Vehicle door control method and system, storage medium and vehicle

Abstract

The invention relates to a vehicle door control method and system, a storage medium and a vehicle, and belongs to the technical field of vehicle door control. When it is judged that the area where the vehicle is located is the first area, whether the vehicle is within a preset coordinate range is judged; when the area where the vehicle is located is the second area, whether the vehicle exceeds a preset coordinate range is judged; when the vehicle is located in the preset coordinate range, a first area mode is started; when the vehicle exceeds the preset coordinate range, a second area mode is started; after the first area mode is started, the vehicle door is controlled to be opened to a first set angle; after the second area mode is started, the vehicle door is controlled to be opened to a second set angle; the first set angle is larger than the second set angle. The dynamic control of the vehicle door is realized, so that the cost is reduced while the safety is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle door control, in particular to a vehicle door control method and system, a storage medium and a vehicle. BACKGROUND

[0002] Vehicle safety and intelligent control are the focus of the automotive industry. As the core module of user high-frequency interaction with the vehicle, the safety, adaptability and economy of the control logic of the vehicle door gradually become the key indicators for measuring the intelligent level and user experience of the vehicle. The traditional vehicle door control system mainly relies on manual operation by the driver (or passenger) or a fully automatic system. Manual operation is prone to collision in complex scenarios and has poor safety. The fully automatic system relies on precise sensors such as laser radars and has high costs. The perception logic of the fully automatic system relies on fixed scene presets and lacks dynamic adaptability, and cannot dynamically adjust the vehicle door strategy according to the region in complex scenarios.

[0003] Due to the limitations of the technical architecture, the traditional vehicle door control system has been difficult to adapt to the user needs in complex traffic scenarios (such as high-density parking lots, narrow community roads, and rainy and dusty environments), which not only restricts the intelligent experience of the vehicle, but also causes safety hazards such as collision and scratching. SUMMARY

[0004] In view of the problems of poor safety and high cost in the prior art, the present application provides a vehicle door control method and system, a storage medium and a vehicle. Based on vehicle positioning information, the preset coordinate range is combined to control the opening mode and opening angle of the vehicle door, and the dynamic control of the vehicle door is realized, so as to reduce the cost while ensuring safety.

[0005] In a first aspect, a vehicle door control method is provided, applied to a vehicle. The method comprises: determining the region where the vehicle is located according to vehicle positioning information; when it is determined that the vehicle is located in a first region, determining whether the vehicle is within a preset coordinate range; and when it is determined that the vehicle is located in a second region, determining whether the vehicle is outside the preset coordinate range; when the vehicle is within the preset coordinate range, opening a first region mode; and when the vehicle is outside the preset coordinate range, opening a second region mode; after the first region mode is opened, controlling the vehicle door to open to a first set angle; and after the second region mode is opened, controlling the vehicle door to open to a second set angle; the first set angle is greater than the second set angle.

[0006] In the embodiments of the present application, the area where the vehicle is located is determined according to the vehicle positioning information. When the area where the vehicle is located is a first area (i.e. a private area, which is a coordinate range of a large-scale safe area such as a family garage, a public parking lot, etc. pre-stored, such as a residential parking lot planning range, a shopping mall parking lot planning range, etc.), it is determined whether the vehicle is in a preset coordinate range (i.e. an electronic fence, which is a kind of virtual boundary used to define a specific safe area and can be set by the user himself / herself). When the vehicle is in the preset coordinate range, the first area mode is started, and the vehicle door is controlled to open to a first set angle. If the vehicle exceeds the preset coordinate range, the second area mode is started, and the vehicle door is controlled to open to a second set angle. When the area where the vehicle is located is a second area (i.e. a public area, such as the sides of the road, the entrance of a school, etc.), it is determined whether the vehicle exceeds the preset coordinate range. When the vehicle is in the preset coordinate range, the first area mode is started, and the vehicle door is controlled to open to a first set angle. If the vehicle exceeds the preset coordinate range, the second area mode is started, and the vehicle door is controlled to open to a second set angle. This vehicle door control method can obtain vehicle positioning information by using low-cost GPS, determine the position of the vehicle while controlling the hardware cost, control the opening mode and opening angle of the vehicle door in combination with the preset coordinate range, realize dynamic control of the vehicle door, and improve the flexibility of vehicle door control.

[0007] GPS, the full name of which is Global Positioning System, is a high-precision radio navigation positioning system based on artificial satellites developed and launched by the United States. Global Positioning System (GPS) can provide accurate geographic location, vehicle speed and precise time information anywhere in the world and near space. Since its inception, GPS has attracted numerous users with its high precision, all-weather, global coverage, and convenience and flexibility. GPS is not only the guardian of cars, but also the wise star of logistics industry management. With the rapid development of the logistics industry, GPS plays a crucial role and becomes the second largest consumer group after the automobile market. GPS is a new generation of satellite navigation and positioning system developed by the United States from the 1970s, which took 20 years and cost 20 billion US dollars. It was completed in 1994 and has the function of real-time three-dimensional navigation and positioning in sea, land and air.

[0008] In combination with the first aspect, in some implementations of the first aspect, after starting the first area mode, before controlling the vehicle door to open, the control method further includes: monitoring the distance from the vehicle to the objects around the vehicle in real time; determining whether the distance is greater than a set distance; if the distance is greater than the set distance, controlling the vehicle door to open to the first set angle; and if the distance is less than or equal to the set distance, controlling the vehicle door to stop opening.

[0009] In the embodiments of the present application, after the first area mode is opened, the distance from the vehicle to the object around the vehicle is monitored in real time before the vehicle door is opened, it is judged whether the distance from the vehicle to the object around the vehicle is greater than a set distance, when the distance from the vehicle to the object around the vehicle is greater than the set distance, the vehicle door is opened to a first set angle, when the distance from the vehicle to the object around the vehicle is less than or equal to the set distance, the opening of the vehicle door is stopped. This vehicle door control method, by automatically monitoring the distance from the vehicle to the object around the vehicle in real time, controls the opening angle of the vehicle door, ensures the safety of the opening of the vehicle door, and avoids the problem of knocking caused by the opening of the vehicle door due to the observation error or incomplete visual field of the artificial observation.

[0010] In combination with the first aspect, in some implementations of the first aspect, after the second area mode is opened, the control method further comprises: monitoring the distance from the vehicle to the object around the vehicle in real time; judging whether the distance is greater than a set distance; if the distance is greater than the set distance, opening the vehicle door to a second set angle, and if the distance is less than or equal to the set distance, stopping the opening of the vehicle door.

[0011] In the embodiments of the present application, after the second area mode is opened, the distance from the vehicle to the object around the vehicle is monitored in real time before the vehicle door is opened, it is judged whether the distance from the vehicle to the object around the vehicle is greater than a set distance, when the distance from the vehicle to the object around the vehicle is greater than the set distance, the vehicle door is opened to a first set angle, when the distance from the vehicle to the object around the vehicle is less than or equal to the set distance, the opening of the vehicle door is stopped. This vehicle door control method, by automatically monitoring the distance from the vehicle to the object around the vehicle in real time, controls the opening angle of the vehicle door, ensures the safety of the opening of the vehicle door, and avoids the problem of knocking caused by the opening of the vehicle door due to the observation error or incomplete visual field of the artificial observation.

[0012] In combination with the first aspect, in some implementations of the first aspect, the control method further comprises: monitoring the distance from the vehicle to the object around the vehicle within a first set time after the vehicle door is opened; when the distance decreases, judging whether a distance change rate is greater than a set distance change rate; when the distance change rate is greater than the set distance change rate, controlling the vehicle door to be closed by a third set angle and locked for a second set time, and when the distance change rate is less than or equal to the set distance change rate, maintaining the current opening angle of the vehicle door unchanged.

[0013] In the embodiments of the present application, after the door is opened, the distance between the vehicle and the surrounding objects of the vehicle is continuously monitored for a first set time. When it is monitored that the distance between the vehicle and the surrounding objects of the vehicle decreases, it is determined whether the distance change rate is greater than a set distance change rate. When the distance change rate is greater than the set distance change rate, the door is controlled to be closed to a third set angle, and a second set time is locked. When the distance change rate is less than or equal to the set distance change rate, the opening angle of the current door is maintained unchanged. This door control method can monitor the change of the surrounding objects of the vehicle in real time. When an object approaches the door, the door can be automatically controlled to be closed to the third set angle, so as to prevent a rear pedestrian or a non-motor vehicle driver from colliding with the door when the door is opened and avoid unnecessary personal health and property loss. The safety of the door opening is ensured.

[0014] In combination with the first aspect, in some implementations of the first aspect, the control method further includes: when the distance is less than or equal to the set distance, controlling to stop the door opening, generating an alarm signal, and controlling the alarm device to issue an alarm according to the alarm signal.

[0015] In the embodiments of the present application, before the door is controlled to be opened, the distance between the vehicle and the surrounding objects of the vehicle is monitored in real time, and it is determined whether the distance between the vehicle and the surrounding objects of the vehicle is greater than a set distance. When the distance between the vehicle and the surrounding objects of the vehicle is less than or equal to the set distance, the door is controlled to be stopped from opening, an alarm signal is generated, and the alarm device is controlled to issue an alarm according to the alarm signal. This method can issue a sound to remind the driver or passenger of the vehicle to pay attention to the obstacles around the door when the vehicle is too close to the obstacles and the opening angle of the door is controlled, so as to avoid that the user forcibly opens the door and causes the door to be bumped.

[0016] In combination with the first aspect, in some implementations of the first aspect, the control method further includes: when the alarm signal is generated for a set number of times within a third set time, controlling the door control system to reset.

[0017] In the embodiments of the present application, when the alarm signal is generated for a set number of times within a third set time, the door control system is controlled to reset. When the alarm signal is generated for a set number of times within a third set time, it is determined that the door control system may have a program or physical (such as dirt covering the ultrasonic sensor) problem, and the door control system is controlled to automatically reset, so as to timely and quickly solve the abnormal problem of the door control system and realize the failure protection of the door control method.

[0018] In combination with the first aspect, in some implementations of the first aspect, the control method further includes: when the vehicle positioning information is not acquired, the second area mode is started.

[0019] In the embodiments of the present application, the second area mode is started when the vehicle positioning information is not acquired (e.g., GPS signal loss). In this way, when the vehicle positioning information cannot be acquired due to GPS signal loss or the like, the second area (i.e., public area) mode is started, and the opening angle of the door is limited, thereby avoiding the situation that the user opens the door too wide when the situation is unknown, and the door is bumped.

[0020] In a second aspect, a door control system is provided and applied to a vehicle. The system comprises: a positioning module configured to provide vehicle positioning information; a data acquisition module connected to the positioning module and configured to acquire the vehicle positioning information; a judgment module connected to the data acquisition module, the judgment module being configured to: determine the area where the vehicle is located according to the vehicle positioning information; determine whether the vehicle is within a preset coordinate range when it is determined that the vehicle is located in a first area; and determine whether the vehicle is beyond the preset coordinate range when it is determined that the vehicle is located in a second area; a mode starting module connected to the judgment module, the mode starting module being configured to: start the first area mode when the vehicle is within the preset coordinate range; and start the second area mode when the vehicle is beyond the preset coordinate range; a driving member configured to drive the door to open and close; a control module connected to the driving member, the control module being configured to: control the driving member to drive the door to open to a first set angle after the first area mode is started; and control the driving member to drive the door to open to a second set angle after the second area mode is started, the first set angle being greater than the second set angle.

[0021] In combination with the second aspect, in some implementations of the second aspect, the control module is provided with: an operation module configured to set the safe full distance as a set distance; a signal generation module configured to generate an alarm signal.

[0022] In combination with the second aspect, in some implementations of the second aspect, the system further comprises a storage module electrically connected to the control module and configured to store the set distance and the preset coordinate range.

[0023] In combination with the second aspect, in some implementations of the second aspect, the system further comprises a monitoring module electrically connected to the judgment module and configured to monitor the distance from the vehicle to the surrounding objects of the vehicle in real time, the monitoring module being configured to: monitor the distance from the vehicle to the surrounding objects of the vehicle in real time before the door is opened after the first area mode is started; and monitor the distance from the vehicle to the surrounding objects of the vehicle in real time before the door is opened after the second area mode is started.

[0024] With reference to the second aspect, in some implementations of the second aspect, the judging module is further configured to: after the first area mode is started, before the vehicle door is opened, judge whether the distance is greater than a set distance; and after the second area mode is started, before the vehicle door is opened, judge whether the distance is greater than the set distance.

[0025] With reference to the second aspect, in some implementations of the second aspect, the control module is further configured to: after the first area mode is started, before the vehicle door is opened, if the distance is greater than the set distance, control the driving member to drive the vehicle door to open to a first set angle; after the first area mode is started, before the vehicle door is opened, if the distance is less than or equal to the set distance, control the driving member to stop driving the vehicle door to open; after the second area mode is started, before the vehicle door is opened, if the distance is greater than the set distance, control the driving member to drive the vehicle door to open to a second set angle; and after the second area mode is started, before the vehicle door is opened, if the distance is less than or equal to the set distance, control the driving member to stop driving the vehicle door to open.

[0026] With reference to the second aspect, in some implementations of the second aspect, the monitoring module is further configured to: after the vehicle door is opened, continuously monitor the distance between the vehicle and the surrounding object within a first set time.

[0027] With reference to the second aspect, in some implementations of the second aspect, the judging module is further configured to: when the distance decreases, judge whether a distance change rate is greater than a set distance change rate.

[0028] With reference to the second aspect, in some implementations of the second aspect, the control module is further configured to: when the distance change rate is greater than the set distance change rate, control the driving member to drive the vehicle door to close a third set angle and lock for a second set time; and when the distance change rate is less than or equal to the set distance change rate, control the driving member to maintain the current vehicle door opening angle unchanged.

[0029] With reference to the second aspect, in some implementations of the second aspect, the system further comprises an alarm device, which is electrically connected with the control module and used to send an alarm according to an alarm signal.

[0030] With reference to the second aspect, in some implementations of the second aspect, the control module is further configured to: when the distance is less than or equal to the set distance and the vehicle door opening is stopped, generate an alarm signal, control the alarm device to send an alarm according to the alarm signal, and when the alarm signal is generated for a set number of times within a third set time, control the vehicle door control system to reset.

[0031] With reference to the second aspect, in some implementations of the second aspect, the mode starting module is further configured to: when the vehicle positioning information is not acquired, start the second area mode.

[0032] In a third aspect, a computer program product is provided, which comprises computer program code, which, when executed on a computer, causes the computer to perform the vehicle door control method of the first aspect.

[0033] In a fourth aspect, a computer-readable storage medium is provided, which stores computer program code, which, when executed by one or more processors, causes an apparatus comprising the one or more processors to perform the vehicle door control method of the first aspect.

[0034] In a fifth aspect, an embodiment of the present application provides a chip system, which comprises a processor, configured to invoke a computer program or computer instructions stored in a memory, so as to cause the processor to perform the vehicle door control method of the first aspect.

[0035] In a sixth aspect, an embodiment of the present application provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor, when executing the computer program, causes the electronic device to implement the vehicle door control method of the first aspect.

[0036] In a seventh aspect, a vehicle is provided. The vehicle comprises the vehicle door control system of the second aspect, or the computer-readable storage medium of the fourth aspect, or the chip system of the fifth aspect, or the electronic device of the sixth aspect.

[0037] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects: The vehicle door control method and system, storage medium, and vehicle provided by the embodiments of the present application are applied to a vehicle. According to vehicle positioning information, it is determined in which area the vehicle is located. When it is determined that the vehicle is located in a first area, it is determined whether the vehicle is within a preset coordinate range. When it is determined that the vehicle is located in a second area, it is determined whether the vehicle is beyond the preset coordinate range. When the vehicle is within the preset coordinate range, a first area mode is started. After the first area mode is started, the vehicle door is controlled to open to a first set angle. When the vehicle is beyond the preset coordinate range, a second area mode is started. After the second area mode is started, the vehicle door is controlled to open to a second set angle. This hierarchical control logic of the vehicle door uses low-cost vehicle positioning information to determine the position of the vehicle while controlling the hardware cost. The preset coordinate range is used to control the opening mode and opening angle of the vehicle door, so as to realize dynamic control of the vehicle door and improve the flexibility of vehicle door control.

[0038] The vehicle door control method and system, storage medium and vehicle provided by the embodiments of the present application are applied to a vehicle. Before the vehicle door is controlled to open, the distance from the vehicle to the object around the vehicle is monitored in real time, it is judged whether the distance is greater than a set distance, when the distance is greater than the set distance, the vehicle door is controlled to open to a first set angle, and when the distance is less than or equal to the set distance, the vehicle door is controlled to stop opening. The hierarchical control logic of the vehicle door controls the opening angle of the vehicle door by automatically monitoring the distance from the vehicle to the object around the vehicle in real time, and ensures the safety of the opening of the vehicle door, and avoids the problem of the vehicle door knocking against the object around the vehicle due to the observation error of the human or the incomplete visual field of the human.

[0039] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the embodiments can be implemented according to the content of the description, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0041] Figure 1 The flowchart of the vehicle door control method of the embodiments of the present application is shown.

[0042] Figure 2 The flowchart of the vehicle door control method before the vehicle door is controlled to open in an embodiment of the present application is shown.

[0043] Figure 3 The flowchart of the vehicle door control method before the vehicle door is controlled to open in another embodiment of the present application is shown.

[0044] Figure 4 The flowchart of the vehicle door control method after the vehicle door is opened in the embodiments of the present application is shown.

[0045] Figure 5 The architecture of the vehicle door control system in the embodiments of the present application is shown.

[0046] Figure 6 The architecture of the vehicle in the embodiments of the present application is shown.

[0047] In the figure, 100, door control system, 101, positioning module, 102, data acquisition module, 103, judgment module, 104, mode opening module, 105, driving piece, 106, control module, 1061, operation module, 1062, signal generation module, 107, monitoring module, 1071, ultrasonic sensor, 108, storage module, 109, alarm device, 200, vehicle, 201, memory, 202, processor, 203, computer program. DETAILED DESCRIPTION

[0048] In order to make the technical problems to be solved by the present application, the technical solutions and beneficial effects more clearly, the following will be further described in detail in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0049] The prefix words such as "first", "second" are used in the embodiments of the present application only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of ordinal words such as ordinal words in the embodiments of the present application does not constitute a limitation on the described objects, and the description of the described objects should be referred to the description of the context in the claims or examples, and should not constitute redundant limitation because of the use of such prefix words. In addition, in the description of the embodiments, unless otherwise stated, the meaning of "multiple" is two or more than two.

[0050] The technical solutions in the embodiments of the present application will be described below in combination with the drawings in the embodiments of the present application. In the description of the embodiments of the present application, unless otherwise stated, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" in this paper is only a description of the association between the associated objects, which means that there are three kinds of relationships, for example, A and / or B, which means that there are three kinds of relationships, such as A alone, A and B, and B alone.

[0051] In several embodiments provided in the embodiments of the present application, it should be understood that the disclosed system and method can be implemented by other ways. For example, the above-described device embodiments are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, device or unit indirect coupling or communication connection, which can be electrical, mechanical or other forms.

[0052] With the rapid development of the automobile industry, the use of automobiles is increasing, and vehicle safety and intelligent control are the focus of the automobile industry. Not only vehicles in motion can cause harm to pedestrians, but also vehicles at rest can cause harm to pedestrians, such as when a vehicle is parked on the roadside or other non-parking area, the driver opens the door in an inappropriate manner, and the rear pedestrian or non-motor vehicle driver cannot dodge in time and collides with the door, causing personal injury. Such accidents caused by improper opening of the door while parking in public areas are common. However, when a vehicle is parked in a dedicated parking space, the door opening and scratching collision events caused by the driver's failure to pay attention to the fixed obstacles on the side of the vehicle or the distance between the vehicle and other parked vehicles, and other reasons are also common. The property damage and casualties caused by the two should be given enough attention, and therefore, based on the safety problems of the door, it is necessary to study a door control method to improve the safety of the door opening.

[0053] The door is a core module for users to interact with the vehicle frequently, and the safety, adaptability and economy of its control logic have gradually become key indicators for measuring the intelligence level and user experience of the vehicle. The traditional door control system mainly relies on manual operation by the driver (or passenger) or a fully automatic system. Manual operation is prone to collision in complex scenarios and has poor safety. The fully automatic system relies on precise sensors such as laser radar and is costly, and the perception logic of the fully automatic system relies on fixed scene presets and lacks dynamic adaptability, so it cannot dynamically adjust the door strategy according to the area in complex scenarios, which not only restricts the intelligent experience of the vehicle, but also lays the foundation for safety hazards such as collision and scratching.

[0054] Currently, ultrasonic waves are increasingly used in vehicles, and the demand for detecting the environment around the vehicle body and safety function components is increasing. Ultrasonic-based door obstacle avoidance is currently the most cost-effective in local environment detection systems, and the system function configuration is simple and convenient. The measurement range can be from 0.3 meters to 2 meters, which can basically meet the demand, and the cost of ultrasonic waves is the lowest, which can greatly reduce the cost of vehicles for car manufacturers and consumers. Due to the fact that ultrasonic radar generally only has a general target distance feedback for obstacles, without target angle analysis and the existence of detection blind area, there is still a lack of a more perfect door control method in the prior art, which is difficult to provide users with a good user experience. Many high-end vehicles use visual monitoring to detect the situation around the door, which requires the addition of visual cameras on the vehicle body and image processing programs in the vehicle program, increasing the overall cost of the vehicle and also a heavy burden on the vehicle CPU.

[0055] Based on the above application scenarios, the present application proposes a door control method.

[0056] Figure 1is a schematic flow chart of a vehicle door control method provided in this embodiment. The method is applicable to a vehicle. The method comprises the following steps.

[0057] S1, judging a region where the vehicle is located according to vehicle positioning information.

[0058] In this embodiment, the vehicle positioning information is compared with the pre-stored region coordinate range (i.e. the first region and the second region coordinate range). If the vehicle coordinate is located in the coordinate range of the pre-stored large range safety region such as a family garage or a public parking lot, it is judged that the vehicle is located in the first region. If the vehicle coordinate is not located in the coordinate range of the pre-stored large range safety region such as a family garage or a public parking lot, it is judged that the vehicle is located in the second region. This method has low requirement on the vehicle positioning signal. Even when the positioning signal is not good, the general range of the region where the vehicle is located can be determined, and the safety of the vehicle door opening is improved.

[0059] Specifically, the vehicle positioning information is obtained through GPS positioning.

[0060] The GPS positioning includes pseudo-range single-point positioning, carrier phase positioning and real-time differential positioning. Pseudo-range measurement is to measure the distance from the satellite to the receiver, i.e. the distance obtained by multiplying the propagation time of the ranging code signal transmitted by the satellite to the GPS receiver by the speed of light. Pseudo-range single-point positioning is to obtain the three-dimensional coordinates of the antenna in the WGS-84 coordinate system by using the pseudo-range measured by the GPS receiver at a certain time and the instantaneous coordinates of the satellite obtained from the satellite navigation message, and using the intersection method. Carrier phase measurement is to measure the phase delay between the GPS satellite carrier signal and the receiver antenna. The ranging code and navigation message are modulated on the carrier of the GPS satellite, and after the satellite signal is received by the receiver, the ranging code and satellite message on the carrier are removed, and the carrier is reconstructed, which is called reconstructed carrier. The GPS receiver compares the satellite reconstructed carrier with the local oscillator signal generated by the receiver through a phase meter, and the phase difference is obtained. The principle of GPS real-time differential positioning is to place a GPS receiver (called a reference station) at an accurate geocentric coordinate point, calculate the correction value of the GPS observation value using the known geocentric coordinate and ephemeris, and send the correction value to the moving GPS receiver (called a rover station) through a radio communication device (called a data link). The rover station uses the correction value to modify its own GPS observation value to eliminate the above errors, thereby improving the real-time positioning accuracy. There are various GPS dynamic differential methods, mainly including position difference, pseudo-range difference (RTD), carrier phase real-time difference (RTK) and wide-area difference.

[0061] GPS is mainly composed of three parts: space part, ground monitoring part and user equipment part. GPS system has the characteristics of high precision, all-weather, wide application, etc. Global positioning system is composed of three parts: space part (GPS satellite), ground monitoring part and user part. GPS satellite can continuously broadcast ranging signals and navigation messages to users for navigation and positioning, and receive various information and commands from the ground monitoring system to maintain the normal operation of the system. The main functions of the ground monitoring system are: tracking GPS satellites, measuring the distance, determining the orbit of the satellite and the satellite clock correction number, making predictions, and then preparing navigation messages in the specified format and sending them to the satellite through the injection station. The ground monitoring system can also issue various instructions to the satellite through the injection station to adjust the satellite's orbit and clock reading, repair faults or activate spare parts, etc. The user uses the GPS receiver to measure the distance from the receiver to the GPS satellite, and according to the information given by the satellite ephemeris, such as the position of the satellite in space at the observation moment, to calculate the three-dimensional position, three-dimensional motion speed and clock difference of the user. The United States is committed to further improving the functions of the entire system, such as determining the satellite orbit through mutual tracking between satellites, to reduce the dependence on the ground monitoring system and enhance the autonomy of the system.

[0062] GPS is the most successful satellite positioning system, known as a milestone in human positioning technology. GPS can provide continuous, all-weather navigation and positioning capabilities for various users in any location around the world or near space. Users do not need to transmit signals, so they can meet the needs of multiple users. Real-time navigation, high positioning accuracy, and short observation time. When using GPS positioning, position data can be obtained several times within 1 second. This near real-time navigation capability is of great significance to high dynamic users, and can provide users with continuous three-dimensional position, three-dimensional velocity, and accurate time information. The real-time positioning accuracy using C / A code can reach 20-50 meters, the velocity accuracy is 0.1 m / s, and the relative positioning accuracy can reach millimeter level. With the continuous improvement of the GPS system and the continuous updating of software, relative static positioning within 20 km only takes 15-20 minutes, and fast static relative positioning measurement takes only 1-2 minutes when each mobile station is within 15 km from the reference station. Then the position can be determined at any time, and each station only needs to observe for a few seconds. GPS measurement can accurately determine the plane position and geodetic height of the station. GPS leveling can meet the accuracy of fourth-order leveling, and GPS positioning is calculated in the global unified WGS-84 coordinate system, so the measurement results of different locations around the world are related. Strong anti-interference ability and good security: GPS uses spread spectrum technology and pseudo-code technology. Users only need to receive GPS signals, and the system will not transmit signals, so it will not be disturbed by other signal sources. Multiple functions and wide application: GPS is a military and civilian system with a wide range of applications. Specific application examples include: car navigation and traffic management, patrol vehicle management, road engineering, personal positioning, and navigation instruments.

[0063] In the embodiment of the application, the vehicle positioning information is obtained by using low-cost GPS positioning, so that the vehicle position is determined and the hardware cost is controlled.

[0064] In an embodiment of the application, the control method further comprises: starting the second area mode when the vehicle positioning information is not obtained.

[0065] In the embodiment of the application, the second area mode is started when the vehicle positioning information is not obtained (e.g., GPS signal loss). This method starts the second area (i.e., public area) mode when the vehicle positioning information cannot be obtained due to GPS signal loss or the like, and limits the opening angle of the vehicle door to avoid the occurrence of vehicle door knocking or personal injury caused by the user opening the vehicle door too much in an unknown situation.

[0066] S2, when it is determined that the vehicle is in the first area, it is determined whether the vehicle is within the preset coordinate range; when it is determined that the vehicle is in the second area, it is determined whether the vehicle exceeds the preset coordinate range.

[0067] In the embodiment of the present application, when it is determined that the area where the vehicle is located is the first area, at this time the vehicle is parked in a relatively safe position, the specific parking posture of the vehicle is determined according to the preset coordinate range, it is determined whether the vehicle is within the preset coordinate range, and the door opening strategy is further controlled according to the parking posture of the vehicle; when it is determined that the area where the vehicle is located is the second area, at this time the vehicle is parked in a relatively open position, the specific parking posture of the vehicle is determined according to the preset coordinate range, it is determined whether the vehicle is outside the preset coordinate range, and the door opening strategy is further controlled according to the parking posture of the vehicle. The door control method can adjust the opening angle of the door according to the parking position of the vehicle, and improve the safety of the door opening.

[0068] S3, when the vehicle is within the preset coordinate range, the first area mode is opened; when the vehicle is outside the preset coordinate range, the second area mode is opened.

[0069] In the embodiment of the present application, after determining the parking area of the vehicle, whether the vehicle is within the preset coordinate range is further determined, whether the vehicle is within the preset coordinate range when the vehicle is within the preset coordinate range, it is determined that the vehicle is parked in a relatively standard manner, and the door is relatively safe, and the first area mode is opened, the mode allows the door to be opened to a first set angle, and when the vehicle is outside the preset coordinate range, it is determined that the vehicle is parked in a less ideal position, and there is a certain risk when the door is opened, and the second area mode is opened, the mode allows the door to be opened to a second set angle.

[0070] S4, after the first area mode is opened, the door is controlled to be opened to a first set angle; after the second area mode is opened, the door is controlled to be opened to a second set angle; the first set angle is greater than the second set angle.

[0071] In the embodiment of the present application, when the vehicle opens the first area mode, the mode allows the door to be opened to a first set angle, and when the vehicle opens the second area mode, the mode allows the door to be opened to a second set angle.

[0072] For example, the first set angle is set to 90 degrees at the factory, and the second set angle is set to 45 degrees at the factory.

[0073] It should be noted that the first set angle and the second set angle can also be set by the user, as long as the first set angle is greater than the second set angle.

[0074] In an embodiment of the present application, referring to Figure 2 After the first area mode is opened, before the door is controlled to be opened, the control method further comprises: Real-time monitoring the distance from the vehicle to the surrounding objects of the vehicle; Determining whether the distance is greater than a set distance; If the distance is greater than the set distance, the vehicle door is controlled to open to a first set angle; if the distance is less than or equal to the set distance, the vehicle door is controlled to stop opening.

[0075] In the embodiment of the present application, after the first area mode is opened, the distance from the vehicle to the surrounding objects of the vehicle is monitored in real time before the vehicle door is controlled to open, it is judged whether the distance from the vehicle to the surrounding objects of the vehicle is greater than a set distance, when the distance from the vehicle to the surrounding objects of the vehicle is greater than the set distance, the vehicle door is controlled to open to a first set angle, when the distance from the vehicle to the surrounding objects of the vehicle is less than or equal to the set distance, the vehicle door is controlled to stop opening. This vehicle door control method, by automatically monitoring the distance from the vehicle to the surrounding obstacles in real time, controls the opening angle of the vehicle door, ensures the safety of the vehicle door opening, and avoids the vehicle door opening bumping problem caused by manual observation errors or incomplete manual vision.

[0076] In the embodiment of the present application, the set distance is a safety distance, the default value at the factory is 30 cm, which can be set by the user, and it is generally recommended to be set between 20 cm and 30 cm.

[0077] In an embodiment of the present application, referring to Figure 3 After the second area mode is opened, the distance from the vehicle to the surrounding objects of the vehicle is monitored in real time before the vehicle door is controlled to open, the control method further comprises: monitoring the distance from the vehicle to the surrounding objects of the vehicle in real time; judging whether the distance is greater than a set distance; If the distance is greater than the set distance, the vehicle door is controlled to open to a second set angle; if the distance is less than or equal to the set distance, the vehicle door is controlled to stop opening.

[0078] In the embodiment of the present application, after the second area mode is opened, the distance from the vehicle to the surrounding objects of the vehicle is monitored in real time before the vehicle door is controlled to open, it is judged whether the distance from the vehicle to the surrounding objects of the vehicle is greater than a set distance, when the distance from the vehicle to the surrounding objects of the vehicle is greater than the set distance, the vehicle door is controlled to open to a first set angle, when the distance from the vehicle to the surrounding objects of the vehicle is less than or equal to the set distance, the vehicle door is controlled to stop opening. This vehicle door control method, by automatically monitoring the distance from the vehicle to the surrounding obstacles in real time, controls the opening angle of the vehicle door, ensures the safety of the vehicle door opening, and avoids the vehicle door opening bumping problem caused by manual observation errors or incomplete manual vision.

[0079] In an embodiment of the present application, referring to Figure 4 The control method further comprises: monitoring the distance from the vehicle to the surrounding objects of the vehicle within a first set time after the vehicle door is opened; when the distance decreases, judging whether the distance change rate is greater than a set distance change rate; When the distance change rate is greater than the set distance change rate, the vehicle door is controlled to close to a third set angle and locked for a second set time; when the distance change rate is less than or equal to the set distance change rate, the current vehicle door opening angle is maintained.

[0080] In the embodiment of the application, after the vehicle door is opened, the distance from the vehicle to the surrounding objects of the vehicle is continuously monitored within a first set time. When it is monitored that the distance from the vehicle to the surrounding objects of the vehicle decreases, it is determined whether the distance change rate is greater than a set distance change rate. When the distance change rate is greater than the set distance change rate, the vehicle door is controlled to close to a third set angle and locked for a second set time. When the distance change rate is less than or equal to the set distance change rate, the current vehicle door opening angle is maintained. This vehicle door control method can monitor the change of the surrounding objects of the vehicle in real time. When an object approaches the vehicle door, the vehicle door can be automatically controlled to close to the third set angle, preventing the rear pedestrians or non-motor vehicle drivers from colliding with the vehicle door when they fail to avoid the vehicle door, avoiding unnecessary personal health and property loss. The safety of the vehicle door opening is ensured.

[0081] In the embodiment of the application, the first set time can be set to 2 seconds, the set distance change rate can be set to 10 cm / s, the third set angle can be set to 5 degrees, and the second set time can be set to 30 seconds.

[0082] In an embodiment of the application, the control method further comprises: when the distance is less than or equal to a set distance, generating an alarm signal when the vehicle door opening is controlled to stop, and controlling the alarm device to issue an alarm according to the alarm signal.

[0083] In the embodiment of the application, before the vehicle door is controlled to open, the distance from the vehicle to the surrounding objects of the vehicle is monitored in real time, and it is determined whether the distance from the vehicle to the surrounding objects of the vehicle is greater than a set distance. When the distance from the vehicle to the surrounding objects of the vehicle is less than or equal to the set distance, an alarm signal is generated when the vehicle door opening is controlled to stop, and the alarm device is controlled to issue an alarm according to the alarm signal. This method can issue a sound to remind the vehicle driver or passenger to pay attention to the obstacles around the vehicle door when the vehicle distance from the obstacles is too close and the vehicle door opening angle is controlled, avoiding the user forcibly opening the door to cause the vehicle door to collide.

[0084] In an embodiment of the application, the control method further comprises: when the alarm signal is generated for a continuous set number of times within a third set time, the vehicle door control system is reset.

[0085] In the embodiment of the application, the vehicle door control system is reset when the alarm signal is generated for a set number of times continuously within a third set time. When the alarm signal is generated for a set number of times continuously within the third set time, it is determined that the vehicle door control system may have a program or physical (e.g., ultrasonic sensor contamination coverage) problem, and the vehicle door control system is automatically reset, which can quickly solve the abnormal problem of the vehicle door control system and achieve failure protection of the vehicle door control method.

[0086] In the embodiment of the application, the third set time can be set according to experience, which is not limited herein; and the set number of times can be set to 5, which can also be adjusted according to experience.

[0087] Exemplarily, a vehicle door control method comprises the following steps: S1, acquiring vehicle GPS positioning information.

[0088] S2, starting a second area mode when the vehicle GPS positioning information is not acquired, and determining a region where the vehicle is located according to the vehicle GPS positioning information when the vehicle GPS positioning information is acquired.

[0089] S3, determining whether the vehicle is in a preset coordinate range when it is determined that the vehicle is located in a first area, and determining whether the vehicle exceeds the preset coordinate range when it is determined that the vehicle is located in a second area.

[0090] S4, starting a first area mode when the vehicle is in the preset coordinate range, and starting the second area mode when the vehicle exceeds the preset coordinate range.

[0091] S5, monitoring a distance from the vehicle to an object around the vehicle in real time after the first area mode is started, determining whether the distance is greater than a set distance, controlling the vehicle door to open to a first set angle when the distance is greater than the set distance, and controlling the vehicle door to stop opening when the distance is less than or equal to the set distance, and generating an alarm signal, and controlling an alarm device to issue an alarm according to the alarm signal.

[0092] After the second area mode is started, the distance from the vehicle to the object around the vehicle is monitored in real time, it is determined whether the distance is greater than a set distance, the vehicle door is controlled to open to a second set angle when the distance is greater than the set distance, and the vehicle door is controlled to stop opening when the distance is less than or equal to the set distance, and an alarm signal is generated, and an alarm device is controlled to issue an alarm according to the alarm signal.

[0093] S6, after the door is opened, the distance between the vehicle and the surrounding objects is continuously monitored for a first set time; when the distance decreases, it is determined whether the distance change rate is greater than a set distance change rate; when the distance change rate is greater than the set distance change rate, the door is controlled to close a third set angle and locked for a second set time; when the distance change rate is less than or equal to the set distance change rate, the current door opening angle is maintained.

[0094] When the alarm signal is generated for a continuous number of times within a third set time, the door control system is controlled to reset.

[0095] The embodiment of the application provides a door control system, which is suitable for a vehicle. Figure 5 The figure is a structural schematic diagram of the door control system.

[0096] The door control system 100 comprises: A GPS 101 is configured to provide vehicle positioning information. A data acquisition module 102 is connected with the GPS 101 and configured to acquire the vehicle GPS 101 positioning information. A judgment module 103 is connected with the data acquisition module 102, and the judgment module 103 is configured to determine the area where the vehicle is located according to the vehicle GPS 101 positioning information; when it is determined that the area where the vehicle is located is a first area, it is determined whether the vehicle is in a preset coordinate range; when it is determined that the area where the vehicle is located is a second area, it is determined whether the vehicle is out of the preset coordinate range. A mode starting module 104 is connected with the judgment module 103, and the mode starting module is configured to start a first area mode when the vehicle is in the preset coordinate range; and start a second area mode when the vehicle is out of the preset coordinate range. A driving member 105 is configured to drive the door to open and close. A control module 106 is connected with the driving member 105, and the control module 106 is configured to control the driving member to drive the door to open to a first set angle after the first area mode is started; and control the driving member to drive the door to open to a second set angle after the second area mode is started; the first set angle is greater than the second set angle.

[0097] In the embodiment of the present application, the GPS 101 mainly consists of a GPS receiver, hardware and data processing software, a microprocessor and a terminal device; the GPS receiver consists of a host computer, an antenna and a power supply. Its main task is to capture, track and lock satellite signals; process the received satellite signals to measure the time of propagation of the GPS signals from the satellite to the receiver antenna; translate the navigation message transmitted by the GPS satellite, and calculate the three-dimensional position, speed and time of the receiver antenna in real time. The main function of the GPS receiver is to receive GPS satellite signals and, after signal amplification, frequency conversion and phase locking processing, to measure the propagation time of the GPS signals from the satellite to the receiver antenna, to interpret the navigation message, and to calculate the position (three-dimensional coordinates) and running speed of the GPS antenna in real time. The GPS receiver is a passive radio positioning device, which can be divided into navigation receivers, geodetic receivers, time receivers and attitude measurement receivers according to different uses; and can be divided into multi-channel receivers, sequential channel receivers and multiplex channel receivers according to the number of receiver channels.

[0098] In the embodiment of the present application, the driving member 105 can be an angle stepping motor to realize precise angle control. The angle stepping motor is an open-loop control motor that converts an electric pulse signal into an angular displacement. The rotor rotates a fixed angle (step angle) for each input pulse signal. Its rotation speed and stop position depend only on the pulse frequency and quantity, and are independent of load changes. The biggest difference of the stepping motor from other control-purpose motors is that it receives a digital control signal (an electric pulse signal) and converts it into a corresponding angular displacement or linear displacement. It itself is an execution element that completes digital mode conversion. Moreover, it can be controlled in an open loop. A specified position increment is obtained by inputting a pulse signal. Compared with the traditional DC control system, the so-called incremental position control system has a significantly reduced cost and almost no system adjustment is needed. The angular displacement of the stepping motor is strictly proportional to the number of input pulses, and is synchronized with the pulses in time. Therefore, the required rotation angle, speed and direction can be obtained by controlling the number, frequency of pulses and the phase sequence of the motor winding.

[0099] Referring to Figure 5 In an embodiment of the present application, the control module 106 is provided with: An operation module 1061, configured to set a preset coordinate range and set a safety distance as a set distance. A signal generation module 1062, configured to generate an alarm signal.

[0100] In the embodiment of the present application, the operation module 1061 can be a display screen or a physical button, configured to receive a preset coordinate range set by a user and a safety distance parameter (i.e. a set distance) set by the user.

[0101] Referring to Figure 5In an embodiment of the present application, the system further comprises a storage module 108, which is electrically connected to the control module 106, and is configured to store the set distance and the preset coordinate range.

[0102] With continued reference to Figure 5 In an embodiment of the present application, the system further comprises a monitoring module 107, which is electrically connected to the judging module 103, and is configured to monitor the distance between the vehicle and the surrounding objects in real time. The monitoring module 107 is configured to, after the first area mode is started, monitor the distance between the vehicle and the surrounding objects in real time before the vehicle door is opened; and after the second area mode is started, monitor the distance between the vehicle and the surrounding objects in real time before the vehicle door is opened.

[0103] In the embodiments of the present application, the detection module 107 is provided with an ultrasonic sensor 1071. The ultrasonic sensor 1071 is a sensor that converts ultrasonic signals into other energy signals (usually electrical signals). Ultrasonic waves are mechanical waves with a frequency higher than 20 KHz. It has the characteristics of high frequency, short wavelength, small diffraction, good directionality, and directional propagation as a ray. Ultrasonic waves have great penetration power for liquids and solids, especially in solids that are opaque to sunlight. Ultrasonic waves will produce significant reflections and form reflected echoes when they encounter impurities or interfaces, and will produce Doppler effects when they encounter moving objects. The ultrasonic sensor 1071 is widely used in industry, national defense, biomedicine, etc. People can hear sound because of the vibration of objects, and the frequency is within the range of 20 Hz-20 KHz. Ultrasonic waves are called ultrasonic waves when the frequency exceeds 20 KHz, and subsonic waves when the frequency is below 20 Hz. The commonly used ultrasonic frequency is several tens of KHz to several tens of MHz. Ultrasonic waves are mechanical oscillations in an elastic medium, and there are two forms: transverse oscillation (transverse wave) and longitudinal oscillation (longitudinal wave). The longitudinal oscillation is mainly used in industry. Ultrasonic waves can propagate in gases, liquids and solids, and their propagation speeds are different. In addition, it also has refraction and reflection phenomena, and has attenuation in the propagation process. Ultrasonic waves propagate in air at a lower frequency, usually several tens of KHz, while in solids and liquids, the frequency can be used higher. In air, the attenuation is faster, while in liquids and solids, the attenuation is smaller and the propagation is farther. By using the characteristics of ultrasonic waves, various ultrasonic sensors 1071 can be made, and different circuits can be used to make various ultrasonic measuring instruments and devices, and they are widely used in communication, medical household appliances, etc. The main materials of the ultrasonic sensor 1071 are piezoelectric crystal (electrostrictive) and nickel-iron-aluminum alloy (magnetostrictive). The electrostrictive material includes lead zirconate titanate (PZT) and the like. The ultrasonic sensor composed of piezoelectric crystal is a reversible sensor, which can convert electrical energy into mechanical oscillation to generate ultrasonic waves, and when it receives ultrasonic waves, it can also convert electrical energy, so it can be divided into a transmitter or a receiver. Some ultrasonic sensors 1071 can both transmit and receive. Here, only small ultrasonic sensors are introduced, and the transmission and reception are slightly different. It is suitable for propagation in air, and the working frequency is generally 23-25 KHz and 40-45 KHz. This type of sensor is suitable for distance measurement, remote control, anti-theft, etc.

[0104] The ultrasonic sensor 1071 is composed of a sending sensor (or wave sender), a receiving sensor (or wave receiver), a control part and a power supply part. If a piezoelectric ceramic sheet (double crystal oscillator) with a resonance frequency of 40 KHz in the sending sensor is applied with a high-frequency voltage of 40 KHz, the piezoelectric ceramic sheet will elongate and shorten according to the polarity of the applied high-frequency voltage, thus sending ultrasonic waves with a frequency of 40 KHz, which are transmitted to the wave receiver in a sparse and dense form (the degree of sparsity and density can be modulated by the control circuit). The receiver uses the principle of piezoelectric effect of the pressure sensor, i.e. applying pressure on the piezoelectric element to cause strain of the piezoelectric element, thus generating a 40 KHz sinusoidal voltage with one side being "+" and the other side being "-". Since the amplitude of the high-frequency voltage is small, it must be amplified. The ultrasonic sensor 1071 detects the obstacles existing around the vehicle and timely issues a warning.

[0105] For example, the ultrasonic sensor 1071 with a working frequency of 40 KHz is installed on the edge of the vehicle door, which can detect the distance between the vehicle door and the surrounding obstacles in real time.

[0106] In an embodiment of the present application, the judging module 103 is further configured to: after the first area mode is started, before the vehicle door is opened, judge whether the distance is greater than a set distance; and after the second area mode is started, before the vehicle door is opened, judge whether the distance is greater than the set distance.

[0107] In an embodiment of the present application, the control module 106 is further configured to: after the first area mode is started, before the vehicle door is opened, if the distance is greater than the set distance, control the driving member to drive the vehicle door to open to a first set angle; after the first area mode is started, before the vehicle door is opened, if the distance is less than or equal to the set distance, control the driving member to stop driving the vehicle door to open; after the second area mode is started, before the vehicle door is opened, if the distance is greater than the set distance, control the driving member to drive the vehicle door to open to a second set angle; and after the second area mode is started, before the vehicle door is opened, if the distance is less than or equal to the set distance, control the driving member to stop driving the vehicle door to open.

[0108] In an embodiment of the present application, the monitoring module 107 is further configured to: after the vehicle door is opened, continuously monitor the distance between the vehicle and the surrounding objects within a first set time.

[0109] In an embodiment of the present application, the judging module 103 is further configured to: when the distance decreases, judge whether a distance change rate is greater than a set distance change rate.

[0110] In an embodiment of the present application, the control module 106 is further configured to: when the distance change rate is greater than a set distance change rate, control the driving member to drive the door to close by a third set angle and lock for a second set time; and when the distance change rate is less than or equal to the set distance change rate, control the driving member to maintain the current door opening angle unchanged.

[0111] With reference to the foregoing Figure 5 In an embodiment of the present application, the system further comprises an alarm device 109, which is electrically connected to the control module 106 and used to send an alarm according to an alarm signal.

[0112] In an embodiment of the present application, the control module 106 is further configured to: when the distance is less than or equal to a set distance and the control of the door opening is stopped, generate an alarm signal and control the alarm device 109 to send an alarm according to the alarm signal; and when the alarm signal is generated for a set number of times within a third set time, control the door control system 100 to reset.

[0113] In an embodiment of the present application, the mode opening module 104 is further configured to: when the vehicle GPS positioning information is not acquired, open the second area mode.

[0114] An embodiment of the present application further provides a computer program product, which comprises computer program code. When the computer program code is run on a computer, the computer program code causes the computer to execute the vehicle control method related to the above-mentioned embodiments. The computer program can be loaded on a vehicle system.

[0115] An embodiment of the present application further provides a computer readable storage medium, which stores program code. The program code is executed by one or more processors. When the program code is run on the processors, the program code causes the device comprising the one or more processors to execute the vehicle control method related to the above-mentioned embodiments. The processors running the computer readable storage medium can be loaded on a vehicle system.

[0116] It should be understood that when the modules or units described herein are implemented by software, the whole or part of the software can be realized in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed by a computer, the whole or part of the processes or functions described in the embodiments of the present application are produced. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, and the computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0117] The embodiments of the present application provide a chip system, which includes a processor, or the chip system includes a memory and a processor, for calling a computer program or computer instructions stored in the memory, so that the processor executes the vehicle control method related to the above-mentioned embodiments. The chip system can be a single chip or a chip module composed of multiple chips. The chip system can be mounted on a vehicle system.

[0118] The embodiments of the present application provide an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the electronic device implements the vehicle control method related to the above-mentioned embodiments. The electronic device can be mounted on a vehicle system.

[0119] The embodiments of the present application provide a vehicle.

[0120] For example, referring to Figure 6 , the vehicle 200 includes a memory 201, a processor 202, and a computer program 203 stored in the memory 201 and executable on the processor 202. When the processor 202 executes the computer program 203, the processor 202 implements the vehicle door control method related to the above-mentioned embodiments.

[0121] For example, the vehicle 200 can include a GPS, a data acquisition module, a judgment module, a mode opening module, a driving member, and a control module, which are integrated in the processor.

[0122] The GPS is used to provide vehicle positioning information; The data acquisition module is connected with the GPS, and is used to acquire vehicle GPS positioning information; The judgment module is connected with the data acquisition module, and the judgment module is configured to determine the area where the vehicle is located according to the vehicle GPS positioning information; when determining that the area where the vehicle is located is a first area, it is determined whether the vehicle is within a preset coordinate range; when determining that the area where the vehicle is located is a second area, it is determined whether the vehicle is beyond the preset coordinate range; The mode starting module is connected with the judgment module, and the mode starting module is configured to start the first area mode when the vehicle is within the preset coordinate range, and start the second area mode when the vehicle is beyond the preset coordinate range; The driving member drives the opening and closing of the vehicle door. The control module is connected with the driving member, and the control module is configured to control the driving member to drive the vehicle door to open to a first set angle after the first area mode is started, and control the driving member to drive the vehicle door to open to a second set angle after the second area mode is started.

[0123] Those skilled in the art can realize that the modules, units and method steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software manner depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0124] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any skilled person in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle door control method characterized by, The method is applied to a vehicle and comprises the following steps: determining a region where the vehicle is located according to vehicle positioning information; when it is determined that the region where the vehicle is located is a first region, determining whether the vehicle is within a preset coordinate range; when it is determined that the region where the vehicle is located is a second region, determining whether the vehicle is beyond the preset coordinate range; when the vehicle is within the preset coordinate range, starting a first region mode; when the vehicle is beyond the preset coordinate range, starting a second region mode; after the first region mode is started, controlling the vehicle door to open to a first set angle; after the second region mode is started, controlling the vehicle door to open to a second set angle; the first set angle is greater than the second set angle.

2. The vehicle door control method according to claim 1, characterized by, Before the vehicle door is controlled to open after the first region mode is started, the control method further comprises the following steps: monitoring a distance from the vehicle to an object around the vehicle in real time; determining whether the distance is greater than a set distance; if the distance is greater than the set distance, controlling the vehicle door to open to the first set angle; if the distance is less than or equal to the set distance, controlling the vehicle door to stop opening.

3. The vehicle door control method according to claim 1, characterized by, Before the vehicle door is controlled to open after the second region mode is started, the control method further comprises the following steps: monitoring a distance from the vehicle to an object around the vehicle in real time; determining whether the distance is greater than a set distance; if the distance is greater than the set distance, controlling the vehicle door to open to the second set angle; if the distance is less than or equal to the set distance, controlling the vehicle door to stop opening.

4. The vehicle door control method according to claim 2 or 3, characterized by, The control method further comprises the following steps: after the vehicle door is opened, continuously monitoring the distance from the vehicle to the object around the vehicle within a first set time; when the distance decreases, determining whether a distance change rate is greater than a set distance change rate; when the distance change rate is greater than the set distance change rate, controlling the vehicle door to close by a third set angle and locking for a second set time; when the distance change rate is less than or equal to the set distance change rate, maintaining the current opening angle of the vehicle door unchanged.

5. The vehicle door control method according to claim 2 or 3, characterized by, The control method further comprises the following steps: when the distance is less than or equal to the set distance, controlling the vehicle door to stop opening, generating an alarm signal, and controlling an alarm device to issue an alarm according to the alarm signal.

6. The vehicle door control method according to claim 5, characterized by The control method further comprises the following steps: when the alarm signal is generated for a set number of times within a third set time, controlling the vehicle door control system to reset.

7. The vehicle door control method according to claim 1, characterized by, The control method further comprises the following steps: when vehicle positioning information is not acquired, starting the second region mode.

8. A vehicle door control system characterized by comprising: The method is applied to a vehicle and comprises the following steps: a positioning module for providing vehicle positioning information; a data acquisition module connected to the positioning module for acquiring vehicle positioning information; a judgment module connected to the data acquisition module, which is configured to determine a region where the vehicle is located according to vehicle positioning information; when it is determined that the region where the vehicle is located is a first region, determine whether the vehicle is within a preset coordinate range; when it is determined that the region where the vehicle is located is a second region, determine whether the vehicle is beyond the preset coordinate range; a mode starting module connected to the judgment module, which is configured to start a first region mode when the vehicle is within the preset coordinate range; start a second region mode when the vehicle is beyond the preset coordinate range; a driving member for driving the vehicle door to open and close. A control module is connected with the driving member, and the control module is configured to: control the driving member to drive the vehicle door to open to a first set angle after a first area mode is opened; and control the driving member to drive the vehicle door to open to a second set angle after a second area mode is opened. The first set angle is greater than the second set angle.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores program codes, and the program codes are executed by one or more processors. When the program codes run on the processors, the device including the one or more processors performs the vehicle door control method as claimed in any one of claims 1 to 7.

10. A vehicle characterized by comprising: The vehicle includes the vehicle door control system as claimed in claim 8, or the computer readable storage medium as claimed in claim 9.

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