Vehicle door control method and device, storage medium and vehicle

Abstract

The invention discloses a vehicle door control method and device, a storage medium and a vehicle, and relates to the technical field of vehicle active safety, and the vehicle door control method comprises the steps that in response to vehicle stopping and surrounding targets have continuous motion trails, it is determined that moving targets exist around the vehicle, and the relative position between the moving targets and the vehicle is determined; when the vehicle door of the vehicle is opened and has a pre-collision risk with the moving target, determining a vehicle door in a risk area according to the relative position; and in response to the fact that the vehicle door is a child lock vehicle door, the vehicle door state of the child lock vehicle door is obtained, and the execution state of the child lock vehicle door is controlled according to the vehicle door state. The door opening restraining function is added, the collision risk can be fundamentally avoided, linkage with a rear-row child lock is achieved, and safety of rear-row child passengers is fully protected.

Description

Technical Field

[0001] This application relates to the field of automotive active safety technology, and in particular to door control methods, door control devices, storage media, and vehicles. Background Technology

[0002] The primary purpose of a vehicle door opening warning system is to detect approaching vehicles, pedestrians, or other obstacles when occupants open the door after the vehicle has stopped, and to issue a timely warning or take measures to restrict door opening, thus preventing door-opening collisions. According to statistics, collisions between vehicle doors and oncoming vehicles account for approximately 6% of all traffic accidents caused by drivers and passengers failing to check for oncoming traffic when opening their doors to exit the vehicle. Therefore, door opening warning systems, as an important active safety technology, have received widespread attention and development in recent years.

[0003] Among related technologies, visual, ultrasonic radar, and millimeter-wave radar solutions can be used to identify potential hazards behind a vehicle. When a hazard is detected, audible and visual alarms can be used to alert the driver and passengers.

[0004] However, the current technical solution only warns users of the potential collision risk from the side and rear, and does not fundamentally avoid this risk. In this case, if the user ignores the warning and opens the car door, there is still a risk of collision. Summary of the Invention

[0005] The purpose of this invention is to provide a door control method, door control device, electronic device, storage medium, and vehicle, at least to solve the technical problem of how to avoid the risk of collision when the door is opened.

[0006] This invention provides the following solution:

[0007] According to one aspect of the present invention, a door control method is provided, comprising:

[0008] In response to the vehicle stopping and surrounding targets having continuous motion trajectories, it is determined that there is a moving target around the vehicle, and the relative position between the moving target and the vehicle is determined;

[0009] When there is a risk of pre-collision between the vehicle door and the moving target, the door in the risk area is determined based on the relative position.

[0010] In response to the car door being a child lock door, the door status of the child lock door is obtained, and the execution status of the child lock door is controlled according to the door status.

[0011] Preferably, controlling the execution state of the vehicle door based on the door state includes:

[0012] In response to the child lock door being in the closed state, control the child lock door to perform a locking operation;

[0013] When it is detected that there is no risk of pre-collision between the vehicle door and the moving target, or when it is detected that the front-seat user inputs unlock commands multiple times in a set time interval, the child lock door is controlled to open normally.

[0014] Preferably, controlling the execution state of the vehicle door based on the door state includes:

[0015] In response to the child lock door being in the open state, the opening angle of the door is limited to the current opening angle of the child lock door as the maximum opening angle, until there is no risk of pre-collision between the vehicle door and the moving target, and then the door is controlled to open normally.

[0016] Preferably, after controlling the execution state of the child lock door, the method further includes:

[0017] The system issues a warning about the danger of getting out of the vehicle through instrument panel or light information, displays the suppression status of the child lock door on the in-vehicle display interface, and displays a simulation animation of the child lock door opening.

[0018] The child lock door opening simulation animation includes a pre-collision animation simulating the opening of the child lock door.

[0019] Preferably, when there is a pre-collision risk between the vehicle door and the moving target, determining the door in the risk zone based on the relative position includes:

[0020] The moving target's speed, the distance between the moving target and the vehicle, and the time it takes for the moving target to reach the vehicle are calculated using millimeter-wave radar.

[0021] Based on the moving speed, the distance, and the time, the pre-collision risk between the moving target and the opening of the vehicle door is determined;

[0022] When there is a pre-collision risk between the vehicle opening its door and the moving target, the risk area where the vehicle is at risk of collision is determined based on the relative position;

[0023] Identify the car doors located within the aforementioned risk area.

[0024] Preferably, the method further includes:

[0025] In response to the presence of the moving target around the vehicle, the millimeter-wave radar is controlled to operate in frequency-modulated continuous wave mode;

[0026] or

[0027] In response to the absence of the moving target around the vehicle or the vehicle being in an energy-saving state, the millimeter-wave radar is controlled to operate in an optimized Doppler mode.

[0028] Preferably, determining the presence of a moving target around the vehicle in response to a target having a continuous motion trajectory includes:

[0029] Real-time detection of the target's reflection characteristics, motion patterns, and point cloud data;

[0030] The trajectory of the target is determined based on the reflection characteristics, the motion pattern, and the point cloud data.

[0031] If the trajectory is a continuous trajectory, it is determined that there is a moving target around the vehicle.

[0032] According to a second aspect of the present invention, a vehicle door control device is provided, comprising:

[0033] A target determination module is used to determine, in response to a vehicle stopping and surrounding targets having continuous motion trajectories, that a moving target exists around the vehicle and to determine the relative position between the moving target and the vehicle;

[0034] The door determination module is used to determine the door in the risk area based on the relative position when there is a pre-collision risk between the vehicle door and the moving target.

[0035] The door control module is used to respond to the door being a child lock door, obtain the door status of the child lock door, and control the execution state of the child lock door according to the door status.

[0036] According to three aspects of the present invention, an electronic device is provided, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0037] The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the door control method.

[0038] According to four aspects of the present invention, a computer-readable storage medium is provided, comprising: storing a computer program executable by an electronic device, wherein when the computer program is run on the electronic device, the electronic device performs the steps of a door control method.

[0039] According to five aspects of the present invention, a vehicle is provided, comprising:

[0040] Electronic equipment, used to implement the steps of a vehicle door control method;

[0041] The processor runs a program, and when the program runs, it executes the steps of the door control method based on data output from the electronic device.

[0042] Storage medium used to store programs that, when run, execute steps of a door control method based on data output from electronic devices.

[0043] The above solution achieves the following beneficial technical effects:

[0044] This application determines the pre-collision risk between a vehicle door and a moving target, and then identifies the door in the risk zone, thus enabling precise control of doors that may pose a collision risk.

[0045] This application adds a door opening suppression function to the control of car doors with pre-collision risk, which can fundamentally avoid collision risk and link with the rear child lock to fully protect the safety of rear child passengers. Attached Figure Description

[0046] Figure 1 This is a flowchart of a door control method provided by one or more embodiments of the present invention.

[0047] Figure 2 This is a schematic diagram of the relative positions between vehicles provided in a specific embodiment of the present invention.

[0048] Figure 3 This is a schematic diagram of the child lock car door opening process provided in a specific embodiment of the present invention.

[0049] Figure 4 This is a schematic diagram of the child lock door opening signal interaction provided in a specific embodiment of the present invention.

[0050] Figure 5 This is a structural diagram of a door control device provided in one or more embodiments of the present invention.

[0051] Figure 6 This is a block diagram of an electronic device structure for a door control method provided in one or more embodiments of the present invention. Detailed Implementation

[0052] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] Among the relevant technologies, the mainstream door opening warning function implementation solutions can be roughly divided into three types: visual solutions, ultrasonic radar solutions, and millimeter-wave radar solutions.

[0054] The visual camera solution uses a camera mounted at the rear of the vehicle to capture images from behind, and then uses image processing algorithms to identify and track potentially dangerous moving objects (such as vehicles and pedestrians). When a hazard is detected, it alerts the driver and passengers with an audible and visual alarm. The main drawback of this solution is its sensitivity to environmental conditions; the recognition accuracy drops significantly at night or in poor visibility conditions such as rain or snow. Furthermore, the complex image processing algorithms require substantial computing resources, increasing the data processing load on the vehicle's ECU, and resulting in a longer system response time.

[0055] Ultrasonic solutions typically employ a combination of multiple ultrasonic sensors, calculating the distance to obstacles by measuring the time difference between the emission and return of ultrasonic waves. This approach is relatively inexpensive, but its detection range is short, making it unable to detect rapidly approaching objects at medium to long distances. In complex traffic environments, ultrasonic waves are also susceptible to environmental factors such as temperature and humidity, leading to a decrease in measurement accuracy.

[0056] Millimeter-wave radar solutions can measure the relative distance, azimuth angle, and velocity of targets, accurately determine the specific location of targets in the rear area, and achieve precise door opening warnings. However, the current mainstream millimeter-wave radar operates in a single mode, resulting in high overall power consumption.

[0057] Moreover, the aforementioned door opening warning scheme only alerts users to potential collision risks from the side and rear, and does not provide any feasible solutions to avoid these risks.

[0058] Based on this, this application provides a vehicle door control method, device, storage medium, and vehicle. When a pre-collision risk with other moving targets is detected when opening the vehicle door, the system automatically controls the door's operation to prevent the user from ignoring warnings or accidentally opening the door, thus avoiding collision risks. In particular, when the child locks are engaged in the rear seats, this ensures the safety of rear-seat children by preventing them from being unable to recognize danger using the warning information.

[0059] The following embodiments will further illustrate this application.

[0060] Figure 1 This is a flowchart of a door control method provided by one or more embodiments of the present invention.

[0061] like Figure 1 The door control methods shown include:

[0062] Step S1: In response to the vehicle stopping and the surrounding targets having continuous motion trajectories, determine that there is a moving target around the vehicle and determine the relative position between the moving target and the vehicle.

[0063] By real-time detection of the target's reflection characteristics, motion patterns, and point cloud data, and after processing the data by removing unreasonable data points, the target's trajectory is determined. If the trajectory is continuous, a moving target is confirmed to exist around the vehicle.

[0064] The moving targets can be pedestrians, non-motorized vehicles, and motorized vehicles appearing around the vehicle.

[0065] Further determine the relative position between the moving target and the vehicle. Figure 2 This is a schematic diagram of the relative positions between vehicles provided in a specific embodiment of the present invention, as shown below. Figure 2 As shown, the moving target is located at the left rear of the vehicle, or at the right rear of the vehicle, etc.

[0066] Step S2: When there is a risk of pre-collision between the vehicle door and the moving target, determine the door in the risk area based on the relative position.

[0067] When a moving target is present around the vehicle, the millimeter-wave radar is controlled to accurately calculate the target's speed, the distance between the target and the vehicle, and the time it takes for the target to arrive at the vehicle. If the vehicle opens a door, the pre-collision risk with the moving target at that moment is calculated.

[0068] When there is a risk of pre-collision between a vehicle door and a moving target, the door in the risk area is determined based on the relative position between the moving target and the vehicle.

[0069] Among them, the doors in the risk area can be the left-side doors or the right-side doors of the vehicle, or all of them.

[0070] Step S3: In response to the car door being locked for child safety, obtain the car door status for child safety locking, and control the execution state of child safety locking based on the car door status.

[0071] In this embodiment, if the current vehicle is equipped with a child lock, the sampling zone control mode is used to obtain the door status of the non-child lock doors and the child lock doors respectively.

[0072] If the doors currently in the risk area include those with child locks, then the execution status of the child lock doors is controlled based on their status. Conversely, the execution status of the non-child lock doors is controlled based on their status.

[0073] By linking with the rear child locks, the system can control the child locks on the car doors, better avoiding collision risks and fully protecting the safety of child passengers.

[0074] The millimeter-wave radar described in the above embodiments is positioned on both sides of the rear of the vehicle and can operate in two different modes. One mode is a long-range, high-precision mode, and the other is a short-range, simplified mode. These two modes are suitable for detection needs at different risk levels and distance ranges. Simultaneously, the millimeter-wave radar can also monitor the door opening / closing status, vehicle speed signal, and vehicle attitude information in real time.

[0075] If there are moving targets around the vehicle, the millimeter-wave radar is controlled to operate in frequency-modulated continuous wave mode, employing adaptive frequency scanning technology. The detection range can reach 50-110 meters, and it can accurately calculate the distance, speed, and time of arrival (TTC) of vehicles approaching from behind. If there are no moving targets around the vehicle or the vehicle is in energy-saving mode, the millimeter-wave radar is controlled to operate in optimized Doppler mode, detecting relatively moving targets. Power consumption is reduced to less than 30% of that in frequency-modulated continuous wave mode, while the detection capability of static objects is improved through algorithm optimization.

[0076] This embodiment uses an adaptive detection mechanism to determine whether a moving target is currently present on the vehicle, thereby controlling the operating mode of the millimeter-wave radar. Utilizing a dual-mode millimeter-wave radar, average power consumption can be reduced to 40%-60% of that of a continuous monitoring system while ensuring safety, extending the hardware's lifespan. Furthermore, the millimeter-wave radar is unaffected by light and weather conditions, exhibiting more stable performance.

[0077] The millimeter-wave radar uses the 77-81GHz frequency band, with a horizontal detection angle of -75° to +75°, a vertical detection angle of -10° to +10°, and a maximum detection range of 100 meters.

[0078] Furthermore, once a moving target is identified around the vehicle, the millimeter-wave radar is controlled to operate in frequency-modulated continuous wave mode. The millimeter-wave radar can then calculate the moving target's speed, the distance between the moving target and the vehicle, and the time it takes for the moving target to reach the vehicle. Based on the speed, distance, and time, the pre-collision risk between the moving target and the opening of the vehicle door is determined. When there is a pre-collision risk between the vehicle door and the moving target, the risk zone where the vehicle is at risk of collision is determined based on the relative positions, and the doors within the risk zone are identified.

[0079] In one implementation, if the doors within the risk area include child-locked doors that are closed, the child-locked doors are controlled to lock until a pre-collision risk is detected between the vehicle's open door and a moving target, or until multiple consecutive unlock commands are input by the front-seat occupant within a set time interval, at which point the child-locked doors are controlled to open normally. If the doors within the risk area also include non-child-locked doors, these child-locked doors are controlled to lock until a pre-collision risk is detected between the vehicle's open door and a moving target, or until multiple consecutive unlock commands are input by the non-child-locked door within a set time interval, at which point the non-child-locked doors are controlled to open normally.

[0080] The child lock door closing status is further divided into two situations: the user has not performed the unlocking operation and the user is performing the unlocking operation.

[0081] If the user does not unlock the child lock door at this time, the millimeter-wave radar issues a level one warning, the human-machine interface module reminds the passenger or driver of the danger of getting out of the vehicle, and issues an exit danger warning through the instrument panel or lights. The in-vehicle display shows the child lock door suppression status and displays a child lock door opening simulation animation. This simulation animation includes a pre-collision animation simulating the child lock door opening.

[0082] Figure 3 This is a schematic diagram of the child lock car door opening process provided in a specific embodiment of the present invention. Figure 4 This is a schematic diagram illustrating the interaction of a child lock car door opening signal according to a specific embodiment of the present invention. Figure 3 and Figure 4 As shown, if a user is attempting to unlock the child lock door, and there is a pre-collision risk between the unlocked child lock door and a moving target, the millimeter-wave radar (DOW) sends a Level 1 warning to the Body Control Module (BCM). The BCM controls the door control module to not respond to the door opening operation within time T1 and sends a suppression warning signal to the infotainment system (IVI), reminding the user of the danger of getting out of the vehicle. If the user needs to get out, they should double-click the front door switch. Simultaneously, the IVI drives the speaker to emit an alarm sound, and the ambient lights flash. Within the set time interval (time period T1-T2), regardless of whether the lane change assist warning signal is present, if the user requests to open the door again, the door control module will not suppress it, and the door will open normally. If the user does not perform another door opening operation within T1-T2, the locking function can be triggered again until there is no pre-collision risk between the vehicle and a moving target when the door is opened. A pop-up window on the control instrument panel reminds the user to pay attention to vehicles approaching from behind and displays the suppression status of the child lock door on the in-vehicle display interface, along with a simulated animation of the child lock door opening.

[0083] In another implementation, if the child lock door is in the open state, the current opening angle of the child lock door is used as the maximum opening angle to limit the door's opening angle until there is no risk of pre-collision between the vehicle and a moving target, at which point the door is controlled to open normally. At this time, the millimeter-wave radar issues a level two warning, the human-machine interface module reminds passengers or the driver of the danger of getting out of the vehicle, and simultaneously sounds an alarm and flashes ambient lights. The in-vehicle display shows the child lock door suppression state and displays a simulated animation of the child lock door opening.

[0084] In this embodiment, when a pre-collision risk is identified, the addition of door control function can be used to avoid collision accidents. Different levels of warning and manual priority mechanisms ensure safety while respecting the driver's final decision-making right and improving system acceptance.

[0085] Figure 5 This is a structural diagram of a door control device provided in one or more embodiments of the present invention.

[0086] like Figure 5 The door control device shown includes: a target determination module, a door determination module, and a door control module.

[0087] A target determination module is used to determine, in response to a vehicle stopping and surrounding targets having continuous motion trajectories, that a moving target exists around the vehicle and to determine the relative position between the moving target and the vehicle;

[0088] The door determination module is used to determine the door in the risk area based on the relative position when there is a pre-collision risk between the vehicle door and the moving target.

[0089] The door control module is used to respond to the door being a child lock door, obtain the door status of the child lock door, and control the execution state of the child lock door according to the door status.

[0090] The door control module is used to control the child lock door to perform a locking operation in response to the child lock door being in the closed state; when it is detected that there is no risk of pre-collision between the vehicle door and the moving target, or when it is detected that the front user inputs unlock commands multiple times in a set time interval, it controls the child lock door to open normally.

[0091] The door control module is used to respond to the child lock door being in the open state, and to limit the opening angle of the door to the maximum opening angle of the current child lock door, until there is no risk of pre-collision between the vehicle door and the moving target, and then control the door to open normally.

[0092] The door control module is also used to issue a warning of danger of getting out of the vehicle through instrument or light information, display the suppression state of the child lock door based on the in-vehicle display interface, and display a simulation animation of the child lock door opening; wherein, the simulation animation of the child lock door opening includes a pre-collision animation simulating the opening of the child lock door.

[0093] The door determination module is used to calculate the moving speed of the moving target, the distance between the moving target and the vehicle, and the time it takes for the moving target to reach the vehicle using millimeter-wave radar; based on the moving speed, the distance, and the time, it determines the pre-collision risk of the moving target and the opening of the vehicle door; when there is a pre-collision risk between the vehicle door and the moving target, it determines the risk area where the vehicle has a collision risk based on the relative position; and determines the door located within the risk area.

[0094] The target determination module is configured to control the millimeter-wave radar to operate in frequency-modulated continuous wave mode in response to the presence of the moving target around the vehicle; or, in response to the absence of the moving target around the vehicle or the vehicle being in an energy-saving state, control the millimeter-wave radar to operate in optimized Doppler mode.

[0095] The target determination module is used to detect the reflection characteristics, motion patterns, and point cloud data of the target in real time; determine the motion trajectory of the target based on the reflection characteristics, motion patterns, and point cloud data; and determine that there is a moving target around the vehicle if the motion trajectory is a continuous motion trajectory.

[0096] Figure 6 This is a block diagram of an electronic device structure for a door control method provided in one or more embodiments of the present invention.

[0097] like Figure 6 As shown, this application provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0098] The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of a door control method.

[0099] This application also provides a computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of a door control method.

[0100] This application also provides a vehicle, including:

[0101] Electronic equipment for implementing steps based on a door control method;

[0102] The processor runs a program, and when the program runs, it executes the steps of the door control method based on data output from the electronic device.

[0103] Storage medium used to store programs that, when run, execute steps of a door control method based on data output from electronic devices.

[0104] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0105] The electronic device comprises a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory. The operating system can be any one or more computer operating systems that control the electronic device through processes, such as Linux, Unix, Android, iOS, or Windows. Furthermore, in this embodiment of the invention, the electronic device can be a smartphone, tablet computer, or other handheld device, or a desktop computer, portable computer, or other electronic device; there is no particular limitation in this embodiment.

[0106] In this embodiment of the invention, the executing entity for electronic device control can be an electronic device itself, or a functional module within an electronic device capable of calling and executing a program. The electronic device can obtain the firmware corresponding to the storage medium. This firmware is provided by the supplier, and different storage media may have the same or different firmware; no limitation is made here. After obtaining the firmware corresponding to the storage medium, the electronic device can write this firmware into the storage medium; specifically, it burns the firmware corresponding to the storage medium into the storage medium. The process of burning the firmware into the storage medium can be implemented using existing technology, and will not be elaborated upon in this embodiment of the invention.

[0107] Electronic devices can also obtain reset commands corresponding to the storage media. The reset commands corresponding to the storage media are provided by the supplier. The reset commands corresponding to different storage media can be the same or different, and no restrictions are imposed here.

[0108] At this time, the storage medium of the electronic device is a storage medium on which the corresponding firmware has been written. The electronic device can respond to the reset command corresponding to the storage medium on which the corresponding firmware has been written, thereby resetting the storage medium on which the corresponding firmware has been written according to the reset command. The process of resetting the storage medium according to the reset command can be implemented by existing technology and will not be described in detail in this embodiment of the invention.

[0109] For ease of description, the above devices are described separately by function as various units and modules. Of course, in implementing this application, the functions of each unit and module can be implemented in one or more software and / or hardware.

[0110] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0111] For the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0112] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A door control method, characterized in that, The door control method includes: In response to the vehicle stopping and surrounding targets having continuous motion trajectories, it is determined that there is a moving target around the vehicle, and the relative position between the moving target and the vehicle is determined; When there is a risk of pre-collision between the vehicle door and the moving target, the door in the risk area is determined based on the relative position. In response to the car door being a child lock door, the door status of the child lock door is obtained, and the execution status of the child lock door is controlled according to the door status.

2. The door control method according to claim 1, characterized in that, The step of controlling the execution state of the vehicle door based on the door state includes: In response to the child lock door being in the closed state, control the child lock door to perform a locking operation; When it is detected that there is no risk of pre-collision between the vehicle door and the moving target, or when it is detected that the front-seat user inputs unlock commands multiple times in a set time interval, the child lock door is controlled to open normally.

3. The door control method according to claim 2, characterized in that, The step of controlling the execution state of the vehicle door based on the door state includes: In response to the child lock door being in the open state, the opening angle of the door is limited to the current opening angle of the child lock door as the maximum opening angle, until there is no risk of pre-collision between the vehicle door and the moving target, and then the door is controlled to open normally.

4. The door control method according to claim 3, characterized in that, After controlling the execution state of the child lock door, the method further includes: The system issues a warning about the danger of getting out of the vehicle through instrument panel or light information, displays the suppression status of the child lock door on the in-vehicle display interface, and displays a simulation animation of the child lock door opening. The child lock door opening simulation animation includes a pre-collision animation simulating the opening of the child lock door.

5. The door control method according to claim 1, characterized in that, When there is a pre-collision risk between the vehicle door and the moving target, determining the door in the risk zone based on the relative position includes: The moving target's speed, the distance between the moving target and the vehicle, and the time it takes for the moving target to reach the vehicle are calculated using millimeter-wave radar. Based on the moving speed, the distance, and the time, the pre-collision risk between the moving target and the opening of the vehicle door is determined; When there is a pre-collision risk between the vehicle opening its door and the moving target, the risk area where the vehicle is at risk of collision is determined based on the relative position; Identify the car doors located within the aforementioned risk area.

6. The door control method according to claim 5, characterized in that, The method further includes: In response to the presence of the moving target around the vehicle, the millimeter-wave radar is controlled to operate in frequency-modulated continuous wave mode; or In response to the absence of the moving target around the vehicle or the vehicle being in an energy-saving state, the millimeter-wave radar is controlled to operate in an optimized Doppler mode.

7. The door control method according to claim 1, characterized in that, The determination of the presence of a moving target around the vehicle in response to a target having a continuous motion trajectory includes: Real-time detection of the target's reflection characteristics, motion patterns, and point cloud data; The trajectory of the target is determined based on the reflection characteristics, the motion pattern, and the point cloud data. If the trajectory is a continuous trajectory, it is determined that there is a moving target around the vehicle.

8. A vehicle door control device, characterized in that, The door control device includes: A target determination module is used to determine, in response to a vehicle stopping and surrounding targets having continuous motion trajectories, that a moving target exists around the vehicle and to determine the relative position between the moving target and the vehicle; The door determination module is used to determine the door in the risk area based on the relative position when there is a pre-collision risk between the vehicle door and the moving target. The door control module is used to respond to the door being a child lock door, obtain the door status of the child lock door, and control the execution state of the child lock door according to the door status.

9. A computer-readable storage medium, characterized in that, The device stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the door control method as described in any one of claims 1 to 7.

10. A vehicle, characterized in that, include: An electronic device for implementing the steps of the door control method as described in any one of claims 1 to 7; A processor that runs a program that, when the program is running, performs the steps of the door control method as described in any one of claims 1 to 7 from data output by the electronic device. A storage medium for storing a program that, when run, performs the steps of the door control method as described in any one of claims 1 to 7 on data output from an electronic device.

Images