Vehicle door control method, system and device and electronic equipment

Abstract

The invention provides a vehicle door control method, system and device and electronic equipment. The method comprises the steps that after a vehicle is powered on, obstacles within a preset detection range from a vehicle door are detected through an ultrasonic radar, and the distance between the vehicle door and the detected closest obstacle is recorded; for the vehicle door i, under the condition that the distance between the obstacle closest to the vehicle door i and the vehicle door i is detected to be larger than the detection blind area range of the ultrasonic radar, whether the door opening gesture of the passenger is detected or not is determined; wherein the vehicle door i is any vehicle door of the vehicle; under the condition that the door opening gesture is detected, the target angle of the vehicle door i is determined based on the door opening gesture, and the vehicle door i is controlled to be opened to the target angle; when the vehicle door i is closed, whether vehicle door closing obstruction exists in the detection blind area range or not is detected; and under the condition that the vehicle door closing obstruction exists in the detection blind area range, the vehicle door i is controlled to stop closing. The use convenience and safety of the vehicle door and the user experience can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle door control method, system, device and electronic equipment. Background Art

[0002] In the related art, the door opening and closing of automobiles mainly relies on manual operation, which has many inconveniences, especially when carrying objects with both hands or in bad weather conditions, and this manual door opening method is even more inconvenient and affects the user experience. Summary of the Invention

[0003] The present application aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] A first embodiment of the present application provides a vehicle door control method, comprising:

[0005] After the vehicle is powered on, the ultrasonic radar detects obstacles within a preset detection range of the vehicle door and records the distance between the vehicle door and the nearest detected obstacle; wherein each vehicle door is equipped with at least one ultrasonic radar;

[0006] For door i, if the distance between the nearest obstacle to door i and door i is greater than the detection blind spot of the ultrasonic radar, determine whether a passenger's door-opening gesture is detected; wherein door i is any door of the vehicle;

[0007] When the door opening gesture is detected, determining a target angle of the vehicle door i based on the door opening gesture, and controlling the vehicle door i to open to the target angle;

[0008] When the vehicle door i is closed, detecting whether there is an obstacle to the door closing within the detection blind zone;

[0009] When there is an obstacle to closing the vehicle door within the detection blind area, the vehicle door i is controlled to stop closing.

[0010] A second embodiment of the present application provides a vehicle door control system, including:

[0011] An ultrasonic sensor is installed on the vehicle door to detect obstacles near the door and gestures of passengers; the ultrasonic radar has a detection blind spot range of Db and a maximum detection range of Dmax;

[0012] The door control motor is installed inside the door and is connected to the door mechanical structure to drive the door to unlock, open and close;

[0013] A seat sensor is provided on the seat on the side of the vehicle door and is used to detect whether a passenger is sitting on the seat;

[0014] The system controller is connected to each of the ultrasonic sensors, the seat sensor, and the door control motor, and is used to control the opening and closing of the door.

[0015] A third embodiment of the present application provides a vehicle door control device, comprising:

[0016] A distance detection module, configured to detect obstacles within a preset detection range of a vehicle door using an ultrasonic radar after the vehicle is powered on, and to record the distance between the vehicle door and the nearest detected obstacle; wherein each vehicle door is equipped with at least one such ultrasonic radar;

[0017] a gesture detection module, configured to determine, for door i, whether a passenger's door-opening gesture is detected when it is detected that the distance between the nearest obstacle to door i and door i is greater than the detection blind spot of the ultrasonic radar; wherein door i is any door of the vehicle;

[0018] a door opening module, configured to, upon detecting the door opening gesture, determine a target angle of the door i based on the door opening gesture, and control the door i to open to the target angle;

[0019] an obstruction detection module, configured to detect whether there is an obstruction to door closing within the detection blind zone when the door i is closed;

[0020] The vehicle door closing module is used to control the vehicle door i to stop closing when there is an obstacle to the vehicle door closing within the detection blind area.

[0021] A fourth embodiment of the present application provides an electronic device, including:

[0022] a processor, and a memory communicatively connected to the processor;

[0023] The memory stores computer-executable instructions;

[0024] The processor executes the computer-executable instructions stored in the memory to implement any method described in the first aspect above.

[0025] The fifth aspect of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement any one of the methods described in the first aspect above.

[0026] The sixth aspect of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements any one of the methods described in the first aspect above.

[0027] In an embodiment of the present application, after the vehicle is powered on, an ultrasonic radar is used to detect obstacles within a preset detection range of the door, and the distance between the door and the nearest detected obstacle is recorded; wherein, each door is equipped with at least one ultrasonic radar; for door i, when it is detected that the distance between the nearest obstacle to door i and door i is greater than the detection blind spot range of the ultrasonic radar, it is determined whether a passenger's door-opening gesture is detected; wherein, door i is any door of the vehicle; when the door-opening gesture is detected, the target angle of door i is determined based on the door-opening gesture, and door i is controlled to open to the target angle; when door i is closed, it is detected whether there is an obstacle to door closing within the detection blind spot; when the door i is closed, the door i is controlled to stop closing. In this way, intelligent door control can be achieved by installing ultrasonic radars on vehicle doors, combining door opening gesture recognition and safety detection during the door closing process. After the vehicle is powered on, the ultrasonic radar can monitor the distance to obstacles around the door in real time, and when an obstacle enters the detection blind spot, it can judge the passenger's intention to open the door through gesture recognition and accurately control the door to open to the appropriate angle, which not only makes it convenient for passengers to get on and off the vehicle, but also avoids collision between the door and obstacles. At the same time, during the door closing process, obstacles in the detection blind spot can be detected. Once an obstacle is found, the door will stop closing immediately, which can effectively prevent passengers from being pinched or items in the car from being damaged, significantly improving the convenience and safety of door use, and thus improving the user experience.

[0028] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0030] Figure 1 A schematic flow chart of a vehicle door control method provided in an embodiment of the present application;

[0031] Figure 2 A schematic diagram of a vehicle door control system provided in an embodiment of the present application;

[0032] Figure 3 This is a schematic diagram illustrating an example of a method for detecting obstacles around a vehicle door provided in an embodiment of the present application;

[0033] Figure 4 This is a schematic diagram illustrating an example of a vehicle door opening method provided in an embodiment of the present application;

[0034] Figure 5 This is a schematic diagram illustrating an example of a vehicle door closing method provided in an embodiment of the present application;

[0035] Figure 6 A schematic structural diagram of a vehicle door control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0037] In the related art, the opening and closing methods of automobile doors mainly rely on manual operation, which is inconvenient, especially when carrying items with both hands or in bad weather conditions. In the related art, there are also some automatic door systems. Although they can provide a certain degree of convenience, they still need to be improved in terms of safety, convenience and user experience. For example, some automatic door systems may misjudge when detecting passenger movements, or fail to effectively prevent finger pinching accidents when the door is closed. Whether it is manual or automatic, the door opening method requires human contact with the door to be executed.

[0038] Based on this, an embodiment of the present application provides a vehicle door control method, which can realize automatic opening and closing of the vehicle door by using ultrasonic sensors, combining environmental characteristics and the driver's door opening gesture, and can effectively prevent the occurrence of hand pinching accidents and improve user experience.

[0039] The following describes the vehicle door control method, system, device and electronic equipment of the embodiments of the present application with reference to the accompanying drawings.

[0040] Figure 1 This is a flow chart of a vehicle door control method provided by an embodiment of the present application. This method can be applied to a vehicle door control system or a vehicle controller. Figure 1 As shown, the vehicle door control method includes the following steps:

[0041] S101: After the vehicle is powered on, the ultrasonic radar detects obstacles within a preset detection range of the vehicle door and records the distance from the vehicle door to the nearest detected obstacle.

[0042] Among them, each car door is equipped with at least one ultrasonic radar.

[0043] In the embodiments of the present application, when the vehicle is powered on, the ultrasonic radar installed on each door begins operation. The ultrasonic radar transmits ultrasonic signals within a preset detection range around the door and receives reflected signals to determine whether there are any obstacles around the door. Furthermore, the ultrasonic radar calculates the distance between the door and the nearest obstacle within the detection range and records this distance, providing a basis for subsequent door control.

[0044] S102, for door i, when it is detected that the distance between the obstacle closest to door i and door i is greater than the detection blind spot range of the ultrasonic radar, determine whether the passenger's door opening gesture is detected.

[0045] Wherein, door i is any door of the vehicle.

[0046] In an embodiment of the present application, when the ultrasonic radar on door i (any door of the vehicle) detects an obstacle around the door, and the distance between the obstacle and door i is greater than the detection blind spot range of the ultrasonic radar, it can be further determined whether the passenger intends to open the door. The detection blind spot range refers to the close-range area where the radar cannot accurately detect obstacles. When determining whether the passenger intends to open the door, other sensors (such as cameras or touch sensors) can be used to detect whether the passenger has made a door-opening gesture. If the passenger's door-opening gesture is detected, it means that the passenger intends to open the door, and the next step can be entered.

[0047] S103 , when a door opening gesture is detected, determining a target angle of the vehicle door i based on the door opening gesture, and controlling the vehicle door i to open to the target angle.

[0048] In an embodiment of the present application, if a passenger's door-opening gesture is detected, the target angle to which the door should be opened can be determined based on the door-opening gesture. For example, this can be determined based on information such as the distance between the door-opening gesture and the door. For example, a larger distance may mean that the passenger wants the door to open to a larger angle, while a smaller distance may correspond to a smaller opening angle. The door control motor of door i can then be controlled to open the door to this target angle. In this way, the degree of door opening can be flexibly controlled based on the actual needs of the passenger, making it easier for passengers to get on and off the vehicle while preventing the door from colliding with obstacles.

[0049] S104: When the vehicle door i is closed, detect whether there is any obstacle to the vehicle door closing within the detection blind spot.

[0050] In an embodiment of the present application, when the vehicle door i begins to close, it can again detect whether there are any objects within the detection blind spot that may hinder the door from closing, i.e., door closing obstruction. The detection blind spot is an area that requires special attention during the door closing process, because obstacles in this area may not be detected in time by the ultrasonic radar. Other sensors (such as pressure sensors or proximity sensors) can be used to detect whether there are any objects that hinder the normal closing of the vehicle door. In this way, it can be ensured that the vehicle door does not pinch the passenger's body parts or other objects during the closing process.

[0051] S105 , when there is an obstacle to door closing within the detection blind spot, control door i to stop closing.

[0052] In an embodiment of the present application, if an object that obstructs the door from closing is detected within the detection blind spot, i.e., if there is a door closing obstruction, a command can be immediately issued to control the door i to stop closing. This can prevent the door from pinching passengers or damaging objects, ensuring a safe and reliable door closing process.

[0053] In an embodiment of the present application, after the vehicle is powered on, an ultrasonic radar is used to detect obstacles within a preset detection range of the door, and the distance between the door and the nearest detected obstacle is recorded; wherein, each door is equipped with at least one ultrasonic radar; for door i, when it is detected that the distance between the nearest obstacle to door i and door i is greater than the detection blind spot range of the ultrasonic radar, it is determined whether a passenger's door-opening gesture is detected; wherein, door i is any door of the vehicle; when the door-opening gesture is detected, the target angle of door i is determined based on the door-opening gesture, and door i is controlled to open to the target angle; when door i is closed, it is detected whether there is an obstacle to door closing within the detection blind spot; when the door i is closed, the door i is controlled to stop closing. In this way, intelligent door control can be achieved by installing ultrasonic radars on vehicle doors, combining door opening gesture recognition and safety detection during the door closing process. After the vehicle is powered on, the ultrasonic radar can monitor the distance to obstacles around the door in real time, and when an obstacle enters the detection blind spot, it can judge the passenger's intention to open the door through gesture recognition and accurately control the door to open to the appropriate angle, which not only makes it convenient for passengers to get on and off the vehicle, but also avoids collision between the door and obstacles. At the same time, during the door closing process, obstacles in the detection blind spot can be detected. Once an obstacle is found, the door will stop closing immediately, which can effectively prevent passengers from being pinched or items in the car from being damaged, significantly improving the convenience and safety of door use, and thus improving the user experience.

[0054] In one possible implementation, after the vehicle is powered on, the ultrasonic radar detects obstacles within a preset detection range of the vehicle door and records the distance between the vehicle door and the nearest detected obstacle, further comprising:

[0055] For door i, when it is detected that the distance between the obstacle closest to door i and door i is less than the detection blind spot range, it is determined that door i cannot be opened.

[0056] In an embodiment of the present application, when the distance between door i and the nearest obstacle is detected to be less than the detection blind spot, the obstacle is deemed too close to the door on that side, and door i is determined to be unable to be opened. For example, the detection blind spot is the close-range area that ultrasonic radar cannot accurately detect. When the obstacle is within this range, it indicates that the space between the obstacle and the door is insufficient, posing a collision risk, and therefore, there is no need to attempt to open the door. This effectively reduces misoperation, improves the response efficiency and reliability of the door control system, and avoids other safety hazards that may arise from attempts to open the door.

[0057] In one possible implementation, determining whether a door opening gesture by a passenger is detected includes:

[0058] If the distance between the passenger's hand and the vehicle door i is detected to increase within a set range within a preset time period, it is determined that the passenger's door opening gesture is detected; wherein the set range is [Db, Dmax], Db is the detection blind spot range of the ultrasonic radar, and Dmax is the maximum detection distance of the ultrasonic radar.

[0059] In an embodiment of the present application, when determining whether a passenger's door-opening gesture is detected, the change in the distance between the passenger's hand and the door i can be monitored by an ultrasonic radar. Within a preset time length T, if the distance between the passenger's hand and the door i is detected to gradually increase within a set range, it is determined that the passenger's door-opening gesture is detected. Exemplarily, the set range can be set to [Db, Dmax], where Db is the detection blind spot range of the ultrasonic radar, that is, the close-range area where the radar cannot accurately detect obstacles; and Dmax is the maximum detection distance of the ultrasonic radar, that is, the farthest distance that the radar can detect. That is, when a passenger approaches the door and makes a door-opening action, his hand will gradually move outward from a position close to the door (within the detection blind spot). If in this process, the distance between the hand and the door increases within a set range within a preset time, it can be determined that the passenger has a clear intention to open the door. In this way, by utilizing the detection range characteristics of the ultrasonic radar and monitoring the changes in the distance between the hand and the door to judge the passenger's movement intention, it can not only avoid misjudgment (for example, the hand is stationary or has no clear movement in the detection blind spot), but also accurately capture the passenger's door-opening action, thereby providing a reliable basis for subsequent door opening operations.

[0060] In one possible implementation, when a door opening gesture is detected, determining a target angle of the vehicle door i based on the door opening gesture, and controlling the vehicle door i to open to the target angle includes:

[0061] When a door opening gesture is detected, the distance between the door opening gesture and the vehicle door i is determined, and a correspondence between a preset angle and the distance is obtained; wherein the preset angle and the distance correspondence is used to indicate a correspondence between the distance between the door opening gesture and the vehicle door and the opening angle of the vehicle door;

[0062] Determine the target opening angle of door i based on the distance between the door opening gesture and door i and the correspondence between the preset angle and distance;

[0063] Control the door i to open to the target opening angle.

[0064] In an embodiment of the present application, when the system detects a passenger's door-opening gesture, it measures the distance between the passenger's hand and door i. Simultaneously, it calls a pre-set angle-distance correspondence, also known as a preset angle-distance correspondence. This correspondence can be a mapping table or function that defines the relationship between the door-opening gesture and the door's opening angle at different distances. For example, a gesture closer to the door may correspond to a smaller opening angle, while a gesture farther from the door may correspond to a larger opening angle. Then, based on the actual detected distance between the door-opening gesture and the door and the preset angle-distance correspondence, the target opening angle for door i can be calculated. This process can be implemented by looking up a mapping table or performing a function calculation to convert the distance value into the corresponding opening angle. For example, if the gesture is 50 centimeters from the door, and the preset relationship states that 50 centimeters corresponds to a 60-degree opening angle, the system will use 60 degrees as the target angle. After determining the target opening angle, a command can be sent to the door's drive mechanism (e.g., the door control motor) to control the door i to open according to the target angle. The door's drive mechanism precisely opens the door to the specified target angle based on the command, thus meeting the passenger's actual needs. This allows the door's opening angle to be flexibly adjusted based on the distance between the passenger's door-opening gesture and the door, meeting the passenger's needs while avoiding the risk of collision caused by excessive door opening. This improves the convenience and safety of door use, enhancing the user experience.

[0065] In one possible implementation, determining a target opening angle of door i based on the distance between the door opening gesture and door i and a correspondence between a preset angle and the distance includes:

[0066] Determine the target distance range within which the distance between the door opening gesture and the vehicle door i falls;

[0067] Based on the correspondence between the preset angle and the distance, the opening angle corresponding to the target distance range is determined as the target opening angle.

[0068] In an embodiment of the present application, the correspondence between preset angles and distances can be divided into multiple distance ranges, each corresponding to a specific opening angle. When the distance between the door opening gesture and vehicle door i is detected, a determination is made as to which preset distance range the distance falls within. For example, the correspondence between preset angles and distances can be: 0-30 cm: corresponding to a small angle (e.g., 30 degrees); 30-60 cm: corresponding to a medium angle (e.g., 60 degrees); and 60-100 cm: corresponding to a large angle (e.g., 90 degrees). After determining the target distance range to which the distance between the door opening gesture and the vehicle door falls, the corresponding opening angle for that distance range can be found based on the correspondence between preset angles and distances. For example, if 45 cm falls within the distance range of 30-60 cm, and the corresponding opening angle for this range is 60 degrees, the system will use 60 degrees as the target opening angle for vehicle door i. In this way, by dividing the distance into different ranges and presetting a corresponding opening angle for each range, the target opening angle for the vehicle door can be determined quickly and accurately, thereby simplifying the calculation process, improving response speed, and ensuring the rationality and safety of the vehicle door opening angle.

[0069] In a possible implementation, when a door opening gesture is detected, determining a target angle of the vehicle door i based on the door opening gesture, and controlling the vehicle door i to open to the target angle further includes:

[0070] Determine whether there is a passenger sitting in the seat corresponding to door i;

[0071] When a passenger is seated on the seat corresponding to door i, door i is controlled to close.

[0072] In an embodiment of the present application, after the door i is opened to the target angle, it is possible to further detect whether a passenger is sitting on the seat corresponding to the door i. For example, this can be achieved through a seat pressure sensor or a human body detection sensor. If it is detected that a passenger is sitting on the seat, the door closing operation can be automatically triggered. The door closing process can be completed, for example, by an electric actuator to ensure that the door closes smoothly and safely. In this way, by increasing the detection of the passenger's seating status, the intelligence level of the door control system can be further improved, so that not only can the door opening angle be flexibly controlled according to the passenger's door opening gesture, but the door can also be automatically closed after the passenger is seated, ensuring the safety of the vehicle and the comfort of the passengers, and improving the overall use experience of the vehicle.

[0073] In one possible implementation, when there is a door closing obstacle within the detection blind spot, controlling the door i to stop closing includes at least one of the following:

[0074] During the closing process of door i, if an obstacle is detected within the detection blind spot, door i will be controlled to stop closing;

[0075] During the closing process of door i, if abnormal closing resistance is detected, door i is controlled to stop closing.

[0076] In an embodiment of the present application, when door i begins closing, i.e., during the closing process, it can continuously monitor for obstacles within its blind spot. For example, other sensors (such as pressure sensors, proximity sensors, or infrared sensors) can be used to detect whether an obstacle has entered the blind spot. If an obstacle (such as a passenger's hand or body part, or an object) is detected within the blind spot during the closing process, the system will immediately issue a command to stop door i from closing. Furthermore, in addition to monitoring for obstacles within the blind spot, it can also detect whether abnormal resistance is encountered during the closing process. For example, this can be achieved by monitoring changes in the door closing motor current or the door closing speed. If abnormal resistance is detected (such as a sudden increase in the door motor current or a significant decrease in the door closing speed), the system will determine that the door may have encountered an obstruction and immediately stop door i from closing. This simultaneous monitoring of obstacles within the blind spot and abnormal door closing resistance during the closing process provides dual safety protection, effectively preventing the door from pinching passengers or damaging objects, significantly improving the safety and reliability of door operation, enhancing the user experience, and reducing potential safety hazards.

[0077] Based on the same inventive concept, the present application also provides a vehicle door control system, comprising:

[0078] Ultrasonic sensors, installed on vehicle doors, are used to detect obstacles near the doors and passenger gestures. The ultrasonic radar has a blind spot range of Db and a maximum detection range of Dmax.

[0079] The door control motor is installed inside the door and is connected to the door mechanical structure to drive the door to unlock, open and close;

[0080] The seat sensor is installed on the seat on the side of the door and is used to detect whether there is a passenger sitting on the seat;

[0081] The system controller is connected to each ultrasonic sensor, seat sensor, and door control motor to control the opening and closing of the door.

[0082] In the examples of this application, see Figure 2Ultrasonic sensor: Installed near the middle of the car door, fixed at a vertical outward angle, used to detect obstacles near the door and passenger gestures. For example, the ultrasonic sensor can be set as follows:

[0083] Installation location: Install the door vertically outwards, near the middle area of ​​the vehicle.

[0084] Assume that the ultrasonic radar detection blind area range is Db cm and the maximum detection distance is Dmax cm.

[0085] For example, Db=20, Dmax=400.

[0086] Function: Detect obstacles in the blind spot within the range of 0-Db cm; measure the distance between the palm and the sensor within the range of Db-Dmax cm.

[0087] Detection accuracy: within the range of Db-Dmax cm, the error is less than 1 cm.

[0088] Response time: no more than 100ms.

[0089] The door control motor is located inside the door and is connected to the door mechanical structure to drive the door to unlock, open, and close. For example, the exemplary configuration of the door control motor can be as follows:

[0090] Automatic door opening motor (door control motor): installed inside the door, used to drive the opening and closing of the door.

[0091] Installation location: Inside the door, connected to the door mechanical structure.

[0092] Function: According to the instructions of the system controller, drive the car door to unlock, open and close.

[0093] The opening angle is divided into three gears: small, medium and large, which correspond to the three fixed angles of commonly used car door openings, respectively recorded as gear A (small opening angle), B (medium opening angle), and C (large opening angle).

[0094] Performance requirements:

[0095] Door opening speed: no more than 3 seconds.

[0096] Closing speed: no more than 3 seconds.

[0097] Torque output: able to withstand the maximum weight of the door.

[0098] The seat sensor is set on the seat on the side of the door to detect whether there is a passenger sitting on the seat. For example, the exemplary setting of the seat sensor can be as follows:

[0099] Installation location: on the seat corresponding to the door side.

[0100] Function: Detect whether there is a passenger in the seat on this side.

[0101] Performance requirements:

[0102] Detection sensitivity: The false positive rate is less than 0.5%.

[0103] Response time: no more than 50ms.

[0104] The system controller is connected to the ultrasonic sensors, seat sensors, and door control motors to control the opening and closing of the doors. An exemplary configuration of the system controller may include receiving signals from the sensors and controlling the opening and closing of the doors based on a pre-set logic algorithm. The system controller may be an intelligent driving domain controller or a body domain controller. The ultrasonic sensors, seat sensors, and motors are connected to the system controller via a LIN (Local Interconnect Network).

[0105] Based on the above vehicle door control system, an exemplary implementation method may be as follows:

[0106] 1. Obstacle detection around the door

[0107] See also Figure 3 After the vehicle is powered on, the four ultrasonic radars installed on the door start working, detecting and recording the distance to obstacles near the door.

[0108] The detection distance from the front left door to the nearest obstacle is defined as DFL, the detection distance from the front right door to the nearest obstacle is DFR, the detection distance from the rear left door to the nearest obstacle is DRL, and the detection distance from the rear right door to the nearest obstacle is DRR.

[0109] 2. Door opening process:

[0110] See also Figure 4 , the user places his palm close to the ultrasonic sensor and makes a door-pulling gesture from near to far.

[0111] When the palm is within the ultrasonic detection blind area on the door side, the ultrasonic ranging distance on that side is De, De <Db

[0112] Keep your palm away from the door on that side, and the ultrasonic radar will continue to detect the distance of your hand.

[0113] Define the duration of a normal human's door-pulling action as T (e.g., T = 3 s). If D increases within the range of [Db, Dmax] within the time range of T, then a non-contact door-pulling action by the user is considered. Within the time range of T, there are n cycles, and the detected distances are D1, D2... Dn.

[0114] Principle formulation for door opening:

[0115] (1) If the distance of the obstacles around the door detected in step 1 for this side of the door is less than or equal to Db, then it is considered that the obstacles around this side of the door are too close to open.

[0116] (2) If the distance of the obstacles around the door detected in step 1 for this side of the door is greater than Db, then it is considered that this side of the door can be opened. The opening angle is judged according to the maximum value of the distance detected by the gesture.

[0117] (3) Denote the maximum value of the distance of the door-opening gesture for this side of the door as Dm, then Dm = max(D1, D2... Dn). Preset the Dm thresholds corresponding to three opening angles as T1, T2, T3, satisfying De < T1 < T2 < T3 < Dmax. For a specific example of the corresponding relationship between the preset angle and the distance, see Table 1.

[0118] Table 1

[0119] <![CDATA[Maximum distance D of sliding door gesture m > The door opening angle on this side <![CDATA[D m <T1]]> Do not open <![CDATA[T1≤D m <T2]]> A <![CDATA[T2≤D m <T3]]> B <![CDATA[D m ≥T3]]> C

[0120] 3. Door closing process:

[0121] See Figure 5 , after completing step 2, the seat sensor of the corresponding door monitors whether the passenger is seated. If it detects that the passenger is seated, the system controls the motor of the corresponding door to automatically close the door.

[0122] 4. Safety and protection mechanism:

[0123] Anti-pinch protection:

[0124] During the door closing process, the ultrasonic sensor continuously detects whether there are obstacles in the blind area. If an obstacle is detected, the system controller will immediately stop the door closing action.

[0125] The automatic door-opening motor is equipped with a torque monitoring device. When abnormal resistance is detected, the door closing action is immediately stopped.

[0126] This can improve the user experience: the car door can be automatically opened and closed through simple gestures, without manual operation, which is especially suitable for use scenarios where both hands are carrying items or in bad weather conditions; it can enhance safety: through the blind spot detection of the ultrasonic sensor and the motor torque monitoring, the occurrence of finger pinching accidents can be effectively prevented; and the system reliability can be improved: the dual detection mechanism of the seat sensor and the ultrasonic sensor is combined to ensure that the opening and closing of the car door is more accurate and reliable.

[0127] In order to implement the above embodiments, the present application also proposes a vehicle door control device. Figure 6 This is a schematic diagram of the structure of a vehicle door control device provided in an embodiment of the present application. Figure 6 As shown, the vehicle door control device 600 includes:

[0128] The distance detection module 610 is used to detect obstacles within a preset detection range of the vehicle doors using ultrasonic radar after the vehicle is powered on, and record the distance between the vehicle door and the nearest detected obstacle; wherein each vehicle door is equipped with at least one such ultrasonic radar;

[0129] The gesture detection module 620 is configured to determine whether a passenger's door-opening gesture is detected for a vehicle door i when the distance between the nearest obstacle to the vehicle door i and the vehicle door i is greater than the detection blind spot of the ultrasonic radar; wherein the vehicle door i is any vehicle door;

[0130] A door opening module 630 is configured to, upon detecting the door opening gesture, determine a target angle of the door i based on the door opening gesture and control the door i to open to the target angle;

[0131] An obstruction detection module 640 is configured to detect whether there is an obstruction to door closing within the detection blind zone when the door i is closed;

[0132] The door closing module 650 is used to control the door i to stop closing when there is an obstacle to the door closing within the detection blind area.

[0133] In a possible implementation, the system further includes a determination module configured to:

[0134] For door i, when it is detected that the distance between the obstacle closest to door i and door i is less than or equal to the detection blind zone range, it is determined that door i cannot be opened.

[0135] In a possible implementation, the gesture detection module 620 is configured to:

[0136] If the distance between the passenger's hand and the vehicle door i is detected to increase within a set range within a preset time period, it is determined that the passenger's door opening gesture is detected; wherein, the set range is [Db, Dmax], Db is the detection blind spot range of the ultrasonic radar, and Dmax is the maximum detection distance of the ultrasonic radar.

[0137] In one possible implementation, the door opening module 630 is configured to:

[0138] When the door opening gesture is detected, determining the distance between the door opening gesture and the vehicle door i, and obtaining a correspondence between a preset angle and the distance; wherein the preset angle and the distance correspondence is used to indicate a correspondence between the distance between the door opening gesture and the vehicle door and the opening angle of the vehicle door;

[0139] Determining a target opening angle of the vehicle door i based on the distance between the door opening gesture and the vehicle door i and the correspondence between the preset angle and the distance;

[0140] Control the vehicle door i to open to the target opening angle.

[0141] In a possible implementation, the door opening module 630 is specifically configured to:

[0142] Determining a target distance range within which the distance between the door opening gesture and the vehicle door i falls;

[0143] An opening angle corresponding to the target distance range is determined based on the correspondence between the preset angle and the distance as the target opening angle.

[0144] In a possible implementation, a passenger drop-off detection module is further included, configured to:

[0145] Determine whether there is a passenger sitting in the seat corresponding to the door i;

[0146] When a passenger is seated on the seat corresponding to the door i, the door i is controlled to be closed.

[0147] In one possible implementation, the door closing module 650 is configured to perform at least one of the following:

[0148] During the closing process of the vehicle door i, if an obstacle is detected within the detection blind zone, the vehicle door i is controlled to stop closing;

[0149] During the closing process of the vehicle door i, if abnormal closing resistance is detected, the vehicle door i is controlled to stop closing.

[0150] The implementation methods and technical effects of each module in this embodiment are similar to those of the above method embodiment and will not be repeated here.

[0151] In order to implement the above embodiments, the present application also proposes an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method provided by the above embodiments.

[0152] In order to implement the above embodiments, the present application also proposes a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the methods provided by the above embodiments.

[0153] In order to implement the above embodiments, the present application also proposes a computer program product, including a computer program, which implements the methods provided by the above embodiments when executed by a processor.

[0154] The collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in this application are in compliance with relevant laws and regulations and do not violate public order and good morals.

[0155] It is important to note that personal information collected from users should be used for legitimate and reasonable purposes and should not be shared or sold beyond these legitimate uses. Furthermore, such collection / sharing should be conducted only after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign an agreement / authorization that includes the relevant user information before using the feature. Furthermore, any necessary steps must be taken to safeguard and secure access to such personal information and ensure that others with access to personal information comply with its privacy policy and procedures.

[0156] This application contemplates providing implementation options for users to selectively block the use or access of personal information data. Specifically, this application contemplates providing hardware and / or software to prevent or block access to such personal information data. Risks can be minimized by limiting data collection and deleting data once it is no longer needed. Furthermore, where applicable, such personal information can be de-identified to protect user privacy.

[0157] In the descriptions of the foregoing embodiments, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are mutually inconsistent.

[0158] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0159] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0160] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0161] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0162] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0163] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0164] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A vehicle door control method, characterized in that: include: After the vehicle is powered on, the ultrasonic radar detects obstacles within a preset detection range of the vehicle door and records the distance between the vehicle door and the nearest detected obstacle; wherein each vehicle door is equipped with at least one ultrasonic radar; For door i, if the distance between the nearest obstacle to door i and door i is greater than the detection blind spot of the ultrasonic radar, determine whether a passenger's door-opening gesture is detected; wherein door i is any door of the vehicle; When the door opening gesture is detected, determining a target angle of the vehicle door i based on the door opening gesture, and controlling the vehicle door i to open to the target angle; When the vehicle door i is closed, detecting whether there is an obstacle to the door closing within the detection blind zone; When there is an obstacle to closing the vehicle door within the detection blind area, the vehicle door i is controlled to stop closing.

2. The vehicle door control method according to claim 1, characterized in that: After the vehicle is powered on, the ultrasonic radar detects obstacles within a preset detection range of the vehicle door and records the distance between the vehicle door and the nearest detected obstacle, further comprising: For door i, when it is detected that the distance between the obstacle closest to door i and door i is less than or equal to the detection blind zone range, it is determined that door i cannot be opened.

3. The vehicle door control method according to claim 1, characterized in that: The determining whether a door opening gesture of a passenger is detected includes: If the distance between the passenger's hand and the door i is detected to increase within a set range within a preset time period, it is determined that the passenger's door opening gesture is detected; wherein the set range is [D b , D max ], D b is the detection blind area range of the ultrasonic radar, D max is the maximum detection distance of the ultrasonic radar.

4. The vehicle door control method according to claim 1, characterized in that: The method of determining a target angle of the vehicle door i based on the door opening gesture when the door opening gesture is detected, and controlling the vehicle door i to open to the target angle includes: When the door opening gesture is detected, determining the distance between the door opening gesture and the vehicle door i, and obtaining a correspondence between a preset angle and the distance; wherein the preset angle and the distance correspondence is used to indicate a correspondence between the distance between the door opening gesture and the vehicle door and the opening angle of the vehicle door; Determining a target opening angle of the vehicle door i based on the distance between the door opening gesture and the vehicle door i and the correspondence between the preset angle and the distance; Control the vehicle door i to open to the target opening angle.

5. The vehicle door control method according to claim 4, characterized in that: The determining of the target opening angle of the vehicle door i based on the distance between the door opening gesture and the vehicle door i and the correspondence between the preset angle and the distance includes: Determining a target distance range within which the distance between the door opening gesture and the vehicle door i falls; An opening angle corresponding to the target distance range is determined based on the correspondence between the preset angle and the distance as the target opening angle.

6. The vehicle door control method according to claim 1, characterized in that: After determining the target angle of the vehicle door i based on the door opening gesture when the door opening gesture is detected and controlling the vehicle door i to open to the target angle, the method further includes: Determine whether there is a passenger sitting in the seat corresponding to the door i; When a passenger is seated on the seat corresponding to the door i, the door i is controlled to be closed.

7. The vehicle door control method according to claim 1, characterized in that: When there is an obstacle to the door closing within the detection blind zone, controlling the door i to stop closing includes at least one of the following: During the closing process of the vehicle door i, if an obstacle is detected within the detection blind zone, the vehicle door i is controlled to stop closing; During the closing process of the vehicle door i, if abnormal closing resistance is detected, the vehicle door i is controlled to stop closing.

8. A vehicle door control system, characterized in that: include: Ultrasonic sensors are installed on the doors of vehicles to detect obstacles near the doors and gestures of passengers. The detection blind area of ​​the ultrasonic radar is D b The maximum detection distance of the ultrasonic radar is D max ; The door control motor is installed inside the door and is connected to the door mechanical structure to drive the door to unlock, open and close; A seat sensor is provided on the seat on the side of the vehicle door and is used to detect whether a passenger is sitting on the seat; The system controller is connected to each of the ultrasonic sensors, the seat sensor, and the door control motor, and is used to control the opening and closing of the door.

9. A vehicle door control device, characterized in that: include: A distance detection module, configured to detect obstacles within a preset detection range of a vehicle door using an ultrasonic radar after the vehicle is powered on, and to record the distance between the vehicle door and the nearest detected obstacle; wherein each vehicle door is equipped with at least one such ultrasonic radar; a gesture detection module, configured to determine, for door i, whether a passenger's door-opening gesture is detected when it is detected that the distance between the nearest obstacle to door i and door i is greater than the detection blind spot of the ultrasonic radar; wherein door i is any door of the vehicle; a door opening module, configured to, upon detecting the door opening gesture, determine a target angle of the door i based on the door opening gesture, and control the door i to open to the target angle; an obstruction detection module, configured to detect whether there is an obstruction to door closing within the detection blind zone when the door i is closed; The vehicle door closing module is used to control the vehicle door i to stop closing when there is an obstacle to the vehicle door closing within the detection blind area.

10. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

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