, etc.) and the microphone signal. Exemplarily, the ambient sound intensity can be, for example, the volume of the speakers inside the vehicle.

[0063] Step 220: Determine the response feasibility of the knocking signal according to the ambient sound intensity, and control the door to open when it is determined to respond to the knocking signal.

[0064] The controller then analyzes the ambient sound intensity to determine the response feasibility of the knocking signal. The response feasibility of the knocking signal refers to whether the knocking signal can be correctly responded to and trigger the door-opening response under the current environment and vehicle state. When it is determined to respond to the knocking signal, the controller responds to the knocking signal and controls the door to open.

[0065] In some embodiments, when the controller determines the response feasibility of the knocking signal according to the ambient sound intensity, it can be determined based on the sound intensity threshold. For example, the controller first detects the sound intensity of the current in-vehicle environment and compares it with the preset sound intensity threshold: if the ambient sound intensity exceeds the threshold (for example, the in-vehicle speakers are playing music at a high volume, or there is a large ambient noise inside the vehicle), it is considered that the current environment is not suitable for identifying the knocking signal, so it is determined not to respond to the knocking signal. If the ambient sound intensity is lower than or equal to the threshold, it is determined that the knocking signal can be responded to, and other states of the vehicle are further judged to control the door to open.

[0066] In some embodiments, the controller determines the response feasibility of the knock signal based on the ambient sound intensity, and can also make a determination based on the relative significance of the knock signal and the vehicle interior noise. For example, the controller not only detects the ambient sound intensity, but also detects the sound intensity of the knock signal itself. By comparing the signal amplitudes, if the sound intensity of the knock signal is significantly higher than the vehicle interior background noise (for example, the amplitude of the knock signal is a certain decibel higher than the background noise), it is considered that the knock signal can be reliably recognized, and thus the knock signal is responded to and the door opening is controlled. Conversely, if the sound intensity of the knock signal is similar to or lower than the vehicle interior background noise, it is considered that the knock signal may be interfered by the ambient noise, and thus it is determined not to respond to the knock signal to avoid false triggering.

[0067] In other embodiments, the controller can also call algorithms such as traditional machine learning or deep learning to comprehensively analyze the ambient sound intensity to determine the response feasibility of the knock signal, thereby reducing the false triggering rate.

[0068] The door control method provided by the embodiments of the present invention detects the ambient sound intensity when the vehicle senses an external knocking action, and then determines the response feasibility of the knock signal according to the ambient sound intensity. When it is determined to respond to the knock signal, the door opening is controlled. Thus, by analyzing the ambient sound intensity, it can be ensured to a great extent that the knock-to-open function is triggered under appropriate circumstances, avoiding misrecognition or false triggering, and further improving the intelligent level of knocking to open the door.

[0069] The door control method provided by the embodiments of the present invention can make the vehicle integration effect more user-friendly, more accurately recognize the user's door opening intention, enhance the user perception and experience, and greatly meet the user's needs for the intelligent cockpit.

[0070] Due to problems such as interference from ambient noise and misjudgment of knock signals in the actual scenario, it is impossible to ensure the accuracy of each door opening operation in actual applications, especially when there is strong sound interference in the vehicle. Therefore, in some embodiments, determining the response feasibility of the knock signal according to the ambient sound intensity includes: determining not to respond to the knock signal when the ambient sound intensity exceeds a preset sound intensity threshold; and / or determining to respond to the knock signal when the ambient sound intensity does not exceed the sound intensity threshold.

[0071] Specifically, a microphone array or a sound sensor can be installed in the vehicle to monitor the sound intensity inside the vehicle. Alternatively, the controller can also directly obtain the volume of the in-vehicle audio system (including the audio, etc.) and the microphone signal to analyze the sound intensity inside the vehicle. Exemplarily, the ambient sound intensity can be, for example, the volume of the in-vehicle speaker.

[0072] When the ambient sound intensity exceeds a preset sound intensity threshold, the controller determines that the interior noise of the vehicle is relatively large and decides not to respond to the knock signal to avoid false triggering. When the ambient sound intensity does not exceed the preset sound intensity threshold, the controller determines that the current vehicle is in a relatively quiet state, and the reliability of the knock signal is greatly enhanced. The controller then determines to respond to the knock signal and controls the door to open.

[0073] In some embodiments, the sound intensity threshold can be dynamically adjusted according to the real-time detected interior sound environment. For example, when the ambient sound intensity maintains a relatively high level for a period of time, such as when music, video, etc. are being played inside the vehicle, the sound intensity threshold can be adaptively increased; when the ambient sound intensity is low, the sound intensity threshold can be adaptively decreased.

[0074] In the above embodiments, by setting the ambient sound intensity threshold, it is possible to automatically and intelligently determine whether to respond to the knock signal according to the interior noise level of the vehicle, effectively avoiding misoperations caused by noise interference. Users can use the knock-to-open function in a more natural and convenient state, improving the user experience and the stability of the knock-to-open function.

[0075] In some embodiments, determining the response feasibility of the knock signal according to the ambient sound intensity to control the door to open further includes: determining the signal sound intensity of the knock signal; in the case where the significant value of the signal sound intensity is higher than the significant value of the ambient sound intensity, determining to respond to the knock signal.

[0076] Wherein, the significant value is a normalized or weighted representation of the sound intensity, used to reflect the prominence of the knock signal in the environment. In some embodiments, the calculation of the significant value can be based on the signal power spectral density analysis within a sliding time window, sound pressure level, or using a machine learning model to classify and discriminate the knock pattern and background noise. Specifically, the controller calculates the signal sound intensity of the knock signal and thereby calculates its significant value; detects the ambient sound intensity inside or outside the vehicle and calculates its significant value. For example, the controller can filter, amplify, etc. the signals collected by the microphone or acoustic wave sensor, extract the features of the knock signal, and calculate its sound pressure level or decibel value.

[0077] If the significant value of the knock signal is greater than the significant value of the ambient sound and meets the preset significant difference threshold, the controller determines that the knock signal has sufficient distinguishability and determines it as a valid knock signal, and then controls the door to open; if the significant value difference is insufficient, the controller believes that the knock signal may be interfered and does not respond, and controls the door to remain closed.

[0078] Exemplarily, the significant value can be represented, for example, by the sound pressure level of the sound intensity. For example, after detecting a knocking signal, the controller detects that its sound pressure level is 90 dB, and at the same time detects that the sound pressure level of the ambient sound intensity is 60 dB. Then the controller compares the significant values of the two. Since the sound pressure level of the knocking signal is higher than that of the ambient sound, the controller determines that the knocking signal is significantly distinguishable, responds to the knock and controls the door to open. Another example is that if the sound pressure level of the knocking signal is only 50 dB and the ambient sound pressure level is 60 dB, then the significant value of the signal sound intensity is lower than that of the ambient sound intensity, and the controller considers it may be a mis-touch and does not respond to the knocking signal.

[0079] In some other embodiments, to determine the response feasibility of the knocking signal according to the ambient sound intensity to control the door to open, it further includes: determining the signal sound intensity of the knocking signal. When the signal-to-noise ratio (SNR) of the signal sound intensity of the knocking signal exceeds a threshold, the corresponding knocking signal is determined. The signal-to-noise ratio can be the logarithm of the sound pressure difference or the power ratio. For example, the controller quantifies the clarity or prominence of the knocking signal relative to the background sound by calculating the signal-to-noise ratio. When the signal-to-noise ratio is greater than the signal-to-noise ratio threshold, it indicates that the knocking signal has sufficient prominence relative to the ambient noise. The controller determines that the knocking signal can be accurately recognized based on this and controls the door to open; otherwise, there may be interference or mis-touch, and the knocking signal is not responded to. To adapt to different usage scenarios, this signal-to-noise ratio threshold can be dynamically adjusted according to whether music is playing in the vehicle, whether it is in a wind noise environment, etc.

[0080] Exemplarily, the controller obtains that the knocking signal intensity within the corresponding time period of the knocking action is 90 dB, while the ambient noise level during the same period is 60 dB, and the signal-to-noise ratio is 30 dB. If the preset signal-to-noise ratio threshold is 20 dB, because the actual signal-to-noise ratio is higher than this value, the controller believes that this knocking signal has sufficient distinguishability, thus responds to the knock and controls the door to open. On the contrary, if the knocking signal intensity is 66 dB, the ambient intensity is 60 dB, and the signal-to-noise ratio is only 6 dB, which is less than the signal-to-noise ratio threshold, it is considered that this signal may be affected by interference, and the controller does not execute the door opening instruction. Exemplarily, the signal-to-noise ratio threshold can be set to 20 dB.

[0081] In another implementation, the controller can calculate the root mean square power of the ambient sound within a period of time as the background noise baseline through the sliding window method, and then perform a ratio operation with the peak power of the knocking signal, which is applicable to the dynamic knocking recognition scenario with a complex noise background.

[0082] In the above embodiments, by introducing the significance judgment of the sound intensity of the knocking signal, the effective knocking signal and the noise interference signal can be effectively distinguished, avoiding the mis-triggering of the door opening when there is strong noise in the vehicle, improving the accuracy of door opening and the reliability of response, and further effectively improving the adaptability and reliability of the intelligent door system in complex environments, thereby providing a more accurate and convenient door opening experience for users.

[0083] As described above, the present invention proposes to judge whether to respond to the knocking signal by detecting the ambient sound intensity, so as to improve the accuracy of the door opening system. Among them, in some embodiments, detecting the ambient sound intensity includes: detecting the speaker volume inside the vehicle, and / or detecting the noise intensity inside the vehicle.

[0084] In some cases, music may be playing or a call may be being answered in the vehicle, and the speaker volume inside the vehicle is relatively high. Therefore, the controller can monitor the output volume of the speaker through the audio signal sensor in the vehicle and evaluate whether it will interfere with the external knocking signal based on the volume intensity. If the speaker volume is large, the controller may delay the response or ignore the knocking signal to avoid accidentally opening the door.

[0085] In another case, the controller can continuously monitor the noise intensity inside the vehicle through the acoustic wave sensor in the vehicle. The ambient noise includes, but is not limited to, one or more of engine noise, air-conditioning noise, or wind noise, etc. If the noise intensity inside the vehicle exceeds a preset threshold, the system will judge that the current environment is not suitable for responding to the knocking signal, avoiding the mis-triggering of the door opening.

[0086] Of course, the controller can also combine the above two detection methods to dynamically adjust the response of the door opening. For example, if the speaker volume is high and the background noise intensity inside the vehicle is also large, the controller judges that the reliability of the knocking signal is low and does not respond to the knocking signal to avoid misjudgment.

[0087] In the above embodiments, by considering the speaker volume and / or the noise intensity inside the vehicle, it is possible to more accurately judge whether to respond to the knocking signal, reduce the mis-opening operation caused by environmental noise or speaker interference, and improve the intelligence of the door opening.

[0088] In the automatic door opening control of the intelligent door system, it is crucial to ensure that the vehicle performs the door opening operation in an appropriate state. If the door opening signal is mis-triggered when the vehicle is driving at high speed or the door is not locked, it may pose a safety hazard. For this reason, in some embodiments, when the vehicle senses an external knocking action, detecting the ambient sound intensity includes: when the vehicle senses an external knocking action, detecting the knocking signal; when it is determined that the knocking signal is valid, detecting the running state of the vehicle; when it is determined that the running state meets the door opening permission condition, detecting the ambient sound intensity.

[0089] After detecting a knock signal, the controller detects the validity of the knock signal. Here, a valid knock signal means that the knock signal detected by the vehicle meets the preset characteristic requirements, including but not limited to one or more of vibration amplitude, knock position, knock frequency, or signal pattern, etc., satisfying the determination criteria, and the knock signal can be further processed as a door opening instruction.

[0090] When it is determined that the knock signal is valid, the controller then detects the operating state of the vehicle. Here, the operating state refers to the current working state of the vehicle, including but not limited to one or more of the door state (open / closed), locking state (locked or unlocked), gear state, vehicle speed, or vehicle driving mode (parked or driving), etc. Different operating states may affect the execution of the knock-to-open function. Exemplarily, the vehicle operating state can be obtained by one or more of, for example, a body control module or an intelligent domain controller, etc.

[0091] To ensure that the door opening operation is carried out under safe and feasible conditions, the controller evaluates the operating state to determine whether it meets the door opening permission conditions.

[0092] Among them, the door opening permission conditions refer to the preset safety and logic conditions that the vehicle needs to meet before performing the knock-to-open operation. For example, the vehicle must be in the unlocked state (if the door is locked, it needs to be unlocked first), the vehicle must be in the parked state (to avoid accidental triggering during driving), or the door is not in an abnormal state (such as unable to perform the door opening operation due to system failure), etc.

[0093] When it is determined that the operating state meets the door opening permission conditions, the controller further detects the ambient sound intensity.

[0094] In the above embodiments, when the vehicle senses an external knocking action, by detecting the knock signal and the validity of the knock signal, the reliability of knock signal recognition can be improved, and interferences such as accidental triggering can be reduced; when it is determined that the knock signal is valid, by detecting the operating state of the vehicle to determine whether the operating state meets the door opening permission conditions, it is possible to allow knock-to-open only when the vehicle operating state requirements are met, avoiding safety risks caused by driving or misoperation; when it is determined that the operating state meets the door opening permission conditions, by detecting the ambient sound intensity, and then determining the response feasibility of the knock signal according to the ambient sound intensity, and controlling the door to open when it is determined to respond to the knock signal. Thus, by analyzing the ambient sound intensity, it is possible to greatly ensure that the knock-to-open function is triggered under appropriate circumstances, avoid the occurrence of misrecognition or accidental triggering, and further improve the intelligent level of knock-to-open.

[0095] In the automatic door opening control of an intelligent vehicle door system, it is crucial to ensure that the vehicle performs the door opening operation under appropriate conditions. If the door opening signal is accidentally triggered when the vehicle is moving at high speed or the door is not locked, it may pose a safety hazard. Therefore, in some embodiments, determining that the operating state meets the door opening permission condition includes: determining that the operating state meets the door opening permission condition when the door is closed, the vehicle is unlocked, and the vehicle speed is less than a preset speed.

[0096] Specifically, the controller detects the operating state of the vehicle and determines whether to allow door opening based on this operating state, that is, whether it meets the door opening permission condition. For example, the controller can read the relevant operating data of the vehicle from the ECU or BCM, etc., to obtain the operating state of the vehicle. Another example is that the controller can obtain the relevant operating data of the vehicle through the CAN (Controller Area Network) bus. Still another example is that the controller can also obtain the relevant operating data of the vehicle through various sensors on the vehicle respectively.

[0097] If the door is in the closed state, the vehicle has been unlocked, and the current vehicle speed is lower than the preset speed, the controller determines that the operating state of the vehicle meets the door opening permission condition and can proceed to the next step. Exemplarily, the preset speed can be, for example, 0 km / h, 1 km / h, 2 km / h, 3 km / h... etc. If any condition is not met (such as the door is not closed, the vehicle is still in the locked state, or the vehicle is moving at high speed), the controller will not trigger the door opening operation to prevent the safety risk caused by accidental door opening.

[0098] In the above embodiments, by comprehensively judging the operating state of the vehicle, it is possible to prevent the vehicle from accidentally opening the door when moving at high speed or not unlocked, avoid safety hazards, and thus improve the reliability of knocking to open the door.

[0099] In a possible application scenario, the entire vehicle is in the insured state. At this time, the user needs to press the key unlock button to release the insured state of the entire vehicle, otherwise the door knock will not respond. And when the user uses the door knock to open the door, they may be in a situation where it is inconvenient to open the door with their hands (such as holding items in both hands, etc.). The additional step of using the key to unlock is cumbersome and cannot reflect the convenience of the intelligent vehicle door. In addition, for the door knock opening solution, if the vehicle is in the locked state, the controller needs to be able to distinguish the invalid operations of authorized users and keyless users to ensure the safety of the vehicle.

[0100] Therefore, in some embodiments, the operating state further includes the key signal state; correspondingly, determining that the operating state meets the door opening permission condition further includes: when the vehicle is locked, detecting the key signal; and when it is determined that the key signal is valid, determining that the operating state meets the door opening permission condition.

[0101] Specifically, the controller first obtains the insurance status of the vehicle. If the vehicle is in an unlocked state, there is no need to additionally detect the key signal, and the controller can directly make a judgment according to other door-opening conditions. If the vehicle is in a locked state, the controller needs to further detect the key signal.

[0102] Exemplarily, the key signal can be detected by an in-vehicle keyless entry system (Passive Entry Passive Start, PEPS) or other wireless communication modules such as Bluetooth, Ultra Wide Band (UWB) modules, etc.

[0103] Among them, the key signal status being valid means that a key signal bound to the current vehicle is detected within a preset distance range. First, the user needs to carry the key at a certain distance from the vehicle, and this distance range can be dynamically adjusted according to the actual situation. For example, if the vehicle detects that it is in an open area, this distance range can be appropriately increased. If the vehicle detects that it is in a complex environment, such as in a parking lot, etc., then this distance range can be appropriately shortened.

[0104] In addition, if a key signal is detected within the preset range, but this key signal is not bound to the current vehicle, it means that it may be a misidentified signal or the key signal of another vehicle, and the controller determines that the key signal is invalid.

[0105] Of course, if no key signal is detected within the preset distance range, the controller determines that the operating state does not meet the door-opening permission condition.

[0106] In the above embodiments, by combining the key signal determination when the vehicle is locked, there is no need for the user to manually press the unlock button. As long as the user carries the key close to the vehicle and knocks on the door, convenient door opening can be achieved. This can not only prevent illegal door opening caused by accidentally triggering the knocking signal when the car key is not nearby, improving the anti-theft performance, but also avoid the door being wrongly opened in the keyless state due to accidental knocking or external interference signals, enhancing the stability and reliability of knocking to open the door.

[0107] In order to ensure the effective recognition of the knocking signal, in some embodiments, determining that the knocking signal is valid includes: determining that the knocking signal is valid when the knocking frequency corresponding to the knocking signal exceeds a preset frequency threshold.

[0108] Specifically, the controller can collect knocking signals in real time through sensors outside the vehicle (such as accelerometers or vibration sensors, etc.). Knocking signals usually have a relatively high frequency, and their frequency patterns have obvious characteristics. The system performs frequency analysis on the signals (for example, through the fast Fourier transform algorithm) to extract the frequency characteristics of the signals. By comparing the detected signal frequencies, the controller can determine whether they exceed a preset frequency threshold. The frequency threshold can be set according to the parameters or scenarios of the vehicle itself, for example. If the frequency of the detected knocking signal exceeds the preset frequency threshold, the controller considers the signal to be a valid knocking signal and triggers the next operation. Conversely, if the frequency of the detected knocking signal does not exceed the preset frequency threshold, it is regarded as an invalid signal, and the controller does not respond to the knocking signal to avoid misoperation.

[0109] In the above embodiments, by setting the frequency threshold, low-frequency noise or interference from other non-knocking signals can be effectively eliminated, thereby improving the recognition accuracy of knocking signals, and further enhancing the accuracy and reliability of door opening.

[0110] In some other embodiments, determining that the knocking signal is valid further includes: determining that the knocking signal is valid when the number of knocks corresponding to the knocking signal reaches a preset number within a preset duration.

[0111] Specifically, the controller continuously monitors the knocking signals from outside the vehicle and counts the number of knocks received within a preset duration (such as 3 seconds, 5 seconds, etc.). Exemplarily, when a knocking signal is detected, such as when the rising edge of a knocking signal is monitored, the controller starts a timer to record the time from the first knock to the last knock. If the number of knocking signals reaches the preset number within the preset duration (for example, three consecutive knocks), the knocking signal is considered valid. Conversely, if the number of knocks does not reach the preset number, the controller considers the signal invalid and the door will not open.

[0112] In the above embodiments, by requiring the knocking signal to reach a certain number within a short period of time, accidental interference or inadvertent knocking actions can be effectively eliminated, reducing the possibility of mis-triggering.

[0113] In still some other embodiments, determining that the knocking signal is valid further includes: determining that the knocking signal is valid when the detection position corresponding to the knocking signal is within a preset knocking sensing area.

[0114] Specifically, one or more knock sensing areas may be provided on the vehicle. The controller can analyze the knock position through the feedback of the detected knock signal by means of vibration or acceleration sensors, etc. If the source position of the sensed knock signal is within any preset knock sensing area, the controller determines that the knock signal is valid; conversely, if it is determined that the knock position deviates from the preset knock sensing area, the controller regards it as an invalid signal and does not trigger the door unlocking operation.

[0115] Exemplarily, the controller can locate the source of the knock signal through the spatial distribution of the sensors (for example, multiple sensors are arranged in different areas of the door) to determine whether the signal comes from the preset knock sensing area.

[0116] For another example, on the door surface or outside the vehicle, the controller identifies the response signals of different areas through pressure sensors or acceleration sensors. If the position of the signal response is within the set sensing area, the knock signal is considered valid.

[0117] In the above embodiments, by defining the valid area of the knock signal, it is possible to effectively avoid misidentifying signals from other areas or external interferences, ensure that the door system only responds to the valid knock intention of the user, avoid system misoperations caused by knock signals from the external environment or other parts of the vehicle, and improve the anti-interference ability of the system.

[0118] In still some other embodiments, determining that the knock signal is valid further includes: determining that the knock signal is valid when the knock strength corresponding to the knock signal exceeds a preset knock strength threshold.

[0119] Specifically, vibration sensors or pressure sensors, etc. can be installed in the knock sensing area of the vehicle to detect the knock strength of external knock signals. For example, when the user knocks on the knock sensing area of the vehicle, vibration sensors or pressure sensors, etc. collect the mechanical pressure value triggered by the knock, convert it into an electrical signal to quantify the knock strength of the knock signal, and then compare it with the preset knock strength threshold to determine whether the signal is valid.

[0120] If the knock strength is higher than the preset knock strength threshold, the controller determines that the knock signal is valid and enters the subsequent door opening condition judgment process. If the knock strength is lower than the preset knock strength threshold, the controller determines that the knock signal is invalid, avoiding accidental door opening caused by minor collisions or environmental interferences.

[0121] Among them, the knock strength threshold can be adjusted according to the actual vehicle structure so that it can be applicable to a variety of usage scenarios and various vehicle models.

[0122] In the above embodiments, by detecting the knocking force, interference signals such as environmental noise and slight vibration can be effectively filtered out, false triggering can be reduced, and the intelligence and reliability of the door system can be improved. Users can complete the door opening operation by knocking with an appropriate force, without worrying about accidental opening caused by slight contact, thus improving the controllability and convenience of the interaction.

[0123] Combined with the door control solutions provided in any one of the above embodiments or their combinations, exemplarily, an embodiment of the present invention further provides a door control system. As Figure 3 shown, the door control system includes a knocking sensor A, a vehicle controller B, a high-frequency receiving module C, a speaker D, a domain controller E, a door lock F, and a door limiter G.

[0124] Among them, the knocking sensor A can measure the signal change generated after the user knocks and transmit the signal to the domain controller E. The vehicle controller B communicates with the domain controller through the CAN line and transmits the vehicle gear state and vehicle speed information to the domain controller E. The high-frequency receiving module C is used to receive the signal sent by the key and transmit the signal to the domain controller E. The speaker D can emit sounds inside the vehicle. Users can set the volume for entertainment and other needs. The domain controller E interacts with the vehicle through the CAN line, and is used to analyze and process the signals of the knocking sensor B, vehicle speed information, vehicle gear information, remote control key signals received by the high-frequency receiving module C, and volume information of the speaker D; and can detect and control the state of the door lock F, and provide power output for the motor of the door limiter G to control the opening of the door. Among them, the door lock F includes, for example, a door lock switch and an actuator, and can be electrically unlocked and electrically locked, and transmit the door lock signal to the domain controller E. The door limiter F is an electric limiter, which usually includes a driving motor for opening or closing the door.

[0125] Combined with the above illustration, exemplarily, as Figure 4 shown, taking the controller as the domain controller as an example, an embodiment of the present invention provides an overall control flow for knocking to open the door, including S1 to S5. Among them:

[0126] S1: Collect the knocking signal. When the user knocks on the knocking sensing area of the door, it causes the door to respond. The knocking sensor installed on the door receives the signal and transmits this signal to the domain controller through the wire harness.

[0127] S2: When the knocking signal is valid, obtain the state information of the vehicle. Among them, the state information includes, but is not limited to: one or more of the door state, vehicle speed, vehicle gear, and vehicle insurance state, etc.

[0128] Among them, if the knocking signal meets the relevant determination condition requirements, then the signal is considered valid, otherwise it is invalid.

[0129] According to an embodiment of the present invention, when the vehicle door is in the closed state, the vehicle is in the unarmed state, and the vehicle speed is less than a preset vehicle speed, it is determined that the vehicle state information meets the preset conditions. Among them, the preset vehicle speed can be preset according to the actual situation. For example, the preset vehicle speed can be 3 km / h.

[0130] S3: When the knocking signal is valid, obtain the vehicle state information. When the vehicle is in the armed state, judge whether it meets the preset conditions according to the collected remote control key signal. If the collected remote control key signal is valid, it is considered to meet the conditions, otherwise it does not.

[0131] S4: Determine whether to detect the multimedia speaker volume according to whether the vehicle state information meets the preset conditions, and determine whether the multimedia speaker volume meets the preset conditions. Among them, the preset volume threshold can be pre-calibrated according to the actual situation. For example, the preset volume ≤ 70%.

[0132] S5: After determining that all preset conditions are met, respond to the knocking request to open the door signal, and the domain controller drives the limiter to perform the door opening action.

[0133] Exemplarily, as Figure 5 shown, still taking the domain controller as an example of the controller, the embodiment of the present invention provides a judgment process for knocking to open the door, including S201 - S211. Among them:

[0134] S201: Start signal detection.

[0135] S202: Whether the knocking sensor collects a knocking signal. If so, execute step S203, otherwise execute step S201.

[0136] S203: The domain controller judges whether the knocking signal meets the algorithm requirements. If so, the knocking request to open the door signal is valid, and execute step S204; otherwise, the knocking request to open the door signal is invalid, and execute step S201.

[0137] S204: The domain controller judges whether the vehicle is in the unarmed state. If so, execute step S205. Otherwise, execute step S206.

[0138] S205: The domain controller judges whether a remote control key signal is detected. If so, execute step S206, otherwise execute step S211.

[0139] S206: The domain controller judges whether the vehicle is in the P gear. If so, execute step S207, otherwise execute step S211.

[0140] S207: The domain controller judges whether the vehicle door is in the closed state. If so, execute step S208, otherwise execute step S211.

[0141] S208: The domain controller determines whether the vehicle speed ≤ 3 km / h. If so, step S209 is executed; otherwise, step S211 is executed.

[0142] S209: The domain controller determines whether the speaker volume ≤ 70%. If so, step S210 is executed; otherwise, step S211 is executed.

[0143] The door control method provided by the present invention determines the knocking algorithm decision process. After meeting other preset conditions for knocking to open the door, it combines the ambient sound intensity for judgment to decide whether to respond to the knocking signal, so that the accuracy of the knocking signal is basically not affected when the ambient sound intensity is small. In terms of the interaction experience, the user can clearly know that the door will no longer respond to the knocking signal at a certain sound intensity, which can reduce the possibility of mis-triggering, achieve a high accuracy rate for knocking to open the door in a complex environment, reduce the trouble that the user may face when the door can be knocked open sometimes and cannot be knocked open sometimes, realize the convenience, intelligence and comfort of door opening, and can effectively supplement the knocking-to-open-door scheme in related technologies, provide good adaptability to different noise environment conditions. At the same time, when the key is not convenient to take out and it is necessary to knock to open the door, it provides an efficient backup solution, greatly improving the intelligent level of the vehicle and enhancing the user's experience.

[0144] In the door control method provided by the embodiments of the present invention, the execution subject can be a door control device. In the embodiments of the present invention, taking the door control device executing the door control method as an example, the door control device provided by the embodiments of the present invention is described.

[0145] The embodiments of the present invention further provide a door control device, which is applied to a controller. As Figure 6 shown, the door control device includes a detection module 601 and an execution module 602. Among them:

[0146] The detection module 601 is used to detect the ambient sound intensity when the vehicle senses an external knocking action;

[0147] The execution module 602 is used to determine the response feasibility of the knocking signal according to the ambient sound intensity, and control the door to open when it is determined to respond to the knocking signal.

[0148] According to the door control device provided by the embodiments of the present invention, when the vehicle senses an external knocking action, it detects the ambient sound intensity, and then determines the response feasibility of the knocking signal according to the ambient sound intensity, and controls the door to open when it is determined to respond to the knocking signal. Thus, by analyzing the ambient sound intensity, it can greatly ensure that the knocking-to-open-door function is triggered under appropriate circumstances, avoid the occurrence of mis-identification or mis-triggering, and then improve the intelligent level of knocking to open the door.

[0149] In some embodiments, the execution module is further configured to determine not to respond to the tapping signal when the ambient sound intensity exceeds a preset sound intensity threshold; and / or, to determine to respond to the tapping signal when the ambient sound intensity does not exceed the sound intensity threshold.

[0150] In some embodiments, the execution module is further configured to determine the signal sound intensity of the tapping signal; and to determine to respond to the tapping signal when the significant value of the signal sound intensity is higher than the significant value of the ambient sound intensity.

[0151] In some embodiments, the detection module is further configured to detect the speaker volume inside the vehicle, and / or, to detect the noise intensity inside the vehicle.

[0152] In some embodiments, the detection module is further configured to detect a tapping signal when the vehicle senses an external tapping action; to detect the operating state of the vehicle when determining that the tapping signal is valid; and to detect the ambient sound intensity when determining that the operating state meets the door opening permission condition.

[0153] In some embodiments, the operating state includes at least one of the door state, the locking state, and the vehicle speed; the detection module is further configured to determine that the operating state meets the door opening permission condition when the door is closed, the vehicle is unlocked, and the vehicle speed is less than a preset speed.

[0154] In some embodiments, the operating state further includes the key signal state; the detection module is further configured to detect the key signal when the locking state is the locked state; and to determine that the operating state meets the door opening permission condition when determining that the key signal is valid.

[0155] In some embodiments, the detection module is further configured to determine that the tapping signal is valid when the tapping frequency corresponding to the tapping signal exceeds a preset frequency threshold.

[0156] In some embodiments, the detection module is further configured to determine that the tapping signal is valid when the number of taps corresponding to the tapping signal reaches a preset number within a preset duration.

[0157] In some embodiments, the detection module is further configured to determine that the tapping signal is valid when the detection position corresponding to the tapping signal is within a preset tapping sensing area.

[0158] In some embodiments, the detection module is further configured to determine that the tapping signal is valid when the tapping force corresponding to the tapping signal exceeds a preset tapping force threshold.

[0159] The door control device in the embodiments of the present invention may be a controller or a component in the controller, such as an integrated circuit or a chip. The controller may be an in-vehicle terminal or a vehicle controller, etc. Exemplarily, the controller may be a mobile phone, a tablet computer, a laptop computer, a palmtop computer, an in-vehicle controller, a Mobile Internet Device (MID), an Augmented Reality (AR) / Virtual Reality (VR) device, a robot, a wearable device, an Ultra-mobile Personal Computer (UMPC), a netbook, or a Personal Digital Assistant (PDA), etc. It may also be a server, a Network Attached Storage (NAS), a Personal Computer (PC), a Television (TV), a teller machine, or a self-service machine, etc. The embodiments of the present invention do not make specific limitations.

[0160] The embodiments of the present invention further provide a vehicle, which includes the door control device as Figure 6 shown.

[0161] The door control device in the embodiments of the present invention may be a device with an operating system. The operating system may be a Microsoft (Windows) operating system, an Android operating system, an IOS operating system, or other possible operating systems. The embodiments of the present invention do not make specific limitations.

[0162] The door control device provided by the embodiments of the present invention can implement each process implemented by the method embodiments. To avoid repetition, it will not be elaborated here.

[0163] In some embodiments, as Figure 7 shown, the embodiments of the present invention further provide a controller 700, which includes a processor 701, a memory 702, and a computer program stored on the memory 702 and executable on the processor 701. When the program is executed by the processor 701, it implements each process of the above method embodiments and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0164] The embodiments of the present invention further provide a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements each process of the above door control method embodiments and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0165] Among them, the processor is the processor in the controller described in the above embodiments. The readable storage medium includes computer-readable storage media such as computer read-only memory ROM, random access memory RAM, magnetic disks or optical discs, etc.

[0166] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the above-mentioned vehicle door control method when executed by a processor.

[0167] Among them, the processor is the processor in the controller described in the above embodiments. The readable storage medium includes computer-readable storage media such as computer read-only memory ROM, random access memory RAM, magnetic disks or optical discs, etc.

[0168] Another embodiment of the present invention provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement each process of the above-mentioned vehicle door control method embodiment, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0169] It should be understood that the chip mentioned in the embodiments of the present invention may also be referred to as a system-on-chip, system chip, chip system, or system-on-chip, etc.

[0170] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present invention is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0171] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the related technology can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0172] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the present invention and the claims, and all of them belong to the protection scope of the present invention.

[0173] In the description of this specification, the description of reference terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0174] If there is no special indication, all embodiments and optional embodiments of the present invention can be combined with each other to form a new technical solution.

[0175] If there is no special indication, all technical features and optional technical features of the present invention can be combined with each other to form a new technical solution.

[0176] If there is no special indication, all steps of the present invention can be carried out in sequence or randomly, and preferably in sequence. For example, the method includes steps (a) and (b), which means that the method can include steps (a) and (b) carried out in sequence, or can also include steps (b) and (a) carried out in sequence. For example, it is mentioned that the method may further include step (c), which means that step (c) can be added to the method in any order. For example, the method can include steps (a), (b), and (c), or can also include steps (a), (c), and (b), or can also include steps (c), (a), and (b), etc.

[0177] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vehicle door control method, characterized in that, The method includes: When the vehicle senses an external knocking action, detecting the ambient sound intensity; Determining the response feasibility of the knocking signal according to the ambient sound intensity, and controlling the door to open when it is determined to respond to the knocking signal.

2. The method according to claim 1, wherein The determining the response feasibility of the knocking signal according to the ambient sound intensity includes: When the ambient sound intensity exceeds a preset sound intensity threshold, determining not to respond to the knocking signal; and / or When the ambient sound intensity does not exceed the sound intensity threshold, determining to respond to the knocking signal.

3. The method according to claim 1, characterized in that The determining the response feasibility of the knocking signal according to the ambient sound intensity further includes: Determining the signal sound intensity of the knocking signal; When the significant value of the signal sound intensity is higher than the significant value of the ambient sound intensity, determining to respond to the knocking signal.

4. The method according to any one of claims 1 to 3, characterized in that The detecting the ambient sound intensity includes: detecting the volume of the speaker inside the vehicle, and / or, detecting the noise intensity inside the vehicle.

5. The method according to claim 1, wherein The when the vehicle senses an external knocking action, detecting the ambient sound intensity includes: When the vehicle senses an external knocking action, detecting the knocking signal; When it is determined that the knocking signal is valid, detecting the running state of the vehicle; When it is determined that the running state meets the door opening permission condition, detecting the ambient sound intensity.

6. The method according to claim 5, characterized in that, The running state at least includes one of the door state, the insurance state, and the vehicle speed; the determining that the running state meets the door opening permission condition includes: When the door is closed, the vehicle is unlocked, and the vehicle speed is less than a preset speed, determining that the running state meets the door opening permission condition.

7. The method according to claim 5 or 6, characterized in that, The running state further includes the key signal state; the determining that the running state meets the door opening permission condition further includes: When the vehicle is locked, detecting the key signal; When it is determined that the key signal is valid, determining that the running state meets the door opening permission condition.

8. The method according to claim 5 or 6, characterized in that The determining that the knocking signal is valid includes: When the knocking frequency corresponding to the knocking signal exceeds a preset frequency threshold, determining that the knocking signal is valid.

9. The method according to claim 5 or 6, characterized in that, The determining that the knocking signal is valid further includes: When the number of knocking times corresponding to the knocking signal reaches a preset number within a preset duration, determining that the knocking signal is valid.

10. The method according to claim 5 or 6, characterized in that, The determining that the knocking signal is valid further includes: When the detection position corresponding to the knocking signal is within a preset knocking sensing area, determining that the knocking signal is valid.

11. The method according to claim 5 or 6, characterized in that, The determining that the knocking signal is valid further includes: When the knocking force corresponding to the knocking signal exceeds a preset knocking force threshold, determining that the knocking signal is valid.

12. A door control device, characterized in that, The device includes: A detection module, configured to detect the ambient sound intensity when the vehicle senses an external knocking action; An execution module, configured to determine the response feasibility of the knocking signal according to the ambient sound intensity, and control the door to open when it is determined to respond to the knocking signal.

13. A vehicle, characterized in that, The vehicle includes the door control device as described in claim 12.

14. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the door control method as described in any one of claims 1-11.

15. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the door control method described in any one of claims 1-11.

16. A computer program product comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the door control method described in any one of claims 1-11.

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