Vehicle door control method and device, electronic equipment and automatic driving vehicle

Abstract

The invention provides a vehicle door control method and device, electronic equipment and an automatic driving vehicle, and relates to the technical field of computers, in particular to the technical fields of automatic driving, driving assistance systems, electronic vehicle body control and the like. According to the specific implementation scheme, the method comprises the steps of determining a current parking scene of a target vehicle in response to a vehicle door opening signal for the target vehicle; determining a target vehicle door to be opened on the target vehicle; opening control parameters matched with the current parking scene and aiming at the target vehicle door are obtained; wherein the opening control parameter comprises an opening control force parameter of a vehicle door motor and / or a vehicle door opening degree; and controlling the target vehicle door to be opened according to the opening control parameters. By the adoption of the method and device, the overall getting-on and getting-off convenience of the target user can be remarkably improved, meanwhile, potential risks caused by improper opening of the target vehicle door can be actively avoided before the target vehicle runs, and therefore the use safety of the target vehicle is improved in a preposed mode.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of computer technology, in particular to the technical field of automatic driving, driving assistance system, electronic vehicle body control, and the like, and specifically relates to a vehicle door control method and device, an electronic device, and an automatic driving vehicle. BACKGROUND

[0002] To meet people's pursuit of smart travel, vehicles based on automatic driving technology have been widely used. However, the current related technology mainly focuses on path planning and driving safety guarantee during driving, and there are still obvious deficiencies in the convenience of vehicle use and the safety of use before driving. SUMMARY

[0003] The present disclosure provides a vehicle door control method and device, an electronic device, and an automatic driving vehicle.

[0004] According to a first aspect of the present disclosure, a vehicle door control method is provided, comprising: determining a current parking scene of a target vehicle in response to a vehicle door opening signal for the target vehicle; determining a target vehicle door to be opened on the target vehicle; obtaining an opening control parameter matched with the current parking scene and for the target vehicle door; wherein the opening control parameter comprises an opening control force parameter of a vehicle door motor and / or a vehicle door opening degree; controlling the target vehicle door to open according to the opening control parameter.

[0005] According to a second aspect of the present disclosure, a vehicle door control device is provided, comprising: a parking scene determination unit configured to determine a current parking scene of a target vehicle in response to a vehicle door opening signal for the target vehicle; a target vehicle door determination unit configured to determine a target vehicle door to be opened on the target vehicle; a control parameter obtaining unit configured to obtain an opening control parameter matched with the current parking scene and for the target vehicle door; wherein the opening control parameter comprises an opening control force parameter of a vehicle door motor and / or a vehicle door opening degree; a vehicle door opening unit configured to control the target vehicle door to open according to the opening control parameter.

[0006] According to a third aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; a memory communicatively connected to the at least one processor; The memory stores instructions executable 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 execute the method provided in the first aspect of the present disclosure.

[0007] According to a fourth aspect of the present disclosure, an automatic driving vehicle is provided, comprising the electronic device provided in the third aspect of the present disclosure.

[0008] According to a fifth aspect of the present disclosure, a non-transitory computer readable storage medium storing computer instructions is provided, wherein the computer instructions are used to make the computer execute the method provided in the first aspect or the second aspect of the present disclosure.

[0009] According to a sixth aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method provided in the first aspect or the second aspect of the present disclosure.

[0010] By adopting the present disclosure, the overall convenience of the target user getting on and off the vehicle can be significantly improved, and at the same time, potential risks caused by improper opening of the target vehicle door can be actively avoided before the target vehicle drives, thereby improving the use safety of the target vehicle in advance.

[0011] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings are used to better understand the present scheme, and do not constitute a limitation on the present disclosure. Among them: Figure 1 A flowchart of a vehicle door control method provided by an embodiment of the present disclosure; Figure 2 A complete flowchart of a vehicle door control method provided by an embodiment of the present disclosure; Figure 3 An explanatory diagram of a target vehicle door closing flow provided by an embodiment of the present disclosure; Figure 4 An explanatory diagram of an in-vehicle monitoring flow provided by an embodiment of the present disclosure; Figure 5 An application scenario diagram of a vehicle door control method provided by an embodiment of the present disclosure; Figure 6 A schematic structural block diagram of a vehicle door control device provided by an embodiment of the present disclosure; Figure 7 A schematic structural block diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0013] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, which are cited as illustrative examples. Various details of the embodiments of the present disclosure are described herein in order to provide a thorough understanding of the embodiments. It will be understood by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope of the present disclosure. Also, for the sake of brevity and clarity, descriptions of well-known functions and constructions are omitted herein.

[0014] The vehicle door control method provided by the embodiments of the present disclosure can be applied to an electronic device, which can be a body domain controller, an in-cabin domain controller, or a central computing module (CCM) integrated with automatic driving logic, and the embodiments of the present disclosure do not limit the electronic device. The target vehicle can be an automatic driving vehicle, for example, a conditional automatic driving (L3) level, a high automatic driving (L4) level, or a full automatic driving (L5) level. Hereinafter, the vehicle door control method provided by the embodiments of the present disclosure will be described with reference to the flowchart shown in FIG. 1. Figure 1 The vehicle door control method provided by the embodiments of the present disclosure will be described with reference to the flowchart shown in FIG. 1. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described in the flowchart can be performed in other orders.

[0015] In step S101, a current parking scenario of the target vehicle is determined in response to a vehicle door opening signal of the target vehicle.

[0016] The vehicle door opening signal can be generated when it is determined that a target user (e.g., a driver or a passenger) has a vehicle door opening intention; the current parking scenario can belong to at least one of a plurality of predefined scenarios, i.e., the current parking scenario can be a single scenario (belonging to only one predefined scenario) or a composite scenario (belonging to two or more of the plurality of predefined scenarios).

[0017] In addition, in the embodiments of the present disclosure, different predefined scenarios are defined by different features, which can include: Parking environment features: objective physical conditions of the target vehicle, such as road features, climate features, etc. Parking demand features: subjective service conditions that the target vehicle needs to respond to, to indicate whether there is a special assistance demand, such as convenience assistance provided for the disabled or the mobility-impaired.

[0018] In step S102, a target vehicle door to be opened on the target vehicle is determined.

[0019] The target vehicle door can be a sliding door or a side sliding door.

[0020] In addition, in the embodiments of the present disclosure, when the target user is a driver of the target vehicle, the target vehicle door can be a driver's door, specifically, for a left-hand drive vehicle, the target vehicle door can be a left front door; for a right-hand drive vehicle, the target vehicle door can be a right front door; correspondingly, when the target user is a passenger of the target vehicle, the target vehicle door can be at least one door other than the driver's door, specifically, for a left-hand drive vehicle, the target vehicle door can be at least one of a left rear door, a right front door and a right rear door; for a right-hand drive vehicle, the target vehicle door can be at least one of a right rear door, a left front door and a left rear door.

[0021] In step S103, an opening control parameter matched with the current parking scene and for the target vehicle door is acquired.

[0022] The opening control parameter can include an opening control force parameter of a vehicle door motor and / or a vehicle door opening degree. Here, the vehicle door motor is used to convert electrical energy into mechanical energy to drive the opening or closing of the target vehicle door; when the target vehicle door is a side sliding door, the opening control force parameter can be a first target output torque of the vehicle door motor, which is used to give the target vehicle door an opening force, and the vehicle door opening degree can be a vehicle door opening angle, which is used to represent a target angular displacement value of the target vehicle door rotating around its hinge shaft; when the target vehicle door is a side sliding door, the opening control force parameter can be a first target output pulling force of the vehicle door motor, which is used to give the target vehicle door an opening force, and the vehicle door opening degree can be a vehicle door opening width, which is used to represent a target length value of the target vehicle door sliding.

[0023] In step S104, the target vehicle door is controlled to open according to the opening control parameter.

[0024] In the embodiments of the present disclosure, when the opening control parameter includes the opening control force parameter of the vehicle door motor and the vehicle door opening degree, the vehicle door motor of the target vehicle door can be driven according to the opening control force parameter, and then the target vehicle door is controlled to move to the target position defined by the vehicle door opening degree. Wherein, "driving the vehicle door motor of the target vehicle door according to the opening control force parameter" can include: converting the opening control parameter into a pulse width modulation (PWM) value of the target click, and driving the vehicle door motor of the target vehicle door according to the PWM value.

[0025] The vehicle door control method provided in the embodiments of the present disclosure can determine the current parking scene of the target vehicle and determine the target vehicle door to be opened in response to the vehicle door opening signal of the target vehicle, and then obtain the opening control parameter (including the opening control force parameter of the vehicle door motor and / or the vehicle door opening degree) matched with the current parking scene and for the target vehicle door to control the target vehicle door to open according to the opening control parameter. That is, in the embodiments of the present disclosure, the current parking scene can be perceived in real time, and the opening control parameter for the target vehicle door is dynamically matched for the current parking scene, so as to realize the scene-adaptive intelligent opening of the target vehicle door, thereby ensuring that appropriate vehicle door opening force and / or vehicle door opening degree can be provided in various complex parking scenes. This not only can significantly improve the overall convenience of the target user getting on and off the vehicle, realize the experience extension from "driving convenience" to "vehicle convenience", and fill the technical gap of the automatic driving technology in the fine service link, but also can actively avoid potential safety risks such as collision and injury caused by improper opening of the target vehicle door before the target vehicle drives, thereby improving the use safety of the target vehicle in advance.

[0026] As described above, in the embodiments of the present disclosure, the current parking scene can belong to at least one of a plurality of predefined scenes.

[0027] The plurality of predefined scenes can include a slope scene, an extreme weather scene, and a special assistance demand scene. Here, the slope scene can be a scene in which the uphill slope or the downhill slope of the current parking road surface is greater than or equal to a preset slope threshold, and the preset slope can be set according to the application requirement of the vehicle door control method, for example, can be set to 6% (i.e., 3.5°), which is not limited in the embodiments of the present disclosure; the extreme weather scene can be a heavy snow scene, a heavy rain scene, etc.; and the special assistance demand scene can be a scene in which the target user is a disabled person or a person with difficulty in moving.

[0028] That is, in the embodiments of the present disclosure, different sources (for example, terrain, climate, or human demand) affecting the convenience and safety of the target vehicle door can be accurately identified through structured and modular predefined scene definition, and appropriate opening control parameter for the target vehicle door is matched for each source. This not only can improve the adaptability and reliability of the vehicle door opening method in different parking scenes, but also facilitates the on-demand addition of predefined scenes (for example, adding a flat road scene, an icy road scene, etc.), thereby improving the generalizability of the vehicle door opening method. The flat road scene can be a scene in which the uphill slope or the downhill slope of the current parking road surface is less than a preset slope threshold.

[0029] In addition, it should be noted that in the embodiments of the present disclosure, the current parking scene can be determined based on the data acquisition results of a plurality of sensors arranged on the target vehicle. The plurality of sensors can include a camera, an ultrasonic radar, a millimeter wave radar, a laser radar, and an inertial measurement unit, and the embodiments of the present disclosure do not limit this.

[0030] As described above, in the embodiments of the present disclosure, the opening control parameter can include an opening control force parameter of the door motor and / or a door opening degree. Based on this, in the embodiments of the present disclosure, when the door opening degree is obtained, step S103, that is, "obtaining the opening control parameter matched with the current parking scene and for the target door" can include: In the case that the current parking scene also belongs to the extreme weather scene, but does not belong to the special auxiliary demand scene, the first opening degree is obtained as the door opening degree; Or, in the case that the current parking scene also belongs to the special auxiliary demand scene, the second opening degree is obtained as the door opening degree.

[0031] The first opening degree can be less than the full opening degree of the target door, which can be set according to the application requirements of the door control method, and the embodiments of the present disclosure do not limit this. The second opening degree can be greater than the first opening degree and less than or equal to the full opening degree of the target door, and preferably, the second opening degree is equal to the full opening degree of the target door.

[0032] In addition, it should be noted that in the embodiments of the present disclosure, when the target door belongs to a horizontal sliding door, the full opening degree can be the limit opening angle of the target door; when the target door belongs to a side sliding door, the full opening degree can be the limit opening width of the target door.

[0033] In this way, in the embodiments of the present disclosure, in the extreme weather scene, the risk (for example, rain and snow intrusion) can be actively prevented by limiting the door opening degree, and in the special auxiliary demand scene, a larger door opening degree can be provided to ensure the convenience and safety of the target user, so that the individual needs of different parking scenes are met with differentiated intelligent strategies.

[0034] Further, in the step S103 of obtaining the opening control force parameter, that is, "obtaining the opening control parameter matched with the current parking scene and for the target door" can further include: In the case that the current parking scene belongs to the slope scene, obtaining the attitude information of the target vehicle; Based on the attitude information, obtaining an equivalent slope representation result corresponding to the target door; Based on the equivalent slope representation result, obtaining the opening control force parameter.

[0035] The attitude information can include a pitch angle and a roll angle. The pitch angle can be used to represent the inclination of the target vehicle in the front-rear direction, that is, the angle between the X-axis of the vehicle coordinate system of the target vehicle and the horizontal plane. The roll angle can be used to represent the inclination of the target vehicle in the left-right direction, that is, the angle between the Y-axis of the vehicle coordinate system of the target vehicle and the horizontal plane.

[0036] In addition, it should be noted that in the embodiments of the present disclosure, the equivalent slope representation result can be regarded as a single, direction-specific quantitative indicator of "door opening difficulty", which is used to quantify the additional influence of the weight of the target door on the door opening operation in the case that the current parking scene belongs to a slope scene.

[0037] It should also be noted that in the embodiments of the present disclosure, in order to improve the efficiency of obtaining the equivalent slope representation result, as a first optional implementation, the equivalent slope representation result can be obtained based only on the pitch angle after obtaining the pitch angle of the target vehicle, for example, when the target door is a sliding door, the pitch angle can be used as the equivalent slope representation result; for another example, when the target door is a side sliding door, the sine value of the pitch angle can be used as the equivalent slope representation result. However, obtaining the equivalent slope representation result based only on the pitch angle will ignore the additional influence of the roll angle on the door opening operation. Based on this, in the embodiments of the present disclosure, in order to obtain a more accurate equivalent slope representation result, as a second optional implementation, "obtaining the equivalent slope representation result corresponding to the target door based on the attitude information (pitch angle and roll angle)" can also include: obtaining a slope compensation quantity corresponding to the target door based on the roll angle; obtaining the equivalent slope representation result based on the pitch angle and the slope compensation quantity.

[0038] The slope compensation quantity can be a slope quantitative value obtained by converting the roll angle, and the conversion method can include: determining the installation position of the target door on the target vehicle; obtaining a compensation quantity influence coefficient corresponding to the target door based on the installation position; obtaining the slope compensation quantity based on the roll angle and the compensation quantity influence coefficient.

[0039] The installation position can be the left side of the target vehicle (i.e., the target door is a left front door or a left rear door) or the right side of the target vehicle (i.e., the target door is a right front door or a right rear door). In addition, in the embodiment of the present disclosure, the compensation amount influence coefficient corresponding to the target door can be set to "1" when the installation position is the left side of the target vehicle, and the compensation amount influence coefficient corresponding to the target door can be set to "-1" when the installation position is the right side of the target vehicle.

[0040] After determining the installation position of the target door on the target vehicle and obtaining the compensation amount influence coefficient corresponding to the target door based on the installation position, the slope compensation amount can be obtained based on the roll angle and the compensation amount influence coefficient. For example, when the target door belongs to a horizontally sliding door, the product of the first roll influence weight and the compensation amount influence coefficient can be obtained as a first roll conversion parameter, and the product of the first roll conversion parameter and the roll angle can be obtained as the slope compensation amount. For another example, when the target door belongs to a side sliding door, the product of the second roll influence weight and the compensation amount influence coefficient can be obtained as a second roll conversion parameter, and the product of the second roll conversion parameter and the sine value of the roll angle can be obtained as the slope compensation amount.

[0041] After obtaining the slope compensation amount corresponding to the target door based on the roll angle, the equivalent slope representation result can be obtained based on the pitch angle and the slope compensation amount.

[0042] For example, when the target door belongs to a horizontally sliding door, the sum of the pitch angle and the slope compensation amount can be obtained as the equivalent slope representation result. This process can be represented as: wherein, The pitch angle is positive when the ramp scene is an uphill scene, and correspondingly, the pitch angle is negative when the ramp scene is a downhill scene; The first roll influence weight is used to represent the first roll influence weight, which can be set according to the application requirements of the door control method, for example, can be set to any value in the numerical interval [0.3, 0.5], and the present disclosure does not limit this; The compensation amount influence coefficient is used to represent the compensation amount influence coefficient; The roll angle is used to represent the roll angle, which is positive when the target vehicle is right-tilting (i.e., the right side is sinking), and correspondingly, the roll angle is negative when the target vehicle is left-tilting (i.e., the left side is sinking); The slope compensation amount is used to represent the slope compensation amount; The equivalent slope representation result is used to represent the equivalent slope representation result.

[0043] In summary, in the embodiments of the present disclosure, when the target vehicle door is a left front door or a left rear door, the equivalent slope representation result corresponding to the target vehicle door can be as shown in Table 1; similarly, when the target vehicle door is a right front door or a right rear door, the equivalent slope representation result corresponding to the target vehicle door can also be as shown in Table 1.

[0044] Table 1 For another example, when the target vehicle door is a side sliding door, the sum of the sine value of the pitch angle and the slope compensation amount can be obtained as the equivalent slope representation result. This process can be represented as: wherein, for representing the pitch angle, and when the slope scene is specifically an uphill scene, the pitch angle is positive; correspondingly, when the slope scene is specifically a downhill scene, the pitch angle is negative; for representing the second roll influence weight, which can be set according to the application requirements of the vehicle door control method, for example, can be set to any value in the numerical interval [0.1, 0.3], and the embodiments of the present disclosure do not limit this; for representing the compensation amount influence coefficient; for representing the roll angle, and when the target vehicle is right roll (i.e., the right side sinks), the roll angle is positive; correspondingly, when the target vehicle is left roll (i.e., the left side sinks), the roll angle is negative; for representing the slope compensation amount; for representing the equivalent slope representation result.

[0045] In summary, in the embodiments of the present disclosure, when the target vehicle door is a left front door or a left rear door, the equivalent slope representation result corresponding to the target vehicle door can be as shown in Table 2; similarly, when the target vehicle door is a right front door or a right rear door, the equivalent slope representation result corresponding to the target vehicle door can also be as shown in Table 2.

[0046] Table 2 By the above manner, the slope compensation quantity corresponding to the target door can be obtained based on the roll angle, and the equivalent slope representation result can be obtained based on the pitch angle and the slope compensation quantity. Moreover, when the slope compensation quantity is obtained based on the roll angle, the differentiated compensation quantity influence coefficient can be determined by identifying the installation position (left or right) of the target door on the target vehicle, and the slope compensation quantity can be obtained in combination with the roll angle, so as to fuse the slope compensation quantity and the pitch angle into the equivalent slope representation result. Through this mechanism, the comprehensive tilting state of the target vehicle in the front-rear direction and the left-right direction can be dynamically perceived, so that the opening control force parameter is adaptively adjusted, so that no matter the target vehicle is in the uphill state, the downhill state, the "uphill + tilting" state, or the "downhill + tilting" state, the target door can be stably opened with a suitable opening force, thereby effectively eliminating the operation resistance or assistance influence caused by the slope of the current parking surface, significantly improving the operation convenience and safety of the target door, and realizing the intelligent control effect that the target door can be easily and safely opened on "any slope".

[0047] In the embodiments of the present disclosure, in the case that the current parking scene belongs to a ramp scene, the attitude information of the target vehicle is obtained, and after obtaining the equivalent slope representation result corresponding to the target door based on the attitude information, the opening control force parameter is obtained based on the equivalent slope representation result. In some optional embodiments, "obtaining the opening control force parameter based on the equivalent slope representation result" can include: obtaining a first reference control force parameter of a door motor matched with the flat road scene and for the target door; obtaining an opening control force compensation quantity corresponding to the target door based on the equivalent slope representation result; obtaining the opening control force parameter based on the first reference control force parameter and the opening control force compensation quantity.

[0048] Wherein, when the target door is a flat door, the first reference control force parameter can be a first reference output torque of the door motor, which is used to give the target door an opening force; when the target door is a side sliding door, the first reference control force parameter can be a first reference output tension of the door motor, which is also used to give the target door an opening force.

[0049] Further, in the embodiments of the present disclosure, the first reference control force parameter can be set based on the result obtained by the door opening experiment on the horizontal road surface. For example, when the target door is a flat door, the first reference control force parameter can be set to a certain value in the numerical interval [25, 75], unit: Newton-meter (N m); for another example, when the target door is a side sliding door, the first reference control force parameter can be set to a certain value in the numerical interval [1220, 1880], unit: Newton (N).

[0050] In addition, it should be noted that in the embodiments of the present disclosure, the first reference control force parameter of the door motor matched with the flat road scene and corresponding to the target door can be obtained, and the opening control force compensation corresponding to the target door can be obtained based on the equivalent slope representation result, so that it is possible to perform the operation of obtaining the opening control force parameter matched with the current parking scene and corresponding to the target door based on the first reference control force parameter and the opening control force compensation as early as possible, thereby improving the efficiency of obtaining the opening control force parameter.

[0051] Further, in the embodiments of the present disclosure, when the target door belongs to a swing door, the door opening degree is the door opening angle, and the operation of obtaining the opening control force compensation corresponding to the target door based on the equivalent slope representation result can include: obtaining the opening control force compensation based on the equivalent slope representation result and the door opening degree.

[0052] The opening control force compensation can be a compensatory output torque of the door motor, which is used to give the target door an opening driving force.

[0053] In the embodiments of the present disclosure, after obtaining the opening control force compensation based on the equivalent slope representation result and the door opening degree, the opening control force parameter can be obtained based on the first reference control force parameter and the opening control force compensation. For example, the sum of the first reference control force parameter and the opening control force compensation can be calculated as the opening control force parameter. This process can be represented as: wherein, is used to represent the first reference control force parameter; is used to represent the safety compensation coefficient, which can be set according to the application requirements of the door control method, for example, can be set to any value in the value interval [1.1, 1.3], and the embodiments of the present disclosure do not limit this; is used to represent the gravity torque coefficient, which can be set according to the application requirements of the door control method, for example, can be set to any value in the value interval [35, 95], and the embodiments of the present disclosure do not limit this; is used to represent the door opening degree; is used to represent the equivalent slope representation result; is used to represent the opening control force compensation, which can be a positive number (for example, in the case of a downhill scene) or a negative number (for example, in the case of an uphill scene); is used to represent the opening control force parameter.

[0054] In the embodiments of the present disclosure, when the target vehicle door belongs to a side sliding door, the door opening degree is the door opening width, and after obtaining the opening control force compensation corresponding to the target vehicle door based on the equivalent slope representation result, the opening control force parameter is obtained based on the first reference control force parameter and the opening control force compensation. In the embodiments of the present disclosure, "obtaining the opening control force parameter based on the first reference control force parameter and the opening control force compensation" can include: adjusting the first reference control force parameter based on the door opening degree to obtain an intermediate reference control force parameter; obtaining the opening control force parameter based on the intermediate reference control force parameter and the opening control force compensation.

[0055] The intermediate reference control force parameter can be a compensatory output tension of the vehicle door motor, which is used to give the target vehicle door an opening driving force.

[0056] In the embodiments of the present disclosure, when the opening control force parameter is obtained based on the intermediate reference control force parameter and the opening control force compensation, the sum of the intermediate reference control force parameter and the opening control force compensation can be calculated as the opening control force parameter. This process can be represented as: wherein, is used to represent the opening displacement influence coefficient, which can be set according to the application requirements of the vehicle door control method, for example, it can be set to any value in the value interval [0.1, 0.3], and the embodiments of the present disclosure do not limit this; is used to represent the door opening width; is used to represent the full opening degree, that is, the limit opening width of the target vehicle door; is used to represent the displacement ratio factor; is used to represent the first reference control force parameter; is used to represent the intermediate reference control force parameter; is used to represent the safety compensation coefficient, which can be set according to the application requirements of the vehicle door control method, for example, it can be set to any value in the value interval [1.1, 1.3], and the embodiments of the present disclosure do not limit this; is used to represent the total amount of the target vehicle door; is used to represent the equivalent slope representation result; is used to represent the opening control force compensation, which can be positive (for example, in the case of a downhill scene) or negative (for example, in the case of an uphill scene); is used to represent the opening control force parameter.

[0057] By the above manner, in the embodiment of the present disclosure, the first reference control force parameter of the door motor matched with the flat road scene and for the target door can be obtained, and based on the equivalent slope representation result, the opening control force compensation quantity corresponding to the target door is obtained, and then based on the first reference control force parameter and the opening control force compensation quantity, the opening control force parameter is obtained. That is to say, in the embodiment of the present disclosure, the first reference control force parameter can be calibrated based on the flat road scene, to ensure the smoothness and consistency of the door opening operation at the most basic level; secondly, the equivalent slope representation result based on the attitude information (pitch angle and roll angle) of the target vehicle is introduced, to accurately quantify the additional influence of the weight of the target door on the door opening operation in the case that the current parking scene belongs to a ramp scene, and the corresponding opening control force compensation quantity is obtained, and then the two are superimposed to generate the opening control force parameter suitable for the current parking scene. In this way, the problem that the door opening resistance suddenly changes and the user experience is inconsistent due to the influence of the weight of the target door in the ramp scene can be fundamentally solved, so that the target door can maintain smooth and stable opening force in different inclined road conditions, and the environmental adaptability of the door control method is significantly improved.

[0058] Moreover, when the target door belongs to a side sliding door and the door opening degree is the door opening width, specifically, the first reference control force parameter of the door motor matched with the flat road scene and for the target door can be obtained, and based on the equivalent slope representation result, the opening control force compensation quantity corresponding to the target door is obtained, and then based on the door opening degree (specifically, the door opening width), the first reference control force parameter is adjusted to obtain an intermediate reference control force parameter, and based on the intermediate reference control force parameter and the opening control force compensation quantity, the opening control force parameter is obtained. That is to say, in the embodiment of the present disclosure, for the target door belonging to a side sliding door, the opening control force parameter will be dynamically associated with the door opening width displacement to ensure accurate compensation of the opening control force during the rotation process. For the target door belonging to a side sliding door, the opening control force will be linearly adjusted based on the door opening width displacement to match the friction change in the translation process. Both of them are based on the unified "reference force + opening control force compensation" framework, which realizes the wide adaptation to different door structures of vehicles and effectively improves the opening smoothness and stability of the target door in different inclined road conditions.

[0059] Further, in the embodiments of the present disclosure, the vehicle door control method in steps S101, S102, S103 and S104 can be applied to the user boarding process before the target vehicle starts driving. Based on this, in the embodiments of the present disclosure, before step S101 is performed, the vehicle door control method can further include: determining a plurality of candidate authentication manners in response to a user authentication request; obtaining a priority order of the plurality of candidate authentication manners; determining a target authentication manner from the plurality of candidate authentication manners according to the priority order; generating a vehicle door opening signal for the target vehicle in a case where the user authentication process is completed by using the target authentication manner.

[0060] The user authentication request can be automatically initiated by the target vehicle, for example, can be automatically initiated after the target vehicle arrives at the starting address of the current trip; the user authentication request can also be triggered by the target user, for example, can be triggered by the target user based on a target application (Application, APP) associated with the target vehicle after the target vehicle arrives at the starting address of the current trip. Here, the target APP can be installed on a smart terminal carried by the target user, such as a smart phone, a smart watch, etc.

[0061] In the embodiments of the present disclosure, the plurality of candidate authentication manners can include at least one of a non-contact authentication manner based on Ultra Wide Band (UWB) technology, a non-contact authentication manner based on wireless Bluetooth technology, a contact authentication manner based on a target APP trigger, and a contact authentication manner based on a target vehicle external control panel trigger.

[0062] The priority order of the above-mentioned several candidate authentication manners can be: non-contact authentication manner based on UWB > non-contact authentication manner based on Bluetooth > contact authentication manner based on target APP trigger > contact authentication manner based on target vehicle external control panel trigger In addition, it should be noted that, in the embodiments of the present disclosure, after the priority order of the plurality of candidate authentication manners is obtained, and the target authentication manner is determined from the plurality of candidate authentication manners according to the priority order, in the case that the user authentication process is completed by using the target authentication manner, the vehicle door opening signal for the target vehicle is generated; correspondingly, in the case that the user authentication process is not completed by using the target authentication manner, the next candidate authentication manner with a priority order after the target authentication manner is determined from the plurality of candidate authentication manners as a new target authentication manner, and an attempt is made to authenticate by using the new target authentication manner until the user authentication process is completed, so as to determine that the target user has a vehicle door opening intention, and generate the vehicle door opening signal for the target vehicle.

[0063] In the embodiments of the present disclosure, in response to a user authentication request, a plurality of candidate authentication manners can be determined, and a priority order of the plurality of candidate authentication manners can be obtained, and then a target authentication manner can be determined from the plurality of candidate authentication manners according to the priority order, so as to generate a vehicle door opening signal for a target vehicle in the case that the user authentication process is completed by using the target authentication manner. The plurality of candidate authentication manners can include non-contact unlocking authentication, Bluetooth handshake authentication, application trigger authentication, and password input authentication, and the priority order of the plurality of candidate authentication manners can be: non-contact unlocking authentication > Bluetooth handshake authentication > application trigger authentication > password input authentication. That is, in the embodiments of the present disclosure, the authentication priority is in a progressive manner of “non-contact-near field-manual-emergency”. Specifically, the non-contact unlocking authentication with the highest priority realizes true “walk-in opening”, and the user does not need any operation; the Bluetooth authentication as a near field backup still maintains the convenience of non-contact in complex environments; the manual APP trigger and the password input ensure controllability in extreme cases. This design not only maximizes the reduction of cumbersome operation processes in daily use, but also avoids “high-tech embarrassment” through multiple safeguards, so that users with different technical adaptabilities (for example, some elderly users) can also obtain a smooth and natural vehicle door opening experience.

[0064] In the embodiments of the present disclosure, after the user authentication process is completed and the vehicle door opening signal for the target vehicle is generated, and the vehicle door control method described in steps S101, S102, S103 and S104 is applied to the user boarding process, the vehicle door control method can further include: In the case that the target user enters the target vehicle from the target door, a vehicle door closing signal for the target door is generated; In response to the vehicle door closing signal, the target door is controlled to be closed.

[0065] That is, the vehicle door control method provided in the embodiment of the present disclosure can not only realize automatic opening of the target vehicle door in the user getting-on process, but also realize automatic closing of the target vehicle door when it is detected that the target user enters the target vehicle from the target vehicle door, thereby further improving the overall convenience of the target user getting on and off the vehicle.

[0066] In the embodiment of the present disclosure, the vehicle door control method described in steps S101, S102, S103 and S104 can also be applied to the user getting-off process after the target vehicle starts driving and reaches the destination address of the current trip. Based on this, before step S101 is performed, the vehicle door control method in the embodiment of the present disclosure can further include: generating a vehicle door opening signal for the target vehicle when it is detected that the target vehicle reaches the destination address of the current trip and completes parking.

[0067] That is, the vehicle door control method provided in the embodiment of the present disclosure can not only realize automatic opening of the target vehicle door in the user getting-on process, but also realize automatic closing of the target vehicle door when it is detected that the target vehicle reaches the destination address of the current trip and completes parking, thereby further improving the overall convenience of the target user getting on and off the vehicle.

[0068] In the embodiment of the present disclosure, after the vehicle door opening signal for the target vehicle is generated when it is detected that the target vehicle reaches the destination address of the current trip and completes parking, the vehicle door control method described in steps S101, S102, S103 and S104 is applied to the user getting-off process, and the vehicle door control method can further include: generating a vehicle door closing signal for the target vehicle when it is detected that the target user moves from the target vehicle door to the outside of the target vehicle; controlling the target vehicle door to close in response to the vehicle door closing signal.

[0069] That is, the vehicle door control method provided in the embodiment of the present disclosure can not only realize automatic opening of the target vehicle door in the user getting-off process, but also realize automatic closing of the target vehicle door when it is detected that the target vehicle reaches the destination address of the current trip and completes parking, thereby further improving the overall convenience of the target user getting on and off the vehicle.

[0070] Further, in the embodiment of the present disclosure, the step of "controlling the target vehicle door to close in response to the vehicle door closing signal" can include: obtaining a first closing control force parameter of a door motor of the target vehicle door in response to the vehicle door closing signal; controlling the target vehicle door to close according to the first closing control force parameter; In a case where it is detected that the target vehicle door fails to close, a second closing control force parameter of the vehicle door motor for the target vehicle door is acquired; The target vehicle door is closed according to the second closing control force parameter.

[0071] Wherein, in a case where the target vehicle door belongs to a horizontal sliding door, the first closing control force parameter and the second closing control force parameter can be a second target output torque of the vehicle door motor, which is used to impart closing power to the target vehicle door; in a case where the target vehicle door belongs to a side sliding door, the first closing control force parameter and the second closing control force parameter can be a second target output tension of the vehicle door motor, which is used to impart closing power to the target vehicle door.

[0072] In addition, it needs to be noted that, in the embodiments of the present disclosure, the second closing control force parameter is greater than the first closing control force parameter, which can be understood as: the numerical part of the second closing control force parameter is greater than the numerical part of the first closing control force parameter, that is, the absolute value of the second closing control force parameter is greater than the absolute value of the first closing control force parameter.

[0073] It also needs to be noted that, in the embodiments of the present disclosure, in a case where the target vehicle is an unmanned passenger vehicle, after the target vehicle door is closed according to the second closing control force parameter, if it is still detected that the target vehicle door fails to close, an abnormal situation alarm information can be generated and sent to the cloud management and control platform of the target vehicle. Wherein, the abnormal situation alarm information can be used to request manual intervention to handle the abnormal situation of the target vehicle door.

[0074] Through the above manner, in the embodiments of the present disclosure, the first closing control force parameter of the vehicle door motor for the target vehicle door can be acquired in response to the vehicle door closing signal, and the target vehicle door is closed according to the first closing control force parameter, and then in a case where it is detected that the target vehicle door fails to close, the second closing control force parameter of the vehicle door motor for the target vehicle door is acquired to close the target vehicle door according to the second closing control force parameter. That is, in the embodiments of the present disclosure, the target vehicle door can be closed by means of "repeatedly trying to close", and the closing control force parameter is incremental, thereby improving the closing success rate of the target vehicle door and reducing the probability of manual intervention.

[0075] Further, in the embodiments of the present disclosure, based on the same idea as step S103, that is, "acquiring an opening control parameter matched with the current parking scene and for the target vehicle door", "acquiring the first closing control force parameter of the vehicle door motor for the target vehicle door" can include: In a case where the current parking scene belongs to a slope scene, acquiring attitude information of the target vehicle; Based on the attitude information, obtaining an equivalent slope representation result corresponding to the target vehicle door; The first closing control force parameter is obtained based on the equivalent slope representation result.

[0076] In some optional embodiments, obtaining the equivalent slope representation result corresponding to the target door based on the attitude information can include: obtaining a slope compensation amount corresponding to the target door based on a roll angle included in the attitude information, and obtaining the equivalent slope representation result based on a pitch angle included in the attitude information and the slope compensation amount. In this case, obtaining the slope compensation amount based on the roll angle and the compensation amount influence coefficient can further include: determining an installation position of the target door on the target vehicle, and obtaining a compensation amount influence coefficient corresponding to the target door based on the installation position, and then obtaining the slope compensation amount based on the roll angle and the compensation amount influence coefficient.

[0077] In some optional embodiments, obtaining the first closing control force parameter based on the equivalent slope representation result can include: obtaining a second reference control force parameter of a door motor corresponding to the target door and matching a flat road scene, obtaining a first closing control force compensation amount corresponding to the target door based on the equivalent slope representation result, and obtaining the first closing control force parameter based on the second reference control force parameter and the first closing control force compensation amount.

[0078] In the case where the target door is a vertical sliding door, obtaining the first closing control force compensation amount corresponding to the target door based on the equivalent slope representation result can include: obtaining the first closing control force compensation amount based on the equivalent slope representation result and a door opening degree.

[0079] Therefore, in the case where the target door is a vertical sliding door, the process of obtaining the first closing control force parameter can be represented as: In this case, The second reference control force parameter is used to represent the second reference control force parameter, which can be set based on the result of the door closing experiment on the horizontal road, for example, can be set to a certain value in the value interval [-35, -45], and the unit is N m; The safety compensation coefficient is used to represent the safety compensation coefficient, which can be set according to the application requirement of the door control method, for example, can be set to any value in the value interval [1.1, 1.3], and the present disclosure does not limit this; The gravity torque coefficient is used to represent the gravity torque coefficient, which can be set according to the application requirement of the door control method, for example, can be set to any value in the value interval [35, 95], and the present disclosure does not limit this; The current door opening degree is used to represent the current door opening degree. The equivalent slope representation result is used to represent the equivalent slope representation result. for representing the first closing controller compensation quantity, which can be positive (for example, in the case of an uphill scenario in a ramp scenario) or negative (for example, in the case of a downhill scenario in a ramp scenario); for representing the first closing controller compensation quantity.

[0080] Correspondingly, in the case of a side sliding door, the process of obtaining the first closing control force parameter based on the second reference control force parameter and the first closing controller compensation quantity can include: adjusting the second reference control force parameter based on the door opening degree to obtain an intermediate reference control force parameter, and obtaining the first closing control force parameter based on the intermediate reference control force parameter and the first closing controller compensation quantity.

[0081] Based on this, in the case of a side sliding door, the process of obtaining the first closing control force parameter can be represented as: wherein, for representing the door closing displacement influence coefficient, which can be set according to the application requirements of the door control method, for example, can be set to any value in the value interval [-0.1, 0.1], and the embodiments of the present disclosure do not limit this; for representing the door opening width; for representing the full opening degree, that is, the maximum opening width of the target door; for representing the displacement proportion factor; for representing the second reference control force parameter, which can be set based on the results of the door closing experiment on a horizontal road surface, for example, can be set to a certain value in the value interval [-1500, -1800], unit: N; for representing the intermediate reference control force parameter; for representing the safety compensation coefficient, which can be set according to the application requirements of the door control method, for example, can be set to any value in the value interval [1.1, 1.3], and the embodiments of the present disclosure do not limit this; for representing the total amount of the target door; for representing the equivalent slope representation result; for representing the first closing controller compensation quantity, which can be positive (for example, in the case of an uphill scenario in a ramp scenario) or negative (for example, in the case of a downhill scenario in a ramp scenario); for representing the first closing controller compensation quantity.

[0082] It can be understood that, in the embodiments of the present disclosure, the "obtaining the second closing control force parameter of the door motor of the target door" can also be implemented based on the same idea as step S103, that is, "obtaining the opening control parameter matched with the current parking scene and for the target door", and the embodiments of the present disclosure will not be repeated.

[0083] In the following, the integrity process of the door control method provided by the embodiments of the present disclosure will be described with the target vehicle as an unmanned operation passenger vehicle as an example. Figure 2 and Figure 3 In the following, the integrity process of the door control method provided by the embodiments of the present disclosure will be described with the target vehicle as an unmanned operation passenger vehicle as an example.

[0084] Step S201, receiving a travel order sent by a cloud management and control platform.

[0085] In the embodiments of the present disclosure, the cloud management and control platform can generate a travel order including a starting address and a destination address when receiving a vehicle request of a target user, and assign the travel order to the target vehicle, and send the vehicle end authentication information to the target vehicle, and send the user authentication information matched with the vehicle end authentication information to the target user.

[0086] The vehicle request can be initiated by the target user based on the target APP installed on the smart terminal carried by the target user. Here, the smart terminal can be a smart phone, a smart watch, etc.

[0087] Step S202, the target vehicle arrives at the starting address and enters a waiting authentication state.

[0088] In the embodiments of the present disclosure, the target vehicle can automatically engage the parking gear after arriving at the starting address, and light up the external control panel and double flash of the target vehicle, and at the same time, activate the UWB module, the Bluetooth module and the near distance application transmission module to enter the waiting authentication state.

[0089] Step S203, entering a progressive user authentication process.

[0090] In an example, a plurality of candidate authentication modes can be determined, and a priority order of the plurality of candidate authentication modes is obtained, and then a target authentication mode is determined from the plurality of candidate authentication modes according to the priority order, so as to generate a door opening signal for the target vehicle in the case that the target authentication mode is used to complete the user authentication process.

[0091] Step S204, in response to the door opening signal for the target vehicle, determining the current parking scene of the target vehicle, and determining the target door to be opened on the target vehicle, and then obtaining the opening control parameter matched with the current parking scene and for the target door, so as to control the target door to open according to the opening control parameter.

[0092] In step S205, in response to the target user entering the target vehicle from the target door being detected, a door closing signal for the target door is generated, and the target door is controlled to close in response to the door closing signal.

[0093] In combination with Figure 3 In the embodiments of the present disclosure, in response to the target door being controlled to close in response to the door closing signal, a first closing control force parameter of a door motor for the target door can be obtained in response to the door closing signal, and the target door is controlled to close according to the first closing control force parameter. In addition, in response to the target door being detected to fail to close, a second closing control force parameter of the door motor for the target door is obtained, and the target door is controlled to close according to the second closing control force parameter.

[0094] In the embodiments of the present disclosure, in response to the target door being controlled to close in response to the door closing signal, a first closing control force parameter of a door motor for the target door can be obtained in response to the door closing signal, and the target door is controlled to close according to the first closing control force parameter. In addition, in response to the target door being detected to fail to close, a second closing control force parameter of the door motor for the target door is obtained, and the target door is controlled to close according to the second closing control force parameter.

[0095] In the embodiments of the present disclosure, in response to the target door being controlled to close in response to the door closing signal, a first closing control force parameter of a door motor for the target door can be obtained in response to the door closing signal, and the target door is controlled to close according to the first closing control force parameter. In addition, in response to the target door being detected to fail to close, a second closing control force parameter of the door motor for the target door is obtained, and the target door is controlled to close according to the second closing control force parameter.

[0096] In addition, it should be noted that in the embodiments of the present disclosure, in the driving process of the target vehicle, in response to the driving speed of the target vehicle being greater than or equal to a preset speed threshold, the opening and closing control keys of all doors in the target vehicle are automatically disabled. In this regard, in order to ensure the safety of the target vehicle, the opening and closing control keys can be unlocked after passing through a safety protection period of a first time threshold in response to a collision event being detected. The preset speed threshold and the first time threshold can be set according to the application requirements of the door control method, and the embodiments of the present disclosure do not limit this.

[0097] In combination with Figure 4 In addition, it should be noted that in the embodiments of the present disclosure, in the driving process of the target vehicle, in response to the driving speed of the target vehicle being greater than or equal to a preset speed threshold, the opening and closing control keys of all doors in the target vehicle are automatically disabled. In this regard, in order to ensure the safety of the target vehicle, the opening and closing control keys can be unlocked after passing through a safety protection period of a first time threshold in response to a collision event being detected. The preset speed threshold and the first time threshold can be set according to the application requirements of the door control method, and the embodiments of the present disclosure do not limit this.

[0098] Step S206, in the case that the target vehicle arrives at the destination address of the current trip and completes parking, a vehicle door opening signal for the target vehicle is generated.

[0099] Step S207, in response to the vehicle door opening signal for the target vehicle, the current parking scene of the target vehicle is determined, and the target vehicle door to be opened is determined, and then the opening control parameter matching the current parking scene and for the target vehicle door is obtained, so as to control the target vehicle door to open according to the opening control parameter.

[0100] Step S208, in the case that the target user is detected to transfer from the target vehicle door to the outside of the target vehicle, a vehicle door closing signal for the target vehicle door is generated, and the target vehicle door is controlled to close in response to the vehicle door closing signal.

[0101] In the embodiment of the present disclosure, when the target vehicle door is controlled to close in response to the vehicle door closing signal, the first closing control force parameter of the vehicle door motor for the target vehicle door can be obtained in response to the vehicle door closing signal, and the target vehicle door is controlled to close according to the first closing control force parameter, and then in the case that the target vehicle door is detected to fail to close, the second closing control force parameter of the vehicle door motor for the target vehicle door is obtained, and the target vehicle door is controlled to close according to the second closing control force parameter.

[0102] The second closing control force parameter is greater than the first closing control parameter.

[0103] After the target vehicle door is controlled to close according to the second closing control force parameter, if the target vehicle door is still detected to fail to close, an abnormal situation warning information can be generated and sent to the cloud management and control platform. The abnormal situation warning information can be used to request manual intervention to handle the abnormal situation of the target vehicle door.

[0104] Step S209, in the case that the target user's left-over article is detected to be absent in the target vehicle, the order is ended; or in the case that the target user's left-over article is detected to exist in the target vehicle, an article left-over prompt is generated and sent to the cloud management and control platform.

[0105] The cloud management and control platform can generate an article retrieval order and send it to the target user after receiving the article left-over prompt.

[0106] The specific description and / or examples of the above steps can be referred to the related description of the corresponding steps in the foregoing vehicle door control method embodiments, which will not be repeated here.

[0107] Please refer to Figure 5 An application scenario diagram of a vehicle door control method provided by the embodiment of the present disclosure.

[0108] The vehicle door control method provided by the embodiments of the present disclosure is applied to an electronic device, which can be a body domain controller, a cabin domain controller arranged in a target vehicle, or a CCM integrated with automatic driving logic, and the embodiments of the present disclosure do not limit this.

[0109] Here, the electronic device is used for: determining a current parking scene of the target vehicle in response to a vehicle door opening signal for the target vehicle; determining a target vehicle door to be opened on the target vehicle; obtaining an opening control parameter matched with the current parking scene and for the target vehicle door, wherein the opening control parameter includes an opening control force parameter of a vehicle door motor and / or a vehicle door opening degree; controlling the target vehicle door to open according to the opening control parameter.

[0110] The electronic device can communicate with a smart terminal and a cloud management and control platform respectively to assist in achieving full-process unmanned operation of the target vehicle.

[0111] It should be noted that in the embodiments of the present disclosure, Figure 5 The application scenario diagram shown is only illustrative and not restrictive, and those skilled in the art can make various obvious changes and / or replacements based on the Figure 5 Examples to obtain technical solutions still within the disclosure range of the embodiments of the present disclosure.

[0112] In order to better implement the foregoing vehicle door control method, the embodiments of the present disclosure further provide a vehicle door control device, which can be integrated into an electronic device, which can be a body domain controller, a cabin domain controller arranged in a target vehicle, or a CCM integrated with automatic driving logic, and the embodiments of the present disclosure do not limit this. Hereinafter, a vehicle door control device provided by the embodiments of the present disclosure will be described with reference to the illustrative structure block diagram shown in Figure 7

[0113] The vehicle door control device 600 comprises: The parking scene determination unit 601 is configured to determine a current parking scene of the target vehicle in response to a vehicle door opening signal for the target vehicle; The target vehicle door determination unit 602 is configured to determine a target vehicle door to be opened on the target vehicle; The control parameter acquisition unit 603 is configured to obtain an opening control parameter matched with the current parking scene and for the target vehicle door, wherein the opening control parameter includes an opening control force parameter of a vehicle door motor and / or a vehicle door opening degree; The vehicle door opening unit is configured to control the target vehicle door to open according to the opening control parameter.

[0114] ​In some optional embodiments, the current parking scenario belongs to at least one of a slope scenario, an extreme weather scenario, and a special assistance demand scenario.

[0115] In some optional embodiments, the control parameter acquisition unit 603 is configured to: obtain attitude information of the target vehicle in a case where the current parking scenario belongs to the slope scenario; obtain an equivalent slope representation result corresponding to the target vehicle door based on the attitude information; obtain the opening control force parameter based on the equivalent slope representation result.

[0116] In some optional embodiments, the control parameter acquisition unit 603 is configured to: obtain a slope compensation amount corresponding to the target vehicle door based on a roll angle included in the attitude information; obtain the equivalent slope representation result based on a pitch angle included in the attitude information and the slope compensation amount.

[0117] In some optional embodiments, the control parameter acquisition unit 603 is configured to: determine an installation position of the target vehicle door on the target vehicle; obtain a compensation amount influence coefficient corresponding to the target vehicle door based on the installation position; obtain the slope compensation amount based on the roll angle and the compensation amount influence coefficient.

[0118] In some optional embodiments, the control parameter acquisition unit 603 is configured to: obtain a first reference control force parameter of a vehicle door motor matched with the flat road scenario and for the target vehicle door; obtain an opening control force compensation amount corresponding to the target vehicle door based on the equivalent slope representation result; obtain the opening control force parameter based on the first reference control force parameter and the opening control force compensation amount.

[0119] In some optional embodiments, the control parameter acquisition unit 603 is further configured to: obtain a first opening degree as the vehicle door opening degree in a case where the current parking scenario further belongs to the extreme weather scenario but does not belong to the special assistance demand scenario; the first opening degree is less than a full opening degree of the target vehicle door; or, obtain a second opening degree as the vehicle door opening degree in a case where the current parking scenario further belongs to the special assistance demand scenario; the second opening degree is greater than the first opening degree and less than or equal to the full opening degree of the target vehicle door.

[0120] In some optional embodiments, the target vehicle door is a horizontal sliding door; and the control parameter acquisition unit 603 is configured to: The opening control force compensation amount is obtained based on the equivalent slope representation result and the door opening degree.

[0121] In some optional embodiments, the target door belongs to a side sliding door; the control parameter acquisition unit 603 is configured to: The first reference control force parameter is adjusted based on the door opening degree to obtain an intermediate reference control force parameter; The opening control force parameter is obtained based on the intermediate reference control force parameter and the opening control force compensation amount.

[0122] In some optional embodiments, the door control apparatus 600 further comprises: A first authentication mode determination unit configured to determine a plurality of candidate authentication modes in response to a user authentication request; A priority determination unit configured to obtain a priority order of the plurality of candidate authentication modes; A second authentication mode determination unit configured to determine a target authentication mode from the plurality of candidate authentication modes according to the priority order; A first opening signal generation unit configured to generate a door opening signal for the target vehicle in a case where the user authentication process is completed by using the target authentication mode.

[0123] In some optional embodiments, the plurality of candidate authentication modes comprises at least one of a non-inductive unlocking authentication, a Bluetooth handshake authentication, an application trigger authentication, and a password input authentication.

[0124] In some optional embodiments, the door control apparatus 600 further comprises: A first closing signal generation unit configured to generate a door closing signal for the target door in a case where the target user is detected to enter the target vehicle from the target door; A door closing unit configured to control the target door to close in response to the door closing signal.

[0125] In some optional embodiments, the door control apparatus 600 further comprises: A second opening signal generation unit configured to generate a door opening signal for the target vehicle in a case where the target vehicle is detected to reach a destination address of a current trip and parking is completed.

[0126] In some optional embodiments, the door control apparatus 600 further comprises: A second closing signal generation unit configured to generate a door closing signal for the target door in a case where the target user is detected to move from the target door to an outside of the target vehicle; A door closing unit configured to control the target door to close in response to the door closing signal.

[0127] In some optional embodiments, the vehicle door closing unit is configured to: obtain a first closing control force parameter of the door motor of the target vehicle door in response to the vehicle door closing signal; control the target vehicle door to close according to the first closing control force parameter; obtain a second closing control force parameter of the door motor of the target vehicle door in response to a detection of a failure of the target vehicle door to close; and control the target vehicle door to close according to the second closing control force parameter.

[0128] In the embodiments of the present disclosure, the specific descriptions and / or examples of the units in the vehicle door control device 600 can be referred to the related descriptions of the corresponding steps in the foregoing embodiments of the vehicle door control method, and will not be repeated here.

[0129] In the technical solutions of the present disclosure, the acquisition, storage and application of the user personal information involved comply with the relevant laws and regulations and do not violate public order and good customs.

[0130] According to the embodiments of the present disclosure, the present disclosure further provides an electronic device, an autonomous vehicle, a readable storage medium and a computer program product.

[0131] Figure 7 A schematic structural block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure is shown. The electronic device 700 is intended to represent various forms of digital computers, such as vehicle-mounted computing devices, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device 700 can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are merely examples and are not intended to limit implementations of the present disclosure described and / or claimed in this document.

[0132] As Figure 7As shown, the electronic device 700 includes a computing unit 701 that can perform various appropriate actions and processes in accordance with a computer program stored in a Read-Only Memory (ROM) 702 or a computer program loaded into a Random Access Memory (RAM) 703 from a storage unit 708. In the RAM 703, various programs and data required for the operation of the electronic device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An Input / Output (I / O) interface 705 is also connected to the bus 704.

[0133] A plurality of components in the electronic device 700 are connected to the I / O interface 705, including an input unit 706, e.g., a keyboard, a mouse, etc., an output unit 707, e.g., various types of renderers, speakers, etc., a storage unit 708, e.g., a magnetic disk, an optical disk, etc., and a communication unit 709, e.g., a network card, a modem, a wireless communication transceiver, etc. The communication unit 709 allows the electronic device 700 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0134] The computing unit 701 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various special-purpose Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Process (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 701 performs various methods and processes described above, e.g., the vehicle door control method. For example, in some embodiments, the vehicle door control method can be implemented as a computer software program that is tangibly embodied in a machine-readable medium, e.g., the storage unit 708. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 700 via the ROM 702 and / or the communication unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the vehicle door control method described above can be performed. Alternatively, in other embodiments, the computing unit 701 can be configured as the vehicle door control method by any other appropriate means, e.g., by means of firmware.

[0135] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a System on Chip (SOC), a Complex Programmable Logic Device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0136] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general or special purpose computer, or other programmable data processing apparatus, to produce a machine, such that the program code, when executed by the processor or controller, produces a means for implementing the functions / operations specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as part of a separate software package, and partially on a remote machine or server.

[0137] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, erasable programmable read-only memory (EPROM) or flash memory, optical fibers, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0138] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a rendering device (e.g., a cathode ray tube (CRT) renderer or a liquid crystal display (LCD)) for rendering information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices are also used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0139] The systems and technologies described herein can be implemented in computing systems that include back-end components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0140] The computer system can include a user terminal and a server. The user terminal and the server are generally remote from each other and typically interact through a communication network. The relationship of user terminal and server is formed by the computer programs running on the respective computers and having a user terminal-server relationship with each other. The server can be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0141] The embodiments of the present disclosure further provide an automatic driving vehicle, comprising the electronic device.

[0142] The embodiments of the present disclosure further provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the vehicle door control method.

[0143] The embodiments of the present disclosure further provide a computer program product, comprising a computer program which, when executed by a processor, implements the vehicle door control method.

[0144] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, the steps described in the present disclosure can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, which is not limited herein. In addition, in the present disclosure, relationship terms such as "first", "second", "third" and the like are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. In addition, in the present disclosure, "a plurality of" can be understood as at least two; in the present disclosure, "a plurality of" can be understood as at least two.

[0145] The foregoing detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A vehicle door control method, comprising: determining a current parking scenario of a target vehicle in response to a door opening signal for the target vehicle; determining a target door to be opened on the target vehicle; obtaining an opening control parameter matched with the current parking scenario and for the target door, wherein the opening control parameter comprises an opening control force parameter of a door motor and / or a door opening degree; controlling the target door to open according to the opening control parameter.

2. The method of claim 1, wherein, The current parking scenario belongs to at least one of a slope scenario, an extreme weather scenario, and a special assistance demand scenario.

3. The method of claim 2, wherein, The obtaining of the opening control parameter matched with the current parking scenario and for the target door comprises: in a case where the current parking scenario belongs to the slope scenario, obtaining attitude information of the target vehicle; obtaining an equivalent slope representation result corresponding to the target door based on the attitude information; obtaining the opening control force parameter based on the equivalent slope representation result.

4. The method of claim 3, wherein, The obtaining of the equivalent slope representation result corresponding to the target door based on the attitude information comprises: obtaining a slope compensation amount corresponding to the target door based on a roll angle included in the attitude information; obtaining the equivalent slope representation result based on a pitch angle included in the attitude information and the slope compensation amount.

5. The method of claim 4, wherein, The obtaining of the slope compensation amount corresponding to the target door based on the roll angle included in the attitude information comprises: determining an installation position of the target door on the target vehicle; obtaining a compensation amount influence coefficient corresponding to the target door based on the installation position; obtaining the slope compensation amount based on the roll angle and the compensation amount influence coefficient.

6. The method of claim 3, wherein, The obtaining of the opening control force parameter based on the equivalent slope representation result comprises: obtaining a first reference control force parameter of a door motor matched with a flat road scenario and for the target door; obtaining an opening control force compensation amount corresponding to the target door based on the equivalent slope representation result; obtaining the opening control force parameter based on the first reference control force parameter and the opening control force compensation amount.

7. The method of claim 6, wherein, The obtaining of the opening control parameter matched with the current parking scenario and for the target door further comprises: in a case where the current parking scenario also belongs to the extreme weather scenario but does not belong to the special assistance demand scenario, obtaining a first opening degree as the door opening degree, wherein the first opening degree is less than a full opening degree of the target door; or, in a case where the current parking scenario also belongs to the special assistance demand scenario, obtaining a second opening degree as the door opening degree, wherein the second opening degree is greater than the first opening degree and less than or equal to the full opening degree of the target door.

8. The method of claim 7, wherein, The target door belongs to a horizontally sliding door, and the obtaining of the opening control force compensation amount corresponding to the target door based on the equivalent slope representation result comprises: obtaining the opening control force compensation amount based on the equivalent slope representation result and the door opening degree.

9. The method of claim 7, wherein, The target vehicle door belongs to a side sliding door; the opening control force parameter is obtained based on the first reference control force parameter and the opening control force compensation amount, and includes: adjusting the first reference control force parameter based on the door opening degree to obtain an intermediate reference control force parameter; obtaining the opening control force parameter based on the intermediate reference control force parameter and the opening control force compensation amount.

10. The method of claim 1, before the determining the current parking scenario of the target vehicle in response to the door opening signal for the target vehicle, the method further comprises: determining a plurality of candidate authentication modes in response to a user authentication request; obtaining a priority order of the plurality of candidate authentication modes; determining a target authentication mode from the plurality of candidate authentication modes according to the priority order; generating the door opening signal for the target vehicle in a case that the user authentication process is completed by using the target authentication mode.

11. The method of claim 10, wherein, The plurality of candidate authentication modes includes at least one of a non-inductive unlocking authentication, a Bluetooth handshake authentication, an application trigger authentication, and a password input authentication.

12. The method of claim 10, after the controlling the target vehicle door to open according to the opening control parameter, the method further comprises: generating a door closing signal for the target vehicle in a case that a target user enters the target vehicle from the target vehicle door is detected; controlling the target vehicle door to close in response to the door closing signal.

13. The method of claim 1, before the determining the current parking scenario of the target vehicle in response to the door opening signal for the target vehicle, the method further comprises: generating the door opening signal for the target vehicle in a case that the target vehicle reaches a destination address of a current trip and completes parking is detected.

14. The method of claim 13, after the controlling the target vehicle door to open according to the opening control parameter, the method further comprises: generating a door closing signal for the target vehicle in a case that a target user moves from the target vehicle door to an outside of the target vehicle is detected; controlling the target vehicle door to close in response to the door closing signal.

15. The method of claim 12 or 14, wherein, The controlling the target vehicle door to close in response to the door closing signal includes: obtaining a first closing control force parameter for a door motor of the target vehicle door in response to the door closing signal; controlling the target vehicle door to close according to the first closing control force parameter; obtaining a second closing control force parameter for the door motor of the target vehicle door in a case that the target vehicle door closing fails is detected; wherein the second closing control force parameter is greater than the first closing control parameter; controlling the target vehicle door to close according to the second closing control force parameter.

16. A vehicle door control device, comprising: a parking scenario determination unit configured to determine a current parking scenario of a target vehicle in response to a door opening signal for the target vehicle; a target vehicle door determination unit configured to determine a target vehicle door to be opened on the target vehicle; obtaining a control parameter matched with the current parking scenario and for opening the target door, wherein the opening control parameter comprises an opening control force parameter of a door motor and / or a door opening degree; controlling the target door to open according to the opening control parameter. 17.An electronic device, comprising: at least one processor; a memory connected to the at least one processor in communication; the memory stores instructions executable 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 of any one of claims 1-15. 18.An autonomous vehicle comprising the electronic device of claim 17.

19. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, the computer instructions are used to enable the computer to perform the method of any one of claims 1-15. 20.A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-15.

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