Vehicle door unlocking control method, device and equipment and computer readable storage medium

Abstract

The invention discloses a vehicle door unlocking control method, device and equipment and a computer readable storage medium. In the method, when a collision early warning signal and / or an emergency brake signal exists, whether a collision confirmation signal is received in a time window is detected, and the time window is a time period including a collision prediction moment; if the collision confirmation signal is not received in the time window, whether an unlocking condition is met or not is detected, and the unlocking condition comprises that the duration of a collision early warning signal in the time window is larger than a first duration and / or the opening degree of a brake pedal is larger than a preset opening degree and lasts for a second duration; if the unlocking condition is met, the vehicle is controlled to be unlocked, the double signals are monitored through the time window, the unlocking condition is judged through the double signals, key scenes before and after collision are covered, unlocking timeliness and reliability are improved, the probability of mistaken unlocking is reduced, dependence on a single collision confirmation signal is eliminated, and unlocking reliability is enhanced.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a door unlocking control method, device, equipment, and computer-readable storage medium. Background Technology

[0002] Currently, in the field of automotive safety, the smooth unlocking of car doors after a collision is crucial for ensuring rapid rescue of occupants. Especially with the popularization of electric vehicles, the application of hidden door handles has further increased the difficulty of external rescue after a collision, and the market urgently needs a reliable door unlocking solution that prevents accidental touches.

[0003] Among the relevant technologies, there are two main types of unlocking schemes: one is to trigger the door unlocking through the airbag controller after a collision; the other is to unlock in advance based on the AEB system in the event of a pre-collision collision, which uses active safety sensors to monitor the collision risk and send an unlocking signal.

[0004] However, the existing solutions have obvious drawbacks: the former has a trigger delay, and the battery is easily damaged and the circuit is interrupted during a high-speed collision, which makes the unlocking command unable to be executed or incomplete, requiring the door to be forcibly broken open for rescue, delaying the golden rescue time; the latter is prone to the door opening unexpectedly after normal driving or a minor collision due to system misjudgment, introducing new safety hazards, and cannot take into account both the unlocking reliability and the need to prevent accidental touch. Summary of the Invention

[0005] This application provides a vehicle door unlocking control method, device, equipment, and computer-readable storage medium, which can solve the technical problem of low reliability of automatic vehicle door unlocking in the prior art.

[0006] In a first aspect, embodiments of this application provide a vehicle door unlocking control method, the vehicle door unlocking control method comprising:

[0007] When a collision warning signal and / or emergency braking signal are present, detect whether a collision confirmation signal is received within a time window, wherein the time window is a time period that includes the collision prediction time. If the collision confirmation signal is not received within the time window, it is checked whether the unlocking conditions are met. The unlocking conditions include: the collision warning signal lasts for a duration longer than a first duration within the time window and / or the brake pedal opening is greater than a preset opening and lasts for a second duration. If the unlocking conditions are met, the vehicle will be unlocked.

[0008] In conjunction with the first aspect, in one implementation, the step of detecting whether a collision confirmation signal has been received within a time window when a collision warning signal and / or emergency braking signal are present includes: When a collision warning signal exists, and the collision warning signal lasts for a third duration; And / or, when an emergency braking signal is present, and the brake pedal opening is greater than the preset opening and continues for a fourth duration; The collision prediction time is used to determine whether a collision confirmation signal is received within the time window.

[0009] In conjunction with the first aspect, in one embodiment, prior to the presence of a collision warning signal and / or an emergency braking signal, the method further includes: If the vehicle speed is greater than the preset driving speed and the gear is in driving mode, then check for collision warning signals and / or emergency braking signals.

[0010] In conjunction with the first aspect, in one implementation, when a collision warning signal and / or emergency braking signal are present, detecting whether a collision confirmation signal has been received within a time window includes: When a collision warning signal and / or emergency braking signal are present, the relative distance between the vehicle and the target obstacle ahead, the direction of movement of the vehicle and the target obstacle ahead, the vehicle speed, and the speed of the target obstacle ahead are obtained. If the relative distance is less than the preset distance and the vehicle is traveling towards the target obstacle ahead, the collision prediction time is determined based on the relative distance, vehicle speed, and the speed of the target obstacle ahead. Alternatively, if the vehicle and the target obstacle in front are moving in the same direction and the vehicle speed is greater than the speed of the target obstacle in front, then the collision prediction time is determined based on the relative distance, vehicle speed, and the speed of the target obstacle in front. Using the first time period from time t1 to the collision prediction time and the second time period from the collision prediction time to time t2 as time windows, detect whether a collision confirmation signal is received within the time window.

[0011] In conjunction with the first aspect, in one implementation, after determining whether a collision confirmation signal has been received within the time window based on the collision prediction time, the method further includes: If the collision confirmation signal is received within the time window, the vehicle is unlocked.

[0012] Secondly, embodiments of this application provide a vehicle door unlocking control device, the vehicle door unlocking control device comprising: The first detection module is used to detect whether a collision confirmation signal is received within a time window when a collision warning signal and / or emergency braking signal are present, wherein the time window is a time period that includes the collision prediction time. The second detection module is used to detect whether the unlocking conditions are met if the collision confirmation signal is not received within the time window. The unlocking conditions include: the collision warning signal lasts for a duration longer than a first duration within the time window and / or the brake pedal opening is greater than a preset opening and lasts for a second duration. The control module is used to unlock the vehicle if the unlocking conditions are met.

[0013] In conjunction with the second aspect, in one implementation, the first detection module is further configured to: When a collision warning signal exists, and the collision warning signal lasts for a third duration; And / or, when an emergency braking signal is present, and the brake pedal opening is greater than the preset opening and continues for a fourth duration; The collision prediction time is used to determine whether a collision confirmation signal is received within the time window.

[0014] In conjunction with the second aspect, in one implementation, the first detection module is further configured to: When a collision warning signal and / or emergency braking signal are present, the relative distance between the vehicle and the target obstacle ahead, the direction of movement of the vehicle and the target obstacle ahead, the vehicle speed, and the speed of the target obstacle ahead are obtained. If the relative distance is less than the preset distance and the vehicle is traveling towards the target obstacle ahead, the collision prediction time is determined based on the relative distance, vehicle speed, and the speed of the target obstacle ahead. Alternatively, if the vehicle and the target obstacle in front are moving in the same direction and the vehicle speed is greater than the speed of the target obstacle in front, then the collision prediction time is determined based on the relative distance, vehicle speed, and the speed of the target obstacle in front. Using the first time period from time t1 to the collision prediction time and the second time period from the collision prediction time to time t2 as time windows, detect whether a collision confirmation signal is received within the time window.

[0015] Thirdly, embodiments of this application provide a door unlocking control device, which includes a processor, a memory, and a door unlocking control program stored in the memory and executable by the processor. When the door unlocking control program is executed by the processor, it implements the steps of the door unlocking control method as described in the first aspect.

[0016] Fourthly, embodiments of this application provide a computer-readable storage medium storing a door unlocking control program, wherein when the door unlocking control program is executed by a processor, it implements the steps of the door unlocking control method as described in the first aspect.

[0017] The beneficial effects of the technical solutions provided in this application include: When a collision warning signal and / or emergency braking signal are present, it is detected whether a collision confirmation signal is received within a time window, where the time window is a period including the collision prediction time. If the collision confirmation signal is not received within the time window, it is detected whether the unlocking conditions are met, where the unlocking conditions include: the duration of the collision warning signal within the time window is greater than a first duration and / or the brake pedal opening is greater than a preset opening and lasts for a second duration. If the unlocking conditions are met, the vehicle is unlocked. By using a time window to monitor dual signals and using dual signals to determine the unlocking conditions, key scenarios before and after a collision are covered, improving the timeliness and reliability of unlocking, reducing the probability of false locking, and eliminating the dependence on a single collision confirmation signal, thus enhancing unlocking reliability. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating an embodiment of the door unlocking control method of this application; Figure 2 For this application Figure 1 A detailed flowchart of step S10; Figure 3 This is a flowchart illustrating another embodiment of the door unlocking control method of this application; Figure 4 This is a schematic diagram of the functional modules of an embodiment of the door unlocking control device of this application; Figure 5 This is a schematic diagram of the hardware structure of the door unlocking control device involved in the embodiments of this application. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0021] In a first aspect, embodiments of this application provide a method for controlling the unlocking of vehicle doors.

[0022] In one embodiment, reference is made to Figure 1 , Figure 1 This is a schematic flowchart illustrating an embodiment of the door unlocking control method of this application. Figure 1 As shown, the door unlocking control methods include: Step S10: When a collision warning signal and / or emergency braking signal are present, detect whether a collision confirmation signal is received within the time window, wherein the time window is a time period that includes the collision prediction time. In one embodiment, when any one of the collision warning signal and the emergency braking signal is detected, or both of these signals are detected simultaneously, it indicates a collision risk. The system then continuously monitors whether a collision confirmation signal is received within a preset time window. Specifically, the collision warning signal can be an AEB braking signal, a Boolean activation flag sent by the AEB control unit via the CAN bus. When this signal value changes from 0 to 1, it indicates a high-risk collision has been identified. The emergency braking signal is obtained from a high-sampling-rate brake pedal travel sensor and is collected by the ESC or IMU. An emergency braking signal is generated when the brake pedal depressing speed is detected to be ≥500mm / s. The collision confirmation signal can be a vehicle collision validity status signal, such as a collision confirmation signal sent when the airbag deploys, indicating that an actual collision has occurred.

[0023] Further, in one embodiment, the step of detecting whether a collision confirmation signal is received within a time window when a collision warning signal and / or emergency braking signal are present includes: When a collision warning signal exists, and the collision warning signal lasts for a third duration; And / or, when an emergency braking signal is present, and the brake pedal opening is greater than the preset opening and continues for a fourth duration; The collision prediction time is used to determine whether a collision confirmation signal is received within the time window.

[0024] In one embodiment, after detecting a collision warning signal and / or an emergency braking signal, the validity of the signal must first be verified, and then it must be determined whether a collision confirmation signal has been received within the time window based on the collision prediction time. Specifically: when a collision warning signal exists, it is necessary to verify that the duration of the collision warning signal reaches the third duration; or when an emergency braking signal exists, it is necessary to verify that the brake pedal opening is greater than the preset opening and this state lasts for the fourth duration. If either verification condition is met or both are met, the subsequent collision confirmation signal monitoring process is initiated.

[0025] In this embodiment, transient interference signals are filtered by determining whether the detected signal lasts for a preset duration. This effectively filters transient signal interference in non-real risk scenarios, such as brief collision warnings falsely reported by sensors or transient changes in opening caused by the driver accidentally touching the brake pedal. This avoids the initiation of subsequent collision prediction, time window monitoring, and other processes due to interference signals, thereby reducing invalid calculations in the vehicle system.

[0026] Furthermore, in one embodiment, prior to the presence of a collision warning signal and / or an emergency braking signal, the method further includes: If the vehicle speed is greater than the preset driving speed and the gear is in driving mode, then check for collision warning signals and / or emergency braking signals.

[0027] In one embodiment, before detecting the presence of a collision warning signal and / or emergency braking signal, the vehicle's driving status needs to be determined in advance. Specifically, the preset driving speed is 60 km / h. The system obtains the vehicle's real-time speed and gear status. Only when the vehicle speed is greater than 60 km / h and the gear status is a driving gear (such as D gear, R gear, etc.) will the subsequent collision warning signal and / or emergency braking signal detection process begin. If this prerequisite is not met, no subsequent monitoring and unlocking process will be initiated.

[0028] In this embodiment, by pre-judging vehicle speed and gear position, high-speed driving scenarios that require collision risk monitoring are screened out. This avoids initiating subsequent signal detection and unlocking processes in scenarios without substantial collision risk, such as low-speed maneuvering or parking. This reduces invalid calculations and resource consumption of the vehicle control system and lowers the probability of false locking in unnecessary scenarios from the source, thereby improving the accuracy and practicality of the door unlocking control method.

[0029] Furthermore, in one embodiment, when a collision warning signal and / or emergency braking signal are present, detecting whether a collision confirmation signal has been received within the time window includes: When a collision warning signal and / or emergency braking signal are present, the relative distance between the vehicle and the target obstacle ahead, the direction of movement of the vehicle and the target obstacle ahead, the vehicle speed, and the speed of the target obstacle ahead are obtained. If the relative distance is less than the preset distance and the vehicle is traveling towards the target obstacle ahead, the collision prediction time is determined based on the relative distance, vehicle speed, and the speed of the target obstacle ahead. Alternatively, if the vehicle and the target obstacle in front are moving in the same direction and the vehicle speed is greater than the speed of the target obstacle in front, then the collision prediction time is determined based on the relative distance, vehicle speed, and the speed of the target obstacle in front. Using the first time period from time t1 to the collision prediction time and the second time period from the collision prediction time to time t2 as time windows, detect whether a collision confirmation signal is received within the time window.

[0030] In one embodiment, such as Figure 2 As shown, Figure 2 For this application Figure 1The detailed flowchart of step S10 shows that if a collision warning signal and / or emergency braking signal are detected, the collision prediction time and time window must be determined first. The method for determining the time window is as follows: the system acquires the relative distance between the vehicle and the obstacle in front, their directions of movement, the vehicle's own speed, and the obstacle's speed. If the relative distance is less than a preset distance and they are moving towards each other, or moving in the same direction and the vehicle's speed is greater than the obstacle's speed, it indicates that the relative distance is decreasing and there is a risk of collision. Based on the aforementioned distance and speed, the collision prediction time is calculated. Then, a time window is defined, specifically the first time period before the collision prediction time and the second time period after the collision prediction time. For example, if the collision prediction time is 9:00, the time window is from 5 seconds before 9:00 to 50 milliseconds after 9:00.

[0031] In this embodiment, by acquiring the relative motion parameters between the vehicle and the obstacle, the collision prediction time is calculated. At the same time, a time window covering the time before and after the collision prediction time is defined as the monitoring interval. This not only avoids the waste of system resources caused by indiscriminate full-domain monitoring, but also achieves accurate coverage of the critical window period before and after the collision. This provides accurate time basis for subsequent collision confirmation signal detection and unlocking determination, and improves the pertinence and reliability of door unlocking control.

[0032] Step S20: If the collision confirmation signal is not received within the time window, check whether the unlocking conditions are met. The unlocking conditions include: the collision warning signal lasts for a duration longer than a first duration within the time window and / or the brake pedal opening is greater than a preset opening and lasts for a second duration. In one embodiment, if the system does not receive a collision confirmation signal within the preset time window described in step S10, it further checks whether the unlocking conditions are met. The unlocking conditions are specifically: the duration of the collision warning signal within the time window is greater than a first duration (e.g., if the time window length is 30 seconds, and a collision warning signal is detected for 10 seconds within those 30 seconds); or the brake pedal opening is greater than a preset opening and this state lasts for a second duration (e.g., the brake pedal opening remains greater than the preset opening for 10 seconds within the 30-second time window); or both conditions are met simultaneously, i.e., the duration of the collision warning signal within the time window is greater than the first duration, and the brake pedal opening is greater than the preset opening and this state lasts for the second duration. In this case, the unlocking conditions are considered met.

[0033] Furthermore, in one embodiment, after determining whether a collision confirmation signal has been received within the time window based on the collision prediction time, the method further includes: If the collision confirmation signal is received within the time window, the vehicle is unlocked.

[0034] In one embodiment, such as Figure 3 As shown, Figure 3 This is a flowchart illustrating another embodiment of the door unlocking control method of this application. After determining whether a collision confirmation signal is received within the time window, if the system detects a collision confirmation signal within the time window, it is not necessary to further detect the continuous status of the collision warning signal and the emergency braking signal, or the unlocking conditions. Instead, the unlocking command is directly triggered to control the vehicle to complete the unlocking process, prioritizing the rapid unlocking needs after a collision.

[0035] In this embodiment, by setting a priority unlocking mechanism based on collision confirmation signals, once the signal is detected within the time window, there is no need to verify the continuous status of collision warning or emergency braking signals. The unlocking command is triggered directly, which significantly shortens the unlocking response time, enabling rapid unlocking after a collision to ensure timely evacuation of personnel. It also complements the continuous verification unlocking strategy when there is no collision confirmation signal, improving the unlocking logic under different collision risk scenarios and enhancing the timeliness and practicality of door unlocking control.

[0036] Step S30: If the unlocking conditions are met, control the vehicle to unlock.

[0037] In one embodiment, if the unlocking condition in step S20 is met, the vehicle is unlocked.

[0038] In this embodiment, when a collision warning signal and / or an emergency braking signal are present, it is detected whether a collision confirmation signal is received within a time window, wherein the time window is a time period including the collision prediction time; if the collision confirmation signal is not received within the time window, it is detected whether the unlocking conditions are met, wherein the unlocking conditions include: the collision warning signal lasts for a duration greater than a first duration within the time window and / or the brake pedal opening is greater than a preset opening and lasts for a second duration; if the unlocking conditions are met, the vehicle is controlled to unlock. By using a time window to monitor dual signals and using dual signals to determine the unlocking conditions, key scenarios before and after a collision are covered, improving the timeliness and reliability of unlocking, reducing the probability of false locking, and eliminating the dependence on a single collision confirmation signal, thus enhancing unlocking reliability.

[0039] Secondly, embodiments of this application also provide a door unlocking control device.

[0040] In one embodiment, reference is made to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of the door unlocking control device of this application. Figure 4 As shown, the door unlocking control device includes: The first detection module 10 is used to detect whether a collision confirmation signal is received within a time window when a collision warning signal and / or emergency braking signal are present, wherein the time window is a time period that includes the collision prediction time. The second detection module 20 is used to detect whether the unlocking conditions are met if the collision confirmation signal is not received within the time window. The unlocking conditions include: the collision warning signal lasts for a duration longer than a first duration within the time window and / or the brake pedal opening is greater than a preset opening and lasts for a second duration. The control module 30 is used to control the vehicle to unlock if the unlocking conditions are met.

[0041] Furthermore, in one embodiment, the first detection module 10 is used for: When a collision warning signal exists, and the collision warning signal lasts for a third duration; And / or, when an emergency braking signal is present, and the brake pedal opening is greater than the preset opening and continues for a fourth duration; The collision prediction time is used to determine whether a collision confirmation signal is received within the time window.

[0042] Furthermore, in one embodiment, the door unlocking control device further includes a third detection module, used for: If the vehicle speed is greater than the preset driving speed and the gear is in driving mode, then check for collision warning signals and / or emergency braking signals.

[0043] Furthermore, in one embodiment, the first detection module 10 is used for: When a collision warning signal and / or emergency braking signal are present, the relative distance between the vehicle and the target obstacle ahead, the direction of movement of the vehicle and the target obstacle ahead, the vehicle speed, and the speed of the target obstacle ahead are obtained. If the relative distance is less than the preset distance and the vehicle is traveling towards the target obstacle ahead, the collision prediction time is determined based on the relative distance, vehicle speed, and the speed of the target obstacle ahead. Alternatively, if the vehicle and the target obstacle in front are moving in the same direction and the vehicle speed is greater than the speed of the target obstacle in front, then the collision prediction time is determined based on the relative distance, vehicle speed, and the speed of the target obstacle in front. Using the first time period from time t1 to the collision prediction time and the second time period from the collision prediction time to time t2 as time windows, detect whether a collision confirmation signal is received within the time window.

[0044] Furthermore, in one embodiment, the control module 30 is also used for: If the collision confirmation signal is received within the time window, the vehicle is unlocked.

[0045] The functions of each module in the aforementioned door unlocking control device correspond to the steps in the aforementioned door unlocking control method embodiment, and their functions and implementation processes will not be described in detail here.

[0046] Thirdly, this application provides a door unlocking control device, which may be a vehicle controller, body controller, or other similar device.

[0047] Reference Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of the door unlocking control device involved in the embodiments of this application. In the embodiments of this application, the door unlocking control device may include a processor, a memory, a communication interface, and a communication bus.

[0048] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0049] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used to interconnect components within the door unlocking control device, as well as interfaces used to interconnect the door unlocking control device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0050] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0051] The processor can be a general-purpose processor, which can call the door unlocking control program stored in the memory and execute the door unlocking control method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the door unlocking control program is called can be referred to in the various embodiments of the door unlocking control method of this application, and will not be repeated here.

[0052] Those skilled in the art will understand that Figure 5 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0053] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0054] The present application provides a computer-readable storage medium storing a door unlocking control program, wherein when the door unlocking control program is executed by a processor, it implements the steps of the door unlocking control method described above.

[0055] The method implemented when the door unlocking control program is executed can be referred to in various embodiments of the door unlocking control method of this application, and will not be repeated here.

[0056] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0057] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0058] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0059] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0060] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0061] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0062] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for controlling door unlocking, characterized in that, The door unlocking control method includes: When a collision warning signal and / or emergency braking signal are present, detect whether a collision confirmation signal is received within a time window, wherein the time window is a time period that includes the collision prediction time. If the collision confirmation signal is not received within the time window, it is checked whether the unlocking conditions are met. The unlocking conditions include: the collision warning signal lasts for a duration longer than a first duration within the time window and / or the brake pedal opening is greater than a preset opening and lasts for a second duration. If the unlocking conditions are met, the vehicle will be unlocked.

2. The door unlocking control method as described in claim 1, characterized in that, The step of detecting whether a collision confirmation signal is received within a time window when a collision warning signal and / or emergency braking signal are present includes: When a collision warning signal exists, and the collision warning signal lasts for a third duration; And / or, when an emergency braking signal is present, and the brake pedal opening is greater than the preset opening and continues for a fourth duration; The collision prediction time is used to determine whether a collision confirmation signal is received within the time window.

3. The door unlocking control method as described in claim 1, characterized in that, Prior to the presence of a collision warning signal and / or an emergency braking signal, it also includes: If the vehicle speed is greater than the preset driving speed and the gear is in driving mode, then check for collision warning signals and / or emergency braking signals.

4. The door unlocking control method as described in claim 1, characterized in that, When a collision warning signal and / or emergency braking signal are present, detecting whether a collision confirmation signal is received within the time window includes: When a collision warning signal and / or emergency braking signal are present, the relative distance between the vehicle and the target obstacle ahead, the direction of movement of the vehicle and the target obstacle ahead, the vehicle speed, and the speed of the target obstacle ahead are obtained. If the relative distance is less than the preset distance and the vehicle is traveling towards the target obstacle ahead, the collision prediction time is determined based on the relative distance, vehicle speed, and the speed of the target obstacle ahead. Alternatively, if the vehicle and the target obstacle in front are moving in the same direction and the vehicle speed is greater than the speed of the target obstacle in front, then the collision prediction time is determined based on the relative distance, vehicle speed, and the speed of the target obstacle in front. Using the first time period from time t1 to the collision prediction time and the second time period from the collision prediction time to time t2 as time windows, detect whether a collision confirmation signal is received within the time window.

5. The door unlocking control method as described in claim 1, characterized in that, The detection of whether a collision confirmation signal has been received within the time window also includes: If the collision confirmation signal is received within the time window, the vehicle is unlocked.

6. A vehicle door unlocking control device, characterized in that, The door unlocking control device includes: The first detection module is used to detect whether a collision confirmation signal is received within a time window when a collision warning signal and / or emergency braking signal are present, wherein the time window is a time period that includes the collision prediction time. The second detection module is used to detect whether the unlocking conditions are met if the collision confirmation signal is not received within the time window. The unlocking conditions include: the collision warning signal lasts for a duration longer than a first duration within the time window and / or the brake pedal opening is greater than a preset opening and lasts for a second duration. The control module is used to unlock the vehicle if the unlocking conditions are met.

7. The door unlocking control device as described in claim 6, characterized in that, The first detection module is also used for: When a collision warning signal exists, and the collision warning signal lasts for a third duration; And / or, when an emergency braking signal is present, and the brake pedal opening is greater than the preset opening and continues for a fourth duration; The collision prediction time is used to determine whether a collision confirmation signal is received within the time window.

8. The door unlocking control device as described in claim 6, characterized in that, The first detection module is also used for: When a collision warning signal and / or emergency braking signal are present, the relative distance between the vehicle and the target obstacle ahead, the direction of movement of the vehicle and the target obstacle ahead, the vehicle speed, and the speed of the target obstacle ahead are obtained. If the relative distance is less than the preset distance and the vehicle is traveling towards the target obstacle ahead, the collision prediction time is determined based on the relative distance, vehicle speed, and the speed of the target obstacle ahead. Alternatively, if the vehicle and the target obstacle in front are moving in the same direction and the vehicle speed is greater than the speed of the target obstacle in front, then the collision prediction time is determined based on the relative distance, vehicle speed, and the speed of the target obstacle in front. Using the first time period from time t1 to the collision prediction time and the second time period from the collision prediction time to time t2 as time windows, detect whether a collision confirmation signal is received within the time window.

9. A vehicle door unlocking control device, characterized in that, The door unlocking control device includes a processor, a memory, and a door unlocking control program stored in the memory and executable by the processor, wherein when the door unlocking control program is executed by the processor, it implements the steps of the door unlocking control method as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a door unlocking control program, wherein when the door unlocking control program is executed by a processor, it implements the steps of the door unlocking control method as described in any one of claims 1 to 5.

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