Vehicle door control method and system in emergency state, vehicle, medium and program product

Abstract

The invention discloses a vehicle door control method and system in an emergency state, a vehicle, a computer readable storage medium and a computer program product, and the method comprises the steps: judging whether the vehicle meets a preset accident condition or not based on the operation state data of the vehicle, and outputting a judgment result; if the judgment result shows that the vehicle does not meet the preset accident condition, returning to the step of judging whether the vehicle meets the preset accident condition or not based on the running state data; if the judgment result shows that the vehicle meets the preset accident condition, the vehicle is controlled to execute a vehicle emergency strategy; and executing a vehicle door emergency control instruction based on the vehicle emergency strategy to control a corresponding vehicle door of the vehicle to be unlocked and opened by a preset distance. According to the technical scheme, the technical problem that people cannot escape in time due to vehicle door deformation, electronic lock failure or safety belt jamming in traffic accidents can be solved.

Description

Technical Field

[0001] This application relates to the field of vehicle electronic control technology, specifically to a door control method, system, vehicle, computer-readable storage medium, and computer program product in an emergency situation. Background Technology

[0002] As the global car ownership continues to rise, road traffic safety issues are becoming increasingly prominent, with a significant increase in the risk of vehicles facing sudden accidents such as collisions, rollovers, and submersion in water. To address the need for occupant escape in accident scenarios, some vehicles are equipped with emergency manual door opening mechanisms. These mechanisms trigger the door lock release mechanism via a mechanical lever or button, requiring active operation by occupants to open the door. Some vehicles integrate an electronic door lock automatic unlocking function after a collision. This function, based on collision sensor signals, triggers commands from the central control unit to electronically unlock the door locking mechanism, releasing the door lock restraints without human intervention. However, these technologies cannot automatically determine the specific operating conditions of the vehicle after an accident and actively open the doors. Summary of the Invention

[0003] In view of the above problems, this application provides a door control method, system, vehicle, computer-readable storage medium and computer program product in an emergency situation, which can solve the problem that people cannot escape in time due to door deformation, electronic lock failure or seat belt jamming in traffic accidents.

[0004] According to one aspect of the embodiments of this application, a vehicle door control method in an emergency state is provided, the method comprising: Based on the vehicle's operating status data, determine whether the vehicle meets the preset accident conditions and output the determination result; If the judgment result indicates that the vehicle does not meet the preset accident conditions, then return to the step of judging whether the vehicle meets the preset accident conditions based on the operating status data; If the judgment result indicates that the vehicle meets the preset accident conditions, then the vehicle is controlled to execute the vehicle emergency strategy; Based on the vehicle emergency strategy, execute the door emergency control command to control the corresponding door of the vehicle to unlock and open to a preset distance.

[0005] In an optional embodiment, the method further includes: Acquire vehicle operating status data; wherein, the operating status data includes at least one of collision acceleration information, rollover angle information, and water depth information inside the vehicle; Based on the vehicle's operating status data, it is determined whether the vehicle meets the preset accident conditions; wherein the preset accident conditions include at least one of the following: collision accident conditions, rollover accident conditions, and water-falling accident conditions.

[0006] In an optional embodiment, the method further includes: If the operating status data indicates that the collision acceleration of the vehicle is greater than or equal to a preset acceleration threshold and the duration is greater than or equal to a first preset duration, then the vehicle meets the collision accident conditions. If the operating status data indicates that the rollover angle of the vehicle is greater than or equal to a preset angle threshold and the duration is greater than or equal to a second preset duration, then the vehicle meets the rollover accident conditions. If the operating status data indicates that the vehicle's water ingress depth is greater than or equal to a preset depth threshold, and the water level rise rate is greater than or equal to a preset rate threshold, then the vehicle meets the conditions for a water-falling accident.

[0007] In an optional embodiment, the method further includes: After the corresponding door of the vehicle is opened, the opening and closing status of the corresponding door is acquired in real time. If the opening / closing status of the corresponding door indicates that the corresponding door is locked, then the vehicle is controlled to execute the emergency door control command again to control the corresponding door to unlock and open to a preset distance.

[0008] In an optional embodiment, the method further includes: Based on the vehicle emergency strategy, execute the seat belt emergency control command to control the release of the corresponding seat belt in the vehicle; Furthermore, based on the vehicle emergency strategy, an emergency alert command is executed to control the vehicle to output in-vehicle alarm prompts and external alarm prompts.

[0009] In an optional embodiment, the method further includes: If a command is received indicating that the vehicle has returned to normal operation, there are no occupants in the cabin, or the doors in the cabin are closed, then the vehicle doors are controlled to return to normal operation.

[0010] According to another aspect of the embodiments of this application, an emergency door control system is provided, the system comprising: Main power supply, backup power supply, electronic control unit, door lock drive unit, door opening unit, seat belt unlocking unit, collision sensor, tilt sensor, water level sensor, door status sensor and seat belt tension sensor; The main power supply is used to power the electronic control unit, the door lock drive unit, the door push-open unit, the seat belt unlocking unit, the collision sensor, the tilt sensor, the water level sensor, the door status sensor, and the seat belt tension sensor. The backup power supply is used to provide power to the electronic control unit, the door opening unit, the collision sensor, the tilt sensor, the water level sensor, the door status sensor, and the seat belt tension sensor in the event of failure of the main power supply. The collision sensor is used to acquire the collision acceleration of the vehicle in order to determine the collision accident of the vehicle based on the collision acceleration. The tilt sensor is used to acquire the rollover angle of the vehicle, so as to determine the rollover accident of the vehicle based on the rollover angle and feed it back to the electronic control unit; The water level sensor is used to obtain the water depth in the vehicle's cabin, so as to determine the vehicle's water-falling accident based on the water depth in the cabin and feed it back to the electronic control unit. The door status sensor is used to acquire the status of the corresponding door of the vehicle, so as to determine the unlocked or locked status of the corresponding door and feed it back to the electronic control unit. The seat belt tension sensor is used to acquire the corresponding seat belt locking state of the vehicle and feed it back to the electronic control unit; The door lock drive unit is used to execute emergency door control commands under the control of the electronic control unit to control the unlocking of the corresponding door of the vehicle. The door opening unit is used to execute emergency door control commands under the control of the electronic control unit to control the opening distance of the corresponding door of the vehicle. The seatbelt unlocking unit is used to control the electronic control unit to execute an emergency seatbelt control command to control the release of the corresponding seatbelt in the vehicle.

[0011] According to another aspect of the embodiments of this application, a vehicle is provided, comprising: Controller; The memory is used to store one or more programs, which, when executed by the controller, enable the controller to implement the door control method in the emergency situation described above.

[0012] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and the computer program, when running on a door control system / vehicle in an emergency state, causes the door control system / vehicle in an emergency state to perform the steps of the door control method in an emergency state as described above.

[0013] According to another aspect of the embodiments of this application, a computer program product is provided, the computer program product including a computer program or executable instructions, which, when executed by a processor, implements the door control method in an emergency state as described above.

[0014] In the emergency door control method provided in this application embodiment, the system determines whether the vehicle meets preset accident conditions based on the vehicle's operating status data and outputs the determination result. If the determination result indicates that the vehicle does not meet the preset accident conditions, the system returns to the step of determining whether the vehicle meets the preset accident conditions based on the operating status data. If the determination result indicates that the vehicle meets the preset accident conditions, the system controls the vehicle to execute the vehicle emergency strategy. Based on the vehicle emergency strategy, the system executes the door emergency control command to control the corresponding door of the vehicle to unlock and open a preset distance. This solution can solve the problem of people being unable to escape in time due to door deformation, electronic lock failure, or seat belt jamming in traffic accidents, thus improving the survival rate of vehicle occupants in traffic accidents.

[0015] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0017] Figure 1 A flowchart illustrating an embodiment of the door control method in an emergency situation according to this application is shown.

[0018] Figure 2 A schematic diagram of the structure of an embodiment of the vehicle provided in this application is shown. Detailed Implementation

[0019] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0020] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0021] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0022] In this application, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0023] In related technologies, with the continuous growth of car ownership and the frequent occurrence of traffic accidents, especially in sudden accidents such as collisions, rollovers, and falling into water, occupants are often unable to open the car doors to escape due to reasons such as door structure deformation, power outages or motor jamming of electronic door locks, and abnormal locking of seat belt pretensioners. Rescue personnel must use demolition tools to forcibly open deformed doors, which not only significantly prolongs the golden rescue time but also easily causes secondary injuries. Although some existing models are equipped with automatic unlocking functions after a collision, they only solve the locking problem and do not deal with obstacles such as door compression, hinge jamming, or door sill deformation that prevent them from being pushed open. Moreover, this function is highly dependent on the normal operation of the main power supply and ECU, and fails under conditions such as short circuits, power outages, and sensor false alarms, making it difficult to cover the complex failure modes in real accidents.

[0024] In view of this, in order to improve or solve the above problems, this application proposes an emergency door control system to solve the technical problem that prevents people from escaping in time due to door deformation, electronic lock failure, or seat belt jamming in traffic accidents. The door control system includes: a main power supply, a backup power supply, an electronic control unit, a door lock drive unit, a door opening unit, a seat belt unlocking unit, a collision sensor, a tilt sensor, a water level sensor, a door status sensor, and a seat belt tension sensor. The main power supply is used to power the electronic control unit, door lock drive unit, door opening unit, seat belt unlocking unit, collision sensor, tilt sensor, water level sensor, door status sensor and seat belt tension sensor. Backup power supply is used to power the electronic control unit, door opening unit, collision sensor, tilt sensor, water level sensor, door status sensor and seat belt tension sensor in the event of main power failure. Collision sensors are used to acquire the collision acceleration of a vehicle in order to determine the collision accident based on the collision acceleration. The tilt sensor is used to obtain the vehicle's rollover angle, so as to determine the rollover accident based on the rollover angle and feed it back to the electronic control unit; A water level sensor is used to obtain the depth of water entering the vehicle's cabin, so as to determine the vehicle's submersion accident based on the depth of water entering the cabin and to feed back to the electronic control unit. The door status sensor is used to obtain the status of the corresponding door of the vehicle, so as to determine the unlocked or locked status of the corresponding door and feed it back to the electronic control unit. The seat belt tension sensor is used to obtain the corresponding seat belt locking status of the vehicle and feed it back to the electronic control unit; The door lock drive unit is used to execute emergency door control commands under the control of the electronic control unit to control the unlocking of the corresponding door of the vehicle; The door opening unit is used to execute emergency door control commands under the control of the electronic control unit to control the opening distance of the corresponding door of the vehicle. The seatbelt unlocking unit is used to control the execution of emergency seatbelt control commands by the electronic control unit to control the release of the corresponding seatbelt in the vehicle.

[0025] In this embodiment, the core lies in constructing a closed-loop control architecture with multi-source sensing capabilities, dual-mode power supply protection, and hierarchical execution capabilities. The system is powered by a main power supply and a backup power supply working together. When the main power supply fails due to a short circuit, open circuit, or voltage drop, the backup power supply can immediately take over the key sensing and execution circuits to ensure that accident identification and basic actions are not interrupted. Relying on a heterogeneous sensor array composed of collision sensors, tilt sensors, and water level sensors, three types of physical signals—acceleration mutation, spatial attitude instability, and liquid intrusion—are independently collected and thresholded to form an orthogonal accident identification path. The electronic control unit, as the decision-making center, receives all sensor data and drives the door lock drive unit to unlock, the door push-open unit to apply active thrust, and the seat belt unlock unit to unlock according to preset logic. The three work together in the sequence of "seat belt unlock, door unlock, door push-open" to form a complete process from signal perception to physical intervention.

[0026] The main power supply is either a 12V lead-acid battery or a 48V lithium battery pack, with its output connected to each power-consuming unit via a power management module to provide energy for the system's normal operation. The backup power supply uses a supercapacitor with a rated voltage of 12V and a capacity of ≥50F or a lithium battery with a nominal capacity of 3.7V / 2000mAh, which is built into the A-pillar lining of the driver's cabin or the bottom of the center armrest box. When the main power supply output voltage drops below 9V or the current interruption lasts for more than 10ms, the backup power supply automatically switches to the power supply path. This design allows the backup power supply to continue to provide effective power to the electronic control unit, door opening unit, collision sensor, tilt sensor, water level sensor, door status sensor, and seat belt tension sensor for no less than 30 seconds after the main power supply completely fails, which is sufficient to cover the entire process of typical accident response.

[0027] The electronic control unit is a microcontroller with a built-in hardware watchdog circuit and dual backup Flash memory. Its input interface is compatible with analog voltage (0–5V), digital pulse (CAN FD, LIN) and resistor divider signals, and can be directly connected to the raw output of various sensors. Its output interface includes an H-bridge drive circuit (for the door lock drive unit), a high-current DC-DC boost module (for the door push-open unit), and a solenoid valve trigger circuit (for the seat belt unlocking unit).

[0028] The collision sensor can be a triaxial piezoelectric accelerometer, installed at three rigid nodes: the front longitudinal beam, the lower end of the B-pillar, and the rear floor crossbeam. Its output signal is sent to the ADC channel of the electronic control unit after anti-aliasing filtering. The tilt sensor can be a dual-axis gyroscope + accelerometer fusion module based on MEMS technology, installed at the seat rail bracket of the vehicle. The water level sensor can be a capacitive liquid level probe, with multiple sets arranged longitudinally along the inner side of the door sill. Each set contains two electrodes, upper and lower, and determines the water depth by detecting the change in the dielectric constant between the electrodes. The measurement range can be 0–30 cm. The above-mentioned collision sensor, tilt sensor, and water level sensor together constitute the basis for accident type discrimination. Their signals corroborate each other to avoid false alarms caused by the failure of a single sensor.

[0029] The door status sensor can be a Hall effect switch, embedded inside the door lock body, and linked with the bolt. When the bolt is fully retracted, it outputs a high level to indicate the unlocked state. The seat belt tension sensor can be a strain gauge force-sensitive element, encapsulated on the seat belt retractor ratchet shaft, with a range of 0–3000N, used to monitor in real time whether the seat belt pretensioner is in the locked state. Both the door status sensor and the seat belt tension sensor adopt a redundant dual-channel design, that is, two independent sensing units are arranged in the same physical location, which significantly improves the reliability of status recognition.

[0030] The door lock drive unit can include an electronic drive section and a mechanical emergency section. The electronic drive section consists of a dual H-bridge motor drive chip and a 12V DC geared motor. After receiving the PWM signal from the electronic control unit, it drives the door lock actuator to rotate. The mechanical emergency section is a lever-type manual release linkage mechanism. One end of the lever is rigidly connected to the output shaft of the door lock actuator, and the other end extends to the inside of the door trim panel. When the electronic drive fails, the occupant can manually pull the linkage to forcibly unlock the door.

[0031] The door opening unit can be a linear motion device installed between the inner door panel and the A-pillar / door frame, including two implementation forms: electric push rod or hydraulic push rod. The electric push rod can be composed of a 12V brushless DC motor, a ball screw and a telescopic sleeve, with an adjustable stroke of 5–15cm. The hydraulic push rod can be composed of a miniature plunger pump, an accumulator and a double-acting cylinder, with a response time of ≤150ms. The extension direction of the push rod is perpendicular to the door closing plane to ensure a smooth and deflection-free opening process.

[0032] The seatbelt unlocking unit is an electromagnetic release mechanism that is mechanically linked to the vehicle's original seatbelt pretensioner. Its core is a normally closed solenoid valve. When the electronic control unit outputs a 12V / 1A pulse signal, the normally closed solenoid valve opens instantaneously, releasing the high-pressure gas inside the pretensioner and allowing the seatbelt to be released. This unit shares the same power supply circuit with the seatbelt tension sensor and is independently enabled and controlled by the electronic control unit.

[0033] The aforementioned collision sensor, tilt sensor, and water level sensor serve as front-end sensing units, converting physical quantities into electrical signals and inputting them into the electronic control unit (ECU). The ECU performs accident judgment based on preset logic. If any condition is met, it prioritizes sending a release command to the seatbelt unlocking unit, then sends an unlock command to the door lock drive unit, and finally sends an extension command to the door opening unit. The door status sensor and seatbelt tension sensor continuously provide feedback on the actual status during command execution, providing closed-loop verification for the ECU. The main power supply and backup power supply are ensured by an intelligent power switching circuit to guarantee the energy supply for the entire process. In the event of a main power supply failure, the backup power supply only maintains the operation of the ECU, door opening unit, collision sensor, tilt sensor, water level sensor, door status sensor, and seatbelt tension sensor, thereby prioritizing the door opening unit to perform the door opening operation, fundamentally improving vehicle safety and the user's chances of survival under extreme conditions.

[0034] Based on the aforementioned vehicle door control system in emergency situations, this application proposes a vehicle door control method for emergency situations to address the technical problem of preventing timely escape of occupants in traffic accidents due to door deformation, electronic lock failure, or seatbelt jamming. The executing entity of the vehicle door control method in emergency situations can be a terminal device, server, body domain controller, cockpit domain controller, or other processing device. The terminal device can be user equipment (UE), computer, mobile device, user terminal, terminal, cellular phone, personal digital assistant (PDA), handheld device, computing device, in-vehicle device, wearable device, etc. In some possible implementations, this vehicle door control method in emergency situations can be implemented by a processor calling computer-readable instructions stored in memory.

[0035] Specifically, please refer to, for example Figure 1 As shown in this embodiment, the emergency door control method includes the following steps: Step S100: Based on the vehicle's operating status data, determine whether the vehicle meets the preset accident conditions and output the determination result; The vehicle's operational status data refers to the status parameters collected in real time by multiple sensors on the vehicle and preprocessed by a signal conditioning circuit. These parameters include, but are not limited to, collision acceleration information, rollover angle information, water depth information inside the vehicle, door lock / unlock status information, and seatbelt tension information. This data is transmitted to the central control module via CAN bus, LIN bus, etc. The preset accident conditions are logical judgment rules embedded in the central control module, including but not limited to collision accident conditions, rollover accident conditions, and water-falling accident conditions. Meeting any one of these conditions constitutes a preset accident condition. This judgment process uses a threshold + continuous market joint judgment to avoid false triggering caused by single-point noise interference.

[0036] Step S200: If the judgment result indicates that the vehicle does not meet the preset accident conditions, then return to the step of judging whether the vehicle meets the preset accident conditions based on the operating status data. Among them, "return" refers to the control process jumping back to the previous step and re-executing to form a closed loop. That is, if the vehicle does not meet the preset accident conditions based on the vehicle's operating status data, the judgment continues to be made in order to continuously monitor whether the vehicle's operating status data meets the preset accident conditions.

[0037] Step S300: If the judgment result indicates that the vehicle meets the preset accident conditions, then control the vehicle to execute the vehicle emergency strategy. Among them, the vehicle emergency strategy is a multi-level response strategy of the central control module according to a preset priority order. Its core is the response strategy of "seat belt release first - door lock unlock then - door actively push open". It should be understood that after the strategy is activated, all unnecessary loads (such as air conditioning compressor, audio-visual system, etc.) are first disabled, the power resources are concentrated and distributed to the execution unit, and a hard-wired interrupt request is sent to the Body Domain Controller (BDC) to take over the door control authority and block the normal locking command from the BCM (Body Control Module).

[0038] Step S400: Execute the door emergency control command based on the vehicle emergency strategy to control the corresponding door of the vehicle to unlock and open to a preset distance.

[0039] The emergency door control command is a CAN signal, which is ultimately output to the door lock drive unit and the door opening unit. The corresponding door refers to the door with the escape priority dynamically selected according to the type of accident. For example, in a frontal collision, the driver's side and passenger side front doors are opened first; in a rollover accident, all doors on the high side (non-ground side) are opened first; and in a water-falling accident, all four doors are opened simultaneously. Unlocking means that the door lock actuator is disengaged from the self-locking state. The execution method includes two modes: electronic drive and mechanical emergency unlocking. The preset opening distance means opening a specific distance in the direction perpendicular to the closing plane of the door. The specific distance range can be 5-15cm. This distance can ensure that an adult's arm can pass through and apply external pushing force, while avoiding the door hitting obstacles or hindering the occupants from sliding out when fully opened.

[0040] The above solution achieves dynamic perception and robust criterion fusion based on multi-source operational status data, constructs differentiated triggering logic covering three high-risk scenarios: collision, rollover, and water immersion, systematically releases occupants from restraints and actively overcomes physical opening obstacles through a three-level sequential action of "seat belt - door lock - door". By integrating mechanical emergency unlocking and hydraulic / electric dual-mode push rods, it solves the technical problem of execution failure when electronic system fails or door deformation and jamming occurs, ultimately achieving the automatic, reliable, and rapid establishment of an effective escape route in various emergencies.

[0041] In an optional embodiment, this application further provides: acquiring vehicle operating status data; wherein the operating status data includes at least one of collision acceleration information, rollover angle information, and in-vehicle water depth information; determining whether the vehicle meets preset accident conditions based on the vehicle operating status data; wherein the preset accident conditions include at least one of collision accident conditions, rollover accident conditions, and water ingress accident conditions; If the vehicle's collision acceleration, as indicated by the operating status data, is greater than or equal to a preset acceleration threshold and lasts for a duration greater than or equal to a first preset duration, then the vehicle meets the conditions for a collision accident. If the vehicle rollover angle indicated by the operating status data is greater than or equal to a preset angle threshold and the duration is greater than or equal to a second preset duration, then the vehicle meets the conditions for a rollover accident. If the operating status data indicates that the vehicle's water ingress depth is greater than or equal to a preset depth threshold, and the water level rise rate is greater than or equal to a preset rate threshold, then the vehicle meets the conditions for a water-falling accident.

[0042] In this embodiment, a judgment mechanism that integrates amplitude threshold, time dimension and dynamic change rate is proposed. Through multi-dimensional parameter collaborative verification, the accuracy and robustness of accident judgment are significantly improved.

[0043] The operational status data includes at least one of the following: collision acceleration information, rollover angle information, and water depth information inside the vehicle. This indicates that the system has modular perception capabilities and can flexibly activate some sensor combinations according to the vehicle configuration requirements. For example, in entry-level models designed only for urban commuting scenarios, only collision sensors and tilt sensors can be deployed to form the basis for dual-mode discrimination. In high-safety-level new energy SUVs, all three types of sensors are activated, and redundant verification logic is introduced. For example, when the water level sensor detects a water depth of 15cm but there are no abnormalities in acceleration and tilt angle, the system still determines it as a water fall accident to avoid missed detection due to the failure of a single sensor.

[0044] Determining whether a vehicle meets preset accident conditions based on its operating status data refers to the electronic control unit calling the embedded accident determination model to perform statistical analysis, threshold comparison, and logical combination calculations on the input data. The preset accident conditions include at least one of the following: collision accident conditions, rollover accident conditions, and water-falling accident conditions. Each type of accident condition corresponds to an independent determination submodule. All submodules share the same data preprocessing link, which facilitates the subsequent expansion to add new accident types (such as fire, high-pressure leakage, etc.). Only the corresponding sensor interface and determination submodule code need to be added.

[0045] If the operational status data indicates that the vehicle's collision acceleration is greater than or equal to the preset acceleration threshold, and the duration is greater than or equal to the first preset duration, then the vehicle meets the collision accident conditions, thus clarifying the dual constraints of the collision criterion. The preset acceleration threshold ranges from 8 to 15g, with 12g being optional. This value has been calibrated through real vehicle collision tests and can effectively distinguish between real collisions and non-accident impacts (for example, the peak acceleration of a high-speed speed bump is usually <6g). The first preset duration ranges from 30 to 100ms, with 50ms being optional.

[0046] If the vehicle rollover angle indicated by the operating status data is greater than or equal to the preset angle threshold and the duration is greater than or equal to the second preset duration, then the vehicle meets the rollover accident conditions. The correlation between the rollover criterion and attitude stability is taken into account: the preset angle threshold ranges from 45° to 60°, with 55° being optional; the second preset duration ranges from 150 to 300ms, with 200ms being optional.

[0047] If the operational status data indicates that the vehicle's water ingress depth is greater than or equal to a preset depth threshold, and the water level rise rate is greater than or equal to a preset rate threshold, then the vehicle meets the conditions for a water-falling accident, highlighting the water-falling criterion's ability to capture dynamic processes; the preset depth threshold ranges from 10 to 20 cm, with 15 cm being an option. This height exceeds the knee position of the occupants in a seated position, constituting a substantial escape obstacle; the preset rate threshold ranges from 3 to 10 cm / s, with 5 cm / s being an option. This rate corresponds to the typical water ingress slope within the first 3 seconds after the vehicle falls into still water, which is much higher than rainwater leakage.

[0048] The above scheme achieves accurate and stable identification of sudden vehicle accident states. Taking a high-speed rear-end collision as an example: the collision sensor detects an acceleration jump to 13.2g at t=0ms and maintains 11.8g at t=55ms, meeting the condition of "collision acceleration ≥12g and duration ≥50ms". Simultaneously, the tilt sensor output is stable, and the water level sensor shows no change. Based on this, the electronic control unit determines it as a collision and immediately initiates the emergency door control procedure. Therefore, the composite criterion mechanism defined in this embodiment solves the problems of misjudgment, missed judgment, and response lag caused by fluctuations in a single parameter, making the accident identification results more accurate and reliable.

[0049] In an optional embodiment, this application further provides: after the corresponding door of the vehicle is opened, the opening and closing status of the corresponding door is acquired in real time; if the opening and closing status of the corresponding door indicates that the corresponding door is locked, the vehicle is controlled to execute the door emergency control command again to control the corresponding door to unlock and open a preset distance.

[0050] This embodiment focuses on maintaining the state and dynamic response capability of the door after it is opened. The core is to construct a closed-loop door holding mechanism. By continuously sensing the door status and triggering retry logic when abnormal locking occurs, it ensures the continuous availability of the escape route in complex accident environments. This solution does not rely on active intervention by occupants, nor does it pre-determine the timing of external rescue intervention. Instead, it uses the door status sensor as the feedback source, the electronic control unit as the decision-making center, and the door lock drive unit and door opening unit as the execution terminals to form an autonomous adjustment loop of monitoring, judgment, and re-execution.

[0051] The term "after the corresponding door of the vehicle is opened" refers to the time period after the electronic control unit has issued the first emergency control command to the door lock drive unit and the door push-open unit, and the door push-open unit has completed the preset distance push-open action (such as 5-15cm). This opening state can be when the gap between the inner edge of the door and the door frame is greater than or equal to 3cm and lasts for no less than 100ms, or when the door angle sensor detects that the hinge angle is greater than 5° and maintains it stably. In different vehicle models, this threshold can be calibrated and adjusted according to the door sealing structure, airtightness requirements, and anti-false triggering requirements. For example, it can be set to 4cm / 80ms for sedans, while it can be set to 6cm / 120ms for high-chassis SUVs due to their large ground clearance and susceptibility to water flow disturbance.

[0052] Real-time acquisition of the opening and closing status of the corresponding door refers to the electronic control unit periodically reading the digital signal or analog voltage signal output by the door status sensor. The door status sensor can be any one of the following: Hall effect position switch, micro switch, resistive sliding potentiometer, infrared beam sensor or ultrasonic ranging module, and is installed at the door limit block, B-pillar liner, door lock tongue linkage arm or door hinge rotation axis.

[0053] The corresponding door opening / closing status is characterized by the door being locked when the signal fed back by the door status sensor meets the preset locking criteria, including but not limited to the door angle signal falling back to the range of 0°±2° and maintaining it for ≥200ms, or the door gap decreasing to ≤1cm and maintaining it for ≥150ms, or the door lock tongue position sensor detecting that the lock tongue is fully embedded in the latch and there is no displacement trend. This criterion can be combined with acceleration sensor data for joint determination. For example, in a water-falling scenario, if a sudden change in Z-axis acceleration and a sudden decrease in door gap are detected at the same time, locking recognition is triggered in advance to avoid misjudgment due to mechanical lag.

[0054] Controlling the vehicle to execute the emergency door control command again means that after confirming the locking status, the electronic control unit regenerates and issues a complete emergency control command. First, a reset release command is sent to the seat belt unlocking unit, then a secondary unlock command is sent to the door lock drive unit. If the previous electronic unlocking failed, the mechanical emergency unlocking mechanism is activated. Finally, an enhanced push-open command is sent to the door push-open unit to control the corresponding door to open.

[0055] The above solution enables autonomous recovery when the car door unexpectedly locks due to external interference after its initial opening. For example, in a water accident, when the vehicle is partially submerged, the water flow exerts lateral pressure on the partially opened door, causing it to rebound under water pressure after being pushed open by 5cm, triggering the voice-activated locking mechanism. At this time, the door status sensor continuously detects the gap contraction trend, and the electronic control unit identifies the locking state within 180ms and immediately initiates a secondary command. The door lock drive unit drives the motor to complete the electronic unlocking, and the hydraulic push rod of the door push unit extends, ultimately maintaining the door stably at a 9cm opening gap for more than 25 seconds, providing occupants with a continuous and reliable lateral escape route and solving the problem of interrupted escape windows caused by repeated door closures.

[0056] In an optional embodiment, this application also provides: executing a seatbelt emergency control command based on the vehicle emergency strategy to control the release of the corresponding seatbelt of the vehicle; and executing an emergency reminder command based on the vehicle emergency strategy to control the vehicle to output in-vehicle alarm prompts and out-of-vehicle alarm prompts.

[0057] In this embodiment, seatbelt release and internal / external alarm prompts are the core of the vehicle's emergency strategy, constituting the means to release occupants and trigger external intervention in the emergency response closed loop. Specifically, after determining that an accident has occurred and activating the emergency strategy, the electronic control unit simultaneously schedules the seatbelt unlocking unit and the audible and visual alarm actuator to achieve concurrent control of multiple mechanisms.

[0058] The seatbelt emergency control command based on the vehicle emergency strategy means that when the electronic control unit confirms that any preset accident condition (collision, rollover, or falling into water) is met, it immediately sends a priority digital control signal (e.g., PWM pulse or CAN bus command) to the seatbelt unlocking unit. After receiving the command, the seatbelt unlocking unit releases the locking state of at least one occupant seat's corresponding seatbelt. The release action is characterized by the seatbelt being able to be freely pulled out or the retractor disengaging from the locked position. The release range covers the seatbelts of the driver, front passenger, and at least two rear seats, and each channel is independently controllable.

[0059] In-vehicle alarm prompts include, but are not limited to, alternating red and white flashing LED breathing light arrays on the A-pillar or sun visor, and standardized voice prompts such as "Please leave immediately!" played through the speakers; external alarm prompts include, but are not limited to, forced activation of hazard warning lights (double flashers) and maintenance of the highest duty cycle, continuous blaring of external high-pitched horns, and synchronized flashing of LED warning strips embedded in the tailgate / hood; emergency reminder commands based on vehicle emergency strategies refer to the electronic control unit simultaneously generating a set of highly recognizable combined reminder signals while issuing seat belt release and door control commands. These signals are distributed to multiple alarm execution terminals via the vehicle's CAN / LIN bus or hardwired connection; for example, in the event of falling into water, the command automatically activates a high-frequency buzzer combined with slow flashing hazard lights, while in the event of a rollover, it switches to a low-frequency continuous beeping combined with full illumination of the hazard warning lights and intermittent horn blaring.

[0060] The above scheme enables simultaneous intervention in the occupant restraint status, cabin opening status, and external information broadcast status under a single emergency event, thereby alerting occupants inside the vehicle cabin and other personnel outside the vehicle, further improving the escape probability of occupants inside the vehicle cabin.

[0061] In an optional embodiment, this application further provides: if a command is received that the vehicle has returned to normal, there are no occupants in the cabin, or the doors in the cabin are closed, then the vehicle doors are controlled to return to normal control.

[0062] The vehicle returning to normal status refers to a stable operating condition where the system continuously monitors and confirms that the accident has been eliminated, and the vehicle's operating parameters have returned to within the safe threshold range. For example, this means that the collision acceleration is consistently below 8g for at least 500ms, or the rollover angle is consistently below 10° for at least 500ms, or the water depth inside the vehicle is consistently below 3cm and the water level rise rate is less than 0.5cm / s, while the central control module does not detect any new abnormal trigger signals, thus avoiding false resets due to sensor jitter or short-term fluctuations.

[0063] The absence of occupants in the cabin is determined collaboratively by the cabin environment perception unit, which includes, but is not limited to, infrared thermal imaging sensors, millimeter-wave radar, seat pressure sensors, and ultrasonic human presence detection modules. The infrared thermal imaging sensors are installed in the ceiling or inside the A-pillars to identify the temperature distribution characteristics in the cabin to determine whether there are occupants in the vehicle cabin; the millimeter-wave radar is deployed above the rear seats to perform micro-motion detection of vital signs such as breathing and heartbeat to determine whether there are occupants in the vehicle cabin; and the seat pressure sensors are embedded inside the seat cushions of the driver, front passenger, and rear seats to determine whether there are occupants in the vehicle cabin.

[0064] The door closing command inside the cabin is an emergency exit operation initiated by the user, including but not limited to physical buttons, virtual buttons on the touch screen, voice commands, etc., to control the closing of the corresponding door of the vehicle.

[0065] Through the above scheme, when a vehicle experiences a collision, rollover, or water accident, the system accurately identifies the time to resolve the accident based on multi-source sensor data, and combines dynamic assessment of whether there are still occupants in the vehicle cabin, as well as manual intervention commands, to autonomously decide to exit the emergency mode. This not only ensures the continuity of the emergency function, but also eliminates the secondary risks caused by prolonged semi-open state, and improves the controllability and reliability of the vehicle's passive safety system.

[0066] Figure 2 The diagram illustrates the structure of an embodiment of the vehicle described in this application, and also shows the structure of a computer system suitable for implementing the vehicle in this application. The specific embodiments of this application do not limit the specific implementation of the vehicle.

[0067] Please see Figure 2 As shown, the vehicle includes: a controller; and a memory for storing one or more programs, which, when executed by the controller, perform the aforementioned door control method in an emergency situation.

[0068] Please continue reading. Figure 2 As shown, the vehicle's computer system 600 includes a Central Processing Unit (CPU) 601, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 602 or programs loaded from storage portion 608 into Random Access Memory (RAM) 603. The RAM 603 also stores various programs and data required for system operation. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An Input / Output (I / O) interface 605 is also connected to the bus 604.

[0069] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0070] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs various functions defined in the system of this application.

[0071] Another aspect of this application provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the emergency door control method described above. This computer-readable storage medium may be included in the vehicle described in the above embodiments, or it may exist independently and not be installed in the vehicle.

[0072] Another aspect of this application provides a computer program product or computer program including at least one executable instruction that, when executed on a door control system / vehicle in an emergency state, causes the door control system / vehicle in an emergency state to perform the door control method in an emergency state as described below: Based on the vehicle's operating status data, determine whether the vehicle meets the preset accident conditions and output the determination result; If the judgment result indicates that the vehicle does not meet the preset accident conditions, then return to the step of judging whether the vehicle meets the preset accident conditions based on the operating status data; If the judgment result indicates that the vehicle meets the preset accident conditions, then the vehicle is controlled to execute the vehicle emergency strategy; Based on the vehicle emergency strategy, execute the door emergency control command to control the corresponding door of the vehicle to unlock and open to a preset distance.

[0073] In an alternative approach, the executable instructions can also be used to cause the door control system / vehicle to perform the following operations in an emergency: Acquire vehicle operating status data; wherein, the operating status data includes at least one of collision acceleration information, rollover angle information, and water depth information inside the vehicle; Based on the vehicle's operating status data, it is determined whether the vehicle meets the preset accident conditions; wherein the preset accident conditions include at least one of the following: collision accident conditions, rollover accident conditions, and water-falling accident conditions.

[0074] In an alternative approach, the executable instructions can also be used to cause the door control system / vehicle to perform the following operations in an emergency: If the operating status data indicates that the collision acceleration of the vehicle is greater than or equal to a preset acceleration threshold and the duration is greater than or equal to a first preset duration, then the vehicle meets the collision accident conditions. If the operating status data indicates that the rollover angle of the vehicle is greater than or equal to a preset angle threshold and the duration is greater than or equal to a second preset duration, then the vehicle meets the rollover accident conditions. If the operating status data indicates that the vehicle's water ingress depth is greater than or equal to a preset depth threshold, and the water level rise rate is greater than or equal to a preset rate threshold, then the vehicle meets the conditions for a water-falling accident.

[0075] In an alternative approach, the executable instructions can also be used to cause the door control system / vehicle to perform the following operations in an emergency: After the corresponding door of the vehicle is opened, the opening and closing status of the corresponding door is acquired in real time. If the opening / closing status of the corresponding door indicates that the corresponding door is locked, then the vehicle is controlled to execute the emergency door control command again to control the corresponding door to unlock and open to a preset distance.

[0076] In an alternative approach, the executable instructions can also be used to cause the door control system / vehicle to perform the following operations in an emergency: Based on the vehicle emergency strategy, execute the seat belt emergency control command to control the release of the corresponding seat belt in the vehicle; Furthermore, based on the vehicle emergency strategy, an emergency alert command is executed to control the vehicle to output in-vehicle alarm prompts and external alarm prompts.

[0077] In an alternative approach, the executable instructions can also be used to cause the door control system / vehicle to perform the following operations in an emergency: If a command is received indicating that the vehicle has returned to normal operation, there are no occupants in the cabin, or the doors in the cabin are closed, then the vehicle doors are controlled to return to normal operation.

[0078] In the emergency door control method provided in this application embodiment, the system determines whether the vehicle meets preset accident conditions based on the vehicle's operating status data and outputs the determination result. If the determination result indicates that the vehicle does not meet the preset accident conditions, the system returns to the step of determining whether the vehicle meets the preset accident conditions based on the operating status data. If the determination result indicates that the vehicle meets the preset accident conditions, the system controls the vehicle to execute the vehicle emergency strategy. Based on the vehicle emergency strategy, the system executes the door emergency control command to control the corresponding door of the vehicle to unlock and open a preset distance. This solution can solve the problem of people being unable to escape in time due to door deformation, electronic lock failure, or seat belt jamming in traffic accidents, thus improving the survival rate of vehicle occupants in traffic accidents.

[0079] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. The transmitted data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0080] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0081] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0082] According to one aspect of the embodiments of this application, a computer system is also provided, including a Central Processing Unit (CPU), which can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) or a program loaded from storage into random access memory (RAM), such as performing the methods described above. Various programs and data required for system operation are also stored in the RAM. The CPU, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0083] The following components are connected to the I / O interface: input components including keyboards, mice, etc.; output components including cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; storage components including hard drives; and communication components including network interface cards such as LAN (Local Area Network) cards and modems. The communication components perform communication processing via networks such as the Internet. Drives are also connected to the I / O interface as needed. Removable media, such as disks, optical discs, magneto-optical discs, semiconductor memories, etc., are installed on the drive as needed so that computer programs read from them can be installed into the storage components as required.

[0084] The above description is merely a preferred exemplary embodiment of this application and is not intended to limit the implementation of this application. Those skilled in the art can easily make corresponding modifications or alterations based on the main concept and spirit of this application. Therefore, the scope of protection of this application should be determined by the scope of protection claimed in the claims.

[0085] In practice, the collection and processing of data in this application should strictly comply with the requirements of relevant national laws and regulations, obtain the informed consent or separate consent of the data subject, and carry out subsequent data use and processing within the scope of laws and regulations and the authorization of the data subject.

Claims

1. A method for controlling vehicle doors in an emergency, characterized in that, The method includes: Based on the vehicle's operating status data, determine whether the vehicle meets the preset accident conditions and output the determination result; If the judgment result indicates that the vehicle does not meet the preset accident conditions, then return to the step of judging whether the vehicle meets the preset accident conditions based on the operating status data; If the judgment result indicates that the vehicle meets the preset accident conditions, then the vehicle is controlled to execute the vehicle emergency strategy; Based on the vehicle emergency strategy, execute the door emergency control command to control the corresponding door of the vehicle to unlock and open to a preset distance.

2. The emergency door control method according to claim 1, characterized in that, The method further includes: Acquire vehicle operating status data; wherein, the operating status data includes at least one of collision acceleration information, rollover angle information, and water depth information inside the vehicle; Based on the vehicle's operating status data, it is determined whether the vehicle meets the preset accident conditions; wherein the preset accident conditions include at least one of the following: collision accident conditions, rollover accident conditions, and water-falling accident conditions.

3. The emergency door control method according to claim 2, characterized in that, The method further includes: If the operating status data indicates that the collision acceleration of the vehicle is greater than or equal to a preset acceleration threshold and the duration is greater than or equal to a first preset duration, then the vehicle meets the collision accident conditions. If the operating status data indicates that the rollover angle of the vehicle is greater than or equal to a preset angle threshold and the duration is greater than or equal to a second preset duration, then the vehicle meets the rollover accident conditions. If the operating status data indicates that the vehicle's water ingress depth is greater than or equal to a preset depth threshold, and the water level rise rate is greater than or equal to a preset rate threshold, then the vehicle meets the conditions for a water-falling accident.

4. The emergency door control method according to claim 1, characterized in that, The method further includes: After the corresponding door of the vehicle is opened, the opening and closing status of the corresponding door is acquired in real time. If the opening / closing status of the corresponding door indicates that the corresponding door is locked, then the vehicle is controlled to execute the emergency door control command again to control the corresponding door to unlock and open to a preset distance.

5. The emergency door control method according to claim 1, characterized in that, The method further includes: Based on the vehicle emergency strategy, execute the seat belt emergency control command to control the release of the corresponding seat belt in the vehicle; Furthermore, based on the vehicle emergency strategy, an emergency alert command is executed to control the vehicle to output in-vehicle alarm prompts and external alarm prompts.

6. The emergency door control method according to any one of claims 1 to 5, characterized in that, The method further includes: If a command is received indicating that the vehicle has returned to normal operation, there are no occupants in the cabin, or the doors in the cabin are closed, then the vehicle doors are controlled to return to normal operation.

7. A vehicle door control system for emergency situations, characterized in that, The system includes: main power supply, backup power supply, electronic control unit, door lock drive unit, door push-open unit, seat belt unlocking unit, collision sensor, tilt sensor, water level sensor, door status sensor and seat belt tension sensor. The main power supply is used to power the electronic control unit, the door lock drive unit, the door push-open unit, the seat belt unlocking unit, the collision sensor, the tilt sensor, the water level sensor, the door status sensor, and the seat belt tension sensor. The backup power supply is used to provide power to the electronic control unit, the door opening unit, the collision sensor, the tilt sensor, the water level sensor, the door status sensor, and the seat belt tension sensor in the event of failure of the main power supply. The collision sensor is used to acquire the collision acceleration of the vehicle in order to determine the collision accident of the vehicle based on the collision acceleration. The tilt sensor is used to acquire the rollover angle of the vehicle, so as to determine the rollover accident of the vehicle based on the rollover angle and feed it back to the electronic control unit; The water level sensor is used to obtain the water depth in the vehicle's cabin, so as to determine the vehicle's water-falling accident based on the water depth in the cabin and feed it back to the electronic control unit. The door status sensor is used to acquire the status of the corresponding door of the vehicle, so as to determine the unlocked or locked status of the corresponding door and feed it back to the electronic control unit. The seat belt tension sensor is used to acquire the corresponding seat belt locking state of the vehicle and feed it back to the electronic control unit; The door lock drive unit is used to execute emergency door control commands under the control of the electronic control unit to control the unlocking of the corresponding door of the vehicle. The door opening unit is used to execute emergency door control commands under the control of the electronic control unit to control the opening distance of the corresponding door of the vehicle. The seatbelt unlocking unit is used to control the electronic control unit to execute an emergency seatbelt control command to control the release of the corresponding seatbelt in the vehicle.

8. A vehicle, characterized in that, include: Controller; A memory for storing one or more programs, which, when executed by a controller, cause the controller to implement the emergency door control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on the door control system / vehicle in an emergency state, causes the door control system / vehicle in an emergency state to perform the steps of the door control method in an emergency state as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program or executable instructions, which, when executed by a processor, implement the emergency door control method as described in any one of claims 1 to 6.

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