Control method and apparatus

Abstract

The application provides a control method and device, and relates to the field of intelligent driving. The method comprises the following steps: acquiring first information, wherein the first information comprises at least one of the following: the height of multiple suspensions, the biological feature information of a user, and the child lock state of a vehicle; acquiring a first instruction, wherein the first instruction is used for instructing the closing of a first door; and in response to the first instruction, controlling the vehicle to perform a corresponding operation according to the first information. According to the scheme, the first door can perform a corresponding operation during the closing process according to the acquired first information and different states of the first information, so that the safety and intelligence during the closing process of the first door are improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, and more particularly to a control method and apparatus. Background Technology

[0002] With the rapid development of vehicle electrification and intelligence, electric door and electric suction door systems have gradually become widespread in various types of vehicles. These features make opening and closing doors more convenient, allowing users to easily open or close them via central control, voice commands, or smart keys. This not only enhances the vehicle's intelligence but also makes its use more convenient and comfortable. However, while bringing convenience and comfort, these features also pose certain safety risks. For example, the suction force generated during the suction phase of an electric suction door system can reach over 1kN. If a part of the human body is caught in this force, it can easily cause serious injury, affecting user safety and the overall driving experience. Summary of the Invention

[0003] This application provides a control method and apparatus that can control a first vehicle door to perform corresponding operations when closing based on acquired first information and different states of the first information, thereby improving the safety and intelligence of the first vehicle door closing process.

[0004] In a first aspect, a control method is provided, which can be executed by a vehicle, or by a computing platform, or by a system-on-a-chip (SoC) in the aforementioned computing platform, or by a processor, chip, or circuit in the computing platform.

[0005] The method may include: acquiring first information, the first information including at least one of the following: the height of multiple suspensions, the user's biometric information, and the status of the vehicle's child lock; acquiring a first instruction, the first instruction being used to instruct a first door to close; and in response to the first instruction, controlling the vehicle to perform a corresponding operation based on the first information.

[0006] In the technical solution of this application, when an instruction to close the first door is received, the vehicle can be controlled to perform corresponding operations based on one or more of the first information obtained, so that the vehicle's response to the closing of the first door can be adapted to the state of the first information, thereby performing different operations under different first information or different states of the same first information, thereby improving the flexibility and intelligence of the first door closing.

[0007] In conjunction with the first aspect, in some implementations of the first aspect, the first information includes the heights of multiple suspensions. Based on the first information, the vehicle is controlled to perform corresponding operations, including: determining the height difference between any two suspensions among the multiple suspensions based on the heights of the multiple suspensions; if the first height difference between any two suspensions is greater than or equal to a first threshold, the control prompting device prompts that the first door is about to close; or, if the height difference between any two suspensions is less than the first threshold, the first door is controlled to close.

[0008] Based on the above technical solution, when the first information includes the heights of multiple suspensions, the vehicle can be controlled to perform different operations according to the state of the height difference between the suspensions. Specifically, when the height difference between any two suspensions is less than a first threshold, the first door is controlled to close; when the height difference between suspensions is large (such as the first height difference being greater than or equal to the first threshold), the vehicle may be tilted or have uneven load. In this case, a warning that the first door is about to close can be provided to reduce the risk of pinching injuries to users near the first door or the risk of damage to items near the first door.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the first information includes the user's biometric information. Based on the first information, the vehicle is controlled to perform corresponding operations, including: if the user's biometric information indicates that the user belongs to the first group of people, the control prompt device prompts that the first door is about to close; or, if the user's biometric information indicates that the user does not belong to the first group of people, the control device closes the first door.

[0010] As an example, the first group consists of people who lack the ability to perceive and / or avoid changes in the door's state during the closing process of the first door.

[0011] Based on the above technical solution, when the first information includes the user's biometric information, the system can indicate whether the user belongs to the first group of people based on the user's biometric information, and control the vehicle to perform different operations. When the user's biometric information indicates that the user belongs to the first group of people, a prompt to close the first door is given, enabling the user to avoid the door and reducing the risk of injury to users with weaker avoidance abilities due to the door closing, thus improving the safety of the first door closing.

[0012] In conjunction with the first aspect, in certain implementations of the first aspect, the user's biometric information includes the user's height and / or facial feature information. When the user's biometric information indicates that the user belongs to the first group of people, the control prompting device prompts that the first vehicle door is about to close, including: when the user's height indicates that the user belongs to the first group of people, and / or when the user's facial feature information indicates that the user belongs to the first group of people, the control prompting device prompts that the first vehicle door is about to close.

[0013] Based on the above technical solution, it is possible to identify whether a user belongs to the first group by the user's height and / or facial feature information, thereby improving the accuracy of the identification of the first group. This allows users in the first group with weaker avoidance abilities to receive early warnings, reducing the risk of pinching injuries and improving the intelligence of controlling the closing of the first door.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the first information includes the child lock status of the vehicle. Based on the first information, the vehicle is controlled to perform corresponding operations, including: when the child lock status is in the open state, the control prompt device prompts that the first door is about to close; or, when the child lock status is in the closed state, the control device closes the first door.

[0015] Based on the above technical solution, when the child lock is in the open state, there may be children in or around the vehicle. In this case, a warning can be given that the first door is about to close, alerting the child or the adult caring for the child and guiding the child away from the closing first door, thereby reducing the risk of possible pinching injury to the child and improving the safety during the closing process of the first door.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the first information includes the heights of multiple suspensions, the user's biometric information, and the status of the vehicle's child lock. Based on the first information, controlling the vehicle to perform corresponding operations includes: determining the height difference between any two suspensions among the multiple suspensions based on the heights of the multiple suspensions; if the first height difference between any two suspensions is greater than or equal to a first threshold, controlling a prompting device to indicate that the first door is about to close; or, if the height differences between any two suspensions are both less than the first threshold, controlling the vehicle to perform corresponding operations based on the user's biometric information and / or the status of the vehicle's child lock.

[0017] Based on the above technical solution, when the first information includes multiple pieces of information, judgments can be made according to priority. For example, the judgment can be made first based on the suspension height. If the suspension height difference is large, a prompt indicating that the first door is about to close is issued, without needing to further judge the user's biometric information and the child lock status. If the suspension height differences are all less than a first threshold, then control is performed based on the user's biometric information and / or the vehicle's child lock status. This method of hierarchical judgment based on priority reduces unnecessary steps of simultaneous judgment of multiple pieces of information, saves system resources, and improves the control efficiency and flexibility of the first door closing process.

[0018] In conjunction with the first aspect, in certain implementations of the first aspect, when the height difference between any two suspensions is less than a first threshold, the vehicle is controlled to perform corresponding operations based on the user's biometric information and / or the status of the vehicle's child lock, including: when the user's biometric information indicates that the user is a member of the first group, the control prompt device prompts that the first door is about to close; or, when the user's biometric information indicates that the user is not a member of the first group, the vehicle is controlled to perform corresponding operations based on the status of the vehicle's child lock.

[0019] Based on the above technical solution, if the height difference between any two suspensions is less than the first threshold, the next level of judgment is initiated, based on the user's biometric information and / or the status of the vehicle's child lock. Specifically, the judgment can be prioritized based on the user's biometric information. If the user is identified as part of the first group, the system will indicate that the first door is about to close and will not further assess the child lock status. If the user's biometric information indicates that the user is not part of the first group, the system will then assess the vehicle's child lock status and execute the corresponding operation, thereby improving the control efficiency of the first door.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, when the user's biometric information indicates that the user is not part of the first group of people, the vehicle is controlled to perform corresponding operations based on the status of the child lock, including: when the child lock is in the open state, the control prompt device prompts that the first door is about to close; or, when the child lock is in the closed state, the control device closes the first door.

[0021] Based on the above technical solution, when the child lock is in the open state, a warning will be displayed indicating that the first door is about to close. This can alert the child or the adult caring for the child, guide the child away from the closing first door, thereby reducing the risk of pinching the child and improving the safety during the closing process of the first door.

[0022] In conjunction with the first aspect, in some implementations of the first aspect, the first information further includes the light intensity of the environment in which the vehicle is located, and before the control prompting device prompts that the first door is about to close, the method further includes: determining that the light intensity of the environment in which the vehicle is located is less than or equal to the first light intensity.

[0023] Based on the above technical solution, when it is determined from the first information that the control prompt device needs to indicate that the first door is about to close, it is also necessary to determine the light intensity of the environment in which the vehicle is located. In situations where the environment in which the vehicle is located is relatively dark (for example, the light intensity of the environment is less than or equal to the first light intensity), the control prompt device indicates that the first door is about to close, thereby further reducing the risk of injury to the user in a dark environment.

[0024] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: if no second instruction is received within a first time period from when the prompting device indicates that the first door is about to close, controlling the first door to close; or, if a second instruction is received within the first time period, controlling the first door to stop closing; wherein the second instruction is used to control the first door to stop closing.

[0025] Based on the above technical solution, the first door can wait for a certain period of time before closing. This gives the user time to react, allowing them to move away from the first door or check for any obstructions in its closing path, thereby reducing the risk of the user being pinched and the risk of the first door failing to close. Furthermore, during this first period of time, the user can also issue a second command to stop the first door from closing. Upon receiving the second command, the vehicle can control the first door to stop closing, further reducing the risk of the user being pinched and improving the safety of the first door closing process.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: determining the anti-pinch force threshold during the closing process of the first door based on the height difference between any two suspensions among the multiple suspensions.

[0027] Based on the above technical solution, the anti-pinch force threshold during the closing process of the first door can be adjusted according to the height difference of the vehicle's suspension. The height difference of the suspension can be used to characterize the difference in support state between the wheels of the vehicle. When the height difference of the suspension is large, the vehicle body may bear a certain torsional force, which will affect the closing of the first door. By flexibly determining the anti-pinch force threshold during the closing process of the first door through the height difference of the suspension, the influence of the height difference of the suspension on the anti-pinch detection can be reduced, thereby improving the accuracy of the anti-pinch detection and the safety of the first door closing.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, the anti-pinch force threshold during the closing process of the first door is determined based on the height difference between any two suspensions among the multiple suspensions, including: if the first height difference between any two suspensions is greater than or equal to the first threshold, the anti-pinch force threshold is determined as the second threshold; or, if the height difference between any two suspensions is less than the first threshold, the anti-pinch force threshold is determined as the third threshold; wherein the second threshold is greater than the third threshold.

[0029] Based on the above technical solution, when the suspension height difference is large, the vehicle body may be subjected to a certain torsional force. During the closing process of the first door, there may be an abnormal increase in closing resistance, which may falsely trigger the anti-pinch mechanism. By setting a higher anti-pinch force threshold, the risk of false triggering of the anti-pinch mechanism can be reduced. When the suspension height difference is small, a lower anti-pinch force threshold can be set so that the anti-pinch force threshold is adapted to the suspension height difference of the vehicle, thereby improving the accuracy of anti-pinch detection and thus improving the safety of closing the first door.

[0030] In a second aspect, a control device is provided, comprising: an acquisition module for acquiring first information, the first information including at least one of the following: the height of multiple suspensions, the biometric information of a user, and the status of a child lock on a vehicle; the acquisition module is further configured to acquire a first instruction for instructing a first door to close; and a control module for responding to the first instruction and controlling the vehicle to perform a corresponding operation based on the first information.

[0031] In conjunction with the second aspect, in some implementations of the second aspect, the first information includes the heights of multiple suspensions, and the device further includes a determining module, which is used to determine the height difference between any two suspensions among the multiple suspensions based on the heights of the multiple suspensions; the control module is used to control the prompting device to prompt that the first door is about to close when the first height difference between any two suspensions is greater than or equal to a first threshold; or, when the height difference between any two suspensions is less than the first threshold, control the first door to close.

[0032] In conjunction with the second aspect, in some implementations of the second aspect, the first information includes the user's biometric information, and the control module is used to control the prompting device to prompt that the first door is about to close when the user's biometric information indicates that the user belongs to the first group of people; or, to control the first door to close when the user's biometric information indicates that the user does not belong to the first group of people.

[0033] In conjunction with the second aspect, in some implementations of the second aspect, the user's biometric information includes the user's height and / or facial feature information. The control module is used to, when the user's height indicates that the user belongs to the first group of people, and / or when the user's facial feature information indicates that the user belongs to the first group of people, the control prompt device prompts that the first door is about to close.

[0034] In conjunction with the second aspect, in some implementations of the second aspect, the first information includes the child lock status of the vehicle, and the control module is used to, when the child lock status is in the open state, control the prompting device to prompt that the first door is about to close; or, when the child lock status is in the closed state, control the first door to close.

[0035] In conjunction with the second aspect, in some implementations of the second aspect, the first information includes the heights of multiple suspensions, the user's biometric information, and the status of the vehicle's child lock. The device also includes a determining module, which is used to determine the height difference between any two suspensions among the multiple suspensions based on the heights of the multiple suspensions. The control module is used to control the prompting device to prompt that the first door is about to close when the first height difference between any two suspensions is greater than or equal to a first threshold; or, when the height differences between any two suspensions are both less than the first threshold, to control the vehicle to perform corresponding operations based on the user's biometric information and / or the status of the vehicle's child lock.

[0036] In conjunction with the second aspect, in some implementations of the second aspect, when the height difference between any two suspensions is less than the first threshold, the control module is used to control the prompting device to prompt that the first door is about to close when the user's biometric information indicates that the user belongs to the first group; or, when the user's biometric information indicates that the user does not belong to the first group, the control module controls the vehicle to perform corresponding operations based on the status of the vehicle's child lock.

[0037] In conjunction with the second aspect, in some implementations of the second aspect, when the user's biometric information indicates that the user is not part of the first group of people, the control module is used to control the prompting device to prompt that the first door is about to close when the child lock is in the open state; or, when the child lock is in the closed state, control the first door to close.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, the first information also includes the light intensity of the environment in which the vehicle is located, and the device also includes a determining module. Before the control module controls the prompting device to indicate that the first door is about to close, the determining module is used to determine that the light intensity of the environment in which the vehicle is located is less than or equal to the first light intensity.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, the control module is further configured to control the first door to close if no second instruction is received within a first time period after the prompting device indicates that the first door is about to close; or, if a second instruction is received within the first time period, control the first door to stop closing; wherein the second instruction is used to control the first door to stop closing.

[0040] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes a determining module, which is used to determine the anti-pinch force threshold during the closing process of the first door based on the height difference between any two of the multiple suspensions.

[0041] In conjunction with the second aspect, in some implementations of the second aspect, the determining module is further configured to, when the first height difference between any two suspension height differences is greater than or equal to the first threshold, determine the anti-pinch force threshold as the second threshold; or, when the height difference between any two suspensions is less than the first threshold, determine the anti-pinch force threshold as the third threshold; wherein the second threshold is greater than the third threshold.

[0042] Thirdly, a control device is provided, comprising: one or more processors; one or more memories; the one or more memories storing one or more programs, which, when executed by one or more processors, cause the methods of the first aspect and any possible implementation thereof to be executed.

[0043] Fourthly, a control system is provided, including means as described in the second to third aspects and any possible implementation thereof.

[0044] Fifthly, a vehicle is provided, including means as in the second to third aspects and any possible implementation thereof, or a control system as in the fourth aspect.

[0045] In a sixth aspect, a chip is provided, the chip including a processor and a communication interface, the communication interface being used to receive signals and transmit signals to the processor, the processor processing the signals such that the methods of the first aspect and any possible implementation thereof are executed.

[0046] In a seventh aspect, a readable storage medium is provided, in which a computer program or instructions are stored, which, when executed on a computer, cause the methods described in the first aspect and any possible implementation thereof to be performed.

[0047] Eighthly, a computer program product is provided, comprising instructions that, when executed on a computer, cause the methods of the first aspect and any possible implementation thereof to be performed.

[0048] The technical effects of the second to eighth aspects mentioned above can be referred to the relevant descriptions in the first aspect. Attached Figure Description

[0049] Figure 1 This is a functional schematic diagram of a vehicle provided in an embodiment of this application.

[0050] Figure 2 This is a schematic diagram of a control method provided in an embodiment of this application.

[0051] Figure 3 This is a schematic diagram of another control method provided in the embodiments of this application.

[0052] Figure 4 This is a schematic diagram of a first door closing prompt provided in an embodiment of this application.

[0053] Figure 5 This is a schematic diagram of a control system provided in an embodiment of this application.

[0054] Figure 6 This is a schematic diagram of an anti-pinch risk assessment provided in an embodiment of this application.

[0055] Figure 7 This is a schematic diagram of another anti-pinch risk assessment provided in the embodiments of this application.

[0056] Figure 8 This is a schematic diagram of a vehicle three-dimensional coordinate system provided in an embodiment of this application.

[0057] Figure 9 This is a priority diagram for anti-pinch risk assessment provided in an embodiment of this application.

[0058] Figure 10 This is a schematic diagram illustrating how to determine the anti-pinch force threshold according to an embodiment of this application.

[0059] Figure 11 This is a schematic diagram of a control device provided in an embodiment of this application.

[0060] Figure 12 This is a schematic diagram of another control device provided in the embodiments of this application. Detailed Implementation

[0061] The technical solutions of this application will now be described with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " indicates "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. "At least one" refers to one or more. For example, "at least one of A and B," similar to "A and / or B," describes the relationship between related objects, indicating that three relationships can exist. For example, at least one of A and B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0062] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0063] Figure 1 This is a functional block diagram of a vehicle 100 provided in an embodiment of this application. The vehicle 100 may include a sensing system 110, a computing platform 120, and a display device 130. The sensing system 110 may include one or more sensors for sensing information about the environment surrounding the vehicle 100. For example, the sensing system 110 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou Navigation Satellite System, or another positioning system. As another example, the sensing system 110 may include one or more of the following: an inertial measurement unit (IMU), an accelerometer, a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0064] Some or all of the functions of vehicle 100 can be controlled by computing platform 120. Computing platform 120 may include one or more processors, such as processors 121 to 12n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement some or all of the functions of the aforementioned units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 120 may also include a memory for storing instructions. Some or all of the processors 121 to 12n can call the instructions in the memory to implement the corresponding functions.

[0065] The in-cabin display devices 130 are mainly divided into two categories: the first is in-vehicle displays; the second is projection displays, such as head-up displays (HUDs). In-vehicle displays are physical displays and an important component of in-vehicle infotainment systems. Multiple displays can be installed in the cabin, such as digital instrument cluster displays, central control screens, displays in front of the front passenger (also known as the front-seat passenger), displays in front of the left and right rear passengers, and even the windows can be used as displays. Head-up displays, also known as head-up display systems, are mainly used to display driving information such as speed and navigation on a display device in front of the driver (e.g., the windshield), reducing driver eye movement time, avoiding pupil changes caused by eye movement, and improving driving safety and comfort. Examples of HUDs include combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems. It should be understood that HUDs can also evolve into other types of systems as technology progresses, and this application does not limit them.

[0066] The above description of the display device 130 uses an in-vehicle display screen and a projection display screen as examples, but the embodiments of this application are not limited thereto. For example, the display device 130 can also be a light display screen or a projection screen. As an example, the above display device 130 can simultaneously display a control diagram of the vehicle door.

[0067] Optionally, the structure of the vehicle 100 described above is merely illustrative. In actual applications, various components of the vehicle 100 may be added or removed as needed.

[0068] As described in the background section, with the development of vehicle electrification and intelligence, the application of electric doors is becoming increasingly widespread, and the convenience of automatic door opening and closing is constantly improving. However, during the use of related electric opening and closing functions, there may be safety risks such as obstruction by foreign objects and injuries to limbs. To clearly illustrate the technical solution of this application, this application will use a car door as an example for explanation. In addition to the side doors and tailgates of the vehicle, similar safety issues may exist for other vehicle components with automatic opening and closing functions, such as the hood, and the technical solutions provided in the embodiments of this application are applicable to all of them.

[0069] In view of this, embodiments of this application provide a control method and apparatus that, after receiving a closing command from a car door, detects the risks during the door closing process based on the acquired first information and performs corresponding operations, thereby reducing the risk of users being pinched and improving the safety and intelligence of car door use.

[0070] Figure 2 This is a schematic diagram of a control method provided in an embodiment of this application. Figure 2 Method 200 includes the following steps.

[0071] S210, obtain first information, the first information including at least one of the following: the height of multiple suspensions, the user's biometric information, and the status of the vehicle's child lock.

[0072] The first piece of information is used for anti-pinch risk identification of the first door. The following explains the height of multiple suspension components, the user's biometric information, and the status of the vehicle's child locks.

[0073] (1) Height of multiple suspensions: refers to the relative displacement of the suspensions corresponding to the multiple wheels of the vehicle, such as the vertical displacement relative to the calibrated reference position (such as the standard vehicle height or static balance position), which is used to reflect the real-time compression or extension stroke of the suspension at that wheel.

[0074] (2) User biometric information: refers to information related to the user's physiological characteristics, such as facial features, physical features, body posture, etc., which can be used to identify the user's age, behavior patterns, activity status, etc.

[0075] (3) Child lock status of the vehicle: indicates the current status (open or closed) of the child lock of the vehicle, which can be obtained through the status signal of the child lock.

[0076] S220, Obtain the first instruction, which is used to instruct the first door to close.

[0077] The first door refers to an onboard component in a vehicle that has an opening and closing function, which can be an automatic function operated remotely by the user. For example, the first door can be a side door, a tailgate, or a hood. Furthermore, in a broader sense, the first door can also include onboard components with opening and closing functions such as windows and sunroofs.

[0078] In some examples, the first instruction may also be called the door closing instruction. The first instruction may be issued by the user via voice, central control screen, smart key, etc. This application does not limit the form of the first instruction.

[0079] S230, in response to the first instruction, controls the vehicle to perform the corresponding operation based on the first information.

[0080] The following are several different ways to control the vehicle to perform corresponding operations based on the first information when the first information includes different contents.

[0081] In some possible implementations, the first information includes the heights of multiple suspensions. Based on the first information, the vehicle is controlled to perform corresponding operations, including: determining the height difference between any two suspensions based on the heights of the multiple suspensions; if the first height difference between any two suspensions is greater than or equal to a first threshold, the control prompt device prompts that the first door is about to close; or, if the height difference between any two suspensions is less than the first threshold, the first door is controlled to close.

[0082] Suspension height differences can be used to characterize the differences in support status between the various wheels of a vehicle. Multiple suspension height differences can include height differences between wheels on the same side, between front and rear wheels, between diagonally opposite wheels, or between other wheel combinations. Different types of suspension height differences can correspond to different vehicle operating conditions, such as parking on a slope, lateral road surfaces, uneven road surfaces, and uneven loads.

[0083] In some possible implementations, the suspension height difference of a vehicle can be obtained by subtracting each pair of suspension heights. For example, taking a four-wheeled vehicle as an example, the suspension height includes suspension height 1, suspension height 2, suspension height 3, and suspension height 4. The suspension height difference includes the differences between suspension height 1 and suspension heights 2, 3, and 4 respectively, the differences between suspension height 2 and suspension heights 3 and 4, and the difference between suspension height 3 and suspension height 4.

[0084] In some possible implementations, the first information includes the user's biometric information. Based on the first information, the vehicle is controlled to perform corresponding operations, including: if the user's biometric information indicates that the user belongs to the first group of people, the control prompt device prompts that the first door is about to close; or, if the user's biometric information indicates that the user does not belong to the first group of people, the control device closes the first door.

[0085] The first group refers to individuals who lack the ability to perceive and / or avoid changes in the door's state during the closing process, thus posing a safety risk. For example, the first group can be determined based on the user's age, such as being elderly or a child; or it can be determined based on the user's state, such as whether the user is in a state of limited perception or mobility, like being intoxicated, motion sickness, or in a state of distraction, such as not looking towards the door or carrying items.

[0086] In some possible implementations, the user's biometric information includes the user's height and / or facial feature information. When the user's biometric information indicates that the user belongs to the first group of people, the control prompt device indicates that the first door is about to close. This includes: when the user's height indicates that the user belongs to the first group of people, and / or when the user's facial feature information indicates that the user belongs to the first group of people, the control prompt device indicates that the first door is about to close. For example, the user can be determined to be in the first group of people by the user's height being less than or equal to a preset height threshold.

[0087] In some possible implementations, the first information includes the child lock status of the vehicle. Based on the first information, the vehicle is controlled to perform corresponding operations, including: when the child lock is in the open state, the control prompt device prompts that the first door is about to close; or, when the child lock is in the closed state, the control device closes the first door.

[0088] In some possible implementations, the first information may simultaneously include multiple pieces of information. For example, the first information may include the heights of multiple suspensions, the user's biometric information, and the vehicle's child lock status. Based on this first information, the vehicle is controlled to perform corresponding operations, including: determining the height difference between any two suspensions based on the heights of the multiple suspensions; if the first height difference between any two suspensions is greater than or equal to a first threshold, the control device prompts that the first door is about to close; or, if the height differences between any two suspensions are both less than the first threshold, the vehicle is controlled to perform corresponding operations based on the user's biometric information and / or the vehicle's child lock status. In other words, the system prioritizes determining whether a prompt about the first door closing is needed based on the suspension height differences. If the first height difference is greater than or equal to the first threshold, the system does not rely on the user's biometric information or the vehicle's child lock status for further judgment, thus saving system resources; if the height differences between any two suspensions are both less than the first threshold, subsequent judgments are then made.

[0089] As an example, when the height difference between any two suspensions is less than a first threshold, the vehicle is controlled to perform corresponding operations based on the user's biometric information and / or the status of the vehicle's child lock. These operations include: if the user's biometric information indicates that the user belongs to the first group of people, a control prompt device is activated to indicate that the first door is about to close; or, if the user's biometric information indicates that the user does not belong to the first group of people, the vehicle is controlled to perform corresponding operations based on the status of the child lock. Specifically, if the user's biometric information indicates that the user does not belong to the first group of people, the vehicle is controlled to perform corresponding operations based on the status of the child lock, including: if the child lock is in the unlocked state, a control prompt device is activated to indicate that the first door is about to close; or, if the child lock is in the closed state, the first door is controlled to close.

[0090] In some possible implementations, the first information also includes the light intensity of the vehicle's environment. Before the control prompt device indicates that the first door is about to close, method 200 further includes: determining that the light intensity of the vehicle's environment is less than or equal to the first light intensity. In other words, if the first information also includes the light intensity of the vehicle's environment, when it is determined based on the first information that the control prompt device needs to indicate that the first door is about to close, the control of the prompt device to issue a prompt will only be executed if the light intensity of the vehicle's environment is less than or equal to the first light intensity; otherwise, no prompt will be issued.

[0091] In some possible implementations, method 200 further includes: controlling the first door to close if no second instruction is received within a first time period after the prompting device indicates that the first door is about to close; or controlling the first door to stop closing if a second instruction is received within the first time period; wherein the second instruction is used to control the first door to stop closing. In other words, after the prompt, a first time period can be waited. If a second instruction instructing the first door to stop closing is received within the first time period, the first door is controlled to stop closing; if the second instruction is not received, the first door is controlled to close. This allows the user a certain amount of time after the prompt to avoid potential risks, such as moving away from the closing door or removing obstacles that may affect the closing of the door within its closing path.

[0092] In some possible implementations, method 200 further includes: determining the anti-pinch force threshold during the closing process of the first door based on the height difference between any two of the multiple suspensions.

[0093] In some examples, when the first information includes the heights of multiple suspensions, the height difference between any two suspensions is determined based on the heights of the multiple suspensions, thereby determining the anti-pinch force threshold during the closing process of the first door; when the first information does not include the heights of multiple suspensions, the heights of multiple suspensions of the vehicle are obtained, and the height difference between any two suspensions is determined based on the heights of the multiple suspensions, thereby determining the anti-pinch force threshold during the closing process of the first door.

[0094] In some possible examples, the anti-pinch force threshold during the closing process of the first door is determined based on the height difference between any two suspensions among multiple suspensions, including: if the first height difference between any two suspensions is greater than or equal to the first threshold, the anti-pinch force threshold is determined as the second threshold; or, if the height difference between any two suspensions is less than the first threshold, the anti-pinch force threshold is determined as the third threshold; wherein the second threshold is greater than the third threshold.

[0095] Figure 3 The diagram shown is a schematic diagram of another control method provided in an embodiment of this application. Figure 3The method 300 shown may include steps S301 to S310, each of which is described in detail below.

[0096] S301, retrieve the first instruction.

[0097] S302, Obtain first information.

[0098] In some possible implementations, the first information can be information directly obtained from the perception system 110 mentioned above, or information obtained after processing the information obtained from the perception system 110. Then, by comparing this information with preset conditions, it can be determined whether the preset conditions are met, thereby determining whether the first door is in a scenario where it may pinch a user or trap a foreign object, or whether the first door may need to trigger an anti-pinch operation.

[0099] In some possible examples, the information acquired by the sensing system 110 is processed, including at least the following two possible processing methods.

[0100] The first approach involves processing the acquired information, such as preprocessing it, including filtering and feature extraction. For example, if the acquired information includes the light intensity near the vehicle, processing the light intensity could involve sampling and analyzing the light intensity over a period of time to obtain the mean value and trend of ambient light.

[0101] The second approach involves processing the acquired information, such as calculating, transforming, or deriving the acquired parameters to obtain new information or judgment results. For example, if the acquired information includes the height and facial features of users near the first door, processing the information could include comprehensive analysis based on the user's height and / or facial features to determine whether the user belongs to the first group of people, and thus assess whether there is a risk of injury to the user during the closing of the first door.

[0102] S303, determine whether the anti-pinch risk of the first door is high risk.

[0103] In some possible implementations, by comparing the first piece of information with preset conditions, it can be determined whether the risk of the first door being pinched is high. Continuing with the above example, for instance, if the obtained light intensity is less than or equal to a preset light intensity of 1 (an example of the first light intensity, i.e., a preset light intensity threshold), and the vehicle is determined to be in a dimly lit environment, then the risk of the first door being pinched can be identified as a high-risk scenario. As another example, based on a comprehensive analysis of the user's height and / or facial features, if it is determined that the user is likely part of the first group of people, then the risk of the first door being pinched can be identified as a high-risk scenario.

[0104] Conversely, when the acquired light intensity is greater than the preset light intensity of 1, or when it is determined that the users near the first car door are not the first group of people, the anti-pinch risk of the first car door can be determined as a low-risk scenario.

[0105] It should also be understood that this is an example rather than a limitation, and may also include methods for obtaining other information and determining the anti-pinch risk scenario of the first door through other conditions.

[0106] In some possible implementations, if the risk of the first door being pinched is determined to be high, then S304 is executed, and the control prompting device prompts that the first door is about to close; or, if the risk of the first door being pinched is determined to be low (or "the risk of pinching is low"), then S307 is executed, and the first door is controlled to close.

[0107] In some possible examples, the device indicating that the first door is about to close can be determined based on the user's location. As an example, this device could be a speaker near the first door, providing a voice prompt. For instance, if the first door is a side door, and the user is seated inside the cabin at that side door when it closes, the prompt could be given using either the seat or a speaker near the side door; conversely, if the user is standing outside the side door when it closes, the prompt could be given using an external speaker.

[0108] In some possible examples, the warning that the first door is about to close could be given through a light warning or a display screen on the first door.

[0109] Figure 4 This is a schematic diagram of a first door closing warning provided in an embodiment of this application. As an example, the first door is the tailgate of a vehicle, and a child is standing at the tailgate. In this case, it can be determined that the risk of the first door being pinched is high, so it is necessary to provide a warning that the first door is about to close. For example, a voice announcement can be made through the speaker at the tailgate: "The tailgate is about to close, please be careful."

[0110] In some possible implementations, when the risk of the first door being pinched is high, method 300 further includes: S305, determining whether a stop-closing command for the first door has been received within a duration of 1 (an example of the first duration). If a stop-closing command for the first door is received within a duration of 1, then S306 is executed to control the first door to stop closing; or, if no stop-closing command for the first door is received within a duration of 1, then S307 is executed to control the first door to close. Here, duration 1 refers to the duration from when the warning that the first door is about to close is issued.

[0111] By waiting for 1 second, after the prompt that the first door is about to close, the user has time to react and move away from the first door, or check whether there are any foreign objects blocking the closing path of the first door. This reduces the risk of the user being pinched by the first door and the risk of the first door failing to close, thus improving the safety of the first door closing.

[0112] S308, determine whether the anti-pinch condition of the first door is met.

[0113] In some possible implementations, when the first door is closed, it can be continuously monitored in real time to see if the anti-pinch condition is met. Two possible examples of the anti-pinch condition are given below.

[0114] Example 1: Anti-pinch conditions can be set by the operating current of the motor driving the first door. The current of the motor controlling the first door can be continuously monitored in real time. When the first door is obstructed from closing, the motor load resistance increases, and the operating current will abnormally increase. In this case, the anti-pinch condition can be set to the real-time operating current of the motor driving the first door being greater than or equal to a preset current threshold. When this condition is met, the anti-pinch operation is triggered.

[0115] Example 2: A Hall element can be installed at the motor of the first door, and the anti-pinch condition can be set using the pulse signal output by the Hall element. For example, the real-time rotational speed of the motor driving the first door can be obtained by real-time acquisition of the pulse signal output by the Hall element at the first door. When the closing of the first door is obstructed, the rotational speed of the first door motor will decrease, or even stall. In this case, the anti-pinch condition can be set to the real-time rotational speed of the motor driving the first door being less than or equal to a preset speed threshold. When this condition is met, the anti-pinch operation is triggered.

[0116] In some possible examples, the above-mentioned current detection and Hall speed detection methods can be combined in actual control strategies to make joint judgments using the two types of detection data, thereby further improving the accuracy of anti-pinch identification.

[0117] After the determination in S308, if the anti-pinch condition of the first door is met, S309 is executed to perform the anti-pinch operation of the first door; or, if the anti-pinch condition of the first door is not met, S310 is executed to determine whether the first door has been closed.

[0118] In some possible examples, the anti-pinch operation of the first door can be to pause the closing of the first door and / or to open the first door in the reverse direction.

[0119] In some possible examples, when the anti-pinch operation of the first door is triggered, the event of triggering the anti-pinch will be recorded in the event log, and a safety prompt message will be pushed to the HMI interface simultaneously.

[0120] Based on the judgment result of S310, if the first door is closed, then S311 is obtained, indicating that the first door has finished closing, and the vehicle control system can be notified that the first door has finished closing; or, if the first door has not finished closing, then S308 is executed to determine whether the anti-pinch condition of the first door is met.

[0121] In some possible examples, if the risk of the first door being pinched is determined to be high in S303, the closing speed of the first door can be reduced during the closing process in S310 to further improve the safety of the first door closing.

[0122] Figure 5 The diagram shown is a schematic of a control system provided in an embodiment of this application. As an example, the control system 500 includes a light sensor 510, an inertial measurement unit (IMU) 520, a suspension control (SC) module 530, a vision perception module 540, a millimeter-wave radar 550, an autonomous driving domain controller 560, a vehicle intranet unit (VIU) 570, and a first door controller 580. The functions of each module / unit are described below.

[0123] (1) Light sensor 510: used to acquire the light intensity of the vehicle. The light sensor 510 can be installed inside or outside the vehicle cabin to acquire the light conditions inside and outside the vehicle cabin in real time, and send the acquired light intensity information to the vehicle intranet unit 570 for subsequent risk assessment.

[0124] (2) IMU 520: Used to acquire vehicle slope parameters. IMU 520 can determine the slope of the ground where the vehicle is currently located by detecting the vehicle's attitude information (such as pitch angle, roll angle, etc.), and send the acquired vehicle slope parameters to the vehicle intranet unit 570 to help judge the potential risks that may exist during the closing process of the first door.

[0125] (3) Suspension control module 530: used to acquire the height of multiple suspensions of the vehicle. The suspension control module 530 can acquire the height information of the suspension corresponding to each wheel of the vehicle in real time to reflect the current vehicle height status and the height difference between different suspensions, and send the acquired suspension height data to the vehicle intranet unit 570 to determine the safety risks that may occur during the automatic closing of the first door.

[0126] (4) Visual perception module 540: used to acquire the biometric information (such as facial feature data) and behavioral status of the user near the first door. The visual perception module 540 may include a camera, infrared sensor or other type of visual sensor installed on the outside of the vehicle or in the cabin, to collect and identify data in the area near the first door, thereby acquiring the user's biometric information and sending the relevant information to the autonomous driving domain controller 560.

[0127] (5) Millimeter-wave radar 550: Used to acquire information such as the height, position, and distance of the user near the first door. The millimeter-wave radar 550 can detect targets (such as users) near the first door by emitting millimeter-wave signals and receiving echo signals, thereby acquiring information such as the distance of the target from the first door, the position of the target, and its height, and sending the acquired information to the autonomous driving domain controller 560 for user feature recognition.

[0128] (6) Autonomous Driving Domain Controller 560: Used to process and analyze data from sensors such as the visual perception module 540 and millimeter-wave radar 550 to identify user characteristics and behavioral status. For example, based on the user's biometric information obtained by the visual perception module 540 and the user's height information obtained by the millimeter-wave radar 550, it can be determined whether the user is elderly or a child; or based on the user's status identified by the visual perception module 540, it can be determined whether the user has mobility difficulties, such as being intoxicated, carrying luggage, or sitting in a wheelchair.

[0129] (7) Vehicle Intranet Unit 570: This is the intelligent sensor / actuator and regional data center of the vehicle's physical area, which receives the physical interfaces of the vehicle. The vehicle intranet unit 570 can comprehensively determine whether the anti-pinch risk of the first door is high based on the light intensity sent by the light sensor 510, the vehicle slope parameters sent by the IMU 520, the height of each suspension of the vehicle sent by the suspension control module 530, and the judgment of user information sent by the autonomous driving domain controller 560. Based on the judgment result, it can make the next judgment or send a closing control signal to the first door controller 580.

[0130] (8) First door controller 580: Receives control signals from vehicle intranet unit 570 and controls the first door to close or open.

[0131] Figure 6 The diagram shown is a schematic diagram of an anti-pinch risk assessment method provided in an embodiment of this application. Figure 6 The method 600 shown may include the following steps.

[0132] S601, obtain user information.

[0133] In some possible examples, the user information obtained in S601 is one such example of the first information mentioned above.

[0134] In some possible examples, the user referred to here is a user whose distance from the first door is less than 1.

[0135] Here, distance 1 is a preset safe distance during the closing process of the first door. When the distance between the user and the first door is greater than distance 1, the possibility of the user being trapped during the closing process of the first door is low. When the distance between the user and the first door is less than or equal to distance 1, there is a risk that the user may be trapped during the closing process of the first door, and it is necessary to obtain more information about the user.

[0136] As an example, user information may include the user's location, biometrics, etc. Specifically, the user's location, distance from the first door, and height can be acquired by millimeter-wave radar 550; the user's biometric information can be acquired by visual perception module 540.

[0137] S602 determines whether a user belongs to the first group.

[0138] In some possible examples, the user's biometric information includes the user's height and / or facial features. The autonomous driving domain controller 560 can determine whether the user is a child or an elderly person (an example of the first group) based on the user's height and / or facial features, or whether the user is in a situation where their perception or avoidance ability regarding the first door is limited (another example of the first group). Several possible examples are given below.

[0139] Example 1: The millimeter-wave radar 550 can acquire the user's height information and transmit it to the autonomous driving domain controller 560. The autonomous driving domain controller 560 analyzes and judges the acquired user height information. When it detects that the user's height is lower than the preset height threshold, it can be considered that the user is more likely to be a child and can determine that the user is a child. Alternatively, it can combine facial feature information for further judgment.

[0140] Example 2: The visual perception module 540 can acquire facial feature information such as facial contours, facial details, skin condition, facial movement range, and expression richness, and transmit this information to the autonomous driving domain controller 560. The autonomous driving domain controller 560 performs comprehensive analysis and comparison of the above facial features based on relevant facial recognition algorithms, thereby identifying whether the user corresponding to the facial features is a child or an elderly person.

[0141] Example 3: In addition to determining the user's age attribute based on facial features, the autonomous driving domain controller 560 can also use facial feature information acquired by the visual perception module 540 to determine whether the user's ability to perceive and / or avoid the first door is limited. For example, when the user's gaze is not directed towards the first door, the user may have difficulty perceiving the closing of the first door; or, for example, facial feature information such as complexion, eye expression, and facial expression can be used to determine whether the user may be intoxicated or in an unwell state. In this case, even if the user notices the closing of the first door, they may have difficulty avoiding it. This situation can be described as the user having limited ability to perceive and / or avoid the first door.

[0142] Example 4: The visual perception module 540 can also acquire the user's posture information, which, together with facial feature information, is used to determine the user's state. For example, if the user is leaning forward and holding an object, it can be determined that the user is carrying an object; or, for example, if the user is in a wheelchair, it can be determined that the user has difficulty walking. In these scenarios where the user has difficulty moving, it can also be said that the user's ability to perceive and / or avoid the first door is limited.

[0143] It should be understood that the above are examples and not limitations. Other scenarios may also include situations where the user's ability to perceive and / or avoid the state of the first door is limited. These are not listed here, but should also be included within the scope of protection of this application.

[0144] When the user belongs to the first group (e.g., an elderly person or a child, or when the user's ability to perceive and / or avoid the first door's status is limited), step S603 is obtained, indicating a high risk of the first door being pinched; or, when the user does not belong to the first group, step S604 is obtained, indicating a low risk of the first door being pinched. In other words, method 600 is a specific implementation of step S303, determining whether the risk of the first door being pinched is high based on user-related information.

[0145] In some possible examples, if there are multiple users within a distance of 1 from the first door, then if any one of these users is part of the first group, the risk of the first door being pinched can be determined as high risk.

[0146] Figure 7 The diagram shown is another example of anti-pinch risk assessment provided by an embodiment of this application. Figure 7 The method 700 shown may include the following steps.

[0147] S701 obtains the height of multiple suspensions of the vehicle, the light intensity of the environment in which the vehicle is located, and the status of the child locks of the vehicle.

[0148] For an explanation of the height of multiple suspensions and the status of the vehicle's child lock, please refer to Method 200. The height of multiple suspensions is obtained through the suspension control module 530. The vehicle intranet unit 570 can obtain the status of the vehicle's child lock through the child lock status signal. For simplicity, its detailed description is omitted here.

[0149] The ambient light intensity of the vehicle's surroundings reflects the vehicle's lighting environment, including both the light intensity inside and outside the vehicle's cabin. Light intensity affects the user's visibility, especially in low-light conditions where the user may have difficulty noticing the automatic closing of the doors, increasing the risk of injury. This light intensity can be collected by light sensors 510 installed inside and outside the cabin.

[0150] S702 determines the height difference between any two suspensions among multiple suspensions based on the height of multiple suspensions.

[0151] S703, determine whether any of the following conditions are met: the first height difference between any two suspensions is greater than or equal to threshold 1, or the light intensity is less than or equal to light intensity 1, or the child lock is in the open state.

[0152] When the height difference between any two suspensions is large, it indicates a significant difference in the suspension travel of the corresponding wheels. The vehicle may be in a non-uniform support state, causing the body to experience torsional forces and further affecting vehicle rigidity, overall vehicle stability, and the stress state of related structural components. For example, if the suspension height difference between diagonal wheels is large, and one pair of diagonal wheels is in a state of significant compression and the other significantly extended, while the other pair of diagonal wheels exhibits the opposite trend, the four wheels may not be on the same plane. In this case, if the vehicle body rigidity is insufficient, the relative position between the door frame and the door may shift, affecting the normal closing process of the door. Therefore, in cases with a large suspension height difference (such as a first height difference greater than or equal to threshold 1, where threshold 1 is an example of the first threshold), the anti-pinch risk of the first door can be classified as high risk.

[0153] In some possible implementations, the anti-pinch force threshold can be dynamically changed based on an anti-pinch force benchmark threshold, taking into account other external influencing factors. This benchmark threshold refers to a pre-set threshold within the vehicle. For example, when there is a large difference in suspension height, the vehicle may be on an uneven road surface. The first door, even without pinching an obstacle, will experience significant resistance during closing. To reduce the probability of false triggering of the anti-pinch mechanism, the anti-pinch force threshold can be increased. However, increasing the anti-pinch force threshold would also result in greater injury if a user or object is actually pinched. To reduce the risk of pinching injuries from increasing the anti-pinch force threshold, a judgment can be made based on the suspension height difference. If the suspension height difference is large (e.g., the first height difference is greater than or equal to threshold 1, where threshold 1 is an example of the first threshold), the anti-pinch risk of the first door is determined to be high.

[0154] The first height difference can be selected according to actual needs. For example, the first height difference can be any one of the height differences between any two suspensions, or it can be the suspension height difference that meets certain conditions, such as the maximum value among any two suspension height differences.

[0155] In some possible implementations, the vehicle's slope parameters can also be obtained in S701 to determine the vehicle's body posture. As mentioned earlier, when the vehicle is parked on a slope, the closing of the first door may also be affected.

[0156] As an example, slope parameters can include the tilt attitude of the vehicle body. Figure 8 The diagram illustrates a three-dimensional coordinate system for a vehicle: the X-axis represents the vehicle's forward direction, the Y-axis represents the vehicle's lateral direction, and the Z-axis represents the vehicle's vertical direction. The rotation angles around the X, Y, and Z axes correspond to the vehicle's roll, pitch, and yaw angles, respectively. The vehicle's slope parameter is the rotation angle around the Y-axis, i.e., the pitch angle, used to reflect the degree of forward and backward tilt caused by the road surface slope; alternatively, the vehicle's slope parameter is the rotation angle around the X-axis, i.e., the roll angle, used to reflect the degree of forward and backward tilt caused by the road surface slope. The vehicle's pitch and roll angles can be acquired in real-time using an IMU 520.

[0157] In some possible examples, if the slope parameter is also obtained in S701, the judgment condition in S703 may also include "the slope parameter is greater than or equal to threshold 2". Here, "the slope parameter is greater than or equal to threshold 2" can include either the roll angle or the pitch angle being greater than or equal to threshold 2. In other words, when either the roll angle or the pitch angle is greater than or equal to threshold 2, it can be determined that the slope parameter is greater than or equal to threshold 2. Even when "the slope parameter is greater than or equal to threshold 2" is met, the anti-pinch force threshold may increase. To reduce the risk of pinching injury caused by the increase in the anti-pinch force threshold, the anti-pinch risk of the first door can be determined as high risk.

[0158] In some possible examples, the threshold 2 corresponding to the roll angle and pitch angle may be different.

[0159] In some possible examples, the suspension height difference and slope parameter can be judged together. For example, the first height difference needs to be greater than or equal to threshold 1, and the slope parameter needs to be greater than or equal to threshold 2.

[0160] In some possible examples, when the anti-pinch force threshold is adjustable, both the suspension height difference and the slope parameter may affect the anti-pinch force threshold. Therefore, the judgment condition for the suspension height difference and the slope parameter can also be expressed as "the anti-pinch force threshold is greater than or equal to the anti-pinch force reference threshold". When the anti-pinch force threshold is greater than or equal to the anti-pinch force reference threshold, the anti-pinch risk of the first door can be determined as high risk.

[0161] In some possible implementations, the light intensity 1 is the threshold of the light intensity of the vehicle's environment. If the light intensity inside or outside the cabin is less than or equal to the light intensity 1, it is determined that the vehicle's environment is relatively dark.

[0162] In some possible examples, the light intensity 1 inside and outside the vehicle cabin can be different; in other words, the light intensity thresholds inside and outside the vehicle cabin can be different.

[0163] In some possible implementations, having the child lock engaged implies a higher probability that there is a child in the vehicle's cabin.

[0164] Therefore, if any one of the conditions in S703 is met, we can obtain S704, where the risk of the first door being pinched is high; if none of the conditions in S703 are met, we can obtain S705, where the risk of the first door being pinched is low.

[0165] In some possible implementations, S701 can also obtain the number of times the first door triggered anti-pinch protection within a duration of 2. Duration 2 refers to an elapsed period of time. The number of times the first door triggered anti-pinch protection within duration 2 indicates the number of times the first door triggered anti-pinch protection within a preset past time period, thereby determining whether an anti-pinch event occurred in the past period and assessing whether a high risk of pinching still exists during the current closing process. As an example, this parameter can be obtained by the vehicle intranet unit 570 from the event log related to the anti-pinch protection record of the first door.

[0166] In some possible examples, if the number of times the first door triggers anti-pinch protection within time 2 can be obtained in S701, the judgment condition in S703 can also include "the number of times the first door triggers anti-pinch protection within time 2 is greater than or equal to threshold 3". When the number of times the first door triggers anti-pinch protection within time 2 is greater than or equal to threshold 3, it can be determined that an anti-pinch event has occurred in the past period of time, and there may still be a high risk of anti-pinch protection during the current closing process. When this condition is met, the anti-pinch risk of the first door can also be determined to be high risk.

[0167] Method 700 is another implementation of S303, which determines whether the anti-pinch risk of the first door is high risk by using information related to the vehicle.

[0168] It should be understood that Figure 6 and Figure 7 The judgment methods can also be used in combination. In other words, the judgment can be made by obtaining one or more of the following: vehicle information (such as the anti-pinch force threshold of the first door, the height of multiple suspensions, slope parameters, the light intensity of the vehicle's environment, the opening and closing status of the vehicle's child lock, and the number of times the first door triggers anti-pinch within a duration of 2) and user information (such as one or more of the user's biometric information). If any one of these conditions is met, the anti-pinch risk of the first door is determined to be high risk.

[0169] In some possible implementations, if the acquired information includes multiple items from both vehicle and user information, these items can be judged sequentially according to a preset priority order during the risk assessment process. If one item of information already meets the criteria for a high-risk scenario, then there is no need to judge the remaining items one by one, thereby saving system resources and improving the control efficiency of the vehicle system.

[0170] Figure 9 This is a priority diagram for anti-pinch risk assessment provided in an embodiment of this application. Figure 9 Method 900 includes the following steps.

[0171] S901 obtains multiple suspension heights of the vehicle, the user's biometric information, and the status of the vehicle's child locks.

[0172] S902 determines the height difference between any two suspensions among multiple suspensions based on the height of multiple suspensions.

[0173] S903: Determine if the first height difference between any two suspension height differences is greater than or equal to threshold 1. If so, proceed to S904, indicating a high risk for the first door's anti-pinch function. If not, continue to S905 to determine if the user is part of the first group. In other words, if the first height difference between any two suspension height differences is greater than or equal to threshold 1, the subsequent steps based on the user's and vehicle's child lock status are not executed.

[0174] If the judgment result of S905 is satisfied, then S906 is obtained, indicating that the risk of the first door being pinched is high; if not satisfied, then S907 is executed to determine whether the child lock of the vehicle is in the open state.

[0175] If the condition in S907 is met, then S908 is obtained, indicating that the risk of the first door being pinched is high; if the condition is not met, then S909 is obtained, indicating that the risk of the first door being pinched is low.

[0176] In some possible examples, if S901 also includes obtaining the slope parameter, the slope parameter can be judged before S905 is judged on whether the user is in the first group. If the slope parameter is greater than or equal to the threshold 2, the anti-pinch risk of the first door is determined to be high risk. If not, the user information is used to judge S905.

[0177] In some possible examples, if S901 also includes obtaining the number of times the first door is triggered to prevent pinching within a duration of 2, then after the judgment in S907, if the child lock is in the closed state, it is further determined whether the number of times the first door is triggered to prevent pinching within a duration of 2 is greater than or equal to the threshold 3. If it is satisfied, the anti-pinch risk of the first door is determined to be high risk; or, if it is not satisfied, the anti-pinch risk of the first door is determined to be low risk.

[0178] In some possible examples, if S901 also includes acquiring the light intensity, then after each judgment condition, it is additionally judged whether the light intensity is less than or equal to the first light intensity. If the light intensity is less than or equal to the first light intensity, then the anti-pinch risk of the first door is determined to be high risk. In other words, S903, S905, and S907 change from the original single condition to satisfying the original condition, and then, if the light intensity is less than or equal to the first light intensity, the anti-pinch risk of the first door is determined to be high risk.

[0179] Figure 10This is a schematic diagram illustrating how to determine the anti-pinch force threshold according to an embodiment of this application.

[0180] As described in method 700, when a vehicle is parked on an uneven road surface, the four wheels may not be on the same plane, causing the vehicle body to experience a certain torsional force. In this situation, if the vehicle body rigidity is insufficient, the resistance when the first door closes may abnormally increase, thus misjudging it as being pinched by an obstacle and triggering the anti-pinch mechanism. In this scenario, this application proposes a scheme for dynamically determining the anti-pinch force threshold. The following, in conjunction with... Figure 10 To explain, Figure 10 Method 1000 includes the following steps.

[0181] S1001, obtain the vehicle's slope parameters and the height of multiple suspensions of the vehicle.

[0182] S1002, determine the height difference between any two suspensions among the multiple suspensions based on the height of the multiple suspensions.

[0183] S1003, determine whether the first height difference among any two suspension height differences is greater than or equal to threshold 1, or whether the slope parameter is greater than or equal to threshold 2.

[0184] For explanations of S1001 to S1003, please refer to the explanations of S701 to S703 in Method 700.

[0185] In some possible implementations, if the first height difference between any two suspension height differences is greater than or equal to threshold 1, or the slope parameter is greater than or equal to threshold 2, the vehicle can be considered to be on an uneven road surface. In this case, S1004 is executed to determine the anti-pinch force threshold as threshold 4 (an example of the second threshold). If both suspension height differences are less than threshold 1 and both slope parameters are less than or equal to threshold 2, then S1005 is executed to determine the anti-pinch force threshold as threshold 5 (an example of the third threshold), where threshold 4 is greater than threshold 5.

[0186] In some possible implementations, the judgment condition of S1002 can also be "the first height difference among any two suspension height differences is greater than or equal to threshold 1, and the slope parameter is greater than or equal to threshold 2". In this case, if both judgment conditions are met, S1004 is executed; if either condition is met, or if neither condition is met, S1005 is executed.

[0187] The above text combines Figures 2 to 10 The control method provided in the embodiments of this application is described in detail below. Figure 11 and Figure 12This application describes the apparatus provided in its embodiments. It should be understood that the descriptions of the apparatus embodiments correspond to the descriptions of the method embodiments. Therefore, for details not described in detail, please refer to the above method embodiments. For the sake of brevity, these details will not be repeated here.

[0188] Figure 11 This is a schematic block diagram of a control device 1100 provided in an embodiment of this application. The control device 1100 includes an acquisition module 1110, a control module 1120, and a determination module 1130. The control device 1100 can be used to execute the above-described methods 200, 300, 600, 700, 900, and 1000.

[0189] For example, module 1110 can be Figure 1 The computing platform 120 or the processing circuit, processor or controller in the computing platform 120. Taking the acquisition module 1110 as the processor 121 in the computing platform as an example, the processor 121 can acquire the first information, and can also acquire the first instruction and the second instruction.

[0190] For example, control module 1120 can be Figure 1 The computing platform 120 or the processing circuit, processor, or controller within the computing platform 120. Taking the control module 1120 as an example, which is the processor 122 in the computing platform, the processor 122 can control the vehicle to perform corresponding operations based on the first information.

[0191] For example, module 1130 can be determined as follows: Figure 1 The computing platform 120 or the processing circuit, processor or controller in the computing platform 120. Taking the processor 123 in the computing platform as an example, the processor 123 can determine the height difference between any two suspensions among the multiple suspensions based on the height of the multiple suspensions, and can also determine whether the light intensity of the environment in which the vehicle is located is less than or equal to the first light intensity.

[0192] The functions implemented by the acquisition module 1110, control module 1120, and determination module 1130 can be implemented by different processors, or by the same processor, or some functions can be implemented by the same processor. This application embodiment does not limit this.

[0193] Figure 12 This is a schematic block diagram of another control device provided in the embodiments of this application. Figure 12As shown, the control device 1200 includes one or more processors 1210 and one or more memories 1220; the one or more memories 1220 store one or more instructions that, when executed by one or more processors 1210, cause the control method of the first door as described in any of the possible implementations above to be executed.

[0194] For example, the control device 1200 can be the vehicle 100, computing platform 120, etc. mentioned above.

[0195] This application also provides an apparatus including a processor and a communication interface. The communication interface is used to receive signals and transmit the signals to the processor. The processor processes the signals so that the control method for the first door as described in any of the possible implementations above is executed.

[0196] The device can be a chip. For example, the chip can be a chip system or a standalone chip.

[0197] This application also provides a readable storage medium (also known as a computer-readable storage medium) storing a program that, when run on a computer, causes the computer to execute the aforementioned method steps to implement the control method for the first car door in the above embodiments.

[0198] This application also provides a program product (also known as a computer program product) that, when run on a control device, causes the control device to perform the aforementioned related steps to implement the control method for the first vehicle door in the above embodiments.

[0199] This application also provides an apparatus including a module for implementing the control method of the first vehicle door as described in any of the preceding embodiments.

[0200] In addition, embodiments of this application also provide an apparatus, which may specifically be a chip, component or module. The apparatus may include a connected processor and a memory; wherein the memory is used to store instructions, and when the apparatus is running, the processor may execute the instructions stored in the memory to cause the apparatus to execute the control method of the first vehicle door in the above method embodiments.

[0201] In this embodiment, the control device, readable storage medium, program product or device are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0202] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in hardware, or a combination of software and hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0203] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0204] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and 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 through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0205] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method, characterized in that, The method includes: Obtain first information, which includes at least one of the following: the height of multiple suspensions, the user's biometric information, and the status of the vehicle's child locks; Obtain a first instruction, which is used to instruct the first door to close; In response to the first instruction, and based on the first information, the vehicle is controlled to perform the corresponding operation.

2. The method according to claim 1, characterized in that, The first information includes the height of the plurality of suspensions, and the step of controlling the vehicle to perform corresponding operations based on the first information includes: Based on the height of the plurality of suspensions, determine the height difference between any two suspensions among the plurality of suspensions; If the first height difference between any two suspension height differences is greater than or equal to a first threshold, the control prompting device will indicate that the first door is about to close; or... If the height difference between any two suspensions is less than the first threshold, control the first door to close.

3. The method according to claim 1, characterized in that, The first information includes the user's biometric information, and controlling the vehicle to perform corresponding operations based on the first information includes: If the user's biometric information indicates that the user belongs to the first group of people, the control prompt device will indicate that the first vehicle door is about to close; or... If the user's biometric information indicates that the user does not belong to the first group of people, the first vehicle door is controlled to close.

4. The method according to claim 3, characterized in that, The user's biometric information includes the user's height and / or facial feature information. When the user's biometric information indicates that the user belongs to the first group of people, the control prompting device prompts that the first vehicle door is about to close, including: When the user's height indicates that the user belongs to the first group of people, and / or when the user's facial feature information indicates that the user belongs to the first group of people, the prompting device is controlled to indicate that the first vehicle door is about to close.

5. The method according to claim 1, characterized in that, The first information includes the child lock status of the vehicle, and the step of controlling the vehicle to perform corresponding operations based on the first information includes: When the child lock is in the unlocked state, the control prompt device indicates that the first door is about to close; or... When the child lock is in the off state, the first door is controlled to close.

6. The method according to claim 1, characterized in that, The first information includes the height of the plurality of suspensions, the user's biometric information, and the status of the vehicle's child locks. The step of controlling the vehicle to perform corresponding operations based on the first information includes: Based on the height of the plurality of suspensions, determine the height difference between any two suspensions among the plurality of suspensions; If the first height difference between any two suspension height differences is greater than or equal to a first threshold, the control prompting device will indicate that the first door is about to close; or... If the height difference between any two suspensions is less than the first threshold, the vehicle is controlled to perform corresponding operations based on the user's biometric information and / or the status of the vehicle's child lock.

7. The method according to any one of claims 2 to 6, characterized in that, The first information also includes the light intensity of the environment in which the vehicle is located, and before the control prompt device prompts that the first door is about to close, the method further includes: It is determined that the light intensity of the environment in which the vehicle is located is less than or equal to the first light intensity.

8. The method according to any one of claims 2 to 7, characterized in that, The method further includes: If no second command is received within a first time period after the prompting device indicates that the first door is about to close, the first door is controlled to close; or... If the second instruction is received within the first time period, control the first door to stop closing; The second instruction is used to control the first door to stop closing.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: The anti-pinch force threshold during the closing process of the first door is determined based on the height difference between any two of the plurality of suspensions.

10. The method according to claim 9, characterized in that, The step of determining the anti-pinch force threshold during the closing process of the first door based on the height difference between any two of the plurality of suspensions includes: If the first height difference between any two suspension height differences is greater than or equal to a first threshold, the anti-pinch force threshold is determined as a second threshold; or, If the height difference between any two suspensions is less than the first threshold, the anti-pinch force threshold is determined as the third threshold. Wherein, the second threshold is greater than the third threshold.

11. A control device, characterized in that, The device includes: The acquisition module is used to acquire first information, which includes at least one of the following: the height of multiple suspensions, the user's biometric information, and the status of the vehicle's child locks; The acquisition module is also used to acquire a first instruction, which is used to instruct the first door to close. A control module is configured to respond to the first instruction and, based on the first information, control the vehicle to perform corresponding operations.

12. The apparatus according to claim 11, characterized in that, The first information includes the height of the plurality of suspensions, and the device further includes a determining module. The determining module is used to determine the height difference between any two suspensions among the plurality of suspensions based on their heights. The control module is used to control the prompting device to indicate that the first door is about to close when the first height difference between any two suspension height differences is greater than or equal to a first threshold. or, If the height difference between any two suspensions is less than the first threshold, control the first door to close.

13. The apparatus according to claim 11, characterized in that, The first information includes the user's biometric information, and the control module is used to, If the user's biometric information indicates that the user belongs to the first group of people, the control prompt device will indicate that the first vehicle door is about to close; or... If the user's biometric information indicates that the user does not belong to the first group of people, the first vehicle door is controlled to close.

14. The apparatus according to claim 13, characterized in that, The user's biometric information includes the user's height and / or facial feature information, and the control module is used to, When the user's height indicates that the user belongs to the first group of people, and / or when the user's facial feature information indicates that the user belongs to the first group of people, the prompting device is controlled to indicate that the first vehicle door is about to close.

15. The apparatus according to claim 11, characterized in that, The first information includes the child lock status of the vehicle, and the control module is used to, When the child lock is in the unlocked state, the control prompt device indicates that the first door is about to close; or... When the child lock is in the off state, the first door is controlled to close.

16. The apparatus according to claim 11, characterized in that, The first information includes the height of the plurality of suspensions, the user's biometric information, and the status of the vehicle's child locks. The device also includes a determination module. The determining module is used to determine the height difference between any two suspensions among the plurality of suspensions based on their heights. The control module is used to control the prompting device to indicate that the first door is about to close when the first height difference between any two suspension height differences is greater than or equal to a first threshold. or, If the height difference between any two suspensions is less than the first threshold, the vehicle is controlled to perform corresponding operations based on the user's biometric information and / or the status of the vehicle's child lock.

17. The apparatus according to any one of claims 12 to 16, characterized in that, The first information also includes the light intensity of the environment in which the vehicle is located. The device also includes a determining module, which determines that the light intensity of the environment in which the vehicle is located is less than or equal to a first light intensity before the control module controls the prompting device to indicate that the first door is about to close.

18. The apparatus according to any one of claims 12 to 17, characterized in that, The control module is also used for, If no second command is received within a first time period after the prompting device indicates that the first door is about to close, the first door is controlled to close; or... If the second instruction is received within the first time period, control the first door to stop closing; The second instruction is used to control the first door to stop closing.

19. The apparatus according to any one of claims 11 to 18, characterized in that, The device further includes a determining module, which is used to determine the anti-pinch force threshold during the closing process of the first door based on the height difference between any two of the plurality of suspensions.

20. The apparatus according to claim 19, characterized in that, The determining module is also used for, If the first height difference between any two suspension height differences is greater than or equal to a first threshold, the anti-pinch force threshold is determined as a second threshold; or, If the height difference between any two suspensions is less than the first threshold, the anti-pinch force threshold is determined as the third threshold. Wherein, the second threshold is greater than the third threshold.

21. A control device, characterized in that, include: One or more processors; One or more memories; the one or more memories storing one or more programs that, when executed by one or more processors, cause the method as described in any one of claims 1 to 10 to be performed.

22. A control system, characterized in that, Includes the apparatus as described in any one of claims 11 to 21.

23. A vehicle, characterized in that, include: The control device as described in any one of claims 11 to 21, or the control system as described in claim 22.

24. A chip, characterized in that, The chip includes a processor and a communication interface, the communication interface being used to receive signals and transmit the signals to the processor, the processor processing the signals such that the method as described in any one of claims 1 to 10 is executed.

25. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instructions that, when executed on a computer, cause the method as described in any one of claims 1 to 10 to be performed.

26. A computer program product, characterized in that, It includes instructions that, when executed on a computer, cause the method as described in any one of claims 1 to 10 to be performed.

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