Vehicle door control method and vehicle

Abstract

The invention discloses a vehicle door control method and a vehicle, and the method comprises the steps: determining the validity of a knocking signal according to a first-type sensor signal and a second-type sensor signal; and when the knocking signal is valid, a target vehicle door is controlled to execute a corresponding action. According to the application, by fusing the first type of sensor signals and the second type of sensor signals, the reliability and meticulous performance of the effectiveness judgment of the knocking signals are improved, and most of false triggering problems (surrounding noise interference, collision of pedestrians to the vehicle door, flapping and scratching of the vehicle door by branches, front door vibration signal interference to the rear door and the like) caused by environmental factors can be eliminated; the environment anti-interference performance is high, the recognition rate of knocking and controlling the vehicle door is greatly improved, and the false triggering rate is reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a door control method and a vehicle. Background Technology

[0002] With the rapid development of intelligent vehicle technology, traditional physical keys are gradually being replaced by keyless entry systems. Among existing technologies, tap-to-control door technology, as an innovative interaction method for keyless entry, utilizes sensors and signal processing algorithms to recognize tapping actions and control the opening and closing of the doors, achieving a convenient keyless entry experience. However, in complex scenarios, tap-to-control door technology is prone to a high rate of false triggering. Summary of the Invention

[0003] This application provides a door control method and a vehicle, reducing the false triggering rate of door control by knocking.

[0004] To achieve the above objectives, according to a first aspect of this application, a door control method is provided, comprising:

[0005] The validity of the tapping signal is determined based on the signals from the first type of sensor and the second type of sensor.

[0006] When the knocking signal is valid, the target door is controlled to perform the corresponding action.

[0007] Optionally, the first type of sensor signal includes a tap signal, and / or the second type of sensor signal includes an image signal, and / or the second type of sensor signal includes a signal containing user information.

[0008] Optionally, the information included in the first type of sensor signal includes at least one of the following: number of taps, tapping force, tapping frequency, and tapping interval; and / or,

[0009] The information contained in the second type of sensor signal includes at least one of user location and user image; and / or,

[0010] The controlled target door performs corresponding actions including at least one of controlling the door to open and controlling the door to close.

[0011] Optionally, the conditions under which the tapping signal is valid include one or more of the following:

[0012] The tapping signal meets the preset tapping parameter threshold, the user position meets the preset position conditions, and the user image is valid for user identification.

[0013] Optionally, the preset tapping parameter thresholds include a preset tapping number threshold, a preset tapping force threshold, a preset tapping frequency threshold, and a preset tapping interval threshold. The conditions under which the tapping signal satisfies the preset tapping parameter thresholds include one or more of the following:

[0014] The number of taps is greater than or equal to the preset number of taps threshold, the tapping force is greater than or equal to the preset tapping force threshold, the tapping frequency is greater than or equal to the preset tapping frequency threshold, and the tapping interval is within the preset tapping interval range.

[0015] Optionally, the user's location satisfies the preset location condition by being located within a preset location area of ​​the target door, and the distance between the user and the target door is within a preset distance range.

[0016] Optionally, the user identification of the user image is effective if the user type obtained by identifying the user image is elderly, youth, or child.

[0017] Optionally, the user image can be identified to obtain the user type;

[0018] Adjust the preset tapping parameter threshold according to the user type.

[0019] Optionally, the user type includes at least one of elderly, youth, and child, and adjusting the preset tapping parameter threshold according to the user type includes:

[0020] When the user type is a child, the preset tapping force threshold is a first force threshold, the preset tapping frequency threshold is a first frequency threshold, and the preset tapping interval range is a first continuous tapping interval range.

[0021] When the user type is elderly, the preset tapping force threshold is the second force threshold, the preset tapping frequency threshold is the second frequency threshold, and the preset tapping interval range is the second continuous tapping interval range.

[0022] When the user type is youth, the preset tapping force threshold is the third force threshold, the preset tapping frequency threshold is the third frequency threshold, and the preset tapping interval range is the third continuous tapping interval range.

[0023] Wherein, the first force threshold is less than the second force threshold, and the second force threshold is less than the third force threshold;

[0024] The second frequency threshold is less than the first frequency threshold, and the first frequency threshold is less than the third frequency threshold.

[0025] Optionally, when controlling the target door to perform the corresponding action, the environmental information on the target door's movement trajectory is monitored in real time;

[0026] If an obstacle is detected on the trajectory, the target door is controlled to hover.

[0027] Optionally, when the tapping signal is invalid, a prompt message is issued to the user; and / or,

[0028] The target car door is determined based on the tapping signal and / or the user information.

[0029] According to a second aspect of this application, a door control device is provided, comprising:

[0030] The acquisition module is used to acquire tapping signals and user information;

[0031] The control module, connected to the acquisition module, is used to determine the validity of the knocking signal based on the knocking signal and the user information, and to control the target door to perform the corresponding action when the knocking signal is valid.

[0032] According to a third aspect of this application, an electronic device is provided, comprising:

[0033] Memory, on which computer programs / instructions are stored;

[0034] A processor is configured to execute the computer program / instructions in the memory to implement the steps of the above-described door control method.

[0035] According to a fourth aspect of this application, a computer-readable storage medium is provided that stores a computer program / instructions thereon, which, when executed by a processor, implement the steps of the above-described door control method.

[0036] According to a fifth aspect of this application, a computer program product is provided, including a computer program / instructions that, when executed by a processor, implement the steps of the above-described door control method.

[0037] According to a sixth aspect of this application, a vehicle is provided that includes electronic equipment as described above, or includes door control devices as described above.

[0038] This application improves the reliability and accuracy of knock signal validity judgment by integrating the signals from the first type of sensor and the second type of sensor. It can eliminate most of the false triggering problems caused by environmental factors (such as ambient noise interference, pedestrian collisions with the car door, tree branches hitting and scratching the car door, and vibration signals from the front door interfering with the rear door). It has strong environmental anti-interference capabilities, greatly improves the recognition rate of knock-controlled car doors, and reduces the false triggering rate.

[0039] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This application provides a schematic diagram of a door control method processing flow in certain embodiments;

[0042] Figure 2 This application provides a schematic diagram of a vehicle door control device frame in certain embodiments;

[0043] Figure 3 This application provides a schematic flowchart of a vehicle door control method in certain embodiments;

[0044] Figure 4 This application provides a schematic diagram of a radar preset sensing area in certain embodiments;

[0045] Figure 5 This application provides a schematic diagram of vehicle hardware layout locations in certain embodiments.

[0046] Explanation of reference numerals in the attached figures:

[0047] 1. Vehicle door; 2. Radar sensing area; 3. User; 4. Body domain controller; S1. Front left impact vibration sensor; S2. Front right impact vibration sensor; S3. Rear left impact vibration sensor; S4. Rear right impact vibration sensor; R1. Front left radar sensor; R2. Front right radar sensor; R3. Rear left radar sensor; R4. Rear right radar sensor; C1. Wide-angle camera in the left rearview mirror; C2. Wide-angle camera in the right rearview mirror. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Furthermore, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application.

[0049] With the rapid development of intelligent vehicle technology, traditional physical keys are gradually being replaced by keyless entry systems. Among existing technologies, knock-to-control door technology, as an innovative interaction method for keyless entry, utilizes an array of vibration sensors deployed on the door to collect the mechanical vibration signals generated by the user's knocking. It then extracts feature parameters through digital signal processing algorithms and finally uses pattern recognition algorithms to determine the validity of the knocking action, controlling the opening and closing of the door to achieve a convenient keyless entry experience. However, in complex scenarios, knock-to-control door technology is prone to a high rate of false triggering.

[0050] To address the aforementioned problems, this application provides a door control method, combining... Figure 1-5 As shown, it includes:

[0051] Step S1: Determine the validity of the tapping signal based on the signals from the first type of sensor and the second type of sensor;

[0052] Step S2: When the knocking signal is valid, control the target door to perform the corresponding action.

[0053] This can be understood as the first type of sensor signal and the second type of sensor signal being signals collected by different sensors. Sensor types can include, but are not limited to, pressure sensors, touch sensors, impact vibration sensors, millimeter-wave radar, ultrasonic radar, cameras, etc. For example, the first type of sensor signal can include, but is not limited to, physical contact signals, such as acceleration, pressure, and impact vibration. The second type of sensor signal can include, but is not limited to, non-contact signals, such as sound, spatial position signals, images, and thermal signals. The target car door can include, but is not limited to, the specific door the user intends to operate (such as the left front door, right rear door, etc.), for example, tapping the left door panel triggers the left front door, and tapping the right door triggers the right front door. The corresponding action can include, but is not limited to, specific operations performed by the vehicle, such as opening / closing the door, adjusting the window, etc.

[0054] Specifically, first-type and second-type sensor signals are acquired through acquisition devices. For example, the first-type sensor signal collects the physical characteristics of the tapping action through a vibration sensor (or pressure sensor) mounted on the door surface. The second-type sensor signal collects indirect characteristics of the tapping action (such as the user type, object, and spatial location of the tapping signal) through a radar sensor (or infrared sensor, camera, etc.). Based on the first-type and second-type sensor signals, and combined with spatiotemporal consistency verification, threshold matching, and machine learning-assisted processing methods, the validity of the tapping signal is determined. If the tapping signal is deemed valid, the target door is controlled to perform the corresponding action (such as unlocking, opening, or closing). For example, a command is sent from the door control module to the motor drive module to drive the door to perform an unlocking operation. If the tapping signal is invalid (such as a mis-touch or interference signal), the signal can be ignored to avoid erroneous door actions.

[0055] Compared to related technologies, current signal recognition methods are limited in scope and lack multimodal verification mechanisms. The root cause lies in insufficient signal feature extraction dimensions, relying solely on single physical features for identification without establishing a multimodal feature fusion model, leading to the inability to distinguish between similar signals. This results in significant deficiencies in complex scenarios such as heavy rain, hail, firecrackers around vehicles, construction noise, unintentional pedestrian collisions, and tree branch impacts. The system cannot differentiate between active user tapping and unintentional external interference (such as a vehicle parked on the roadside, a pedestrian colliding with the door, or a tree branch scratching the door), leading to misjudgments of the tapping as valid and triggering door opening or closing actions. This application, by fusing signals from both type I and type II sensors, improves the reliability and accuracy of tapping signal validity judgment. It eliminates most false triggering issues caused by environmental factors (surrounding noise interference, pedestrian collisions, tree branch impacts, front door vibrations interfering with rear door vibrations, etc.), exhibiting strong environmental anti-interference capabilities and significantly improving the recognition rate of tapping-controlled doors while reducing the false triggering rate.

[0056] In some implementations, combined Figure 1 , Figure 2 and Figure 3 As shown, the first type of sensor signal includes a knocking signal.

[0057] In this context, the tapping signal can be understood to include, but is not limited to, the physical signal generated when a user taps a specific area of ​​the vehicle, such as the surface of the door (e.g., the door panel). For example, sensors (such as accelerometers, pressure sensors, sound sensors, and tapping vibration sensors) detect the force, frequency, location, or rhythm of the tapping. For instance, when a user taps the surface of the door, the tapping vibration sensor detects the vibration signal and records the amplitude and frequency of the vibration.

[0058] In some implementations, combined Figure 1 , Figure 2 and Figure 3 As shown, the second type of sensor signal includes image signals.

[0059] This can be understood as the image signal being captured, including but not limited to, images of the user's gestures or face by a camera installed near the car door handle. For example, the camera uses image recognition algorithms (such as OpenCV) to capture the user's height, facial features, and range of motion.

[0060] In some implementations, combined Figure 1 , Figure 2 and Figure 3 As shown, the second type of sensor signal includes signals containing user information.

[0061] In this context, user information can be understood to include, but is not limited to, spatial location information, characteristic information, and identity information used to verify users, such as biometrics (e.g., facial recognition, user type recognition) and location information (e.g., determining whether a user is within the permitted operating range via GPS, radar, or vehicle positioning systems).

[0062] In some implementations, the vehicle status must meet safety conditions (such as not being driven or not started) in order to control the target door to perform the corresponding action when the knocking signal is valid.

[0063] In some implementations, combined Figure 1 , Figure 2 and Figure 3 As shown, the information contained in the first type of sensor signal includes at least one of the following: number of taps, tapping force, tapping frequency, and tapping interval.

[0064] This can be understood as follows: the number of knocks may include, but is not limited to, the total number of times a user knocks on the car door within a specific time period; the knocking force may include, but is not limited to, the magnitude of the force applied by the user each time they knock; the knocking frequency may include, but is not limited to, the frequency of repeated knocking per unit time period, usually referring to the speed of the knocking rhythm; and the knocking interval may include, but is not limited to, the time interval between two adjacent knocks.

[0065] In some implementations, combined Figure 1 , Figure 2 and Figure 3 As shown, the information contained in the second type of sensor signal includes at least one of the user's location and user image.

[0066] This can be understood as the user's location being, but not limited to, spatial position information of the user relative to the vehicle or the target door, used to determine whether the user is within the permitted operating range. For example, vehicle sensors can be used to detect in real time whether the user is near the door (e.g., an ultrasonic sensor detects whether the user is standing within 1 meter of the left front door).

[0067] User images can include, but are not limited to, images of a user's face or body captured by a camera, used for biometric identification, user type recognition, etc. For example, a camera can be installed near a car door (such as the B-pillar or rearview mirror) to capture user images in real time. Facial features (such as eye spacing and nose bridge contour) can be extracted using a deep learning model (such as CNN) and matched against a pre-stored user database.

[0068] In some implementations, combined Figure 1 , Figure 2 and Figure 3 As shown, controlling the target door to perform corresponding actions includes at least one of controlling the door to open and controlling the door to close.

[0069] Specifically, when the knocking signal is valid, the target door is controlled to open or close.

[0070] In some implementations, combined Figure 1 , Figure 2 and Figure 3 As shown, the conditions for a tap signal to be valid include one or more of the following:

[0071] The user identification is effective if the tapping signal meets the preset tapping parameter threshold, the user position meets the preset position conditions, and the user image meets the preset criteria.

[0072] Specifically, the validity of a tapping signal can be determined based on the tapping signal itself, along with the user's location and image information from the user data. A tapping signal is considered valid if one or more of the following three conditions are met: the tapping signal meets a preset tapping parameter threshold, the user's location meets a preset location condition, and the user image is recognized as valid. For example, in one specific embodiment, the tapping signal is valid if all three conditions are met: the tapping signal meets the preset tapping parameter threshold, the user's location meets the preset location condition, and the user image is recognized as valid. If any one of these conditions is not met, the tapping signal is invalid. Through multi-logic collaborative verification of tapping parameters, user location, and user image, the recognition rate of tapping-controlled doors is significantly improved, and the false trigger rate is reduced.

[0073] In some implementations, combined Figure 1 , Figure 2 and Figure 3As shown, the preset tapping parameter thresholds include a preset tapping number threshold, a preset tapping force threshold, a preset tapping frequency threshold, and a preset tapping interval threshold. The conditions under which the tapping signal meets the preset tapping parameter thresholds include one or more of the following:

[0074] The number of taps is greater than or equal to a preset tap count threshold, the tapping force is greater than or equal to a preset tapping force threshold, the tapping frequency is greater than or equal to a preset tapping frequency threshold, and the tapping interval is within a preset tapping interval range.

[0075] Specifically, the condition for the tapping signal to meet the preset tapping parameter threshold can be a single condition, such as the number of taps being greater than or equal to 3. The condition can also be multiple conditions, such as the number of taps being greater than or equal to 3 and the tapping force being greater than or equal to 2N. In one specific embodiment, the condition for the tapping signal to meet the preset tapping parameter threshold is that the number of taps is greater than or equal to a preset tapping number threshold, the tapping force is greater than or equal to a preset tapping force threshold, the tapping frequency is greater than or equal to a preset tapping frequency threshold, and the tapping interval is within a preset tapping interval range. Through multi-condition verification of the number of taps, force, frequency, and interval, high security and convenience of door control are achieved, while significantly improving the recognition rate of tap-controlled doors and reducing the false trigger rate.

[0076] In some implementations, combined Figure 1 , Figure 2 and Figure 3 As shown, the user's location meets the preset location conditions when the user's location is within the preset location area of ​​the target door, and the distance between the user and the target door is within the preset distance range.

[0077] Specifically, the preset location area may include, but is not limited to, a preset location area (e.g., a circular area with a radius of 1.5 meters centered on the door) set around the target door (e.g., the front left door). The preset distance range may include, but is not limited to, a pre-defined distance range between the user and the target door (e.g., 0.5 meters to 2 meters). The user must be located within the preset location area of ​​the target door, and the distance between the user and the target door must be within the preset distance range for the user's position to meet the preset location conditions. If the user is not within the preset location area, or the distance exceeds the range, the position is deemed invalid. This dual verification of the preset location area and distance range ensures that only users trigger door operations within a specific range, preventing remote attacks or unauthorized access. This dual verification of location and distance also avoids accidental touches (e.g., children accidentally tapping the door) or environmental interference (e.g., wind blowing the door).

[0078] In some implementations, combined Figure 1 , Figure 2 and Figure 3As shown, effective user identification of user images means that the user type obtained by identifying the user image is elderly, youth, or child.

[0079] Specifically, high-resolution cameras can be installed near the car door (such as the B-pillar or rearview mirror) to capture user images in real time (including information such as user height, facial features, and range of motion). Real-time image processing is then performed using a deep learning model (such as a convolutional neural network, CNN). If the output user type is identified as elderly, youth, or child, it indicates effective group recognition and that the tapping behavior is human, thus valid user identification of the user image. Otherwise, user identification of the user image is invalid. By identifying the user type through the user image and verifying that the user is a living person and that the tapping behavior is human, the recognition rate of tapping to control the car door is significantly improved, and the false trigger rate is reduced.

[0080] In one specific embodiment, combined with Figure 1 , Figure 2 and Figure 3 As shown, a multi-source acquisition module collects knocking signals, user location, and image information of the user's group. This module consists of three sensors: a knocking vibration sensor, a radar sensor, and a camera. Data acquisition primarily involves using a wide-angle camera (e.g., positioned near the rearview mirror) to collect user image information and identify the user's group (children, elderly, youth); using a radar sensor (e.g., positioned near the door) to detect the relative position of the user and the target door, including whether the user is within the target door's preset sensing area and the distance from the user to the door; and using a knocking vibration sensor (e.g., positioned inside the door) to collect knocking signals and extract feature parameters (force, frequency, knocking interval). The validity of the knocking signal is determined based on the logic of knocking signal compliance, valid user location, and valid group identification. The fusion judgment module requires the following three conditions to be met simultaneously to determine the knocking signal as valid: 1. Vibration signal compliance: the collected knocking force... Tapping frequency 2 consecutive taps with a tap interval 2. User location valid: The radar detects that the user is within the preset sensing area of ​​the target vehicle door, such as... Figure 4 As shown, the distance between the user and the car door... To avoid collisions due to excessive proximity or misjudgments due to excessive distance; 3. Valid user identification: The camera clearly identifies the user group as elderly, youth, or children (recognition confidence ≥ 90%), with no obstructions or blurriness. If the knocking signal is deemed valid, the controller sends an open or close command to the drive mechanism of the target door, controlling the target door to perform the open or close action.

[0081] In some implementations, combined Figure 1 , Figure 2 and Figure 3As shown, the user image is identified to obtain the user type;

[0082] Adjust the preset tapping parameter threshold according to user type.

[0083] Specifically, user images are processed for recognition, such as through image processing methods like illumination correction, face detection, and feature extraction, as well as a preset user type classification standard, to obtain the user type. Based on the user type, a preset threshold library is called to dynamically update the current preset tapping parameter thresholds, such as dynamically updating one or more of the current tapping force, frequency, and interval judgment thresholds.

[0084] In one specific embodiment, user group types are identified through image features of user images (user height, facial features, range of motion, etc.), for example:

[0085] Children – those who are 1.2m tall or whose facial features match those of children aged 6-12;

[0086] Elderly population – Facial features consistent with those of people over 60 years old (wrinkles, gray hair, etc.), or movement speed of 0.8m / s;

[0087] Young people – excluding the two categories mentioned above, with a height of 1.2m-1.9m and a movement speed of 0.8-1.5m / s.

[0088] Compared to related technologies, the knock signal judgment logic is too simple and lacks adaptability. The knock signal judgment parameters are fixed values, failing to consider user differences (such as children's low knock values ​​and elderly people's slow operation speed). For example, if a child knocks according to normal habits (force < 5N), the system will determine it as invalid and the door cannot be opened. This application adjusts the preset knock parameter thresholds according to user type, and classifies the knock parameter thresholds for different groups (such as elderly people knocking with 3-4N, young adults with 5-8N, and children with 2-3N). It has strong adaptability, significantly improves the recognition rate of knock-controlled car doors, and reduces the false trigger rate.

[0089] In some implementations, combined Figure 1 , Figure 2 and Figure 3 As shown, the user type includes at least one of the following: elderly, youth, and children. The preset tapping parameter threshold is adjusted according to the user type, including:

[0090] When the user type is a child, the preset tapping force threshold is the first force threshold, the preset tapping frequency threshold is the first frequency threshold, and the preset tapping interval range is the first continuous tapping interval range.

[0091] When the user type is elderly, the preset tapping force threshold is the second force threshold, the preset tapping frequency threshold is the second frequency threshold, and the preset tapping interval range is the second continuous tapping interval range.

[0092] When the user type is youth, the preset tapping force threshold is the third force threshold, the preset tapping frequency threshold is the third frequency threshold, and the preset tapping interval range is the third continuous tapping interval range.

[0093] Among them, the first force threshold is less than the second force threshold, and the second force threshold is less than the third force threshold;

[0094] The second frequency threshold is less than the first frequency threshold, and the first frequency threshold is less than the third frequency threshold.

[0095] Specifically, in one embodiment, adaptively adjusting the preset tapping parameter thresholds based on user type refers to a technical mechanism that dynamically updates tapping judgment parameters (force, frequency, interval) based on camera-recognized "user groups" (children / elderly / young adults). A preset threshold library is established for different groups; for example, the force threshold for children is lowered to 3N, and the interval threshold is relaxed to 350-600ms, while the force threshold for the elderly is set to 4N. The core purpose is to adapt to the operational capabilities of different users and improve the tapping success rate for special groups such as children and the elderly. For example, the threshold parameter settings can be as follows:

[0096] When the user type is a child, the preset tapping force threshold is 3N, the preset tapping frequency threshold is 4Hz (the reference frequency range can be 4-8Hz), and the preset tapping interval range is 350-600ms.

[0097] When the user type is elderly, the preset tapping force threshold is 4N, the preset tapping frequency threshold is 3Hz (the reference frequency range can be 3-7Hz), and the preset tapping interval range is 400-600ms.

[0098] When the user type is youth, the preset tapping force threshold is 5N, the preset tapping frequency threshold is 5Hz (the reference frequency range can be 5-10Hz), and the preset tapping interval range is 300-500ms.

[0099] In one specific embodiment, when a child knocks on the car door, if the number of knocks is ≥2, the knocking force is ≥3N, the knocking frequency threshold is ≥4Hz, and the knocking interval is within 350-600ms, then the knocking signal is determined to be valid.

[0100] In one specific embodiment, when an elderly person knocks on the car door, if the number of knocks is ≥2, the knocking force is ≥4N, the knocking frequency threshold is ≥3Hz, and the knocking interval is within 400-600ms, then the knocking signal is determined to be valid.

[0101] In one specific embodiment, when a young person knocks on the car door, if the number of knocks is ≥2, the knocking force is ≥5N, the knocking frequency threshold is ≥5Hz, and the knocking interval is within 300-500ms, then the knocking signal is determined to be valid.

[0102] In some implementations, combined Figure 1 , Figure 2 and Figure 3 As shown, when controlling the target door to perform the corresponding action, the environmental information on the target door's movement trajectory is monitored in real time;

[0103] If an obstacle is detected in the trajectory, control the target door to hover.

[0104] Specifically, when the knocking signal is valid, the system controls the target door to perform the corresponding action, such as opening or closing the door. Simultaneously, the vehicle uses radar to monitor the door's movement trajectory and its surrounding environment in real time. If an obstacle is detected, the system immediately controls the target door to hover. In one specific embodiment, a preset movement trajectory area is defined based on the door's mechanical structure (such as hinges or sliding rails). An obstacle distance threshold is set (e.g., a warning is triggered when the distance to the door edge is ≤10cm). When an obstacle is detected, the door motor immediately stops, causing the door to hover in its current position. The user is alerted via voice prompts (e.g., "Obstacle detected, please move away") or a door warning light. After the obstacle is removed, the system automatically resumes door movement. The system continuously detects obstacles (such as pedestrians or pets) along the door's movement path to prevent door pinching or impact accidents. The hovering control prevents motor overload or structural damage caused by hard collisions with obstacles.

[0105] In some implementations, combined Figure 1 , Figure 2 and Figure 3 As shown, a prompt message is sent to the user when the tap signal is invalid.

[0106] Specifically, when the tapping signal is invalid, the controller does not respond and does not open or close the door. Simultaneously, it alerts the user via the vehicle's notification system, for example, by flashing the turn signal corresponding to the target door twice to prompt the user to adjust the operation. Alternatively, it may play a voice prompt (such as "Please tap 3 times forcefully") via the vehicle's buzzer or flash LED warning lights.

[0107] Compared to related technologies, this one suffers from a lack of user feedback and neglected interaction design. When a tap goes unresponsive, users cannot distinguish whether the cause is insufficient pressure, ambient noise, or the door not being unlocked. New users may also repeatedly tap ineffectively due to unfamiliarity with the operation. This application uses multimodal prompts such as voice, light, and vibration to allow users to quickly identify the cause of ineffective operation (e.g., insufficient pressure), reducing confusion. This significantly improves the user experience and system reliability of door control.

[0108] In some implementations, combined Figure 1 , Figure 2 and Figure 3 As shown, the target car door is determined based on the tapping signal and / or user information.

[0109] Specifically, for example, knocking vibration sensors can be installed on the surface of the car doors (such as the front left door and the rear right door) to determine the target door based on the knocking location (e.g., knocking on the front left door triggers the front left door to open). Alternatively, a camera can capture the user's knocking location (e.g., a B-pillar camera identifies the user knocking on the front left door), and a deep learning model (such as YOLO) can be used to locate the target door. Radar can detect if the user is within a preset sensing area of ​​the target door, and the distance between the user and the door, determining which door the user is closer to (e.g., if the user is close to the rear right door, the rear right door is triggered to open). Multiple conditions can also be combined for judgment; for example, if the user knocks on the front left door and the user is on the left side of the vehicle, the front left door is determined to be the target door.

[0110] Compared to related technologies, in multi-door scenarios, the inability to distinguish the source of the knock through spatial positioning leads to signal transmission interference, easily resulting in false triggering of the left rear door when the left front door is knocked. Furthermore, the sensing area is not set according to user behavior habits. Most users are accustomed to knocking near the door handle, but some solutions, due to door structure limitations, place the sensor in the middle or lower part of the door, causing the sensing area to deviate and resulting in knocking failure. This application combines multi-layer verification of knock location, user location, and other factors to ensure the accuracy of target door identification and avoid misoperation.

[0111] This application provides a vehicle door control device, combined with... Figure 1-5 As shown, it includes:

[0112] The acquisition module is used to acquire tapping signals and user information;

[0113] The control module, connected to the acquisition module, is used to determine the validity of the knocking signal based on the knocking signal and user information, and to control the target door to perform the corresponding action when the knocking signal is valid.

[0114] Specifically, a data acquisition module is used to obtain tapping signals and user information. For example, multimodal sensors can be installed on the vehicle door surface (such as door panels and window edges) to acquire tapping information, or user-related information can be obtained through radar / camera devices. The control module performs multi-condition cross-validation based on the tapping signals and user information. If the tapping signals and / or user information meet preset conditions (e.g., the tapping signal must meet a preset pattern (e.g., force ≥ 2N, frequency ≤ 1 second / time), and the user information must pass at least one verification method), the tapping signal is determined to be valid. If the tapping signals and user information do not meet the preset conditions (e.g., the tapping signal deviates from the preset pattern by more than a threshold (e.g., force < 1N), or the user information fails verification), the tapping information is determined to be invalid. When the tapping signal is determined to be valid, the target door is controlled to perform the corresponding action, such as opening or closing the door. This application improves the rigor of the judgment logic by combining the tapping signal with user information for collaborative verification. It can eliminate most of the false triggering problems caused by environmental factors (surrounding noise interference, pedestrian collision with the car door, tree branches hitting and scratching the car door, front door vibration signal interference with the rear door, etc.). It has strong environmental anti-interference ability, greatly improves the recognition rate of tapping to control the car door, and reduces the false triggering rate.

[0115] In one specific embodiment, such as Figure 4 As shown, the radar's preset sensing area is taken as the left front door 1. The radar's sensing area 2 is represented by the shaded area. This area is centered on the door and forms a fan shape with a radius of 1.5m and an angle of ±60°. The user 3 is located within the sensing area.

[0116] In one specific embodiment, the vehicle hardware layout is as follows: Figure 5 As shown, the impact vibration sensor is located on the inner side of the door, flush with the door sheet metal, and is directly attached to the inner surface of the sheet metal using 3M double-sided adhesive. The radar sensor is located on the lower edge of the outer side of the door. The radar probe faces outwards from the door, covering a 1.5m fan-shaped area centered on the door, avoiding obstructions such as wheels and chassis. The camera is located below the exterior rearview mirror, with the lens facing the side of the vehicle at a 15° angle to the ground, ensuring coverage of the user's activity area 1-3m in front of the door. The body domain controller is located below the center console and connects to the impact vibration sensor, radar sensor, camera, and door drive mechanism via a CANFD bus, enabling real-time signal interaction.

[0117] In one specific embodiment, the vehicle hardware includes: S1 - front left impact vibration sensor, S2 - front right impact vibration sensor, S3 - rear left impact vibration sensor, S4 - rear right impact vibration sensor; R1 - front left radar sensor, R2 - front right radar sensor, R3 - rear left radar sensor, R4 - rear right radar sensor; C1 - wide-angle camera for the left rearview mirror, C2 - wide-angle camera for the right rearview mirror; 4 - vehicle body domain controller.

[0118] Optionally, the materials used in the impact vibration sensor include, but are not limited to, capacitors, piezoelectric ceramics, and flexible organic piezoelectric films; the fixing methods include, but are not limited to, bracket fixing and direct adhesive bonding. Radar sensors include, but are not limited to, ultrasonic radar, millimeter-wave radar, and lidar.

[0119] In some implementations, this application innovatively designs a method that integrates radar, camera, and sensor triple logic to determine the validity of a knock. The radar can determine the relative position of the user and the car door, thereby precisely controlling the door's response and avoiding interference from knock vibration signal transmission. Simultaneously, the camera can identify the group of users to which the knock belongs and dynamically adjust the knock threshold based on the identification result, achieving adaptive adjustment and improving user compatibility. This knock validity signal determination method improves the rigor of the judgment logic and can eliminate most false triggering problems caused by environmental factors (surrounding noise interference, pedestrian collisions with the door, tree branches hitting or scratching the door, front door vibration signal interference with the rear door, etc.). Furthermore, this method dynamically sets the knock threshold for different user groups through image recognition, enabling adaptive adjustment. This knock-controlled door system has a high recognition rate, low false trigger rate, strong environmental anti-interference capability, high user compatibility, and a better user experience.

[0120] This application provides an electronic device, including:

[0121] Memory, on which computer programs / instructions are stored;

[0122] A processor is used to execute computer programs / instructions in memory to implement the steps of the above-described door control method.

[0123] This application provides a computer-readable storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements the steps of the above-described door control method.

[0124] This application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the above-described door control method.

[0125] This application provides a vehicle that includes the electronic equipment described above, or the door control device described above.

[0126] In the description of this specification, the terms "specifically," "furthermore," "particularly," "can be understood," "even further," etc., refer to specific features, structures, materials, or characteristics described in connection with embodiments or examples that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0127] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0128] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A door control method, characterized in that, include: The validity of the tapping signal is determined based on the signals from the first type of sensor and the second type of sensor. When the knocking signal is valid, the target door is controlled to perform the corresponding action.

2. The method according to claim 1, characterized in that, The first type of sensor signal includes a tap signal, and / or the second type of sensor signal includes an image signal, and / or the second type of sensor signal includes a signal containing user information.

3. The method according to claim 2, characterized in that, The information contained in the first type of sensor signal includes at least one of the following: number of taps, tapping force, tapping frequency, and tapping interval; and / or, The information contained in the second type of sensor signal includes at least one of user location and user image; and / or, The controlled target door performs corresponding actions including at least one of controlling the door to open and controlling the door to close.

4. The method according to claim 2 or 3, characterized in that, The conditions under which the tapping signal is valid include one or more of the following: The tapping signal meets the preset tapping parameter threshold, the user position meets the preset position conditions, and the user image is valid for user identification.

5. The method according to claim 4, characterized in that, The preset tapping parameter thresholds include a preset tapping number threshold, a preset tapping force threshold, a preset tapping frequency threshold, and a preset tapping interval threshold. The tapping signal satisfies one or more of the following conditions: The number of taps is greater than or equal to the preset number of taps threshold, the tapping force is greater than or equal to the preset tapping force threshold, the tapping frequency is greater than or equal to the preset tapping frequency threshold, and the tapping interval is within the preset tapping interval range.

6. The method according to claim 4, characterized in that, The user's location meets the preset location conditions if the user's location is within a preset location area of ​​the target door, and the distance between the user and the target door is within a preset distance range.

7. The method according to claim 4, characterized in that, The user identification validity of the user image is defined as the user type obtained by identifying the user image as elderly, youth, or child.

8. The method according to claim 4, characterized in that, The method further includes: The user image is identified to determine the user type; Adjust the preset tapping parameter threshold according to the user type.

9. The method according to claim 8, characterized in that, The user type includes at least one of elderly, youth, and children, and adjusting the preset tapping parameter threshold according to the user type includes: When the user type is a child, the preset tapping force threshold is a first force threshold, the preset tapping frequency threshold is a first frequency threshold, and the preset tapping interval range is a first continuous tapping interval range. When the user type is elderly, the preset tapping force threshold is the second force threshold, the preset tapping frequency threshold is the second frequency threshold, and the preset tapping interval range is the second continuous tapping interval range. When the user type is youth, the preset tapping force threshold is the third force threshold, the preset tapping frequency threshold is the third frequency threshold, and the preset tapping interval range is the third continuous tapping interval range. Wherein, the first force threshold is less than the second force threshold, and the second force threshold is less than the third force threshold; The second frequency threshold is less than the first frequency threshold, and the first frequency threshold is less than the third frequency threshold.

10. The method according to any one of claims 1-3, characterized in that, The method further includes: When controlling the target door to perform the corresponding action, the environmental information on the target door's movement trajectory is monitored in real time; If an obstacle is detected on the trajectory, the target door is controlled to hover.

11. The method according to any one of claims 1-3, characterized in that, The method further includes: When the tap signal is invalid, a prompt message is issued to the user; and / or, The target car door is determined based on the tapping signal and / or the user information.

12. An electronic device, characterized in that, include: Memory, on which computer programs / instructions are stored; A processor for executing the computer program / instructions in the memory to implement the steps of the door control method according to claims 1-11.

13. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the door control method as described in claims 1-11.

14. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the door control method as described in claims 1-11.

15. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 12.

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