Intelligent vehicle door control method, vehicle-mounted terminal and storage medium

Abstract

The invention provides a vehicle door intelligent control method, a vehicle-mounted terminal and a storage medium, and relates to the technical field of vehicle door control. According to the method, in response to a vehicle door opening instruction, vehicle exterior environment characteristics, collected by a vehicle exterior environment data collection module, of a vehicle are obtained, and identity information, collected by a user identity collection module, of a driver is obtained; a historical vehicle door opening parameter set of the driver is searched according to the identity information, collected by the user identity collection module, of the driver; vehicle door opening parameters are determined according to the vehicle exterior environment characteristics of the vehicle and the historical vehicle door opening parameter set of the driver; and controlling the vehicle door to open according to the determined vehicle door opening parameters. According to the control process, the opening of the vehicle door refers to the characteristics of the environment outside the vehicle and a historical vehicle door opening parameter set of a driver. In this way, the door opening parameters better conform to the environment where the vehicle is located and the door opening habit of a driver, and then the satisfaction degree of the driver for vehicle door opening is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle door control, and particularly relates to an intelligent vehicle door control method, an in-vehicle terminal, and a storage medium. Background Art

[0002] With the development of technology, the intelligent cockpit system is making great strides towards increasing intelligence. Currently, the opening and closing of vehicle doors can be achieved through electric vehicle doors, which is convenient and fast.

[0003] Specifically, there are two control methods for closing a vehicle electric door: an electric release method and an electric opening method. The electric release method means that the user clicks a switch button to control the door to automatically pop open a small angle gap through the rubber strip. The electric opening method means that the user only needs to click the switch, and the door can move to a predetermined opening degree at a set opening speed and maximum opening angle. However, through the above methods of opening the door, the user satisfaction is low (such as resulting in a low user experience and / or safety level for opening the door, etc.). Summary of the Invention

[0004] The present application provides an intelligent vehicle door control method, an in-vehicle terminal, and a storage medium, which are used to solve the problem of low user satisfaction (such as resulting in a low user experience and / or safety level for opening the door, etc.) in the prior art when opening the vehicle door.

[0005] In a first aspect, an intelligent vehicle door control method provided by the present application is applied to an in-vehicle terminal of a vehicle. The vehicle further includes an out-of-vehicle environment data acquisition module and a user identity acquisition module. The method provided by the present application includes:

[0006] In response to a vehicle door opening instruction, obtain the out-of-vehicle environmental characteristics of the vehicle collected by the out-of-vehicle environment data acquisition module, and obtain the identity information of the driver collected by the user identity acquisition module;

[0007] According to the identity information of the driver collected by the user identity acquisition module, search for the driver's historical vehicle door opening parameter set;

[0008] Determine the vehicle door opening parameters according to the out-of-vehicle environmental characteristics of the vehicle and the driver's historical vehicle door opening parameter set;

[0009] Control the opening of the vehicle door according to the determined vehicle door opening parameters.

[0010] In some embodiments, the vehicle door opening parameters include at least one of the vehicle door opening method, the vehicle door opening angle, and the vehicle door opening speed.

[0011] In some embodiments, the external environment data acquisition module includes a rainfall acquisition module, the external environment feature includes rainfall, and the door opening parameters are determined according to the external environment feature where the vehicle is located and the set of historical door opening parameters of the driver, including:

[0012] When, based on the set of historical door opening parameters of the driver, it is determined that the probability that the driver's opening method for the door in the past was the electric opening method is greater than the set probability threshold, it is determined that the door opening parameters include the door opening method, the door opening angle, and the door opening speed, and the door opening method is the electric opening method, and the door opening angle and the door opening speed are negatively correlated with the rainfall respectively.

[0013] In some embodiments, the external environment data acquisition module includes a rainfall acquisition module, the external environment feature includes rainfall, and the door opening parameters are determined according to the external environment feature where the vehicle is located and the set of historical door opening parameters of the driver, including:

[0014] When the rainfall is greater than the set rainfall threshold and, based on the set of historical door opening parameters of the driver, it is determined that the probability that the driver's opening method for the door is the electric release method is greater than the set probability threshold, it is determined that the door opening parameters include the door opening method, and the door opening method is the electric release method.

[0015] In some embodiments, the external environment data acquisition module further includes a distance sensor, the external environment feature includes the distance between the obstacle on the door side and the vehicle door, and the door opening parameters are determined according to the external environment feature where the vehicle is located and the set of historical door opening parameters of the driver, including:

[0016] When, based on the set of historical door opening parameters of the driver, it is determined that the probability that the driver's opening method for the door in the past was the electric opening method is greater than the set probability threshold, it is determined that the door opening parameters include the door opening method, the door opening angle, and the door opening speed, and the door opening method is the electric opening method, and the door opening angle and the door opening speed are positively correlated with the distance respectively.

[0017] In some embodiments, the external environment data acquisition module further includes a distance sensor, the external environment feature includes the distance between the obstacle on the door side and the vehicle door, and the door opening parameters are determined according to the external environment feature where the vehicle is located and the set of historical door opening parameters of the driver, including:

[0018] When the distance is less than the set distance threshold and, based on the set of historical door opening parameters of the driver, it is determined that the probability that the driver's opening method for the door is the electric release method is greater than the set probability threshold, it is determined that the door opening parameters include the door opening method, and the door opening method is the electric release method.

[0019] In some embodiments, determining a door opening parameter according to the external environment characteristics of the vehicle and the set of historical door opening parameters of the driver includes:

[0020] Inputting the external environment characteristics of the vehicle and the set of historical door opening parameters of the driver into a pre-trained door opening parameter determination model to determine the door opening parameter, where the door opening parameter determination model is obtained by training a neural network with multiple training samples input, and each training sample includes historical external environment characteristics, the set of historical door opening parameters of the historical driver, and the historical actual door opening parameter corresponding to a user satisfaction greater than a set satisfaction threshold.

[0021] In some embodiments, after controlling the door to open according to the determined door opening parameter, the method provided in this application further includes:

[0022] Receiving an updated door opening parameter obtained after the user's feedback operation on the door during the process of controlling the door to open;

[0023] Updating the door opening parameter determination model according to the difference between the updated door opening parameter and the door opening parameter before the update.

[0024] In a second aspect, this application further provides an in-vehicle terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the in-vehicle terminal executes the method provided in the first aspect of this application.

[0025] In a third aspect, this application further provides a storage medium storing a computer program. When the computer program is executed by a processor, the computer executes the method provided in the first aspect of this application.

[0026] In a fourth aspect, this application further provides a computer program product, including a computer program. When the computer program is run, the in-vehicle terminal executes the method provided in the first aspect of this application.

[0027] The present application provides an intelligent door control method, an in-vehicle terminal, and a storage medium. It can respond to a door opening instruction, obtain the external environment characteristics of the vehicle collected by an external environment data acquisition module, and obtain the identity information of the driver collected by a user identity acquisition module. According to the identity information of the driver collected by the user identity acquisition module, find the historical door opening parameter set of the driver. According to the external environment characteristics of the vehicle and the historical door opening parameter set of the driver, determine the door opening parameters. Control the door to open according to the determined door opening parameters. From the above control process, it can be seen that the opening of the door refers to the external environment characteristics of the vehicle and the historical door opening parameter set of the driver. In this way, the opening parameters are more in line with the environment where the vehicle is located and the driver's door opening habits, thereby improving the driver's satisfaction with the door opening. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 It is a connection block diagram of the circuit module of the vehicle provided by the embodiment of the present application;

[0030] Figure 2 It is a flowchart of the intelligent door control method provided by the embodiment of the present application;

[0031] Figure 3 It is a functional module block diagram of the intelligent door control device provided by the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present disclosure.

[0033] Various structural schematic diagrams according to embodiments of the present disclosure are shown in the drawings. These figures are not drawn to scale. For the purpose of clear expression, some details are enlarged and some details may be omitted. The shapes of various regions and layers shown in the figures, as well as their relative sizes and positional relationships, are only exemplary. In practice, there may be deviations due to manufacturing tolerances or technical limitations, and those skilled in the art can design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0034] In the context of the present disclosure, when a layer / component is referred to as being "on" another layer / component, the layer / component can be directly on the other layer / component, or there can be an intermediate layer / component between them. Additionally, if a layer / component is "on" another layer / component in one orientation, then when the orientation is reversed, the layer / component can be "under" the other layer / component.

[0035] Next, the technical solution of the present application and how the technical solution of the present application solves the above technical problems will be described in detail with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0036] An intelligent door control method provided by the present application is applied to an in-vehicle terminal of a vehicle. Among them, the in-vehicle terminal can be, but is not limited to, an electronic control unit (ECU) of a vehicle computer. As Figure 1 shown, the vehicle further includes an external environment data acquisition module and a user identity acquisition module, and the external environment data acquisition module and the user identity acquisition module are respectively communicatively connected to the in-vehicle terminal. Among them, the external environment data acquisition module can include a rainfall acquisition module and a distance sensor. As Figure 2 shown, the method provided by the embodiments of the present application includes:

[0037] S201: In response to a door opening instruction, obtain the external environment characteristics of the vehicle collected by the external environment data acquisition module, and obtain the identity information of the driver collected by the user identity acquisition module.

[0038] For example, the in-vehicle terminal can receive a door opening instruction from a hard switch on the vehicle, or receive a door opening instruction from a mobile phone via Bluetooth communication, or receive a door opening instruction input by the user on the touch screen of the in-vehicle terminal, or receive a door opening instruction from a remote control key, etc., which is not limited herein.

[0039] Furthermore, the way to obtain the external environment characteristics of the vehicle collected by the external environment data acquisition module can be: receiving the rainfall outside the vehicle collected by the rainfall acquisition module and / or receiving the distance between the obstacle on the door side and the vehicle door collected by the distance sensor (such as an infrared distance sensor or a panoramic camera installed outside the vehicle door).

[0040] In addition, the way to obtain the identity information of the driver collected by the user identity acquisition module can be: obtaining the face information or pupil information of the driver collected by the in-vehicle camera, etc., which is not limited herein.

[0041] S202: Search for the set of historical door opening parameters of the driver according to the identity information of the driver collected by the user identity collection module.

[0042] Exemplarily, the on-vehicle database stores the set of historical door opening parameters of each driver who has ever driven the vehicle. Among them, the door opening parameters include at least one of the door opening method (such as electric release method or electric opening method), the door opening angle, and the door opening speed.

[0043] S203: Determine the door opening parameters according to the characteristics of the external environment of the vehicle and the set of historical door opening parameters of the driver.

[0044] Exemplarily, the specific implementation of S203 includes but is not limited to the following several:

[0045] The first one: The external environment data collection module includes a rainfall collection module, and the external environment characteristics include rainfall. When it is determined according to the set of historical door opening parameters of the driver that the probability of the driver's historical door opening method being the electric opening method is greater than the set probability threshold, it is determined that the door opening parameters include the door opening method, the door opening angle (such as an opening degree of 50%), and the door opening speed, and the door opening method is the electric opening method, and the door opening angle and the door opening speed are negatively correlated with the rainfall respectively. It can be understood that when the probability of the driver's historical door opening method being the electric opening method is greater than the set probability threshold, it means that the driver is used to using the electric opening method. Therefore, including the door opening method in the door opening parameters is more in line with the driver's door opening habit. In addition, since the door opening angle and the door opening speed are negatively correlated with the rainfall respectively, it can be avoided that rainwater seeps into the vehicle when the rainfall is too large. Thus, the determined door opening parameters are more in line with the vehicle's environment and the driver's door opening habit, thereby improving the driver's satisfaction with the door opening.

[0046] The second one: The external environment data collection module includes a rainfall collection module, and the external environment characteristics include rainfall. When the rainfall is greater than the set rainfall threshold and it is determined according to the set of historical door opening parameters of the driver that the probability of the driver's door opening method being the electric release method is greater than the set probability threshold, it is determined that the door opening parameters include the door opening method, and the door opening method is the electric release method.

[0047] When the probability of the driver's door opening method being the electric release method is greater than the set probability threshold, determining that the door opening parameters include the door opening method is more in line with the user's door opening habit. Moreover, when the rainfall is greater than the set rainfall threshold, controlling the door to automatically pop open a small angle gap (such as an opening degree of 15%) through the rubber strip can effectively prevent rainwater from seeping into the door.

[0048] The third type: The vehicle exterior environment data acquisition module further includes a distance sensor, and the vehicle exterior environment feature includes the distance between an obstacle (such as a wall or a roadside tree) on the door side and the vehicle door. When, based on the set of historical door opening parameters of the driver, it is determined that the probability that the driver's historical door opening method is the electric opening method is greater than a set probability threshold, it is determined that the door opening parameters include the door opening method, the door opening angle (such as an opening degree of 40%), and the door opening speed, and the door opening method is the electric opening method, and the door opening angle and the door opening speed are respectively positively correlated with the distance.

[0049] Understandably, when the probability that the driver's historical door opening method is the electric opening method is greater than the set probability threshold, it indicates that the driver is accustomed to using the electric opening method. Therefore, including the door opening method in the door opening parameters is more in line with the driver's door opening habit. The door opening angle and the door opening speed are respectively positively correlated with the distance, which can prevent the door from colliding and being damaged by the obstacle when the distance between an obstacle (such as a wall or a roadside tree) and the vehicle door is relatively close due to too large door opening angle and opening speed. Thus, the determined door opening parameters are more in line with the vehicle's environment and the driver's door opening habit, thereby improving the driver's satisfaction with the door opening.

[0050] The fourth type: The vehicle exterior environment data acquisition module further includes a distance sensor, and the vehicle exterior environment feature includes the distance between an obstacle on the door side and the vehicle door. When the distance is less than a set distance threshold and, based on the set of historical door opening parameters of the driver, it is determined that the probability that the driver's door opening method is the electric release method is greater than a set probability threshold, it is determined that the door opening parameters include the door opening method, and the door opening method is the electric release method.

[0051] When the probability that the driver's door opening method is the electric release method is greater than the set probability threshold, determining that the door opening parameters include the door opening method is more in line with the user's door opening habit. Moreover, when there is a distance between an obstacle on the door side and the vehicle door, controlling the door to automatically bounce open a small-angle gap through the rubber strip (such as an opening degree of 15% of the door) can effectively prevent the door from colliding and being damaged by the obstacle.

[0052] Fifth: Input the external environment characteristics of the vehicle and the historical door opening parameter set of the driver into a pre-trained door opening parameter determination model to determine the door opening parameters. The door opening parameter determination model is obtained by training a neural network with multiple training samples. Since each training sample includes the historical external environment characteristics, the historical door opening parameter set of the historical driver, and the corresponding historical actual door opening parameter with the user satisfaction greater than the set satisfaction threshold. In this way, the determined door opening parameters are more in line with the environment where the vehicle is located and the driver's door opening habits, thereby improving the driver's satisfaction with door opening.

[0053] Further, during the process of controlling the opening of the door, the updated door opening parameters obtained after receiving the user's feedback operation on the door are received. For example, during the process of controlling the opening of the door, the user adjusts the opening angle and opening speed of the door. According to the difference between the updated door opening parameters and the door opening parameters before the update, the door opening parameter determination model is updated. In this way, the reliability of the door opening parameter determination model can be higher, and the subsequent determined door opening parameters are more in line with the environment where the vehicle is located and the driver's door opening habits, and the driver's satisfaction with the subsequent door opening can be further improved.

[0054] S204: Control the door to open according to the determined door opening parameters.

[0055] Specifically, the vehicle further includes a door control module. The in-vehicle terminal can send a door opening instruction carrying the door opening parameters to the door control module, and then the door control module can control the door to open according to the door opening parameters.

[0056] In summary, the embodiment of the present application provides a method for intelligent door control, which can respond to a door opening instruction, obtain the external environment characteristics of the vehicle collected by the external environment data collection module, and obtain the identity information of the driver collected by the user identity collection module; find the historical door opening parameter set of the driver according to the identity information of the driver collected by the user identity collection module; determine the door opening parameters according to the external environment characteristics of the vehicle and the historical door opening parameter set of the driver; and control the door to open according to the determined door opening parameters. From the above control process, it can be seen that the opening of the door refers to the external environment characteristics of the vehicle and the historical door opening parameter set of the driver. In this way, the door opening parameters are more in line with the environment where the vehicle is located and the driver's door opening habits, thereby improving the driver's satisfaction with door opening.

[0057] In addition, an intelligent door control device provided by an embodiment of the present application is configured in an in-vehicle terminal of a vehicle. The vehicle further includes an external environment data acquisition module and a user identity acquisition module. It should be noted that the basic principle and the technical effects generated by the intelligent door control device provided by the embodiment of the present application are the same as those of the above embodiment. For a brief description, for the parts not mentioned in the embodiment of the present application, reference may be made to the corresponding content in the above embodiment. As Figure 3 shown, the device provided by the embodiment of the present application includes a data acquisition unit, a historical parameter search unit, an opening parameter determination unit, and a door opening control unit. Among them,

[0058] The data acquisition unit is configured to, in response to a door opening instruction, acquire the external environment characteristics of the vehicle collected by the external environment data acquisition module, and acquire the identity information of the driver collected by the user identity acquisition module.

[0059] The historical parameter search unit is configured to search for a set of historical door opening parameters of the driver according to the identity information of the driver collected by the user identity acquisition module.

[0060] The opening parameter determination unit is configured to determine door opening parameters according to the external environment characteristics of the vehicle and the set of historical door opening parameters of the driver.

[0061] The door opening control unit is configured to control the door to open according to the determined door opening parameters.

[0062] In some embodiments, the door opening parameters include at least one of the door opening mode, the door opening angle, and the door opening speed.

[0063] In some embodiments, the external environment data acquisition module includes a rainfall acquisition module, and the external environment characteristics include rainfall. The opening parameter determination unit is specifically configured to, when the probability that the driver's historical door opening mode is the electric opening mode determined according to the set of historical door opening parameters of the driver is greater than a set probability threshold, determine that the door opening parameters include the door opening mode, the door opening angle, and the door opening speed, and the door opening mode is the electric opening mode, and the door opening angle and the door opening speed are negatively correlated with the rainfall respectively.

[0064] In some embodiments, the external environment data acquisition module includes a rainfall acquisition module, and the external environment characteristics include rainfall. The opening parameter determination unit is specifically configured to, when the rainfall is greater than a set rainfall threshold and the probability that the driver's door opening mode is the electric release mode determined according to the set of historical door opening parameters of the driver is greater than a set probability threshold, determine that the door opening parameters include the door opening mode, and the door opening mode is the electric release mode.

[0065] In some embodiments, the external environment data acquisition module further includes a distance sensor, and the external environment feature includes the distance between an obstacle on the door side and the vehicle door. The opening parameter determination unit is specifically configured to determine that the door opening parameters include the door opening method, the door opening angle, and the door opening speed, and the door opening method is the electric opening method, and the door opening angle and the door opening speed are respectively positively correlated with the distance when the probability that the driver's historical door opening method for the historical vehicle door is the electric opening method is greater than a set probability threshold according to the driver's historical door opening parameter set.

[0066] In some embodiments, the external environment data acquisition module further includes a distance sensor, and the external environment feature includes the distance between an obstacle on the door side and the vehicle door. The opening parameter determination unit is specifically configured to determine that the door opening parameter includes the door opening method and the door opening method is the electric release method when the distance is less than a set distance threshold and the probability that the driver's door opening method is the electric release method is greater than a set probability threshold according to the driver's historical door opening parameter set.

[0067] In some embodiments, the opening parameter determination unit is specifically configured to input the external environment features of the vehicle and the driver's historical door opening parameter set into a pre-trained door opening parameter determination model to determine the door opening parameters, where the door opening parameter determination model is trained by inputting a plurality of training samples into a neural network, and each training sample includes historical external environment features, the driver's historical door opening parameter set, and the corresponding historical actual door opening parameters with a user satisfaction greater than a set satisfaction threshold.

[0068] In some embodiments, the parameter acquisition unit is further configured to obtain updated door opening parameters after receiving the user's feedback operation on the door during the process of controlling the opening of the door.

[0069] The device provided by the embodiment of the present application may further include: a model update unit, configured to update the door opening parameter determination model according to the difference between the updated door opening parameters and the door opening parameters before the update.

[0070] In addition, an on-vehicle terminal provided by an embodiment of the present application includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the on-vehicle terminal executes the method provided by the above embodiment of the present application.

[0071] In addition, an embodiment of the present application further provides a storage medium storing a computer program, and when the computer program is executed by a processor, the computer executes the method provided by the above embodiment of the present application.

[0072] In addition, an embodiment of the present application further provides a computer program product, including a computer program, which, when run, causes the vehicle-mounted terminal to execute the method provided in the foregoing embodiments of the present application.

[0073] In the above description, technical details such as the composition of each layer are not elaborated in detail. However, those skilled in the art should understand that various technical means can be used to form layers, regions, etc. of the required shapes. In addition, to form the same structure, those skilled in the art can also design methods that are not exactly the same as the methods described above. In addition, although the above embodiments are described separately, this does not mean that the measures in each embodiment cannot be used advantageously in combination.

[0074] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present application.

[0075] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. An intelligent control method for vehicle doors, characterized in that, An on-vehicle terminal of an application vehicle, the vehicle further includes an out-of-vehicle environment data acquisition module and a user identity acquisition module, and the method includes: In response to a door opening instruction, obtain the out-of-vehicle environment characteristics of the vehicle acquired by the out-of-vehicle environment data acquisition module, and obtain the identity information of the driver acquired by the user identity acquisition module; According to the identity information of the driver acquired by the user identity acquisition module, search for the historical door opening parameter set of the driver; Determine the door opening parameters according to the out-of-vehicle environment characteristics of the vehicle and the historical door opening parameter set of the driver; Control the opening of the door according to the determined door opening parameters.

2. The method according to claim 1, wherein The door opening parameters include at least one of the opening mode of the door, the opening angle of the door, and the opening speed of the door.

3. The method according to claim 2, wherein The out-of-vehicle environment data acquisition module includes a rainfall acquisition module, the out-of-vehicle environment characteristics include rainfall, and determining the door opening parameters according to the out-of-vehicle environment characteristics of the vehicle and the historical door opening parameter set of the driver includes: In the case where, according to the historical door opening parameter set of the driver, it is determined that the probability that the driver's opening mode of the door in history is the electric opening mode is greater than a set probability threshold, determine that the door opening parameters include the opening mode of the door, the opening angle of the door, and the opening speed of the door, and the opening mode of the door is the electric opening mode, and the opening angle of the door and the opening speed of the door are negatively correlated with the rainfall respectively.

4. The method according to claim 2, wherein The out-of-vehicle environment data acquisition module includes a rainfall acquisition module, the out-of-vehicle environment characteristics include rainfall, and determining the door opening parameters according to the out-of-vehicle environment characteristics of the vehicle and the historical door opening parameter set of the driver includes: In the case where the rainfall is greater than a set rainfall threshold and it is determined according to the historical door opening parameter set of the driver that the probability that the driver's opening mode of the door is the electric release mode is greater than a set probability threshold, determine that the door opening parameters include the opening mode of the door, and the opening mode of the door is the electric release mode.

5. The method according to claim 2, wherein The out-of-vehicle environment data acquisition module further includes a distance sensor, the out-of-vehicle environment characteristics include the distance between the obstacle on the door side and the vehicle door, and determining the door opening parameters according to the out-of-vehicle environment characteristics of the vehicle and the historical door opening parameter set of the driver includes: In the case where, according to the historical door opening parameter set of the driver, it is determined that the probability that the driver's opening mode of the door in history is the electric opening mode is greater than a set probability threshold, determine that the door opening parameters include the opening mode of the door, the opening angle of the door, and the opening speed of the door, and the opening mode of the door is the electric opening mode, and the opening angle of the door and the opening speed of the door are positively correlated with the distance respectively.

6. The method according to claim 2, wherein The vehicle external environment data acquisition module further includes a distance sensor, and the vehicle external environment feature includes the distance between an obstacle on the door side and the vehicle door. Determining the door opening parameter according to the vehicle external environment feature where the vehicle is located and the set of historical door opening parameters of the driver includes: When the distance is less than a set distance threshold and the probability that the driver's door opening method is the electric release method is greater than a set probability threshold according to the set of historical door opening parameters of the driver, it is determined that the door opening parameter includes the door opening method, and the door opening method is the electric release method.

7. The method according to any one of claims 1-6, characterized in that Determining the door opening parameter according to the vehicle external environment feature where the vehicle is located and the set of historical door opening parameters of the driver includes: Inputting the vehicle external environment feature where the vehicle is located and the set of historical door opening parameters of the driver into a pre-trained door opening parameter determination model to determine the door opening parameter. Among them, the door opening parameter determination model is obtained by training a neural network with multiple training samples input. Each training sample includes a historical vehicle external environment feature, a set of historical door opening parameters of a historical driver, and a historical actual door opening parameter corresponding to a user satisfaction greater than a set satisfaction threshold.

8. The method according to claim 7, wherein After controlling the door to open according to the determined door opening parameter, the method further includes: Receiving an updated door opening parameter obtained after receiving the user's feedback operation on the door during the process of controlling the door to open; Updating the door opening parameter determination model according to the difference between the updated door opening parameter and the door opening parameter before the update.

9. A vehicle-mounted terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the on-vehicle terminal is caused to execute the method according to any one of claims 1 to 8.

10. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the computer is caused to execute the method according to any one of claims 1 to 8.

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