Vehicle door opening method and device, vehicle and computer readable storage medium

Abstract

The invention provides a vehicle door opening method and device, a vehicle and a computer readable storage medium. Vehicle environment data are obtained, and the environment data at least comprise the current distance between a vehicle door and an obstacle; the maximum safety angle of the vehicle door is calculated according to the current distance; the vehicle door is gradually opened according to the maximum safety angle, the opening speed of the vehicle door is gradually reduced along with opening of the vehicle door, scratching of the vehicle door due to excessive force can be avoided, driving safety is guaranteed, and user experience is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle door opening method, a device, a vehicle, and a computer-readable storage medium. Background Art

[0002] With the advancement of intelligent vehicles, automatic door opening and closing has become a key feature in enhancing the driving experience. However, in complex and ever-changing driving environments, doors may encounter pedestrians, bicycles, or other obstacles during automatic opening or closing, posing a safety hazard. For example, when parking, doors may not open due to being too close to a wall or another vehicle, or they may be opened too wide, resulting in scratches. Therefore, controlling door opening based on obstacles is crucial. Summary of the Invention

[0003] In view of this, embodiments of the present invention are dedicated to providing a vehicle door opening method, device, vehicle and computer-readable storage medium. By determining the maximum safety angle of the vehicle based on the vehicle distance, and then progressively opening the door according to the maximum safety angle, the door opening speed is gradually reduced as the door opens, which can avoid scratches caused by excessive force when opening the door, ensure driving safety, and improve user experience.

[0004] To achieve the above technical objectives, the embodiments of this specification provide the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a vehicle door opening method, which includes: obtaining vehicle environmental data, the environmental data including at least the current distance between the vehicle door and an obstacle; calculating the maximum safety angle of the vehicle door based on the current distance; progressively opening the vehicle door according to the maximum safety angle, and gradually reducing the vehicle door opening speed as the vehicle door opens.

[0006] In this embodiment, the maximum safety angle of the door is calculated based on the current distance, and then the door is opened progressively according to the maximum safety angle. The closer the opening and closing angle of the door is to the maximum safety angle, the slower the door opens until the door is completely opened. This can avoid scratches caused by excessive force when opening the door, ensure driving safety, and improve user experience.

[0007] Optionally, calculating the maximum safety angle of the vehicle door based on the current distance includes: calculating the cosine value of the maximum safety angle based on the current distance, the door length and a preset minimum safety distance; and obtaining the maximum safety angle based on the cosine value.

[0008] In this embodiment, the specific maximum safety angle is calculated based on the current spacing, door length and minimum safety distance, which can accurately obtain the maximum safety angle at which the door can be opened, and can facilitate the subsequent control of the door opening process, thereby avoiding scratches caused by excessive force when opening the door.

[0009] Optionally, the progressively opening of the door according to the maximum safety angle includes: obtaining the current opening angle of the door; comparing the current opening angle with the maximum safety angle, and progressively opening the door according to the comparison result.

[0010] In this embodiment, by gradually opening the door based on the comparison result between the current opening angle and the maximum safety angle, the damping force of the motor used to drive the door to open can be gradually increased during the door opening process to slow down the door opening. That is, as the door opens, the door opening speed is gradually reduced, thereby avoiding scratches caused by excessive force in opening the door, ensuring driving safety and improving user experience.

[0011] Optionally, comparing the current opening angle and the maximum safety angle, and gradually opening the door according to the comparison result, includes: calculating a first ratio of the current opening angle to the maximum safety angle; if the first ratio is less than a first reference value, no intervention is performed; if the first ratio is greater than or equal to the first reference value and less than a second reference value, gradually increasing the motor damping force; if the first ratio is greater than or equal to the second reference value, controlling the motor braking.

[0012] In this embodiment, during the process of opening the car door, the damping force of the motor used to drive the car door to open is adjusted in real time according to the current opening angle of the car door until the car door opening is completed. This can avoid scratches caused by excessive door opening force. At the same time, a certain angle margin is retained, and the car door is stopped before it opens to the maximum safe angle, ensuring driving safety and improving user experience.

[0013] Optionally, the progressive increase in the motor damping force includes: controlling the motor to increase a preset damping force every time the current opening angle increases by a preset angle, wherein the preset damping force is linearly related to the prevention angle.

[0014] In this embodiment, by controlling the damping force of the motor used to drive the car door to open to change in a linear positive proportional relationship with the current opening angle of the motor, it can avoid scratches caused by excessive force in opening the car door. At the same time, it can prevent the opening angle from changing too quickly during the opening process of the car door, causing emergencies, thereby ensuring driving safety and improving user experience.

[0015] Optionally, the method also includes: applying a 3D model environment of a three-dimensional software model vehicle; based on the 3D model environment, dynamically simulating the maximum opening and closing movement of the door to obtain the maximum safe distance of the door; and performing graded warning according to the current distance and the maximum safe distance.

[0016] In this embodiment, by providing graded warnings based on the current spacing and the maximum safe distance, the specific risk situation when the door is opened can be accurately determined, thereby facilitating the driver to respond quickly according to the specific risk situation, ensuring driving safety and improving user experience.

[0017] Optionally, the graded warning based on the current distance and the maximum safe distance includes: calculating a second ratio of the current distance to the maximum safe distance; if the second ratio is greater than or equal to the first value, and less than the second value, flashing a first color and outputting a first prompt sound for warning; if the second ratio is greater than or equal to the second value, and less than a third value, performing a multimodal reminder; if the second ratio is greater than or equal to the third value, limiting the door opening angle.

[0018] In this embodiment, through graded warnings, the driver can be accurately reminded of the specific risk situation when the car door is opened, thereby facilitating the driver to respond quickly according to the specific risk situation, ensuring driving safety and improving user experience.

[0019] Optionally, the multimodal reminder includes: rendering a door collision animation effect and displaying it on the human-computer interface; controlling the indicator light to highlight the second color; controlling the buzzer to beep continuously; and controlling the seat to vibrate at a position corresponding to the door where there is a risk of collision.

[0020] In this embodiment, by combining vision, hearing and touch to provide multimodal reminders, the driver can immediately determine the risk of collision between the door and the obstacle so that he can respond quickly and avoid scratches caused by excessive force when opening the door.

[0021] In a second aspect, an embodiment of the present application also provides a vehicle door opening device, which is applied to an electronic controller. The device includes: a data acquisition module for acquiring vehicle environmental data, wherein the environmental data includes at least the current distance between the vehicle door and the obstacle; an angle calculation module for calculating the maximum safe angle of the vehicle door based on the current distance; and an opening control unit for progressively opening the vehicle door according to the maximum safe angle, and gradually reducing the door opening speed as the vehicle door opens.

[0022] In a third aspect, an embodiment of the present application further provides a vehicle, comprising: a memory for storing executable program code; and a processor for calling and running the executable program code from the memory, so that the processor executes the aforementioned method.

[0023] It can be seen from the above technical solution that the door opening method provided in the embodiment of this specification obtains vehicle environmental data, and the environmental data at least includes the current distance between the door and the obstacle; calculates the maximum safety angle of the door based on the current distance; gradually opens the door according to the maximum safety angle, and gradually reduces the door opening speed as the door opens. The closer the opening and closing angle of the door is to the maximum safety angle, the slower the door opening speed becomes, until the door is completely opened. This can avoid scratches caused by excessive force when opening the door, ensure driving safety, and improve user experience.

[0024] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present disclosure. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0026] Figure 1 The figure shows a schematic diagram of a system framework provided by an embodiment of the present application;

[0027] Figure 2 FIG2 is a flow chart of a vehicle door opening method provided by an embodiment of the present application;

[0028] Figure 3 FIG2 is a schematic structural diagram of a vehicle door opening device provided by an embodiment of the present application;

[0029] Figure 4 Shown is a schematic structural diagram of a vehicle provided in one embodiment of the present application. DETAILED DESCRIPTION

[0030] Unless otherwise defined, technical or scientific terms used in the embodiments of this specification should have the same ordinary meaning as those understood by persons of ordinary skill in the art to which this specification pertains. The terms "first," "second," and similar terms used in the embodiments of this specification do not denote any order, quantity, or importance, but are provided solely to avoid confusion between constituent elements.

[0031] Unless the context requires otherwise, throughout this specification, the term "plurality" means "at least two," and "including" is to be interpreted as open and inclusive, meaning "including, but not limited to." Throughout this specification, the terms "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with the embodiment or example is included in at least one embodiment or example of this specification. The schematic representations of these terms do not necessarily refer to the same embodiment or example.

[0032] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0033] In related technologies, when a vehicle is parked, the door cannot be opened because it is too close to a wall or other vehicles, or the door is opened too wide and causes scratches. Therefore, an early warning is required during parking to inform the user that the door or tailgate cannot be opened at the moment, and the opening degree of the door is controlled when opening it in a limited space to avoid excessive force causing the vehicle to be scratched, etc., to ensure driving safety and improve user experience.

[0034] Based on this, the present application provides a system framework, which mainly includes: a perception module, an electronic controller and a display device. The perception module can be a sensor such as a millimeter-wave radar, which can obtain external environment data, such as vehicle spacing information. The perception module can also be a sensor system composed of multiple sensors. For example, the use of additional sensors (such as lidar) to provide more accurate external environment data can help to accurately obtain vehicle spacing information.

[0035] The vehicle door opening method of the embodiment of the present application can be executed by an electronic controller. A sensing module is used to obtain vehicle environment data. The sensing module transmits the obtained vehicle environment data to the electronic controller. The electronic controller receives the vehicle environment data obtained by the sensing module. The electronic controller includes a microcontroller unit (MCU) and a memory. The microcontroller unit MCU is used to write a software program to obtain the current distance between the vehicle door and the obstacle based on the environment data, calculate the maximum safety angle of the vehicle based on the current distance, and then gradually open the vehicle door according to the maximum safety angle. As the vehicle door opens, the door opening speed is gradually reduced. The closer the current door opening angle is to the maximum safety angle, the greater the damping force of the motor and the slower the door opens. This can avoid scratches caused by excessive door opening. The memory is preferably a Flash memory chip, which is provided with a sensor database for storing vehicle environment data. The system may also include an early warning device for multi-modal early warning. When a collision risk is determined based on the current distance between the vehicles, the system can render a door collision animation effect, control the indicator light to flash or highlight, sound a buzzer, and control the position of part of the seat or the entire seat to vibrate. The memory may also store vehicle model data to facilitate door collision rendering, etc. The display device is used to display the rendered door collision animation effect. The display device may be an onboard display screen installed in the current vehicle or another display device connected to the electronic controller, and is not specifically limited here.

[0036] The electronic controller can be an electronic device such as a terminal device or a server. The terminal device can be a user device, a mobile device, a computing device, a wearable device, an in-vehicle device, etc. The server can be an independent physical server, a server cluster composed of multiple physical servers, or a cloud server capable of cloud computing. The vehicle door opening method can be implemented by a microcontroller unit invoking computer-readable program instructions stored in a memory.

[0037] Based on the above system, in order to solve the technical problem of scratches caused by excessive door opening in the prior art, the present application provides a door opening method, such as Figure 2 As shown, Figure 2 : is a schematic flow chart of a vehicle door opening method provided in an embodiment of the present application. The vehicle door opening method can be applied to an electronic controller. The vehicle door opening method includes:

[0038] Step S11: Acquire vehicle environment data, where the environment data at least includes the current distance between the vehicle door and the obstacle.

[0039] Sensors such as millimeter-wave radar are used to acquire environmental data outside the vehicle. This data includes the current distance between each door and obstacles. For example, the distance between the left and right doors and adjacent obstacles, and the distance between the rear door and surrounding obstacles, can be pedestrians, other vehicles, walls, or other types of obstacles. The vehicle can be located in a parking lot, on the roadside, or anywhere else where a door needs to be opened.

[0040] Step S12: Calculating the maximum safety angle of the vehicle door according to the current distance.

[0041] The greater the distance between the door and an obstacle, the less restricted the door's opening. Conversely, the closer the distance between the door and an obstacle, the more likely it is to collide with the obstacle when opening, and the smaller the angle the door can open. Therefore, after determining the current distance between the door and the obstacle, the maximum safe angle the door can open can be determined based on this current distance. The maximum safe angle is the maximum angle the door can open without colliding with any obstacles.

[0042] Step S13: progressively opening the door according to the maximum safety angle, and gradually reducing the door opening speed as the door opens.

[0043] When opening a car door, the related art often directly opens the door to the maximum safe angle all at once, which can easily lead to collisions with obstacles. In an embodiment of the present application, the door is opened gradually according to the maximum safe angle, and the door opening speed is gradually reduced as the door opens. Progressive door opening is achieved by gradually increasing the damping force of the motor during the door opening process. The damping coefficient of a motor refers to the magnitude of the damping force applied to the motor rotor during rotation, describing the energy loss caused by damping forces such as friction and air resistance during the motor's motion. The larger the damping coefficient of the motor, the greater the damping force applied to the motor's rotation, resulting in a slower rotation speed. The smaller the damping coefficient of the motor, the smaller the damping force applied to the motor's rotation, resulting in a faster rotation speed. In an embodiment of the present application, the damping coefficient of the motor can be increased directly by increasing the motor's torque in the direction opposite to the door opening direction. The damping coefficient of the motor can also be increased by changing the motor's supply voltage or current, or by adjusting the motor control strategy.

[0044] In step S13, the door opening process can be adjusted based on the door's opening angle. For example, the closer the door's opening angle approaches the maximum safe angle, the slower the door opens until the door is completely opened. This allows the door to open slowly and within a safe range, preventing scratches caused by excessive force when opening the door.

[0045] The vehicle door opening method of the present application obtains vehicle environmental data, wherein the environmental data includes at least the current distance between the vehicle door and the obstacle; calculates the maximum safety angle of the vehicle door based on the current distance; and progressively opens the vehicle door based on the maximum safety angle. As the vehicle door opens, the vehicle door opening speed is gradually reduced. The closer the opening and closing angle of the vehicle door is to the maximum safety angle, the slower the vehicle door opening speed is, until the vehicle door is completely opened. This can avoid scratches caused by excessive force when opening the vehicle door, ensure driving safety, and improve user experience.

[0046] In order to more clearly illustrate the technical solution provided by the embodiment of the present application, a vehicle door opening method provided by the present application is further described below.

[0047] Considering that the smaller the current distance between the car door and the obstacle, the smaller the angle at which the car door can be safely opened. Based on this, the maximum safety angle of the car door can be calculated according to the current distance. Optionally, the cosine value of the maximum safety angle is calculated according to the current distance, the length of the car door and the preset minimum safety distance; the maximum safety angle is obtained according to the cosine value. The longer the car door is, the smaller the safe angle at which the car door can be opened. The minimum safety distance refers to the minimum distance between the car door and the obstacle at which the car door can be opened. The minimum safety distance is related to relevant parameters of the vehicle, such as the vehicle model, the specific structural parameters of the vehicle, etc. The minimum safety distance of different vehicles may be different. The specific value of the minimum safety distance can be set as needed, and there is no specific restriction here.

[0048] In the embodiment of the present application, the cosine value of the maximum safety angle θ is calculated using the following relationship based on the current spacing, the door length, and the preset minimum safety distance:

[0049] cosθ=(d 2 +L 2 -S 2 ) / 2dL

[0050] Where d is the current distance, L is the door length, and S is the minimum safe distance. The specific maximum safe angle θ is calculated based on the current distance d, the door length L, and the minimum safe distance S. This accurately determines the maximum safe angle at which the door can be opened, facilitating subsequent control of the door opening process and preventing scratches caused by excessive force when opening the door.

[0051] Taking into account that the maximum safety angle only limits the angle at which the door can be opened, in order to avoid scratches caused by excessive force when opening the door, the specific process of opening the door also needs to be considered. For example, if too much force is used when opening the door, the door will open directly to the maximum safety angle or even exceed the maximum safety angle, causing a collision with an obstacle. Based on this, optionally, the current opening angle of the door is obtained; the current opening angle and the maximum safety angle are compared, and the door is opened progressively according to the comparison result. In an embodiment of the present application, in the process of opening the door, the current opening angle of the door can be detected by an angle sensor, or other methods, such as millimeter wave radar, can be used to obtain the current opening angle of the door. After obtaining the current opening angle of the door, the current opening angle can be compared with the maximum safety angle, and the door can be opened progressively according to the comparison result. If the current opening angle is small enough, no intervention is performed, and the motor used to drive the door to open can be controlled to drive the door to open normally. If the current opening angle is close to the maximum safe angle, the door needs to be slowed down to prevent excessive force from causing the door to collide with an obstacle. Therefore, the damping force of the motor driving the door can be increased to slow the door's opening. If the current opening angle is very close to the maximum safe angle, the motor can be directly braked to stop the door from opening. This embodiment of the present application gradually opens the door based on a comparison of the current opening angle with the maximum safe angle, gradually reducing the door's opening speed as the door opens. This prevents scratches caused by excessive force, ensures driving safety, and enhances the user experience.

[0052] To more accurately perform progressive door opening and avoid scratches caused by excessive door opening force, in this embodiment of the present application, a first ratio of the current door opening angle to the maximum safe angle is optionally calculated. If the first ratio is less than a first reference value, no intervention is performed. If the first ratio is greater than or equal to the first reference value and less than a second reference value, the motor damping force is gradually increased. If the first ratio is greater than or equal to the second reference value, the motor braking is controlled. The second reference value is greater than the first reference value. The specific values of the first and second reference values can be set as needed and are not limited here. Preferably, the first reference value is 70% and the second reference value is 95%. The first ratio of the current door opening angle to the maximum safe angle indicates the degree to which the current door opening angle is close to the maximum safe angle. The smaller the first ratio, the further the current door opening angle is from the maximum safe angle; the larger the first ratio, the closer the current door opening angle is to the maximum safe angle. If the first ratio is 1, it indicates that the door has been opened to the maximum safe angle.

[0053] If the first ratio is less than the first reference value, the current door opening angle is significantly less than the maximum safe angle. In this case, no motor intervention is required, and the motor is controlled to open the door normally. If the first ratio is greater than or equal to the first reference value and less than the second reference value, the current door opening angle is approaching the maximum safe angle. A slightly greater force applied by the motor to open the door could cause the door to scratch or even collide with an obstacle. Therefore, the motor damping force can be gradually increased. This gradual increase in motor damping force means that as the current door opening angle approaches the maximum safe angle, the damping force of the door opening motor gradually increases, slowing the door opening. This prevents scratches caused by excessive door opening force, ensuring driving safety and improving the user experience. If the first ratio is greater than or equal to the second reference value, the current door opening angle is very close to the maximum opening angle. To ensure driving safety, a certain angle margin is taken into account and the door is not further opened. The motor is braked to stop the door opening. The angle margin can be set as needed, for example, to (1-second reference value)*maximum safety angle.

[0054] It should be noted that in the embodiment of the present application, the first opening angle and the second opening angle can also be directly set, and the second opening angle is greater than the first opening angle. If the current opening angle of the car door is less than the first opening angle, no intervention is performed, and the motor is controlled to drive the car door to open normally. If the current opening angle of the car door is greater than or equal to the first opening angle and less than the second opening angle, the motor damping force is gradually increased. If the current opening angle of the car door is greater than or equal to the second opening angle, the motor is controlled to brake. At this time, the angle margin is the angle difference between the maximum safe angle and the second opening angle. The specific value can be set as needed, such as 1 degree, 2 degrees, etc.

[0055] In this way, during the process of opening the car door, the damping force of the motor used to drive the car door to open is adjusted in real time according to the current opening angle of the car door until the car door is completely opened. This can avoid scratches caused by excessive force in opening the car door, while retaining a certain angle margin and stopping the car door before it opens to the maximum safe angle, ensuring driving safety and improving user experience.

[0056] During the door opening process, in order to more accurately achieve a progressive increase in the motor damping force, in an embodiment of the present application, the motor may optionally be controlled to increase a preset damping force each time the current opening angle increases by a preset angle, wherein the preset damping force is linearly related to the prevention angle. The preset angle and the preset damping force can be set as needed. The larger the preset angle, the larger the preset damping force, i.e., the preset damping force is linearly proportional to the preset angle. By controlling the damping force of the motor used to drive the door opening to vary linearly proportional to the motor's current opening angle, it is possible to avoid scratches caused by excessive door opening force and prevent sudden incidents caused by rapid changes in the door opening angle during the door opening process, thereby ensuring driving safety and improving the user experience. For example, if a pedestrian or other vehicle suddenly approaches during the door opening process, if the door opens too quickly, it is easy to fail to react in time, resulting in a driving hazard.

[0057] Considering the risk of collision if the current distance between the vehicle door and the obstacle is too small, a graded warning can be issued to alert the driver so that the driver can promptly understand the situation and take appropriate rescue measures. Based on this, in an embodiment of the present application, a 3D model environment of the vehicle is optionally used using a three-dimensional software model; based on the 3D model environment, the maximum opening and closing movement of the vehicle door is dynamically simulated to obtain the maximum safe distance of the vehicle door; and graded warnings are issued based on the current distance and the maximum safe distance.

[0058] In an embodiment of the present application, a 3D model environment of a vehicle is created using a 3D software model based on the vehicle model or structural parameters, creating an effect similar to a 3D desktop. The 3D software model can be any existing software capable of 3D simulation, such as Unity. Vehicle parameters, such as door opening angle and door contact points, are designed using a 3D software editor. Based on the maximum opening and closing angles of different doors, the maximum door opening and closing motion is dynamically simulated to obtain the maximum safe distance D between the doors. A graded warning is then issued based on the current distance and the maximum safe distance. The number of warning levels can be set as needed, preferably three. Different warnings are applied at different levels. For each level, the warning can be provided using any one of visual, auditory, or tactile senses, or any combination thereof. For example, the warning can be provided using any one of visual, auditory, or tactile senses, a combination of any two of these, or a combination of all three. By providing graded warnings based on the current distance and the maximum safe distance, the specific risk of the door opening can be accurately determined, enabling the driver to quickly respond to the specific risk, ensuring driving safety and improving the user experience.

[0059] In order to accurately perform graded warnings based on the current spacing and the maximum safe distance and improve the accuracy of graded identification, the maximum safe distance can be divided into multiple segments and compared with the current spacing respectively. Based on this, in an embodiment of the present application, optionally, a second ratio of the current spacing to the maximum safe distance is calculated; if the second ratio is greater than or equal to the first value and less than the second value, a first color flashes and a first prompt sound is output for early warning; if the second ratio is greater than or equal to the second value and less than the third value, a multimodal reminder is performed; if the second ratio is greater than or equal to the third value, the door opening angle is limited. Among them, the second value is greater than the first value, and the third value is greater than the second value. The specific values of the first value, the second value and the third value can be set as needed and are not limited here. Preferably, the first value is 80%, the second value is 90%, and the third value is 95%. The first color and the second color may also need to be set, preferably, the first color is yellow and the second color is red.

[0060] If the second ratio is greater than or equal to the first value and less than the second value, the current distance is a certain distance from the maximum safe distance (for example, 80% of the threshold distance), and the risk of collision between the vehicle door and the obstacle is low, a Level 1 warning can be issued, specifically by flashing a first color and emitting a first warning tone. For example, the indicator light can be controlled to flash yellow and a first warning tone can be emitted once for the warning. The first warning tone can be a preset alarm sound or a preset voice prompt.

[0061] If the second ratio is greater than or equal to the second value and less than the third value, the current distance is a short distance away from the maximum safe distance. For example, the current distance is 90% of the critical value. A multimodal reminder can be performed, such as a combined visual, auditory and tactile warning, to remind the driver to pay attention to the risk of collision between the door and the obstacle.

[0062] If the second ratio is greater than or equal to the third value, the current distance is very close to the maximum safe distance. For example, the collision risk is greater than 95%, and there is a great collision risk. The door opening angle can be directly limited by the electronic control unit (ECU).

[0063] The embodiment of the present application can accurately remind the driver of the specific risk situation when the car door is opened through graded warning, thereby facilitating the driver to respond quickly according to the specific risk situation, ensuring driving safety and improving user experience.

[0064] In order to enable the driver to immediately determine the risk of collision between the door and the obstacle so that they can react quickly, when performing multimodal reminders, it is optional to render a door collision animation effect and display it on the human-machine interface (HMI); control the indicator light to highlight the second color; control the buzzer to beep continuously; and control the seat position corresponding to the door with collision risk to vibrate according to the door with collision risk. Specifically, when rendering the door collision risk, a 3D rendering animation is performed to simulate the door collision effect. When the vehicle enters the door scratch risk range, the human-machine interface (HMI) pops up the corresponding door scratch action to prompt the user. At the same time, the 360-degree image is flashed in color, or a 360-degree red highlight can be performed. For auditory prompts, 3D spatial audio prompts can be performed, different door warnings, and audio spatial prompt locations can be prompted. For example, the back door warning will respond to the rear speaker to play a prompt tone, allowing the user to perceive which door has the scratch risk through the prompt tone. For tactile prompts, different vibration modes of the seat are controlled to represent the collision risk of different doors. For example, seat massage corresponds to the risk of collision on the door side, seat back vibration corresponds to the risk of collision on the back door, and left / right side vibration of the seat cushion corresponds to the risk of collision on the left / right side of the door, etc. In an embodiment of the present application, the human-machine interface HMI can superimpose a green safety outline (maximum safe opening range), a yellow prompt area (restricted opening area), a red warning area (collision risk area) and a 3D scratch effect on the 360-degree surround view. In this way, by combining vision, hearing and touch for multi-modal reminders, the driver can determine the risk of collision between the door and the obstacle at the first time so that he can react quickly at the first time and avoid scratches caused by excessive force when opening the door.

[0065] The door opening method of the embodiment of the present application uses three-dimensional software such as UNITY to establish a three-dimensional space model, dynamically simulate the car model, and obtain the maximum opening and closing angles of different doors; perform multi-modal graded reminders, and perform graded reminders according to the current distance between the vehicles and the maximum door distance, and the reminder methods include visual 360 interface + 3D dynamic effects, auditory prompt sounds corresponding to different doors, and tactile seat massage positions corresponding to different doors; in order to avoid scratches caused by the user opening the door, the maximum opening and closing angle of the current door is calculated, and the door motor is controlled by the ECU for progressive intervention. As the door opens, the door opening speed is gradually reduced to avoid scratches caused by excessive force when opening the door, thereby ensuring driving safety and improving user experience.

[0066] The vehicle door opening method of the embodiment of the present application obtains vehicle environmental data, wherein the environmental data includes at least the current distance between the vehicle door and the obstacle; calculates the maximum safety angle of the vehicle door based on the current distance; and progressively opens the vehicle door based on the maximum safety angle. As the vehicle door opens, the vehicle door opening speed is gradually reduced. The closer the opening and closing angle of the vehicle door is to the maximum safety angle, the slower the vehicle door opening speed is, until the vehicle door is completely opened. This can avoid scratches caused by excessive force when opening the vehicle door, ensure driving safety, and improve user experience.

[0067] In an exemplary embodiment of the present specification, a vehicle door opening device is also provided, which is applied to an electronic controller. Figure 3 As shown, the vehicle door opening device 300 includes:

[0068] A data acquisition module 301 is configured to acquire vehicle environment data, wherein the environment data includes at least a current distance between a vehicle door and an obstacle;

[0069] An angle calculation module 302, configured to calculate a maximum safe angle of the door according to the current distance;

[0070] The opening control unit 303 is used to gradually open the door according to the maximum safety angle, and gradually reduce the door opening speed as the door opens.

[0071] In a specific embodiment, the angle calculation module 302 is further configured to: calculate a cosine value of a maximum safety angle according to the current spacing, the door length, and a preset minimum safety distance; and obtain the maximum safety angle according to the cosine value.

[0072] In some embodiments, the opening control unit 303 is further used to: obtain the current opening angle of the vehicle door; compare the current opening angle with the maximum safety angle, and gradually open the vehicle door according to the comparison result.

[0073] In some embodiments, the opening control unit 303 is also used to: calculate a first ratio of the current opening angle to the maximum safety angle; if the first ratio is less than a first reference value, no intervention is performed; if the first ratio is greater than or equal to the first reference value and less than a second reference value, the motor damping force is gradually increased; if the first ratio is greater than or equal to the second reference value, the motor braking is controlled.

[0074] In some embodiments, the opening control unit 303 is further configured to control the motor to increase a preset damping force each time the current opening angle increases by a preset angle, wherein the preset damping force is linearly related to the prevention angle.

[0075] In some embodiments, the opening control unit 303 is also used to: apply a 3D model environment of a three-dimensional software model vehicle; based on the 3D model environment, dynamically simulate the maximum opening and closing movement of the door to obtain the maximum safe distance of the door; and perform graded warnings based on the current distance and the maximum safe distance.

[0076] In some embodiments, the opening control unit 303 is also used to: calculate a second ratio of the current distance to the maximum safety distance; if the second ratio is greater than or equal to the first value and less than the second value, flash a first color and output a first prompt sound for early warning; if the second ratio is greater than or equal to the second value and less than a third value, perform a multimodal reminder; if the second ratio is greater than or equal to the third value, limit the door opening angle.

[0077] In some embodiments, the control unit 303 is also used to: render a door collision animation effect and display it on the human-computer interface; control the indicator light to highlight the second color; control the buzzer to beep continuously; and control the seat to vibrate at a position corresponding to the door where there is a risk of collision.

[0078] The specific definitions of the vehicle door opening device can be found in the definitions of the vehicle door opening method above and will not be repeated here. Each module in the aforementioned vehicle door opening device may be implemented in whole or in part via software, hardware, or a combination thereof. Each of these modules may be embedded in or independent of a processor in a computer device in hardware form, or may be stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0079] Regarding the device in the above embodiment, the specific manner in which each unit performs the operation has been described in detail in the embodiment of the vehicle door opening method, and will not be elaborated here.

[0080] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0081] For example, Figure 4 As shown, the vehicle includes: a memory 401 and a processor 402, wherein the memory 401 stores an executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform a vehicle door opening method.

[0082] This embodiment can divide the vehicle into functional modules based on the above-mentioned method embodiment. For example, each functional module can be mapped to a specific function, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0083] In the case of dividing each functional module according to each function, the vehicle may include: a data acquisition module, an angle calculation module, an opening control unit, etc.

[0084] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0085] The vehicle provided in this embodiment is used to execute the above-mentioned door opening method, and thus can achieve the same effect as the above-mentioned implementation method.

[0086] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of program codes and data.

[0087] The processing module may be a processor or controller that implements or executes various exemplary logic blocks, modules, and circuits disclosed herein. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0088] This embodiment also provides a computer-readable storage medium, which stores computer program code (including but not limited to disk storage, CD-ROM, optical storage, etc.). When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a vehicle door opening method provided in the above embodiment. Among them, computer-readable storage media may include, but are not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives and magneto-optical disks, Read-Only Memory (ROMs), Random Access Memory (RAMs), Erasable Programmable Read-Only Memory (EPROMs), Electrically Erasable Programmable Read-Only Memory (EEPROMs), Dynamic Random Access Memory (DRAMs), Video Random Access Memory (VRAMs), flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0089] This embodiment also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a vehicle door opening method provided by the above embodiment.

[0090] Among them, the beneficial effects of the above embodiments can refer to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0091] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0092] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0093] In the description of the present disclosure, it should be understood that if the terms "up", "down", "front", "back", "left" and "right" are used to indicate directions or positional relationships, they are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the positions or elements referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limitations of the present disclosure.

[0094] It should be noted that, in the embodiments of the present application, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. It should also be noted that the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, commodity or device comprising the elements.

[0095] The above are merely examples of the present disclosure and are not intended to limit the present disclosure. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure are intended to be included within the scope of the claims of the present disclosure.

Claims

1. A vehicle door opening method, characterized in that: Applied to an electronic controller, the method comprises: Acquiring vehicle environment data, the environment data including at least a current distance between a vehicle door and an obstacle; Calculating the maximum safe angle of the door according to the current distance; The vehicle door is progressively opened according to the maximum safety angle, and as the vehicle door is opened, the door opening speed is gradually reduced.

2. The method according to claim 1, characterized in that Calculating the maximum safe angle of the door according to the current distance includes: Calculating a cosine value of a maximum safety angle according to the current distance, the door length, and a preset minimum safety distance; The maximum safety angle is obtained according to the cosine value.

3. The method according to claim 1, characterized in that The step of gradually opening the door according to the maximum safety angle includes: Get the current opening angle of the car door; The current opening angle is compared with the maximum safety angle, and the door is opened progressively according to the comparison result.

4. The method according to claim 3, characterized in that The comparing the current opening angle with the maximum safety angle and gradually opening the door according to the comparison result includes: Calculating a first ratio of the current opening angle to the maximum safety angle; If the first ratio is less than a first reference value, no intervention is performed; If the first ratio is greater than or equal to the first reference value and less than a second reference value, gradually increasing the motor damping force; If the first ratio is greater than or equal to the second reference value, the motor is controlled to brake.

5. The method according to claim 4, characterized in that The stepwise increase of the motor damping force comprises: Every time the current opening angle increases by a preset angle, the motor is controlled to increase a preset damping force, wherein the preset damping force is linearly related to the prevention angle.

6. The method according to claim 1, characterized in that The method further comprises: 3D model environment of the vehicle using 3D software model; Based on the 3D model environment, dynamically simulate the maximum opening and closing movement of the door to obtain the maximum safe distance of the door; A graded warning is performed according to the current distance and the maximum safe distance.

7. The method according to claim 6, characterized in that The performing of a graded warning according to the current distance and the maximum safe distance includes: Calculating a second ratio of the current distance to the maximum safety distance; If the second ratio is greater than or equal to the first value and less than the second value, the first color flashes and the first prompt sound is output to issue an early warning; If the second ratio is greater than or equal to the second value and less than a third value, a multimodal reminder is performed; If the second ratio is greater than or equal to the third value, the door opening angle is limited.

8. The method according to claim 7, characterized in that The multimodal reminder includes: Render the door collision animation effect and display it on the human-computer interface; The second color of the control indicator is highlighted; Control the buzzer to beep continuously; The vibration of a position of the seat corresponding to the door at which a collision risk occurs is controlled according to the door.

9. A vehicle door opening device, characterized in that: Applied to an electronic controller, the device comprises: A data acquisition module, configured to acquire vehicle environment data, wherein the environment data includes at least a current distance between the vehicle door and an obstacle; An angle calculation module, used to calculate the maximum safe angle of the door according to the current distance; The opening control unit is used to gradually open the door according to the maximum safety angle, and gradually reduce the door opening speed as the door opens.

10. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor, configured to call and run the executable program code from the memory, so that the processor executes the method according to any one of claims 1 to 8.

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