Vehicle door control method and device, storage medium and program product

Abstract

The invention provides a vehicle door control method and device, a storage medium and a program product, and relates to the technical field of vehicles. The method comprises the steps that in the state that a vehicle door is opened, whether a door opening early warning signal is received or not is monitored, and the door opening early warning signal is used for indicating that an obstacle having the collision risk with the vehicle door is detected; the received door opening early warning signal is responded, and the vehicle door is controlled to be closed; in the vehicle door closing process, whether resistance hindering vehicle door closing exists or not is monitored; if the resistance exists, opening of the vehicle door is limited. Potential safety hazards of the vehicle door can be reduced, and the vehicle safety is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle door control method, device, storage medium, and program product. Background Technology

[0002] In the field of intelligent vehicles, electric doors have become a standard feature in mid-to-high-end models due to their convenience and comfort. Users can control the opening and closing of the doors through various contactless methods such as physical buttons, central control screens, mobile apps, and voice commands. However, this feature also leads to a loss of direct control over the doors. For example, when a user opens the door via the central control screen or voice command, if a vehicle or pedestrian suddenly approaches from behind, the user cannot immediately take physical intervention measures, which can easily lead to a "door-opening-and-kill" accident.

[0003] In existing technologies, door opening warning (DOW) systems monitor for obstacles that may impede door opening during the opening process. When an obstacle is detected, the system restricts door opening or actively stops door movement. However, this method still cannot prevent "door-opening-kill" accidents and poses a safety hazard. Summary of the Invention

[0004] This application provides a vehicle door control method, device, storage medium, and program product to reduce vehicle door safety hazards and improve vehicle safety.

[0005] In a first aspect, embodiments of this application provide a door control method, including:

[0006] When the car door is open, monitor whether a door opening warning signal is received. The door opening warning signal is used to indicate that an obstacle that poses a risk of collision with the car door has been detected.

[0007] Upon receiving a door opening warning signal, the system controls the door to close.

[0008] During the closing process of the car door, monitor whether there is any resistance that may prevent the door from closing;

[0009] If there is resistance, restrict the opening of the car door.

[0010] In one possible implementation, before controlling the door to close, the following is also included:

[0011] The escape signal has been determined to be invalid.

[0012] In one possible implementation, it also includes:

[0013] If the escape signal is valid, control the vehicle doors to open.

[0014] In one possible implementation, if resistance exists, restricting the opening of the vehicle door includes:

[0015] Gain resistance points;

[0016] The door motor outputs a resistance force of the same magnitude but opposite in direction to the resistance force, thus restricting the door from opening.

[0017] In one possible implementation, if resistance exists, it further includes:

[0018] The control outputs a first alarm signal, which is used to indicate the presence of a collision risk.

[0019] In one possible implementation, the door is equipped with an anti-pinch function and further includes:

[0020] If an obstacle is detected between the door and the vehicle body, the anti-pinch function is activated, controlling the closing angle of the door to the minimum angle that will not cause damage to the obstacle.

[0021] In one possible implementation, the vehicle door includes a rear door, and further includes:

[0022] If a child is detected as a rear passenger while the rear door is open during vehicle operation, the rear door will be closed.

[0023] In one possible implementation, before controlling the closing of the rear doors, the following is also included:

[0024] The escape signal has been determined to be invalid.

[0025] In one possible implementation, it also includes:

[0026] During the closing process of the car door, monitor whether there is any resistance that may prevent the door from closing;

[0027] If there is resistance, restrict the opening of the car door.

[0028] In one possible implementation, the system further includes: if resistance exists, controlling the in-vehicle alarm device to display a second alarm signal, the second alarm signal indicating a safety risk to the rear doors.

[0029] In one possible implementation, it also includes:

[0030] Monitor whether the door opening warning signal is abnormal;

[0031] If the door opening warning signal is abnormal, switch to mechanical priority mode to limit the door opening speed within a preset safe speed threshold and output a door opening warning signal abnormality prompt message. Mechanical priority mode means that the control signal generated by the mechanical control switch of the door is given priority.

[0032] In one possible implementation, it also includes:

[0033] When the vehicle door is in a restricted opening state, monitor whether a restriction release command is received. The restriction release command indicates that the restriction on the vehicle door is released.

[0034] If a restriction release command is detected, monitor whether a confirmation signal for the restriction release command is detected;

[0035] If a confirmation signal is detected, the restriction on the vehicle doors will be lifted.

[0036] In one possible implementation, it also includes:

[0037] When the car door is closed, in response to a door opening request, monitor whether a door opening warning signal has been received;

[0038] If no door opening warning signal is received, proceed with the door opening operation;

[0039] If a warning signal is received, the door opening operation will not be performed.

[0040] Secondly, embodiments of this application provide a door control device, including:

[0041] The first monitoring module is used to monitor whether a door opening warning signal is received when the door is open. The door opening warning signal is used to indicate that an obstacle that poses a risk of collision with the door has been detected.

[0042] The control module is used to respond to the received door opening warning signal and control the door to close.

[0043] The second monitoring module is used to monitor whether there is any resistance that prevents the door from closing during the closing process;

[0044] A restriction module is used to restrict the opening of the car door if resistance is present.

[0045] Thirdly, embodiments of this application provide a vehicle door control device, including: a memory and a processor;

[0046] The memory stores instructions that the computer executes;

[0047] The processor executes computer execution instructions stored in memory, causing the processor to perform the methods described in the various possible implementations of the first aspect above.

[0048] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the methods described in the various possible implementations of the first aspect above.

[0049] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed, implements the methods described in the various possible implementations of the first aspect above.

[0050] The vehicle door control method, device, storage medium, and program product provided in this application monitor whether a door opening warning signal is received when the door is open. The door opening warning signal indicates that an obstacle posing a collision risk to the door has been detected. Upon receiving the door opening warning signal, the system controls the door to close. During the door closing process, it monitors whether there is any resistance hindering the door's closure. If resistance exists, the system restricts the door from opening. Automatically controlling door closure based on the warning signal when the door is open effectively reduces safety hazards associated with the door. Furthermore, restricting door opening based on resistance information during the closing process ensures the safety of occupants while minimizing the risk of door collisions, thus improving vehicle safety. Attached Figure Description

[0051] 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.

[0052] Figure 1 This is a schematic diagram of the structure of the door control system provided in an embodiment of this application;

[0053] Figure 2 This is a schematic flowchart of the door control method provided in an embodiment of this application;

[0054] Figure 3 This is a schematic diagram of the structure of the door control device provided in the embodiments of this application;

[0055] Figure 4 This is a schematic diagram of the structure of the door control device provided in an embodiment of this application.

[0056] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0057] 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.

[0058] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0059] Currently, when electric car doors are opened, users lose direct control of the door, increasing the risk of collisions with oncoming vehicles, pedestrians, or adjacent vehicles in situations such as when parked on the side of the road or when traffic is slow, potentially causing personal injury or property damage. Furthermore, to prevent power outages or system malfunctions, vehicles are generally equipped with emergency mechanical door handles, but these handles are usually not covered by child locks, posing a safety hazard to child passengers.

[0060] The door control method provided in this application monitors door warning signals when the door is open, and automatically closes the door when there is a collision risk based on the door warning signal. During the door closing process, it monitors resistance; if resistance exists, it restricts the door from opening, reducing safety hazards. Furthermore, it identifies rear-seat occupants; when the vehicle is in motion and the door is open, if a child is identified as a rear-seat occupant, the door automatically closes, reducing the risk of children falling and being injured, and improving vehicle safety.

[0061] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0062] Figure 1 This is a schematic diagram of the structure of a door control system provided in an embodiment of this application. Figure 1 As shown, the vehicle infotainment system connects to the door opening warning system, the central vehicle control module, and the passenger monitoring system via an in-vehicle Ethernet network. These three systems are connected to the door control modules, which include left front door control modules, right front door control modules, left rear door control modules, and right rear door control modules connected via a Controller Area Network (CAN). Each door control module is connected to a door motor. The central vehicle control module receives door opening warning signals from the door opening warning system and passenger information from the passenger monitoring system. Based on the warning signals and passenger information, it sends door control signals to the door control modules, which then control the door movement via the door motors.

[0063] Figure 2 This is a schematic flowchart of a door control method provided in an embodiment of this application. Figure 2 As shown in the figure, this application provides a door control method that can be applied to, for example, Figure 1 The door control system shown includes the following door control methods:

[0064] S201. When the door is open, monitor whether a door opening warning signal is received. The door opening warning signal is used to indicate that an obstacle that poses a collision risk with the door has been detected.

[0065] Specifically, the door opening warning signal is sent by the door opening warning system. The door opening warning system is an active safety feature installed in automobiles. Its core function is to monitor traffic dynamics behind and to the sides of the vehicle through vehicle radar or cameras. When the vehicle comes to a stop and the driver and passengers are preparing to open the door, if the system detects that a vehicle or pedestrian is approaching from behind and there is a risk of collision, it will immediately send a door opening warning signal.

[0066] The door open state refers to the physical state of the door being fully or partially open, which is determined by the door limit switch or angle sensor. For example, if the door limit switch detects that the door opening angle is greater than 30°, it is determined to be in the open state.

[0067] In one implementation, an environmental monitoring module, such as a hardware unit integrating millimeter-wave radar, a camera, or an infrared sensor, can be included to detect the presence and movement of obstacles behind the vehicle door. For example, millimeter-wave radar scans the area behind the vehicle door and generates a door opening warning signal when a moving obstacle is detected.

[0068] S202, upon receiving a door opening warning signal, controls the door to close.

[0069] Understandably, when a door opening warning signal is received from the door opening warning system, it means that if the door remains open, there is a risk of collision, and the door should be closed as much as possible to reduce the safety hazards caused by the open door.

[0070] Specifically, the electric actuator that drives the door opening and closing via a door motor achieves active door closing by controlling the output torque. For example, the motor applies closing torque through a gear transmission system, causing the door to move in the closing direction.

[0071] In one implementation, an audible and visual alarm module is provided, integrating hardware units for hazard warning lights, a horn, and a vehicle-mounted display system, to alert users and external road users of collision risks. When a door opening warning signal is received, but the door cannot be closed successfully, the hazard warning lights flash and the horn sounds, while simultaneously displaying a "Problem Behind" message on the vehicle-mounted screen.

[0072] In one implementation, a door warning system collects real-time environmental data behind the vehicle door and generates a door opening warning signal based on preset obstacle detection logic. While the door is open, the system continuously monitors the validity of this signal. When the warning signal is valid, the door motor outputs a closing force according to control commands, driving the door to move in the closing direction via a gear transmission system. Simultaneously, the audible and visual alarm module triggers flashing hazard lights, a horn blaring, and vehicle-mounted alerts, conveying collision risk information to the user and other road users. The entire process relies on real-time processing of environmental monitoring data, dynamic adjustment of motor control logic, and coordinated execution of audible and visual alarms, forming a complete closed loop from risk detection to physical intervention.

[0073] By directly linking the environmental monitoring module with the door motor control logic, the problem of "door-opening kill" risks caused by the inability of doors to actively close when open in existing technologies is solved. Specifically, when a user opens the door, the system uses a door-opening warning system to detect the presence and movement of obstacles behind the vehicle in real time. If a collision risk is detected, the door-opening warning system generates a door-opening warning signal, and the door motor immediately outputs a closing force, driving the door to close via a gear transmission system, thereby actively avoiding the collision risk. Simultaneously, the audible and visual alarm module triggers flashing hazard lights, a horn blaring, and vehicle-mounted alerts, further enhancing the warning effect on the user and other road users behind.

[0074] S203. During the closing process of the car door, monitor whether there is any resistance that prevents the door from closing.

[0075] Specifically, throughout the entire door closing process, a high-precision pressure sensor mounted on the door opening and closing mechanism collects door movement resistance data in real time at millisecond frequencies. This accurately monitors for any resistance that could hinder door closing. By comparing the real-time data with a preset resistance threshold, it quickly determines whether the resistance is a valid interference, eliminating normal frictional resistance during door movement. The causes of such effective resistance are varied. These could include accidental jamming of occupants' limbs or clothing between the door and the vehicle body; obstruction by road debris, adjacent vehicle parts, or other foreign objects; door jamming caused by partial deformation of the vehicle body after a minor collision; or even occupants pushing the door without awareness of the safety risks.

[0076] S204. If resistance exists, restrict the opening of the vehicle doors.

[0077] If effective resistance is detected, the system will immediately pause the closing action and adjust the output of the electric door closing torque according to the magnitude of the resistance to ensure that the door will not open further due to the resistance. In addition, an audible and visual warning will be issued inside the vehicle to alert occupants to check for obstructions. Once the resistance is eliminated and the system has verified the process, the door's normal opening and closing function will be restored. This design avoids injuries such as pinching, tearing of clothing, or overload damage to the door motor and transmission components caused by continuous force during closing. It also prevents repeated opening and closing of the door from increasing the risk of collision, further strengthening the safety barrier during the door closing phase and perfecting the overall closed-loop control logic.

[0078] The door control method provided in this application significantly reduces the probability of collisions caused by users opening the door without observing traffic conditions behind them through the synergy of physical intervention and environmental perception. For example, in parking lots or roadside parking scenarios, if a user gets out of the car without noticing oncoming traffic, the system can automatically close the door to avoid a collision. During the door closing process, resistance information is used to restrict door opening, thus ensuring the safety of occupants while minimizing the risk of door collisions. This optimizes the safety of the electric door system while maintaining user convenience.

[0079] In one possible implementation, before controlling the door to close, the following is also included:

[0080] The escape signal has been determined to be invalid.

[0081] In the control logic process of executing the automatic door closing command, the validity determination of the escape signal must be completed beforehand. Specifically, the escape signal is a dedicated signal triggered by the vehicle's emergency condition monitoring modules, such as collision sensors, tire pressure monitoring units, and thermal runaway warning systems. Its core function is to clearly instruct the vehicle to immediately open the corresponding door to create an unobstructed escape route, ensuring that occupants can quickly evacuate in dangerous scenarios such as collisions, fires, and wading.

[0082] In the specific determination, the triggering status, signal strength and duration of the escape signal are collected in real time. If it is verified that the escape signal has not been triggered, has failed after being triggered, or is a false trigger signal, the escape signal is determined to be invalid. Only then can the automatic door closing operation be performed. Conversely, if the escape signal is valid, the automatic closing command must be interrupted immediately, and the door unlocking and opening actions should be performed first to prevent the safety hazard of blocking the escape route due to the door being falsely closed.

[0083] The door control method provided in this application determines that the escape signal is invalid before the door automatically closes, and constructs priority logic for emergency conditions and normal control. This can not only eliminate the fatal hidden danger of the door accidentally closing and blocking the escape route in dangerous scenarios such as collisions and fires, and ensure the safe path for the occupants to evacuate quickly, but also ensure that the automatic door closing function works normally after the escape signal is canceled or the false trigger is eliminated, thus taking into account both the convenience and safety of vehicle use and improving the reliability and stability of the door control system.

[0084] In one possible implementation, it also includes:

[0085] If the escape signal is valid, control the vehicle doors to open.

[0086] If the vehicle control system verifies the escape signal through multi-dimensional signal verification and determines it to be valid, it will immediately activate the emergency priority control procedure to ensure unobstructed safe passage for occupants to evacuate quickly. First, it will immediately interrupt all currently executing or about-to-be-executed routine door control commands, including automatic door closing, locking, and low-speed anti-accidental opening operations. Simultaneously, it will block interference from external door opening / closing commands such as those from the in-vehicle touch panel and remote key, ensuring that emergency door opening actions are unaffected by any conventional logic. Next, the system will rapidly drive the door opening and closing actuators, including the drive motor, transmission linkage, and lock unlocking device, to work in tandem, controlling all normally openable doors to unlock synchronously and automatically open to a preset safe opening degree. This opening degree has been rigorously calculated to meet the space requirements for rapid passage for adults while avoiding collisions with surrounding obstacles or oncoming vehicles due to excessive opening angles, and preventing doors from becoming jammed due to vehicle deformation after opening. For doors that have partial malfunctions or cannot be opened normally due to collisions, the system will quickly identify them through sensor feedback data and simultaneously trigger a malfunction warning for the corresponding door, guiding passengers to prioritize evacuating through the non-malfunctioning door.

[0087] Optionally, the system can be linked with other vehicle safety features to form an emergency coordination mechanism, further enhancing escape safety and efficiency. On one hand, it automatically cuts off the temporary threshold of the anti-pinch protection logic along the door opening path, preventing interruption of the opening action due to passengers' limbs touching the door in an emergency. Simultaneously, it ensures the door opening speed is within the optimal emergency range, avoiding delays in evacuation without causing collisions due to excessive speed. On the other hand, it simultaneously triggers in-vehicle audio-visual warnings and seat vibration alerts, informing passengers that the emergency escape route is open. It also activates external hazard warning lights and buzzers to alert surrounding vehicles and pedestrians, creating a safe external environment for escapees. For different emergency scenarios such as collisions, fires, and flooding, the system will adaptively adjust the door opening strategy. For example, in scenarios with minor deformation of the vehicle body after a collision, it controls the door to attempt to open with maximum torque. If opening is obstructed, feedback is sent to the in-vehicle display screen, prompting passengers to use emergency mechanical devices to assist in opening the door. In flooding scenarios, it prioritizes opening higher doors to prevent water backflow from hindering evacuation. Through this series of precise and coordinated control actions, the doors can be opened quickly, stably, and safely when the escape signal is valid, buying precious escape time for passengers and minimizing the risk of personal injury in emergency situations.

[0088] The vehicle door control method provided in this application embodiment enables the vehicle to initiate an emergency priority control program and execute a series of door opening and coordinated actions when the escape signal is valid. It constructs an emergency escape protection system for drivers and passengers with a safe, efficient, and precise logic, minimizes escape time and reduces evacuation risks, while taking into account the stability and flexibility of emergency operations. It comprehensively enhances the vehicle's passive safety protection capabilities in emergency situations and provides multiple guarantees for the life safety of drivers and passengers.

[0089] In one possible implementation, if resistance exists, restricting the opening of the vehicle door includes:

[0090] Obtain the force value of the resistance; control the door motor to output a resistance that is the same in magnitude as the force value but in the opposite direction to the resistance, so as to restrict the door from opening.

[0091] Specifically, based on the collected resistance force value and direction data, a control command is sent to the door motor, controlling the motor to output a reverse resistance equal in magnitude but opposite in direction to the resistance force. This creates a dynamic balance of forces, effectively limiting the opening range and speed of the door under the action of the resistance force. This reverse resistance is not a fixed value but is dynamically adjusted in real time according to changes in the resistance force, always maintaining a match in force value and opposite in direction. This avoids damage to the door structure or obstruction of personnel operation due to excessive resistance, while also preventing insufficient resistance from failing to provide effective restriction, thus achieving a flexible control effect.

[0092] In scenarios where occupants actively push the door, creating resistance, the practicality and safety of this control logic are particularly prominent. When an occupant pushes the door without realizing the risk, the force sensor detects the increasing resistance in real time as the force increases and feeds this information back to the control system. Simultaneously, the reverse resistance output by the door motor also increases proportionally. This synchronously increasing linkage mechanism effectively limits door opening by counteracting the pushing force, preventing collisions, falls, and other safety risks caused by rapid door opening under occupant force. Furthermore, the gradual increase in reverse resistance is transmitted to the occupant through the door handle or door panel, providing a clear force feedback warning. The person opening the door will clearly perceive the increasing resistance, realize the risk, and proactively stop pushing. This balances control effectiveness with subtle warning, enhancing the safety perception and user experience for passengers.

[0093] The door control method provided in this application constructs a dual safety protection during the door closing stage, taking into account both personnel safety and component protection, improving the overall safety control system, ensuring both operational safety and ease of use, further strengthening the entire process safety defense line of "door opening warning - automatic closing - resistance protection", and effectively avoiding various safety accidents and component failures related to door closing.

[0094] In one possible implementation, if resistance exists, it further includes:

[0095] The control outputs a first alarm signal, which is used to indicate the presence of a collision risk.

[0096] Specifically, when the car door is closing, the high-precision pressure sensor on the door opening and closing mechanism continuously collects resistance data during the door's movement and compares it in real time with the system's preset normal resistance threshold to accurately identify the type of resistance. If the detected resistance exceeds the normal frictional resistance range, and after millisecond-level secondary verification confirms that the resistance is an effective obstacle and not a slight resistance generated by the normal operation of the door's mechanical structure, then it is determined that there is resistance preventing the door from closing. At this time, the system will immediately trigger a warning control command and output the first alarm signal.

[0097] The first alarm signal is a special risk warning signal. Its core function is to accurately alert passengers to the collision risk in the door closing path. Its warning targets cover various safety hazards that may be caused by resistance, including the risk of pinching injuries caused by passengers' limbs or clothing accidentally getting stuck in the door gap, as well as the risk of door jamming caused by foreign objects, interference from adjacent vehicle parts, or slight deformation of the vehicle body, which may lead to damage to door parts, secondary collisions, etc. It is different from ordinary fault alarm signals and has the characteristics of being highly targeted and having a high warning priority.

[0098] To ensure efficient transmission of early warning information, the first alarm signal is typically output in a multi-dimensional in-vehicle audio-visual linkage: a dedicated red pop-up window will appear on the dashboard, clearly indicating "Door closing obstructed, collision risk exists" and the location of the corresponding door at risk, making it easy for passengers to quickly locate the potential hazard; at the same time, the indicator light on the interior panel of the corresponding door will flash rapidly at a high frequency, accompanied by a dedicated intermittent high-frequency beeping sound, and the beeping volume will gradually increase with the duration of the obstruction, ensuring that even in a noisy environment inside the vehicle, passengers can perceive the risk immediately, promptly identify the obstruction, and avoid the potential for collision and component damage from the source.

[0099] The door control method provided in this application constructs an advance warning and risk prevention barrier during the door closing phase, taking into account both personnel safety and component protection, improving the safety and reliability of system operation, quickly awakening the safety attention of drivers and passengers, guiding them to deal with potential hazards in a timely manner, avoiding derivative risks such as door jamming and secondary collisions caused by continuous resistance, further improving the safety control closed loop of door closing, and enhancing the active safety protection capability of the entire vehicle.

[0100] In one possible implementation, the door is equipped with an anti-pinch function and further includes:

[0101] If an obstacle is detected between the door and the vehicle body, the anti-pinch function is activated, controlling the closing angle of the door to the minimum angle that will not cause damage to the obstacle.

[0102] Specifically, to mitigate the risks of pinching injuries and component damage caused by obstacles during the door closing process, the electric door is equipped with a high-precision anti-pinch function. This function works in conjunction with the door opening and closing mechanism and the sensing system to form a full-process obstacle recognition and protection mechanism. Throughout the entire process of the door moving from the open to the closed state, the pressure sensor and infrared sensor mounted on the door work synchronously, scanning the gap area between the door and the vehicle body in real time at a millisecond frequency. This accurately detects the presence of foreign objects or obstacles, including various objects that may be pinched by the door. These include the limbs, clothing, and personal belongings of passengers, as well as small obstacles that are easily overlooked, such as external debris and parts from adjacent vehicles. At the same time, it can effectively distinguish between the frictional resistance of normal door closing and the obstructing force generated by obstacles, preventing the anti-pinch function from being triggered by misjudgment and affecting normal closing.

[0103] Once the system detects an obstacle between the door and the vehicle body, it immediately activates the anti-pinch function, quickly interrupting the original door closing command. Simultaneously, based on the obstacle's position, size, and resistance feedback data, it precisely calculates and controls the door to adjust to a specific closing angle. This angle is a safety threshold that has been repeatedly tested and calibrated. The core principle is to ensure that the obstacle is not pinched or damaged; that is, a sufficient safety gap is maintained between the door and the obstacle to prevent crushing injuries to limbs or clothing, damage to fragile items or precision components, and to avoid secondary risks caused by the door being fully opened, maintaining the door in a relatively stable semi-closed state. During this process, the system also simultaneously sends a signal to the control unit to ensure the door remains stably at the set angle, preventing further force due to inertia. After the occupants have checked and removed the obstacle, the anti-pinch function automatically deactivates, and the door can resume its normal closing process, balancing safety and ease of use.

[0104] The door control method provided in this application, if an obstacle is detected between the door and the vehicle body, activates the anti-pinch function, controls the closing angle of the door to the minimum angle that ensures no damage to the obstacle, reduces the safety hazards caused by the closing of the door, and at the same time avoids secondary risks caused by the opening of the door as much as possible, maintains the door in a relatively stable semi-closed state, and improves the safety of the vehicle.

[0105] In one possible implementation, the vehicle door includes a rear door, and further includes:

[0106] If a child is detected as a rear passenger while the rear door is open during vehicle operation, the rear door will be closed.

[0107] To ensure the safety of rear-seat child occupants while the vehicle is in motion and to mitigate the fatal risks of falls and collisions caused by children accidentally opening the doors, the vehicle is equipped with a rear-seat occupant recognition and door linkage control function, forming a targeted safety protection mechanism. When the vehicle is in motion, for example, at speeds exceeding a preset safety threshold (usually set at 5 km / h to prevent accidental triggering during low-speed maneuvers), the system continuously activates multi-dimensional monitoring devices. Firstly, it monitors the opening and closing status of the rear doors in real time, accurately determining whether the doors are open or partially open using door lock sensors and door position switches. Secondly, it utilizes rear seat pressure sensors and in-vehicle camera facial recognition technology to double-verify the identity of rear-seat occupants, accurately identifying whether they are children. The seat pressure sensors can filter based on pressure value ranges, while facial recognition further accurately distinguishes between adults and children, avoiding misjudgments caused by non-occupant factors such as heavy objects or pets, ensuring the accuracy of the monitoring results.

[0108] If the system simultaneously meets the three conditions of "the vehicle is in motion," "the rear door is open / partially open," and "the rear passenger is identified as a child," it will immediately initiate a safety priority control command, triggering the automatic closing procedure for the rear doors. During execution, the system will first interrupt other non-emergency door control commands and block external commands such as manual door opening buttons and remote door opening from the vehicle to ensure that the automatic closing action is not affected. At the same time, it will drive the door opening and closing motor to run at a smooth rate, controlling the rear door to close slowly, avoiding excessive closing speed that could cause injury to the child passenger. In addition, the anti-pinch sensor will be activated in sync with the door movement. If an obstacle, such as a child's limbs or clothing, is detected in the door closing path, the closing action will be immediately paused and slightly reversed until the hazard is eliminated before continuing execution, balancing door closing safety and reliability. In addition, during the automatic closing process of the car door, the system will provide in-vehicle audio and visual warnings, such as pop-up windows on the dashboard, flashing indicator lights on the rear interior panels, and a dedicated alarm sound, to inform the driver and passengers that the child safety linkage control has been triggered. This allows the front-seat driver to be aware of the status of the rear seats and to manually intervene and adjust the situation if necessary. Once the car door is fully closed and the lock is confirmed to be engaged, the warning signal will be automatically deactivated, and the system will return to normal monitoring status, thus comprehensively strengthening the safety of children in the rear seats.

[0109] The door control method provided in this application fully considers door control when the rear passenger is a child. During vehicle operation, if a child is detected in the rear passenger compartment when the rear door is open, the rear door is controlled to close. This comprehensively considers the safety of children in the vehicle, operational reliability, and flexibility of use, further strengthening the vehicle's special safety protection capabilities for child passengers.

[0110] In one possible implementation, before controlling the closing of the rear doors, the following is also included:

[0111] The escape signal has been determined to be invalid.

[0112] Specifically, to balance the safety of rear-seat child occupants during vehicle operation with emergency escape needs, the vehicle is equipped with an integrated safety system encompassing rear-seat status monitoring, escape signal verification, and door linkage control. The core pre-emptive step is the accurate determination of the validity of escape signals, ensuring that safety protection and emergency escape do not conflict. While the vehicle is in motion, the system continuously coordinates with multiple devices for dual monitoring: firstly, it uses door lock sensors and door position switches to capture the rear door status in real time, accurately identifying whether it is open or partially open; secondly, it utilizes rear seat pressure sensors and in-vehicle camera facial recognition technology for dual verification, accurately determining whether the rear-seat occupant is a child through weight range filtering and facial feature recognition, eliminating false positives caused by non-occupant factors such as heavy objects or pets, ensuring the accuracy of the monitoring results.

[0113] When the system simultaneously meets the three conditions of "vehicle in motion," "rear door open / partially open," and "rear passenger is a child," it will not immediately trigger the door closing command. Instead, it will prioritize entering the escape signal validity determination process. This step is a core preliminary step designed to eliminate the fatal hidden dangers of accidentally closing doors and blocking escape routes in emergency escape scenarios. The escape signal is a dedicated signal of the vehicle's emergency system, specifically used to indicate that the vehicle is in emergency situations such as collision, fire, water wading, or sudden tire pressure drop, requiring the doors to be opened immediately to create an unobstructed escape route and ensure the rapid evacuation of passengers. The system synchronously verifies the escape signal status through multiple channels: First, it monitors the triggering source of the escape signal to confirm whether it is triggered by legitimate emergency devices such as collision sensors, fire warning modules, and tire pressure monitoring units, eliminating signal interference or false triggering. Second, it verifies the signal strength and duration; only signals that reach a preset threshold and are stable and continuous are considered valid escape signals to avoid instantaneous interference affecting the judgment results. Third, it cross-verifies the overall vehicle operating data, combining data such as vehicle speed, braking status, and vehicle posture to confirm whether it matches the characteristics of an emergency situation, further improving the accuracy of the judgment. If, after multi-dimensional verification, it is confirmed that the escape signal has not been triggered, has become invalid after being triggered, or is a false triggering signal caused by interference, then the escape signal is ultimately determined to be invalid. Only then can the subsequent door closing control process proceed, ensuring that the door closing action is only performed in non-emergency scenarios.

[0114] After confirming the escape signal is invalid, the system immediately initiates a safety priority control command, triggering the automatic closing procedure for the rear doors. During execution, the system first interrupts other non-emergency door control commands, blocking external commands such as manual door opening buttons and remote door opening from inside the vehicle to ensure the automatic closing action is unaffected. Simultaneously, it drives the door opening and closing motors at a smooth rate, controlling the rear doors to close slowly to avoid accidental injury to child occupants due to excessive closing speed. Furthermore, an anti-pinch sensor is activated during door operation; if it detects obstacles such as children's limbs or clothing in the closing path, it immediately pauses closing and slightly reverses, resuming execution only after the hazard has been eliminated. In addition, throughout the door closing process, an audible and visual warning is issued via a pop-up window on the instrument panel, flashing rear indicator lights, and a dedicated alarm sound, informing the front driver that child safety linkage control has been triggered, preserving the possibility of manual intervention. Once the door is fully closed and the lock is confirmed to be engaged, the warning signal is automatically deactivated, and the system returns to normal monitoring status, balancing safety protection, emergency avoidance, and ease of use.

[0115] The vehicle door control method provided in this application, when the rear door is open and a child is detected as a rear passenger, controls the rear door to close. Before closing the rear door, it is also necessary to confirm that the escape signal is invalid. This method ensures unobstructed escape routes in emergencies and improves vehicle safety.

[0116] In one possible implementation, it also includes:

[0117] During the closing process of the car door, monitor whether there is any resistance that may prevent the door from closing;

[0118] If there is resistance, restrict the opening of the car door.

[0119] Specifically, resistance monitoring is performed at millisecond-level frequency throughout the entire door closing process. This step is crucial for ensuring safety during the closing process and preventing component damage. High-precision pressure sensors on the door opening and closing mechanism continuously collect resistance data during door movement and compare it in real time with the system's preset normal resistance threshold. This accurately identifies the type of resistance, effectively distinguishing between the mechanical friction resistance during normal door closing and abnormal resistance caused by obstacles, limb jamming, or slight deformation of the vehicle body. This prevents misjudgments from interfering with the normal closing process or overlooking potential safety hazards. The monitoring range covers the entire gap area between the door and the vehicle body, accurately capturing various potential obstacles, including flexible obstacles such as children's limbs, clothing, and personal belongings, as well as rigid obstacles such as road debris and adjacent vehicle parts. This achieves a comprehensive safety scan of the closing path, ensuring no blind spots.

[0120] If resistance preventing the door from closing is detected, the system will immediately activate a protective mechanism to strictly limit the door from reopening, balancing safety and risk avoidance. At this time, the system will immediately pause the door closing action to prevent continuous force from being applied to obstacles, especially children's limbs or clothing, which could cause injury or overload damage to components such as the door motor and transmission linkage. Simultaneously, all door opening triggering methods will be locked, completely blocking all opening methods such as manual door opening buttons, remote door opening commands, and sensor door opening signals. This prevents the door from opening due to misoperation, system malfunction, or a child touching it again, thus preventing secondary safety risks during driving.

[0121] Optionally, the system can simultaneously alert passengers with in-vehicle audio and visual warnings, such as a pop-up window on the dashboard displaying "Door closing obstructed, opening restricted," flashing rear seat indicator lights, and a dedicated alarm sound, guiding the front driver to promptly identify and resolve the obstruction. Once the obstacle is cleared, the system will re-verify the resistance status. If no abnormalities are found, the system will automatically lift the door opening restriction and restore the normal door opening and closing function, ensuring both safety and stability during driving while maintaining ease of use, forming a complete safety control loop.

[0122] The door control method provided by the embodiments of the present application, during the driving of the vehicle, if it is detected that the rear occupant is a child when the rear door is in the open state, the rear door is controlled to close. During the closing process of the door, it is monitored whether there is a resistance force hindering the closing of the door. If there is a resistance force, the opening of the door is restricted, taking into account both personnel safety and component protection, improving the overall safety control system, ensuring operation safety and taking into account use convenience, further strengthening the whole-process safety defense line of "door opening warning - automatic closing - resistance protection", and effectively avoiding various safety accidents and component failures related to door closing.

[0123] In a possible implementation manner, it further includes: if there is a resistance force, controlling the in-vehicle alarm device to display a second alarm signal, and the second alarm signal indicates that there is a safety risk with the rear door.

[0124] Specifically, during the whole process of automatic door closing, the high-precision pressure sensor carried by the door opening and closing mechanism continuously collects motion resistance data at a millisecond-level frequency, and compares it with the normal friction resistance threshold preset by the system in real time to accurately identify whether there is an abnormal resistance force, which can cover various obstacles such as children's limbs, clothes, personal belongings and external sundries, ensuring that there is no monitoring blind area in the closing path and avoiding missing potential safety hazards.

[0125] If it is detected that there is a resistance force hindering the closing of the door, the system will immediately suspend the door closing action and trigger the core warning mechanism at the same time, controlling the in-vehicle alarm device to display a second alarm signal. This signal is a special safety warning for the hindered closing of the rear door, different from ordinary fault alarms. Its core function is to accurately prompt the driver and passengers that there is a safety risk with the rear door and clearly point to the core problem of "closing hindered", facilitating quick positioning of potential hazards. To ensure clear and efficient transmission of warning information, the second alarm signal adopts a multi-dimensional linkage display form: a red exclusive pop-up window appears on the front row instrument panel, marked with "The rear door closing is hindered, there is a safety risk", and at the same time clearly indicates the position of the corresponding hindered door, allowing the driver to intuitively master the potential hazard point; the indicator light on the inner panel of the rear door flashes at a high frequency synchronously, accompanied by a special intermittent buzzer sound. The frequency and volume of this buzzer sound are different from other alarm signals and will gradually increase with the duration of the resistance. Even if there is noise interference during vehicle driving, it can ensure that the driver in the front row and the passengers in the rear row can clearly perceive it; it can also be synchronously linked to the central control screen to display a warning prompt to further enhance the warning effect.

[0126] In addition, the second alarm signal will continue to be maintained until the resistance is eliminated and the door is normally closed, and after the system checks and there is no abnormality, the alarm will automatically terminate and return to the normal state. This not only avoids the risk of pinching children's limbs, damaging items or wearing out door components caused by continuous closing, but also can guide the driver to timely check the obstacles through accurate warning, eliminating the secondary safety risk caused by door closing problems during driving, taking into account both protection and practicality.

[0127] The door control method provided in this application constructs an advance warning and risk prevention barrier during the rear door closing phase, taking into account both the safety of rear passengers and the protection of components, improving the safety and reliability of system operation, quickly awakening the safety attention of drivers and passengers, guiding them to deal with potential hazards in a timely manner, avoiding derivative risks such as door jamming and secondary collisions caused by continuous resistance, further improving the safety control closed loop of door closing, and enhancing the active safety protection capability of the entire vehicle.

[0128] In one possible implementation, it also includes:

[0129] Monitor whether the door opening warning signal is abnormal; if the door opening warning signal is abnormal, switch to mechanical priority mode, limit the opening speed of the door to within the preset safe speed threshold, and output a door opening warning signal abnormality prompt message. Mechanical priority mode means that the control signal generated by the mechanical control switch of the door is given priority.

[0130] Specifically, to ensure the safety and stability of the door opening process and avoid misjudgments or loss of control due to abnormal warning signals, the system simultaneously monitors for abnormal door opening warning signals throughout the entire door opening and closing process. During monitoring, the system not only checks for obvious anomalies such as signal loss or interruption, but also verifies signal strength, transmission frequency, and data consistency in real time. It compares these parameters with preset standard parameter ranges to identify hidden anomalies such as signal attenuation, interference distortion, and delayed transmission. Simultaneously, it cross-verifies with vehicle body sensing devices to eliminate signal anomalies caused by environmental interference and hardware malfunctions, ensuring the accuracy of the judgment results.

[0131] If an abnormal door opening warning signal is confirmed, a safety linkage control strategy is activated, automatically switching to mechanical priority mode. This simultaneously limits the door opening speed and outputs an abnormality warning message, forming multiple layers of protection. Specifically, mechanical priority mode means the system prioritizes responding to control signals generated by the door's mechanical control switches, temporarily blocking electronic control signals such as sensor-activated door opening, remote door opening, and central control button door opening. It only retains control authority over physical mechanical structures such as the inner door handle and outer lock cylinder, preventing malfunctions caused by electronic signal interference or overlapping abnormal warnings, ensuring that door opening and closing can be precisely controlled manually via mechanical means.

[0132] When switching to mechanical priority mode, the system will limit the door opening speed to a preset safety threshold by adjusting the speed of the door opening and closing motor. For example, the electric opening speed will be reduced to 50% of the normal opening speed, and the door will be opened at a constant and slow speed. Even in the event of an emergency, this will allow enough reaction time for the driver and passengers to avoid the risks of collisions, pinching injuries, etc. caused by excessive door opening speed.

[0133] At the same time, the system controls the in-vehicle alarm device to output abnormal door opening warning signal information. The prompts are presented in a multi-dimensional sound and light linkage: a red pop-up window appears on the instrument panel, clearly indicating "Sensor abnormal, please confirm safety before opening the door" and "Door opening warning signal abnormal, switched to mechanical priority mode", and simultaneously prompts that the door can be controlled by a mechanical switch.

[0134] The door control method provided in this application can proactively avoid potential risks such as door malfunctions and missed risk assessments caused by signal problems by real-time monitoring of abnormal door opening warning signals. When a signal is abnormal, it switches to a mechanical priority mode, relying on physical mechanical control to shield against electronic signal interference, ensuring stable door operation and avoiding the predicament of doors failing to open or close due to electronic malfunctions. Simultaneously limiting the door opening speed provides sufficient reaction time for occupants, effectively reducing secondary risks such as collisions and pinching injuries. Overall, it achieves a balance between fault response, safety protection, and emergency use, significantly improving the reliability and active safety capabilities of the door system.

[0135] In one possible implementation, it also includes:

[0136] When the door is in the restricted opening state, the system monitors whether a restriction release command is received. If the restriction release command indicates that the restriction on the door is released, the system monitors whether a confirmation signal for the restriction release command is detected. If a confirmation signal is detected, the restriction on the door is released.

[0137] Specifically, when a vehicle door enters a restricted-opening state after receiving a door warning signal, a dedicated monitoring process for releasing the restriction is simultaneously initiated. Balancing safety control and emergency operation needs, the system employs a closed-loop logic of "restriction monitoring - confirmation and verification - restriction release" to ensure precise control over door opening permissions. The system continuously operates in a high-sensitivity monitoring mode, capturing various restriction release commands in real time. Triggering sources include the dedicated release button on the vehicle's central control panel, long-press unlock commands on the remote key, and commands automatically issued by the vehicle's safety system. Simultaneously, the system performs a preliminary verification of the legality and integrity of the command signals, eliminating invalid commands caused by electromagnetic interference or accidental touches, ensuring accurate command recognition.

[0138] If the system accurately detects a valid release command, it will not immediately lift the door restriction. Instead, it will enter a secondary confirmation phase to avoid safety risks caused by accidental triggering of the release command and ensure that the release operation is the explicit intention of the driver and passengers. The confirmation signal can be triggered in various ways to adapt to different usage scenarios. For example, after entering the door restriction open state, the vehicle's infotainment system will immediately display a "Confirm release restriction?" prompt. The user needs to complete the confirmation in several ways to prevent accidental touches, such as pressing the door switch three times consecutively or clicking the confirmation button on the vehicle's touchscreen. Upon receiving a valid confirmation signal, the door opening restriction will not be permanently lifted, but only temporarily. For example, the duration may be set to 10 seconds, and a short horn sound will be triggered to remind the user to "pay attention to their surroundings," balancing warning effectiveness with environmental friendliness.

[0139] In addition, when the child lock is engaged, the rear doors will be prohibited from being manually unlocked in any way. Only the driver in the front seat is allowed to confirm the unlocking via the center console or the vehicle's infotainment system. This avoids the risk of rear-seat children accidentally unlocking the doors and opening them, thus enhancing the safety of children in the vehicle.

[0140] The door control method provided in this application establishes a rigorous and flexible door opening safety protection system, achieving a precise balance between safety control, emergency needs, and user experience. Through a closed-loop process of "restriction release command monitoring - secondary confirmation verification," invalid commands can be effectively filtered to prevent door restrictions from being arbitrarily released. At the same time, the permission division when the child lock is opened prohibits manual release by rear passengers and only allows the driver to operate, accurately avoiding the potential danger of accidental operation by rear-seat children and strengthening the special protection for children riding in the car.

[0141] In one possible implementation, it also includes:

[0142] When the car door is closed, in response to a door opening request, monitor whether a door opening warning signal has been received;

[0143] If no door opening warning signal is received, proceed with the door opening operation;

[0144] If a warning signal is received, the door opening operation will not be performed.

[0145] To mitigate the risk of collisions when car doors are opened and ensure the safety of people and property inside and outside the vehicle, the vehicle incorporates a linkage verification mechanism between door opening requests and door opening warning signals when the doors are closed. This mechanism achieves a balance between safety and convenience through a complete process logic of "request monitoring - warning identification - action control." When the door is fully closed and the lock is confirmed to be engaged, the system remains in standby mode. On one hand, it monitors various door opening requests in real time, covering triggers from manual door opening buttons inside the vehicle, remote key commands, and sensor-based door opening signals such as door handle sensors and interior unlock buttons. This ensures accurate identification of the request source and corresponding door, guaranteeing no requests are missed or misjudged. On the other hand, it simultaneously coordinates with vehicle radar, cameras, and other sensing devices to continuously scan the door opening path and surrounding area, providing hardware support for capturing door opening warning signals.

[0146] Once a valid door opening request is detected, the system prioritizes the door opening warning signal monitoring and verification phase. This phase is a core safety verification step, designed to identify any collision risks along the door opening path. The door opening warning signal here is a specific signal triggered by the system when it detects a potential collision with the door opening path. It can accurately identify various risky objects such as approaching motor vehicles, non-motor vehicles, pedestrians approaching the door, and fixed obstacles. Furthermore, it can determine the signal's validity by using parameters such as signal strength, duration, and risk distance, eliminating environmental interference such as false triggers caused by severe weather or reflections from roadside debris.

[0147] If the system, after comprehensive monitoring and verification, confirms that no door opening warning signal has been received, it determines that there is no collision risk along the door opening path. At this point, the door opening restriction will be immediately lifted, and the door opening operation will be performed. During the door opening process, the system will control the door opening and closing motor to operate at a smooth rate to ensure smooth and stable door opening. At the same time, it will continuously monitor the surrounding environment. If a sudden risk triggers a warning signal, the door opening action can be paused immediately to further strengthen the safety barrier.

[0148] If the system detects and confirms a valid door opening warning signal, it will immediately activate the safety control mechanism to prevent door opening operations in order to avoid collision risks. Simultaneously, the system will alert occupants through in-vehicle audio and visual warnings, such as a pop-up window on the dashboard displaying "Door opening path poses a risk, cannot be opened temporarily," flashing the corresponding door indicator light, and a specific alarm sound, clearly explaining the reason for the inability to open the door and guiding occupants to check the surrounding environment. The door opening warning signal will automatically terminate once the perception system detects that the collision risk has been eliminated, and the system will resume door opening functionality only after verification that there are no abnormalities. At this point, occupants can trigger the door opening request again to perform the normal door opening operation, comprehensively avoiding safety accidents caused by blindly opening the door.

[0149] The door control method provided in this application constructs a pre-emptive safety barrier before the door opens, achieving a precise balance between safety and ease of use, and avoiding collisions caused by blindly opening the door from the source. By prioritizing the verification of the door opening warning signal after detecting a door opening request, the method can smoothly execute the door opening operation even when no warning signal is received, ensuring the convenience of passengers getting in and out of the vehicle without affecting the normal user experience; and it can promptly block the door opening action when a valid warning signal is received, accurately avoiding the risk of collision with motor vehicles, non-motor vehicles, pedestrians, or obstacles in the door opening path, maximizing the safety of people and property inside and outside the vehicle, and preventing damage to the door due to collisions. This "warning verification first, action execution later" logic relies on the vehicle body perception system to achieve accurate risk identification and prediction, and forms a closed-loop protection through clear action control. It eliminates the need for passengers to manually check surrounding risks, reduces the operational threshold and safety hazards, and significantly improves the active safety protection capability and operational reliability of the vehicle door opening process.

[0150] Figure 3 This is a schematic diagram of the structure of the door control device provided in an embodiment of this application. Figure 3 As shown, the door control device 30 provided in this embodiment includes:

[0151] The first monitoring module 301 is used to monitor whether a door opening warning signal is received when the door is open. The door opening warning signal is used to indicate that an obstacle that poses a risk of collision with the door has been detected.

[0152] Control module 302 is used to control the door to close in response to a received door opening warning signal;

[0153] The second monitoring module 303 is used to monitor whether there is any resistance that prevents the door from closing during the closing process.

[0154] The restriction module 304 is used to restrict the opening of the vehicle door if resistance is present.

[0155] In one possible implementation, the control module 302 is also used to control the door before it closes:

[0156] The escape signal has been determined to be invalid.

[0157] In one possible implementation, the control module 302 is further configured to:

[0158] If the escape signal is valid, control the vehicle doors to open.

[0159] In one possible implementation, if resistance exists, the limiting module 304 further restricts the opening of the vehicle door and is also used to:

[0160] Gain resistance points;

[0161] The door motor outputs a resistance force of the same magnitude but opposite in direction to the resistance force, thus restricting the door from opening.

[0162] In one possible implementation, if resistance exists, the control module 302 is further configured to:

[0163] The control outputs a first alarm signal, which is used to indicate the presence of a collision risk.

[0164] In one possible implementation, the door is equipped with an anti-pinch function, and the control module 302 is further used for:

[0165] If an obstacle is detected between the door and the vehicle body, the anti-pinch function is activated, controlling the closing angle of the door to the minimum angle that will not cause damage to the obstacle.

[0166] In one possible implementation, the door includes a rear door, and the control module 302 is further configured to:

[0167] If a child is detected as a rear passenger while the rear door is open during vehicle operation, the rear door will be closed.

[0168] In one possible implementation, before controlling the rear door to close, the control module 302 is also used to:

[0169] The escape signal has been determined to be invalid.

[0170] In one possible implementation, the control module 302 is further configured to:

[0171] During the closing process of the car door, monitor whether there is any resistance that may prevent the door from closing;

[0172] If there is resistance, restrict the opening of the car door.

[0173] In one possible implementation, the control module 302 is further configured to: if resistance exists, control the in-vehicle alarm device to display a second alarm signal, the second alarm signal indicating a safety risk to the rear doors.

[0174] In one possible implementation, the first monitoring module 301 is further configured to:

[0175] Monitor whether the door opening warning signal is abnormal;

[0176] If the door opening warning signal is abnormal, switch to mechanical priority mode to limit the door opening speed within a preset safe speed threshold and output a door opening warning signal abnormality prompt message. Mechanical priority mode means that the control signal generated by the mechanical control switch of the door is given priority.

[0177] In one possible implementation, the first monitoring module 301 is further configured to:

[0178] When the vehicle door is in a restricted opening state, monitor whether a restriction release command is received. The restriction release command indicates that the restriction on the vehicle door is released.

[0179] If a restriction release command is detected, monitor whether a confirmation signal for the restriction release command is detected;

[0180] If a confirmation signal is detected, the restriction on the vehicle doors will be lifted.

[0181] In one possible implementation, the first monitoring module 301 is further configured to:

[0182] When the car door is closed, in response to a door opening request, monitor whether a door opening warning signal has been received;

[0183] If no door opening warning signal is received, proceed with the door opening operation;

[0184] If a warning signal is received, the door opening operation will not be performed.

[0185] The door control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0186] Figure 4 This is a schematic diagram of the structure of the door control device provided in an embodiment of this application. Figure 4 As shown, the door control device 40 provided in this embodiment includes at least one processor 401 and a memory 402. Optionally, the door control device 40 further includes a communication interface 403. The processor 401, memory 402, and communication interface 403 are connected via a communication bus 404.

[0187] In a specific implementation, at least one processor 401 executes computer execution instructions stored in memory 402, causing at least one processor 401 to perform the above-described method.

[0188] The specific implementation process of processor 401 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0189] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0190] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0191] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0192] This application also provides a computer program product, including a computer program that, when executed, implements the above-described method.

[0193] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed, implement the above-described method.

[0194] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0195] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an application-specific integrated circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0196] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0197] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0198] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0199] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0200] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0201] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A door control method, characterized in that, include: When the car door is open, monitor whether a door opening warning signal is received. The door opening warning signal is used to indicate that an obstacle that poses a collision risk with the car door has been detected. Upon receiving the door opening warning signal, the system controls the door to close. During the closing process of the car door, monitor whether there is any resistance that may prevent the door from closing; If resistance exists, restrict the opening of the vehicle door.

2. The door control method according to claim 1, characterized in that, Before the control door closes, it also includes: The escape signal has been determined to be invalid.

3. The door control method according to claim 2, characterized in that, Also includes: If the escape signal is valid, control the vehicle doors to open.

4. The door control method according to any one of claims 1 to 3, characterized in that, If resistance exists, restricting the opening of the vehicle door includes: Obtain the force value of the resistance; The door motor is controlled to output a resistance force that is the same magnitude as the force and opposite in direction to the resistance force, thereby restricting the opening of the door.

5. The door control method according to any one of claims 1 to 3, characterized in that, If the aforementioned resistance exists, it also includes: The control outputs a first alarm signal, which is used to indicate the presence of a collision risk.

6. The door control method according to any one of claims 1 to 3, characterized in that, The vehicle door is equipped with an anti-pinch function and also includes: If an obstacle is detected between the door and the vehicle body, the anti-pinch function is activated, and the closing angle of the door is controlled to be the minimum angle that will not cause damage to the obstacle.

7. The door control method according to any one of claims 1 to 3, characterized in that, The vehicle doors include rear doors, and also include: If a child is detected as a rear passenger while the rear door is open during vehicle operation, the rear door will be closed.

8. The door control method according to claim 7, characterized in that, Before controlling the closing of the rear doors, the following are also included: The escape signal has been determined to be invalid.

9. The door control method according to claim 7, characterized in that, Also includes: During the closing process of the car door, monitor whether there is any resistance that may prevent the door from closing; If resistance exists, restrict the opening of the vehicle door.

10. The door control method according to claim 9, characterized in that, Also includes: If the resistance exists, the vehicle alarm device will display a second alarm signal, indicating that there is a safety risk to the rear door.

11. The door control method according to any one of claims 1 to 3, characterized in that, Also includes: Monitor whether the door opening warning signal is abnormal; If the door opening warning signal is abnormal, switch to mechanical priority mode, limit the opening speed of the door to within a preset safe speed threshold, and output a door opening warning signal abnormality prompt message. The mechanical priority mode means that the control signal generated by the mechanical control switch of the door is given priority.

12. The door control method according to any one of claims 1 to 3, characterized in that, Also includes: When the vehicle door is in a restricted-opening state, the system monitors whether a restriction release command is received, and the restriction release command indicates that the restriction on the vehicle door is released. If the restriction release command is detected, monitor whether a confirmation signal for the restriction release command is detected; If the confirmation signal is detected, the restriction on the vehicle door is lifted.

13. The door control method according to any one of claims 1 to 3, characterized in that, Also includes: When the car door is closed, in response to a door opening request, monitor whether a door opening warning signal has been received; If no door opening warning signal is received, proceed with the door opening operation; If a warning signal is received, the door opening operation will not be performed.

14. A vehicle door control device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-13.

15. A vehicle, characterized in that, include: Vehicle body, doors, and door controllers; The door controller is used to perform the method as described in any one of claims 1-13.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed, are used to implement the method as described in any one of claims 1-13.

17. A computer program product, characterized in that, Includes a computer program, which, when executed, implements the method according to any one of claims 1-13.

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