A vehicle door control method, device and vehicle

Abstract

This application provides a vehicle door control method, device, and vehicle. Given the risk of collision when the vehicle door opens near an obstacle, embodiments of this application acquire perception information from at least one sensor. When the perception information indicates that an obstacle is within the door's movement area, the movement range of the door is controlled to be outside the obstacle area, at least based on the perception information. This effectively reduces the risk of collision between the door and the obstacle during movement, improves the convenience for users getting in and out of the vehicle or retrieving items, and enhances vehicle safety and user experience.

Description

Technical Field

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

[0002] With the development of vehicle intelligence, users are increasingly demanding higher levels of convenience and safety from their vehicles. Automatic door opening, as an important convenience feature, has received widespread attention. However, in real-world scenarios, such as when the vehicle is near an obstacle, the door opening poses a collision risk, making it inconvenient for users to get in and out of the vehicle or retrieve items, and also affecting vehicle safety. Summary of the Invention

[0003] This application provides a door control method, device, and vehicle that can reduce the collision risk of door opening or closing, and improve vehicle safety and user experience.

[0004] Firstly, embodiments of this application provide a door control method. The executing entity of this door control method can be a vehicle or a control device within a vehicle. The following description uses a control device as an example. In this method, the control device can acquire sensing information from at least one sensor. When the sensing information indicates that an obstacle is within the movement area of ​​the door, the control device, based at least on the sensing information, controls the movement range of the door to be outside the area of ​​the obstacle. The sensing information is used to indicate the position and / or angle information of the obstacle relative to the door.

[0005] In this embodiment, when the sensing information indicates that an obstacle is in the movement area of ​​the door, the control device can, at least according to the sensing information, control the movement range of the door to be outside the obstacle. In this way, the risk of collision between the door and the obstacle during movement can be effectively reduced, the convenience of users getting on and off the vehicle or picking up and putting down items can be improved, and the safety of the vehicle and the user experience can be enhanced.

[0006] In one possible implementation, the angle information includes a first angle and a second angle, where the first angle is the angle of the obstacle relative to the center of the door pivot, and the second angle is the angle of the door relative to the center of the door pivot. For example, the first and second angles can be defined by a deflection from the vertical direction to the horizontal direction. For example, the first and second angles can be defined by a deflection from the horizontal direction to the vertical direction.

[0007] In this implementation, the control device can control the movement range of the door to be outside the obstacle area by combining the angle of the obstacle relative to the center of the door pivot and the angle of the door relative to the center of the door pivot. By taking into account the relative position of the door and the obstacle, the risk of collision between the door and the obstacle during movement can be effectively reduced, improving the convenience of users getting in and out of the vehicle or retrieving items, and enhancing vehicle safety and user experience.

[0008] In one possible implementation, the control device can determine the target position where the door stops moving based on the first angle, the second angle, and the direction of movement of the door, and control the door to move to the target position.

[0009] In this implementation, when an obstacle is within the door's movement area, the control device can determine the target position where the door will stop moving. Then, during the opening and closing process, the control device moves the door to that target position. This effectively avoids collisions between the door and obstacles, allowing the door to open or close to its maximum usable position while ensuring safety, thus improving the user experience. Furthermore, since the control device in this embodiment also incorporates the door's movement direction, it reduces the risk of collisions with obstacles during both opening and closing.

[0010] In one possible implementation, the control device can control the door to move to the target position at a speed less than a speed threshold. In this way, during the opening and closing of the door, the door moves smoothly to the target position at a low speed, rather than coming to an abrupt stop, which can avoid the impact of sudden stops and improve the smoothness of the door movement.

[0011] In one possible implementation, the door's movement direction is the opening direction. The control device can determine the target position as the maximum opening position of the door when the first angle is less than the second angle, and when the first angle is greater than the second angle, the control device determines the target position as the first position. The first position is related to the first angle and a first reserved angle for reaching the obstacle. The first reserved angle is a preset angle threshold; alternatively, the first reserved angle can change dynamically, such as being related to the door's opening speed. For example, the maximum opening position can be the factory-preset position of the door when fully open. For example, the maximum opening position varies depending on the scenario, and this maximum opening position can be pre-configured or user-defined.

[0012] It should be understood that in this implementation, both the first angle and the second angle are angles relative to the same reference line. For example, both the first angle and the second angle are defined as a deflection from vertical to horizontal.

[0013] In this implementation, when the door's movement direction is the opening direction, the control device can determine the target position where the door stops moving based on the relationship between the first angle and the second angle. When the first angle is smaller than the second angle, since the door's movement direction is the opening direction, the obstacle is not within the door's opening direction movement area. In this case, the control device controls the door to its maximum opening position, maximizing the use of the door's movement area while effectively avoiding collisions with obstacles, thus improving the space utilization rate of the opened door. When the first angle is greater than the second angle, since the door's movement direction is the opening direction, the obstacle is within the door's opening direction movement area. In this case, the control device determines the target position as the first position. Because the first position is related to the first angle and the first reserved angle for reaching the obstacle, there is a safety space corresponding to the first reserved angle between the target position and the obstacle. Even with measurement or control errors, collisions between the door and the obstacle can be reliably avoided, improving the reliability of collision avoidance and effectively reducing the risk of collisions between the door and obstacles during opening.

[0014] In one possible implementation, the door moves in a closing direction. The control device can determine the target position as the maximum closed position of the door when the first angle is greater than the second angle, and determine the target position as the second position when the first angle is less than the second angle. The second position is related to the first angle and a second reserved angle for reaching the obstacle. The second reserved angle is a preset angle threshold; alternatively, the second reserved angle can change dynamically, such as being related to the closing speed of the door. For example, the maximum closed position can be the position when the door is fully closed.

[0015] It should be understood that in this implementation, both the first angle and the second angle are angles relative to the same reference line. For example, both the first angle and the second angle are defined as a deflection from vertical to horizontal.

[0016] In this implementation, when the door's movement direction is the closing direction, the control device can determine the target position where the door stops moving based on the relationship between the first angle and the second angle. When the first angle is greater than the second angle, since the door's movement direction is the closing direction, the obstacle is not within the door's closing movement area. In this case, the control device controls the door to move to its maximum closed position, effectively avoiding collisions between the door and the obstacle while meeting the user's need to close the door. When the first angle is less than the second angle, since the door's movement direction is the closing direction, the obstacle is within the door's closing movement area. In this case, the control device determines the target position as the second position. Because the second position is related to the first angle and the second reserved angle for reaching the obstacle, there is a safety space corresponding to the second reserved angle between the target position and the obstacle. Even with measurement or control errors, collisions between the door and the obstacle can be reliably avoided, improving the reliability of collision avoidance and effectively reducing the risk of collisions between the door and obstacles during the closing process.

[0017] In one possible implementation, the location information includes the location of the obstacle. The control device can acquire the location of the obstacle and determine whether the obstacle is within the movement area of ​​the door based on the location of the obstacle.

[0018] In this implementation, the control device determines whether the obstacle is within the movement area of ​​the door based on the obstacle's position. This can prevent obstacles outside the movement area from being mistakenly identified as target obstacles that need to be avoided, thereby improving the accuracy and effectiveness of obstacle detection.

[0019] In one possible implementation, the control device can determine a first distance between the obstacle and the center of the door hinge based on the obstacle's position, and determine whether the obstacle is within the door's movement area based on the first distance and the door length. Specifically, if the first distance is less than or equal to the door length, the control device determines that the obstacle is within the door's movement area; if the first distance is greater than the door length, the control device determines that the obstacle is not within the door's movement area.

[0020] In this implementation, the control device uses whether the first distance between the obstacle and the center of the door hinge is less than or equal to the door length as the criterion for determining whether the obstacle is within the door's movement area. Only one distance measurement and numerical comparison is needed to determine whether the obstacle is within the door's movement area, resulting in fast determination and low resource consumption. Furthermore, since the trajectory of any point on the door is a concentric circle centered on the door hinge center, and the distance from the end of the door to the door hinge center is equal to the door length, the criterion of "first distance less than or equal to door length" is equivalent to the obstacle being within the maximum envelope of all possible door movement trajectories, i.e., the obstacle is within the door's movement area, ensuring the accuracy of the determination of whether the obstacle is within the door's movement area.

[0021] In one possible implementation, the control device can acquire a set of positions including all positions within the movement area of ​​the door, and determine whether an obstacle is within the movement area of ​​the door based on the set of positions. Specifically, if the obstacle's position is included in the set of positions, the control device determines that the obstacle is within the movement area of ​​the door; if the obstacle's position is not included in the set of positions, the control device determines that the obstacle is not within the movement area of ​​the door.

[0022] In this implementation, the control device directly determines whether the obstacle is in the movement area of ​​the door based on whether the obstacle's position is included in the position set, without having to calculate and determine it every time. This reduces the computational load of the control device and improves computational efficiency.

[0023] In one possible implementation, when the sensing information indicates that the obstacle is not in the movement area, the control device can control the door to move to the maximum open position when the movement direction is the opening direction, and control the door to move to the maximum closed position when the movement direction is the closing direction.

[0024] In this implementation, when the obstacle is not within the movement area, the control device directly controls the door to its maximum open position when the movement direction is the opening direction, and directly controls the door to its maximum closed position when the movement direction is the closing direction. Thus, when there is no risk of collision, the door can be fully opened or closed without restriction, ensuring maximum space utilization while maintaining safety, improving the convenience for users getting in and out of the vehicle or retrieving items, and enhancing the user experience.

[0025] In one possible implementation, during vehicle parking, the control device can stop the vehicle from parking when the sensing information indicates that an obstacle is within the reserved movement area of ​​the door. The reserved movement area includes the movement area of ​​the door and is larger than the movement area of ​​the door.

[0026] In this implementation, since the reserved movement area includes the movement area of ​​the door and is larger than the movement area of ​​the door, when the control device determines that the obstacle is within the reserved movement area of ​​the door, the vehicle stops parking. Therefore, when parking, there is a safe space between the door and the obstacle corresponding to the reserved movement area. Thus, when the door needs to be opened after parking, even in the event of measurement or control errors, the collision between the door and the obstacle can be reliably avoided, improving the reliability of collision avoidance.

[0027] In one possible implementation, the location information includes the location of the obstacle. The control device can also acquire the location of the obstacle, determine a second distance between the obstacle and the center of the door pivot based on the location of the obstacle, and determine whether the obstacle is within the reserved movement area based on the second distance.

[0028] In this implementation, the control device determines whether the obstacle is within the reserved movement area based on the second distance between the obstacle and the center of the door pivot. This can prevent obstacles outside the reserved movement area from being misjudged as target obstacles that need to be avoided, thereby improving the accuracy and effectiveness of obstacle detection in parking scenarios.

[0029] In one possible implementation, the control device can determine whether an obstacle is within the reserved movement area based on a second distance and a distance threshold. The distance threshold is the sum of the door length and the reserved length. If the second distance is less than or equal to the distance threshold, the control device determines that the obstacle is within the reserved movement area; if the second distance is greater than the distance threshold, the control device determines that the obstacle is not within the reserved movement area.

[0030] The reserved length is a preset length threshold; or the reserved length can be dynamically changed, such as being related to at least one of the parking speed and the door opening speed.

[0031] In this implementation, the control device detects a second distance between the obstacle and the center of the door hinge during parking. Whether this second distance is less than or equal to the sum of the door length and the reserved length is used as the criterion for determining whether the obstacle is within the reserved movement area. Only one distance measurement and numerical comparison is needed to determine whether the obstacle is within the reserved movement area, resulting in fast determination and low resource consumption. Furthermore, since the movement trajectory of any point on the door is a concentric circle centered on the door hinge center, and the distance from the end of the door to the door hinge center is equal to the door length, the criterion of "the second distance being less than or equal to the sum of the door length and the reserved length" is equivalent to the obstacle being within the maximum envelope of the door's reserved movement trajectory, i.e., the obstacle is within the door's reserved movement area, ensuring the accuracy of the determination result regarding whether the obstacle is within the reserved movement area.

[0032] In one possible implementation, the control device can determine whether the obstacle is within the reserved movement area based on the second distance and the maximum opening angle of the door.

[0033] Among these features, the car doors can remain closed while the vehicle is parked.

[0034] Understandably, during vehicle parking, if the second distance is less than or equal to a distance threshold, there is a risk of collision with an obstacle while the door is opening. In this implementation, the control device, in addition to relying on the second distance, also considers the maximum opening angle of the door to determine whether the obstacle is within the reserved movement area, which can further improve the accuracy of determining whether the obstacle is within the reserved movement area during parking.

[0035] In one possible implementation, the angle information includes a first angle, which is the angle of the obstacle relative to the center of the door hinge. The control device can determine whether the obstacle is within the reserved movement area based on a second distance, a distance threshold, and a maximum opening angle. The distance threshold is the sum of the door length and the reserved length. The control device determines that the obstacle is within the reserved movement area if the second distance is less than or equal to the distance threshold and the maximum opening angle is greater than or equal to the first angle threshold. The first angle threshold is related to the first angle and a third reserved angle for reaching the obstacle. Alternatively, the control device determines that the obstacle is not within the reserved movement area if the second distance is greater than the distance threshold, or if the second distance is less than or equal to the distance threshold and the maximum opening angle is less than the first angle threshold.

[0036] The third reserved angle is a preset angle threshold; or the third reserved angle can change dynamically, such as being related to at least one of the parking speed and the door opening speed.

[0037] In this implementation, the control device combines a second distance, a distance threshold, and the maximum opening angle to determine whether an obstacle is within the reserved movement area. If the second distance is less than or equal to the distance threshold, it further determines the relationship between the maximum opening angle and a first angle threshold. If the maximum opening angle is greater than or equal to the sum of the first angle and the second reserved angle, the control device determines that the obstacle is within the reserved movement area; otherwise, the control device determines that the obstacle is not within the reserved movement area. This further improves the accuracy of determining whether an obstacle is within the reserved movement area during parking. In this way, while reducing the risk of collision, the space between the door and the obstacle can be compressed to a preset minimum safety value, maximizing the use of parking space and significantly improving parking accuracy and space utilization.

[0038] In one possible implementation, the angle information includes a first angle, which is the angle of the obstacle relative to the center of the door hinge. When the sensing information indicates that the obstacle is within the reserved movement area, the control device can also control the vehicle to output alarm information based on the first angle.

[0039] In this implementation, when the obstacle is within the reserved movement area, the control device controls the vehicle to output alarm information, which can provide an alert to the user. Furthermore, since the control device combines the first angle control with the output of alarm information, invalid alarms caused by obstacles within the safe angle range can be filtered out, reducing the false alarm rate and enhancing the accuracy of the alarms.

[0040] In one possible implementation, the control device can control the vehicle to output alarm information based on a first angle, a second angle threshold, a third angle threshold, and a fourth angle threshold. Specifically, when the first angle is less than or equal to the second angle threshold, the control device controls the vehicle to output a first alarm message, indicating that the risk level of the door opening is level one; when the first angle is greater than the second angle threshold and less than or equal to the third angle threshold, the control device controls the vehicle to output a second alarm message, indicating that the risk level is level two, which is lower than level one; and when the first angle is greater than the third angle threshold and less than or equal to the fourth angle threshold, the control device controls the vehicle to output a third alarm message, indicating that the risk level is level three, which is lower than level two.

[0041] Among them, the door opening risk level corresponding to the first level is higher than that corresponding to the second level, and the door opening risk level corresponding to the second level is higher than that corresponding to the third level. The second angle threshold, the third angle threshold, and the fourth angle threshold can be preset angle thresholds.

[0042] Understandably, in real-world applications, when a vehicle stops parking, and an obstacle is within the designated movement area, the obstacle may be closer to or farther from the vehicle door. In this implementation, the control device combines a first angle, a second angle threshold, a third angle threshold, and a fourth angle threshold. Based on the magnitude of the first angle, it controls the vehicle to output different levels of alarm information, achieving refined alarm information and further enhancing the accuracy of the alarms.

[0043] In one possible implementation, the control device can control the vehicle's display screen to show different colors to output different levels of alarm information. Specifically, the control device controls the interface to display a first color, thereby outputting a first alarm message; the control device controls the interface to display a second color, thereby outputting a second alarm message; and the control device controls the interface to display a third color, thereby outputting a third alarm message.

[0044] In this implementation, the control device outputs different levels of alarm information by displaying different colors on the vehicle's screen interface, which can provide users with more intuitive alarm prompts and improve the human-computer interaction experience.

[0045] In one possible implementation, the control device can also control the vehicle to continue parking even if the obstacle is not within the reserved movement area.

[0046] In this implementation, when the sensing information indicates that the obstacle is not within the reserved movement area, the control device controls the vehicle to continue parking.

[0047] In summary, when the obstacle is within the reserved movement area, the control device stops the vehicle from parking; when the obstacle is not within the reserved movement area, the control device continues parking. This reduces the risk of collision when opening the door after parking, improves the continuity and efficiency of the parking process, and makes the parking process more in line with the user's actual needs, thus enhancing the user experience.

[0048] Secondly, embodiments of this application provide a control device, which can be a controller, a processor, chip, or software module in a vehicle. The control device may include an acquisition unit and a control unit. The acquisition unit is used to acquire perception information from at least one sensor, the perception information indicating the position and / or angle information of an obstacle relative to the vehicle door. The control unit is used to, when the perception information indicates that the obstacle is within the movement area of ​​the vehicle door, at least based on the perception information, control the movement range of the vehicle door to be outside the area of ​​the obstacle.

[0049] In one possible implementation, the angle information includes a first angle and a second angle, where the first angle is the angle of the obstacle relative to the center of the door pivot, and the second angle is the angle of the door relative to the center of the door pivot; wherein the first angle and the second angle are defined as deflection from the vertical direction to the horizontal direction.

[0050] In one possible implementation, the control unit is specifically used to determine the target position where the door stops moving based on the first angle, the second angle, and the direction of movement of the door, and to control the door to move to the target position.

[0051] In one possible implementation, the direction of movement is the opening direction, and the control unit is specifically used to determine the target position as the maximum opening position of the door when the first angle is less than the second angle; or, when the first angle is greater than the second angle, determine the target position as the first position, which is related to the first angle and the first reserved angle for reaching the obstacle.

[0052] In one possible implementation, the direction of movement is the closing direction, and the control unit is specifically used to determine the target position as the maximum closed position of the door when the first angle is greater than the second angle; or, when the first angle is less than the second angle, determine the target position as the second position, which is related to the first angle and the second reserved angle for reaching the obstacle.

[0053] In one possible implementation, the location information includes the location of the obstacle, and the control device further includes a determining unit. The determining unit is used to determine whether the obstacle is within the movement area based on its location.

[0054] In one possible implementation, the determining unit is specifically used to determine a first distance between the obstacle and the center of the door pivot based on the position of the obstacle; if the first distance is less than or equal to the length of the door, the obstacle is determined to be in the moving area; if the first distance is greater than the length of the door, the obstacle is determined not to be in the moving area.

[0055] In one possible implementation, the determining unit is specifically used to determine that the obstacle is in the movement area if the obstacle's position is included in the position set, the position set including all positions within the movement area, and to determine that the obstacle is not in the movement area if the obstacle's position is not included in the position set.

[0056] In one possible implementation, when the sensing information indicates that the obstacle is not in the movement area, the control unit is specifically used to control the door to move to the maximum open position when the movement direction is the opening direction, and to control the door to move to the maximum closed position when the movement direction is the closing direction.

[0057] In one possible implementation, the control unit is further configured to control the vehicle to stop parking during the parking process when the perception information indicates that an obstacle is within the reserved movement area of ​​the door, wherein the reserved movement area includes the movement area and is larger than the movement area of ​​the door.

[0058] In one possible implementation, the location information includes the position of the obstacle, and the control device further includes a determining unit. The determining unit is used to determine a second distance between the obstacle and the center of the door pivot point based on the obstacle's position. The determining unit is also used to determine whether the obstacle is within a reserved movement area based on the second distance.

[0059] In one possible implementation, the determining unit is specifically used to determine that the obstacle is in the reserved movement area when the second distance is less than or equal to a distance threshold, the distance threshold being the sum of the door length and the reserved length; and to determine that the obstacle is not in the reserved movement area when the second distance is greater than the distance threshold.

[0060] In one possible implementation, a determining unit is specifically used to determine whether the obstacle is within the reserved movement area based on the second distance and the maximum opening angle.

[0061] In one possible implementation, the angle information includes a first angle, which is the angle of the obstacle relative to the center of the door pivot. The determining unit is specifically configured to determine that the obstacle is within a reserved movement area when the second distance is less than or equal to a distance threshold and the maximum opening angle is greater than or equal to the first angle threshold. The distance threshold is the sum of the door length and the reserved length. The first angle threshold is related to the first angle and a third reserved angle for reaching the obstacle. Furthermore, if the second distance is greater than the distance threshold, the unit determines that the obstacle is not within the reserved movement area; or, if the second distance is less than or equal to the distance threshold and the maximum opening angle is less than the first angle threshold, the unit determines that the obstacle is not within the reserved movement area.

[0062] In one possible implementation, the angle information includes a first angle, which is the angle of the obstacle relative to the center of the door pivot. When the perception information indicates that the obstacle is in the reserved movement area, the control unit is also used to control the vehicle to output alarm information based on the first angle.

[0063] In one possible implementation, the control unit is specifically configured to control the vehicle to output a first alarm message when the first angle is less than or equal to a second angle threshold, the first alarm message indicating that the risk level of the door opening is level one; when the first angle is greater than the second angle threshold and less than or equal to a third angle threshold, the control unit is configured to control the vehicle to output a second alarm message, the second alarm message indicating that the risk level is level two and level two is less than level one; and when the first angle is greater than the third angle threshold and less than or equal to a fourth angle threshold, the control unit is configured to output a third alarm message, the third alarm message indicating that the risk level is level three and level three is less than level two.

[0064] In one possible implementation, the control unit, specifically for controlling the vehicle's display screen to display a first color, the control interface to display a second color, and the control interface to display a third color.

[0065] In one possible implementation, the control unit is also used to control the vehicle to continue parking when the perception information indicates that the obstacle is not in the reserved movement area.

[0066] Thirdly, embodiments of this application provide a control device, including: a memory and one or more processors. The memory and processors are coupled; the memory stores computer program code, which includes computer instructions. When the computer instructions are executed by the processor, the control device performs the method described in the first aspect or any possible implementation thereof.

[0067] Fourthly, embodiments of this application provide a vehicle door control system, including a vehicle door, and a control device described in the second aspect or any possible implementation of the second aspect, or a control device described in the third aspect.

[0068] Fifthly, embodiments of this application provide a vehicle including the door control system described in the fourth aspect above.

[0069] Sixthly, embodiments of this application provide a vehicle, including: a memory and one or more processors. The memory and processors are coupled; the memory stores computer program code, which includes computer instructions that, when executed by the processor, cause the vehicle to perform the methods described in the first aspect or any possible implementation thereof.

[0070] In a seventh aspect, embodiments of this application provide a computer-readable storage medium storing a computer program or instructions that, when executed on a computer, cause the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0071] Eighthly, embodiments of this application provide a computer program product including a computer program, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0072] Ninthly, embodiments of this application provide a chip or chip system including at least one processor and a communication interface. The communication interface and the at least one processor are interconnected via a circuit. The at least one processor is used to run computer programs or instructions to perform the methods described in the first aspect or any possible implementation of the first aspect. The communication interface in the chip can be an input / output interface, pins, or circuits, etc.

[0073] In one possible implementation, the chip or chip system described above in the embodiments of this application further includes at least one memory, in which instructions are stored. The memory can be an internal storage unit of the chip, such as a register or cache, or it can be a storage unit of the chip itself (such as a read-only memory or random access memory).

[0074] It should be understood that the second to ninth aspects of the embodiments of this application correspond to the technical solutions of the first aspect of the embodiments of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be described again. Attached Figure Description

[0075] Figure 1 A schematic diagram of the structure of a vehicle provided in an embodiment of this application; Figure 2 A flowchart illustrating one embodiment of the door control method provided in this application; Figure 3 A schematic diagram of a meshed model of the movement area of ​​a vehicle door provided in an embodiment of this application; Figure 4 A schematic diagram of a gridded model in the parking process provided in this application embodiment; Figure 5 A schematic diagram of another gridded model for the parking process provided in an embodiment of this application; Figure 6 A schematic flowchart of another embodiment of the door control method provided in this application; Figure 7 A schematic diagram of the control device provided in an embodiment of this application; Figure 8 This is another schematic diagram of the control device provided in the embodiments of this application. Detailed Implementation

[0076] The embodiments of this application will now be described with reference to the accompanying drawings. Obviously, the described embodiments are merely some, and not all, of the embodiments of this application. Those skilled in the art will recognize that, with the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0077] To facilitate understanding, the relevant terms and concepts involved in the embodiments of this application will be introduced below: 1. Car door: A door is an openable and closable component installed on the side, rear, or front of a vehicle body, allowing users or goods to enter and exit.

[0078] In this embodiment of the application, the door can be a door on both sides of the vehicle body, a trunk door (or tailgate), or a front trunk door.

[0079] 2. Door hinge: This is the component that connects the door to the car body, allowing the door to rotate around a fixed hinge to open and close.

[0080] 3. Maximum opening position: This is the position of the car door when it is opened to its maximum angle.

[0081] In some embodiments, the maximum opening position can be a factory preset position for the vehicle.

[0082] In some embodiments, the maximum opening position varies depending on the scenario. This maximum opening position can be pre-configured or user-defined. For example, the maximum opening position of the car door in a narrow parking space scenario is smaller than that in a spacious parking space scenario.

[0083] 4. Vehicles: Vehicles in this application embodiment may include, but are not limited to, road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment. For example, vehicles may be means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc.; or vehicles may include wheeled devices, which may be robots, mobile medical devices, or experimental platforms, etc., wherein these wheels can also be regarded as wheels. This application embodiment does not specifically limit the type of vehicle.

[0084] For example, vehicles may include, but are not limited to: battery electric vehicles (BEVs), plug-in hybrid electric vehicles (PHEVs), and extended-range electric vehicles (EREVs).

[0085] In some embodiments, the vehicle can be configured in an intelligent driving mode (fully or partially automated driving mode). It should be noted that intelligent driving refers to a comprehensive system that uses technologies such as artificial intelligence, sensor fusion processing, and network information collaboration to enable vehicles to possess environmental perception, decision-making, planning, and / or autonomous control capabilities. Its core goal is to ultimately achieve a gradual transformation from human driving to machine autonomous driving. The functions implemented mainly include, but are not limited to: automatic parking (AP), blind spot monitoring (BSM), forward collision warning (FCW), and rear collision warning (RCW). It should be understood that the various functions mentioned above may have their own specific requirements and content at different levels of automated driving (L0-L5). Intelligent driving is a description biased towards driving technology and functions, while automated driving is a description biased towards driving capabilities; intelligent driving can include assisted driving, conditional automated driving, highly automated driving, and fully automated driving.

[0086] In some embodiments, the electronic and electrical architecture of a vehicle can be configured in three ways: distributed architecture, domain-centralized architecture, and centralized (CC) architecture. The vehicle in this embodiment can use any one of these three configurations, or other configurations. Distributed architecture: Electronic devices are added to meet functional requirements, such as sensors and electronic control units (ECUs). Almost every function has its own ECU, and the system becomes increasingly complex as functional requirements increase.

[0087] Domain-centric architecture: This approach divides functions into domains, with centralized control within each domain, reducing the number of ECUs and lowering system complexity. The traditional five domain controllers are the powertrain domain, chassis domain, body domain, intelligent driving domain, and cockpit domain. Current trends favor the division into vehicle control domain, autonomous driving domain (or intelligent driving domain), and intelligent cockpit domain, each centrally controlled by a domain controller. The vehicle domain controller (VDC) is responsible for overall vehicle control and has high requirements for real-time performance and safety. The vehicle control domain can be understood as an integration of the original powertrain, chassis, and body domains. The intelligent driving domain controller (ADAS / AD domain controller, ADC) is responsible for intelligent driving-related perception, decision-making, and control functions. The intelligent cockpit domain controller (CDC) is responsible for cockpit intelligence functions such as human-machine interaction. Domain controllers have different names on different manufacturers' platforms; for example, the vehicle control server ICAS1 (corresponding to VDC), the intelligent driving server ICAS2 (corresponding to ADC), and the infotainment server ICAS3 (corresponding to CDC). For example, BDC (body domain controller, corresponding to VDC), SAS (corresponding to ADC), and MGU (media graphics unit, corresponding to CDC). Other examples include Body Super Core (corresponding to VDC), ADAS Super Core (corresponding to ADC), and Cockpit Super Core (corresponding to CDC). Some also refer to ADC as Mobile Data Center (MDC).

[0088] The CC architecture employs a distributed network + domain controller architecture, dividing vehicle control into three main parts: driving, cockpit, and vehicle control. It introduces three major platforms: MDC (as an intelligent driving platform), CDC (as an intelligent cockpit platform), and VDC (as a vehicle control platform). The CC architecture's network primarily consists of a backbone network and multiple intranets. MDC, CDC, and VDC are connected to the backbone network and communicate with each other through it. Multiple intranets form a distributed network, connected to the backbone network via a distributed gateway. The distributed gateway can also be called a vehicle integration unit (VIU). The VIU has gateway functions, used to connect its intranet to the backbone network, and can perform data format conversion (or encapsulation) and forwarding functions. In addition to gateway functions, the VIU can also have electronic control functions, providing some or all data processing and / or control functions for at least one vehicle component. That is, the VIU implements the electronic control functions provided by the ECUs of some or all vehicle components, thus reducing the number of ECUs. In addition, the VIU can also have data processing capabilities across vehicle components, such as processing and calculating data obtained from actuators of multiple vehicle components.

[0089] The backbone network can adopt a ring topology network structure, enabling communication between various domain controllers and between the intranet and domain controllers via vehicle-mounted Ethernet. In addition, the CC architecture can also include a telematics box (T-BOX) (or vehicle communication unit). The T-BOX is connected to the backbone network to enable communication between the vehicle and the cloud, other terminals (such as other vehicles, mobile phones, etc.), or roadside equipment.

[0090] With the development of vehicle intelligence, users are increasingly demanding higher levels of convenience and safety from their vehicles. Automatic door opening, as an important convenience feature, has received widespread attention. However, in real-world scenarios, such as when the vehicle is near an obstacle, the door opening poses a collision risk, making it inconvenient for users to get in and out of the vehicle or retrieve items, and also affecting vehicle safety.

[0091] To reduce the risk of collisions when the car door is opened and improve vehicle safety and user experience, this application provides a car door control method. When the sensing information indicates that an obstacle is in the movement area of ​​the car door, the control device can, at least based on the sensing information, control the movement range of the car door to be outside the area of ​​the obstacle. In this way, the risk of collision between the car door and the obstacle during movement can be effectively reduced, the convenience of users getting in and out of the car or retrieving items can be improved, and the safety of the vehicle and the user experience can be enhanced.

[0092] Before introducing the door control method provided in the embodiments of this application, the structure of the vehicle provided in the embodiments of this application will be first introduced: Figure 1 This is a schematic diagram of a vehicle structure provided in an embodiment of this application. (Refer to...) Figure 1 The vehicle 100 may include various subsystems, such as a sensing system 120, a computing platform 130, a CDC 140, a communication module 150, and a display screen 170. Optionally, the vehicle 100 may include more or fewer subsystems, and each subsystem may include one or more components. In addition, each subsystem and component of the vehicle 100 can be interconnected via wired or wireless means.

[0093] The perception system 120 may include several sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 120 may include a positioning system 122 (which may be a GPS system, a BeiDou system, or another positioning system), a Hall sensor 123, a radar 126, and a camera 127, etc. Sensing data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.). This detection and identification is a key function for the safe operation of the autonomous vehicle 100.

[0094] The positioning system 122 can be used to obtain the geographical location of the vehicle 100. In some embodiments, the positioning system 122 can obtain the geographical location of the vehicle 100 in real time during the parking process.

[0095] Hall sensor 123 can be installed on the car door, and the data collected by Hall sensor 123 can be used to obtain the door opening degree.

[0096] Radar 126 can use radio signals to sense objects in the surrounding environment of vehicle 100. In this embodiment, radar 126 can sense obstacles in the surrounding environment of vehicle 100.

[0097] In some embodiments, radar 126 may include at least one of the following: millimeter-wave radar, lidar, ultrasonic radar, and direct time-of-flight (DTOF) radar. In some embodiments, the data collected by radar 126 may be used to determine the location of obstacles. In some embodiments, in addition to sensing objects, radar 126 may also be used to sense the speed and / or direction of travel of objects. In some embodiments, DTOF radar may be used to sense obstacles at a certain height.

[0098] Camera 127 can be used to acquire at least one image of the surrounding environment of vehicle 100. Camera 127 can be a still camera or a video camera.

[0099] In some embodiments, camera 127 may include at least one of a front-view camera, a side-view camera, and a rear-view camera. The rear-view camera can capture at least one image of the surrounding environment in front of the vehicle 100, and obtain the position of obstacles in front of the vehicle 100 based on the image; the side-view camera can capture at least one image of the surrounding environment on the sides of the vehicle 100, and obtain the position of obstacles on both sides of the vehicle 100 based on the image; the rear-view camera can capture at least one image of the surrounding environment behind the vehicle 100, and obtain the position of obstacles behind the vehicle 100 based on the image.

[0100] In some embodiments, the location of an obstacle can be obtained by combining data collected by radar 126 and images collected by camera 127, thereby improving the accuracy of obstacle perception.

[0101] In some embodiments, the sensing system 120 may further include a wheel speed sensor 128, which collects data to obtain the speed of the vehicle 100. For example, the data collected by the wheel speed sensor 128 is used to obtain the parking speed of the vehicle 100.

[0102] Some or all of the functions of vehicle 100 can be controlled by computing platform 130. Computing platform 130 may include processors 131 to 13n (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 unit (MPU), 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 process of 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 130 may also include a memory for storing instructions. Some or all of the processors 131 to 13n can call the instructions in the memory to implement the corresponding functions.

[0103] The computing platform 130 can control the functions of the vehicle 100 based on inputs received from various subsystems (e.g., the sensing system 120). In some embodiments, the computing platform 130 can be used to provide control over many aspects of the vehicle 100 and its subsystems.

[0104] In some embodiments, the computing platform 130 may be an intelligent digital vehicle platform (iDVP).

[0105] In this embodiment, the computing platform 130 can control the movement of the vehicle door, or control the vehicle to park or stop parking, or control the vehicle to output alarm information based on the input received from the sensing system 120, so as to realize the vehicle door control method provided in this embodiment. The specific implementation can be referred to the description in the following embodiments.

[0106] In some embodiments, the vehicle 100 may further include an MDC 160, which determines relevant information about obstacles based on data collected by the perception system 120. This relevant information may include the position of the obstacle, a first angle of the obstacle relative to the center of the door pivot, and a first distance and a second distance between the obstacle and the center of the door pivot. The MDC 160 sends this relevant information to the computing platform 130, which controls the movement of the door, or controls the vehicle to park or stop parking, or controls the vehicle to output alarm information based on this relevant information.

[0107] The display screen 170 can be used to display alarm information. For example, the display screen 170 may include an instrument panel or a central control screen.

[0108] The CDC 140 can receive instructions from the computing platform 130 to control the vehicle 100 to output alarm information, and display the alarm information on the display screen 170.

[0109] The communication module 150 can be used to enable communication between the vehicle 100 and other terminals (such as other vehicles, mobile phones, etc.). For example, the communication module 150 can be a T-BOX. After the computing platform 130 controls the vehicle 100 to output alarm information, the alarm information can be sent to the user's mobile phone through the T-BOX, thereby displaying the alarm information on the mobile phone.

[0110] Optionally, the above components are just an example. In actual applications, the components in each of the above modules may be added or deleted as needed.

[0111] In some embodiments, the vehicle 100 further includes a control device 117, which is used to execute the actions of the computing platform 130 described above to implement the door control method provided in the embodiments of this application. The specific implementation can be referred to the description in the following embodiments.

[0112] In some embodiments, the control device 117 may be in the form of an ECU, a domain controller, or a vehicle control unit (VCU), etc., and the embodiments of this application do not limit this.

[0113] In some embodiments, the control device 117 may be deployed independently of the vehicle 100 or integrated into the vehicle 100. In some embodiments, the control device 117 may be deployed in the computing platform 130 or independently of the computing platform 130. In some embodiments, the control device 117 may be deployed in the chassis domain, the vehicle control domain, or the overall vehicle control domain, such as by integrating the control device 117 into the VDC. This application does not limit the deployment method of the control device 117. Figure 1 Taking the separate deployment of the Sino-Israeli control device 117 as an example.

[0114] In some embodiments, the vehicle 100 may further include a door and related door components. Figure 1 (Not shown in the image). For example, when the door is a tailgate, the vehicle 100 may also include a tailgate, a tailgate lock, a tailgate strut, a buzzer, etc. The tailgate lock can prevent the tailgate from being opened accidentally during vehicle driving or parking, the tailgate strut can support the tailgate and prevent the tailgate from falling off, and the buzzer can remind the user of the tailgate status or the risk level of the tailgate opening.

[0115] It should be understood that Figure 1 This is just one example of vehicle 100. In practical applications, the aforementioned systems, components, parts, or devices can be added or removed as needed, or they can be reorganized or integrated as needed. Figure 1 This should not be construed as a limitation on the embodiments of this application.

[0116] The door control method provided in this application will be described below with reference to specific embodiments. These embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0117] In the door control method provided in this application embodiment, the executing entity of the door control method is... Figure 1 The control device can acquire sensing information from at least one sensor in the sensing system. When the sensing information indicates that an obstacle is within the movement area of ​​the door, the control device can, based on the sensing information, control the movement range of the door to be outside the obstacle. This effectively reduces the risk of collision between the door and the obstacle during movement, improves the convenience of users getting in and out of the vehicle or retrieving items, and enhances vehicle safety and user experience.

[0118] In this embodiment of the application, the sensing information can be used to indicate the position and / or angle information of the obstacle relative to the vehicle door. For example, the position information can be used to indicate the distance between the obstacle and the vehicle door, and the angle information can be used to indicate the directional angle of the obstacle relative to the vehicle door.

[0119] It is understandable that during the opening or closing of a car door, the door will rotate around its pivot point. The movement area of ​​a car door refers to the fan-shaped space occupied by the door during the movement from when the door is fully closed (or opened) to when it is fully open (or closed).

[0120] In some embodiments, the control device can determine whether an obstacle is within the movement area of ​​the door based on sensing information; this process will be described later and will not be explained here. The following describes the process by which, when sensing information indicates that an obstacle is within the movement area of ​​the door, the control device controls the movement range of the door to be outside the area of ​​the obstacle, based at least on the sensing information: In some embodiments, the control device can control the movement range of the vehicle door to be outside the area of ​​an obstacle based on sensing information. For example, the sensing information indicates the position of the obstacle relative to the vehicle door. The control device can determine the distance between the vehicle door and the obstacle based on the position information. If the distance between the vehicle door and the obstacle is less than or equal to a preset distance, the control device will stop the movement of the vehicle door, thereby controlling the movement range of the vehicle door to be outside the area of ​​the obstacle. For example, the sensing information indicates the angle of the obstacle relative to the vehicle door. The control device can determine the angle formed by the line connecting the vehicle door and the center of the vehicle door's pivot point, and the line connecting the obstacle and the center of the vehicle door's pivot point, based on the angle information. If this angle is less than or equal to a preset angle, the control device will stop the movement of the vehicle door, thereby controlling the movement range of the vehicle door to be outside the area of ​​the obstacle.

[0121] In some embodiments, the control device can also combine sensing information with the vehicle speed to control the movement range of the door to be outside the area of ​​the obstacle. For example, the sensing information indicates the position of the obstacle relative to the door. The control device can determine the distance between the door and the obstacle based on the position information. If the distance between the door and the obstacle is less than or equal to a preset distance, and the vehicle speed is less than a preset speed, the control device stops the door's movement, thereby controlling the door's movement range to be outside the area of ​​the obstacle.

[0122] Understandably, when the sensing information indicates that an obstacle is within the door's movement area, the control device can determine the relative position of the door and the obstacle by comparing the angle of the obstacle relative to the door's pivot center (first angle) with the angle of the door relative to the door's pivot center (second angle), and then control the door's movement. The first and second angles can be included in the angle information. This effectively reduces the risk of collision between the door and the obstacle during movement. Taking the tailgate as an example, by comparing the first and second angles, the control device can determine whether the obstacle is above or below the tailgate, and thus control the door's movement to stay outside the obstacle's area.

[0123] The first angle and the second angle can be defined as a deflection from the vertical direction to the horizontal direction, for example, refer to Figure 3 The vertical axis represents the vertical direction, and the horizontal axis represents the horizontal direction. The first angle is Ωp, and the second angle is Ωq. Ωp and Ωq are defined as the deflection from the vertical direction to the horizontal direction. Alternatively, the first and second angles can be defined as the deflection from the horizontal direction to the vertical direction. For example, in... Figure 3 In this context, if the first angle and the second angle are defined as deflections from the horizontal direction to the vertical direction, and assuming the sector area represents the movement area of ​​the car door, then within the right angle formed by the central angles of the sector, the first angle and... Figure 3 Ωp in the equation are complementary angles, and the second angle is... Figure 3 In the equation, Ω and q are complementary angles.

[0124] In some embodiments, the center of the door hinge can be used as the center, and the line connecting the center of the door hinge and a preset position can be used as the reference line. The first angle can be the angle between the line connecting the center of the door hinge and an obstacle and the reference line. The second angle can be the angle between the line connecting the center of the door hinge and the end of the door and the reference line. The end of the door refers to the end of the door furthest from the center of the door hinge. For example, the preset position can be the maximum closed position of the door, or the maximum open position of the door, or the position where the maximum closed position of the door is rotated 180° along the opening direction.

[0125] For example, when the first angle and the second angle are defined as deflection from the vertical direction to the horizontal direction, the preset position is a position on a straight line along the vertical direction and passing through the center of the door pivot, and the direction of the reference line is vertical, such as... Figure 3 As shown, the reference line is the vertical edge of the sector.

[0126] In some embodiments, the first angle and the second angle can be angles relative to the same reference line. For example, with the center of the door hinge as the center and the line connecting the center of the door hinge and the maximum closed position as the reference line, the first angle is the angle between the line connecting the obstacle and the center of the door hinge and the reference line; the second angle is the angle between the line connecting the current position of the door and the center of the door hinge and the reference line.

[0127] In some embodiments, the first angle and the second angle can be angles relative to different reference lines. For example, with the center of the door hinge as the center, the line connecting the center of the door hinge to the maximum closed position is the first reference line, and the line connecting the center of the door hinge to the maximum open position is the second reference line. The first angle can be the angle between the line connecting the obstacle and the center of the door hinge and the first reference line; the second angle can be the angle between the line connecting the current position of the door and the center of the door hinge and the second reference line.

[0128] In some embodiments, when the first angle and the second angle are angles corresponding to different reference lines, the first angle and the second angle corresponding to different reference lines can be converted into the first angle and the second angle corresponding to the same reference line, which can facilitate the comparison of subsequent angles.

[0129] The following describes the process by which the control device controls the movement of the car door based on the first and second angles: Reference Figure 2 , Figure 2 This is a flowchart illustrating one embodiment of the door control method provided in this application. The door control method provided in this application may include: S201, when the obstacle is in the movement area of ​​the door, obtain the first angle and the second angle.

[0130] It is understandable that opening or closing the door poses a collision risk if an obstacle is within the door's movement zone. The following describes the process by which the control system determines whether an obstacle is within the door's movement zone: In some embodiments, the control device can obtain the position of the obstacle based on data collected by a sensing system (such as at least one of ultrasonic radar, rearview camera and DTOF), and determine whether the obstacle is within the movement area of ​​the door based on the position of the obstacle. This can prevent obstacles outside the movement area from being misjudged as target obstacles that need to be avoided, thereby improving the accuracy and effectiveness of obstacle detection.

[0131] It should be understood that the door control method provided in the embodiments of this application can be used to control any one of the side doors, tailgate (or trunk door), and front trunk door of a vehicle. In some embodiments of this application, the tailgate is controlled by a control device as an example for illustration. The way the control device controls other doors can be referred to the relevant description of the tailgate, which will not be repeated here.

[0132] In some embodiments, the control device can establish a gridded model of the rear sensing area by combining data collected by the sensing system. The gridded model of the rear sensing area can accurately detect and locate obstacles of arbitrary shapes by dividing the environment behind the vehicle into a high-resolution grid. The grid size of the rear sensing area along the horizontal direction (i.e., the horizontal direction) and the vertical direction (i.e., the vertical direction) can be divided according to a preset gradient.

[0133] In some embodiments, the control device can obtain the coordinates of the obstacle in the coordinate system determined by the gridded model of the rear-end perception area, thereby obtaining the position of the obstacle. For example, refer to... Figure 3The horizontal ground direction of the meshed model of the rear sensing area is divided into 20 cm gradients, and the vertical ground direction is divided into 30 cm gradients. In the coordinate system defined by this model, the center of the tailgate pivot is the origin, and the coordinates of the obstacle are (x, y), which can represent the position of the obstacle.

[0134] In some embodiments, the control device can determine a first distance between the obstacle and the center of the door hinge based on the obstacle's position. If the first distance is less than or equal to the door length, the control device determines that the obstacle is within the door's movement area; if the first distance is greater than the door length, the control device determines that the obstacle is not within the door's movement area. Thus, by using whether the first distance between the obstacle and the center of the door hinge is less than or equal to the door length as the criterion for determining whether the obstacle is within the door's movement area, the control device only needs one distance measurement and numerical comparison to determine whether the obstacle is within the door's movement area, resulting in fast determination speed and low resource consumption. Furthermore, since the movement trajectory of any point on the door is a concentric circle centered on the door hinge center, and the distance from the end of the door to the door hinge center is equal to the door length, the criterion of "the first distance being less than or equal to the door length" is equivalent to the obstacle being within the maximum envelope of all possible movement trajectories of the door, i.e., the obstacle is within the door's movement area, ensuring the accuracy of the determination result regarding whether the obstacle is within the door's movement area.

[0135] In some embodiments, the control device can obtain the coordinates of an obstacle in a coordinate system determined by a gridded model of the rear-end sensing area, thereby obtaining the position of the obstacle. The control device can calculate a first distance between the obstacle and the center of the tailgate hinge based on the obstacle's coordinates. For example, refer to... Figure 3 In the coordinate system defined by this model, the coordinates of the obstacle are (x, y), then the first distance is R = Given that the length of the tailgate is L, if R > L, the control device determines that the obstacle is not in the movement area of ​​the tailgate; if R ≤ L, the control device determines that the obstacle is in the movement area of ​​the tailgate.

[0136] In some embodiments, the vehicle may be configured with a set of positions including all locations within the movement area of ​​the door. The control device can acquire the set of positions and determine whether an obstacle is within the movement area of ​​the door based on the set of positions. Specifically, if the obstacle's position is included in the set of positions, the control device determines that the obstacle is within the movement area of ​​the door; if the obstacle's position is not included in the set of positions, the control device determines that the obstacle is not within the movement area of ​​the door. Thus, the control device directly determines whether an obstacle is within the movement area of ​​the door based on whether its position is included in the set of positions, eliminating the need for calculation and determination each time, thereby reducing computational load and improving computational efficiency.

[0137] In some embodiments, the location set may include a two-dimensional array of all locations within the movement area of ​​the door, wherein the two-dimensional array represents the coordinates of the corresponding locations. For example, after obtaining the coordinates of an obstacle, the control device queries whether the obstacle's coordinates are within the two-dimensional array. If the obstacle's coordinates are within the two-dimensional array, it is determined that the obstacle is within the movement area of ​​the door; if the obstacle's coordinates are not within the two-dimensional array, it is determined that the obstacle is not within the movement area of ​​the door.

[0138] In some embodiments, when the obstacle is not within the door's movement area, the control device can move the door to its maximum open position when the direction of movement is the opening direction, and to its maximum closed position when the direction of movement is the closing direction. Thus, when there is no risk of collision, the door can be fully opened or closed without restriction, ensuring maximum space utilization while maintaining safety, improving the convenience for users getting in and out of the vehicle or retrieving items, and enhancing the user experience.

[0139] Once it is determined that the obstacle is within the movement area of ​​the door, the control device acquires a first angle and a second angle. Therefore, the control device can obtain the relative position of the door and the obstacle, thereby reducing the risk of collision during subsequent control of the door's movement.

[0140] In some embodiments, taking the tailgate as an example, the control device can obtain the tailgate opening degree based on the data collected by the Hall sensor to obtain a second angle. The tailgate opening degree can be an angle or a percentage. For example, when the tailgate opening degree is a percentage, the tailgate opening degree corresponding to when the tailgate is completely closed is 0%, and the tailgate opening degree corresponding to when the tailgate is completely open is 100%.

[0141] In some embodiments, the control device can obtain the tailgate opening degree based on data collected by the Hall sensor, and calculate the current position of the tailgate based on the tailgate opening degree. The current position of the tailgate refers to the current position of the tailgate end. The control device can calculate the current coordinates of the tailgate based on the tailgate opening degree and tailgate length, thereby obtaining the current position of the tailgate. The control device then calculates the second angle based on the current coordinates of the tailgate.

[0142] In some embodiments, the control device can obtain the position of the obstacle based on data collected by the sensing system, and determine a first angle based on the position of the obstacle. Examples of how the control device obtains the position of the obstacle can be found in the descriptions of the foregoing embodiments, and will not be repeated here.

[0143] In some embodiments, the control device can obtain the current coordinates of the tailgate and the coordinates of the obstacle based on the coordinate system determined by the gridded model of the rear sensing area, calculate the second angle based on the current coordinates of the tailgate, and calculate the first angle based on the coordinates of the obstacle.

[0144] For example, refer to Figure 3 In the coordinate system defined by this model, the coordinates of the obstacle are (x, y), and the current coordinates of the tailgate are (X, Y). The reference line in this coordinate system is the line connecting the center of the door pivot and the maximum closed position. Figure 3 For the vertical side of the sector (perpendicular to the ground), the first angle is Ωp = arctan(x,y), and the second angle is Ωq = arctan(x,Y). This is understandable. Figure 3 In this context, the first angle Ωp and the second angle Ωq are defined as deflections from vertical to horizontal. In other embodiments, the first angle and the second angle can also be defined as deflections from horizontal to vertical. Figure 3 The horizontal side of the sector is the reference line. At this point, the first angle is... Figure 3 Ωp in the equation are complementary angles, and the second angle is... Figure 3 In the equation, Ω and q are complementary angles.

[0145] S202 controls the movement of the door based on the first angle, the second angle, and the direction of movement of the door.

[0146] Understandably, taking the tailgate as an example, when the tailgate's direction of movement is the opening direction, if an obstacle is within the tailgate's movement area, there are two possibilities: the obstacle is above the tailgate, or the obstacle is below the tailgate. If the obstacle is below the tailgate, there will be no collision between the obstacle and the tailgate. If the obstacle is above the tailgate, there is a risk of collision between the obstacle and the tailgate. Similarly, when the tailgate's direction of movement is the closing direction, if an obstacle is within the tailgate's movement area, there are two possibilities: the obstacle is above the tailgate, or the obstacle is below the tailgate. If the obstacle is above the tailgate, there will be no collision between the obstacle and the tailgate. If the obstacle is below the tailgate, there is a risk of collision between the obstacle and the tailgate. This application embodiment combines the first angle, the second angle, and the direction of movement of the door to control the movement of the door. It not only considers the relative position of the door and the obstacle, but also the direction of movement of the door. During the opening and closing of the door, it can reduce the risk of collision with the obstacle, improve the convenience of users getting on and off the vehicle or retrieving items, and enhance the safety of the vehicle and the user experience.

[0147] In some embodiments, the control device can control the door to move in the direction of movement or the non-movement direction based on a first angle, a second angle, and the door's direction of movement. For example, when the door's direction of movement is the opening direction, if the first angle is greater than the second angle, the control device controls the door to move in the non-movement direction (i.e., the closing direction); if the first angle is less than the second angle, the control device controls the door to move in the direction of movement (i.e., the opening direction). Similarly, when the door's direction of movement is the closing direction, if the first angle is greater than the second angle, the control device controls the door to move in the direction of movement (i.e., the closing direction); if the first angle is less than the second angle, the control device controls the door to move in the non-movement direction (i.e., the opening direction).

[0148] In some embodiments, the control device can determine the target position where the door stops moving based on a first angle, a second angle, and the direction of door movement, and control the door to move to the target position. Thus, by controlling the door to move to the target position during opening and closing, the control device can effectively avoid collisions between the door and obstacles, allowing the door to open or close to its maximum usable position while ensuring safety, thereby improving the user experience.

[0149] In some embodiments, the control device can control the door to move to the target position at a speed less than a speed threshold. In this way, during the opening and closing of the door, the door moves smoothly to the target position at a low speed, rather than coming to an abrupt stop, which can avoid sudden stop impact and improve the smoothness of the door movement.

[0150] In some embodiments, the door's movement direction is the opening direction. When the first angle is less than the second angle, the control device determines the target position as the maximum opening position of the door. This maximizes the utilization of the door's movement area and improves the space utilization rate when the door is open, while effectively avoiding collisions with obstacles. When the first angle is greater than the second angle, the control device determines the target position as a first position, which is related to the first angle and a first reserved angle for reaching the obstacle. The first reserved angle can be customized and pre-configured in the vehicle. Since the first position is related to the first angle and the first reserved angle for reaching the obstacle, a safety space corresponding to the first reserved angle exists between the target position and the obstacle. Even with measurement or control errors, collisions between the door and obstacles can be reliably avoided, improving the reliability of collision avoidance and effectively reducing the risk of collisions between the door and obstacles during opening.

[0151] For example, such as Figure 3As shown, when R ≤ L, if Ωp < Ωq, the target position is determined to be the maximum opening position of the tailgate, and the control device controls the tailgate to move to the maximum opening position. If Ωp > Ωq, the target position is determined to be the position corresponding to Ωp-5°, and the control device controls the tailgate to move to the position corresponding to Ωp-5°. It is understood that the first reserved angle of 5° in this example is just an example, and this application does not specifically limit the size of the first reserved angle.

[0152] It should be understood that in this embodiment, both the first angle and the second angle are angles relative to the same reference line. Therefore, the first angle and the second angle can be compared without converting the reference line, which can reduce the computational load of the control device and improve computational efficiency. For example, the line connecting the center of the door pivot and the maximum closed position is used as the reference line; the first angle is the angle between the line connecting the obstacle and the center of the door pivot and the reference line; the second angle is the angle between the line connecting the current position of the door and the center of the door pivot and the reference line.

[0153] In some embodiments, the door moves in a closing direction. When the first angle is greater than the second angle, the control device determines the target position as the maximum closed position of the door, effectively avoiding collisions between the door and obstacles while meeting the user's need to close the door. When the first angle is less than the second angle, the control device determines the target position as the second position, which is related to the first angle and a second reserved angle for reaching the obstacle. The second reserved angle can be customized and pre-configured in the vehicle. Because the second position is related to the first angle and the second reserved angle for reaching the obstacle, a safety space corresponding to the second reserved angle exists between the target position and the obstacle. Even with measurement or control errors, collisions between the door and obstacles can be reliably avoided, improving the reliability of collision avoidance and effectively reducing the risk of collisions between the door and obstacles during the closing process.

[0154] For example, such as Figure 3 As shown, when R ≤ L, if Ωp > Ωq, the target position is determined to be the maximum closed position of the tailgate, and the control device controls the tailgate to move to the maximum closed position. If Ωp < Ωq, the target position is determined to be the position corresponding to Ωp + 5°, and the control device controls the tailgate to move to the position corresponding to Ωp + 5°. It is understood that the first and second reserved angles in this example, such as 5°, are for illustrative purposes, and this application does not specifically limit the magnitude of the first and second reserved angles. Furthermore, the first and second reserved angles can be equal or unequal; for example, both the first and second reserved angles can be 5°; or, the first reserved angle can be 5°, and the second reserved angle can be 8°.

[0155] In some embodiments, the first and second reserved angles can be dynamically varied. For example, the first reserved angle can be related to the door's opening speed, and the second reserved angle can be related to the closing speed. When the door's opening speed is high, the first reserved angle can be set larger; when the door's opening speed is low, the first reserved angle can be set smaller. Similarly, when the door's closing speed is high, the second reserved angle can be set larger; when the door's closing speed is low, the second reserved angle can be set smaller. These settings can be customized based on experience, further improving the reliability of collision avoidance.

[0156] In one possible scenario, the vehicle is parked, and the doors are closed during parking. After parking, the user may need to open the doors to get in or out of the vehicle or retrieve items. In this situation, there is still a risk of collision between the doors and surrounding obstacles. This application combines door control with parking functionality. The control method for this scenario is described below: In some embodiments, during vehicle parking, the control device can stop the vehicle from parking when the sensing information indicates that an obstacle is located in the reserved movement area of ​​the door. The reserved movement area includes the movement area of ​​the door and is larger than the movement area of ​​the door.

[0157] It is understandable that during parking, the vehicle is in motion. If the condition for stopping the vehicle is solely based on the obstacle being within the door's movement area, there is a high risk that the door may collide with the obstacle when the vehicle opens after parking. In this embodiment, to improve collision avoidance reliability, the condition for stopping the vehicle is based on the obstacle being within the door's reserved movement area. This reserved movement area includes the door's movement area and is larger than the door's movement area. Therefore, when parking, there is a safe space corresponding to the reserved movement area between the door and the obstacle. Thus, even with measurement or control errors, if the door needs to be opened after parking, a collision between the door and the obstacle can be reliably avoided, improving collision avoidance reliability.

[0158] In some embodiments, the location information includes the location of the obstacle, and the control device can determine whether the obstacle is within the reserved movement area through the following steps: Step 1: The control device acquires the position of the obstacle. Examples of how the control device acquires the position of the obstacle can be found in the descriptions of the foregoing embodiments, and will not be repeated here.

[0159] Step 2: The control device determines the second distance between the obstacle and the center of the door pivot based on the position of the obstacle.

[0160] It is understandable that when the vehicle is stationary, the distance between the obstacle and the center of the door hinge is a fixed distance. However, during the parking process, the distance between the obstacle and the center of the door hinge changes with the position of the vehicle. In this embodiment, the second distance is the distance between the obstacle and the center of the door hinge that changes with the position of the vehicle. In this embodiment, the control device needs to obtain the position of the obstacle in real time.

[0161] In some embodiments, the control device can establish a gridded model of the rear sensing area based on data collected by the sensing system, obtain the coordinates of obstacles in the gridded model, and calculate a second distance based on the coordinates of the obstacles. The horizontal and vertical ground directions can be divided according to a preset gradient.

[0162] For example, refer to Figure 4 The rear-end perception area mesh model is divided with a 10cm gradient on the horizontal ground direction and a 30cm gradient on the vertical ground direction. The arrows indicate the parking direction. The dashed lines correspond to the starting parking position, and the fan-shaped dashed area corresponds to the movement area of ​​the tailgate at the starting parking position. The solid lines correspond to the stopping parking position, and the fan-shaped solid area corresponds to the movement area of ​​the tailgate after stopping parking. In the coordinate system defined by this model, the tailgate pivot center is the origin, and the coordinates of the obstacle are (x', y'). Therefore, the second distance is R' = .

[0163] Step 3: The control device determines whether the obstacle is within the reserved movement area based on the second distance.

[0164] The control device determines whether an obstacle is within the reserved movement area based on a second distance between the obstacle and the center of the door pivot. This prevents obstacles outside the reserved movement area from being mistakenly identified as target obstacles that need to be avoided, thereby improving the accuracy and effectiveness of obstacle detection in parking scenarios.

[0165] In some embodiments, the control device can determine whether an obstacle is within a reserved movement area based on a second distance and a distance threshold. The distance threshold is the sum of the door length and the reserved length. If the second distance is less than or equal to the distance threshold, the control device determines that the obstacle is within the reserved movement area; if the second distance is greater than the distance threshold, the control device determines that the obstacle is not within the reserved movement area.

[0166] In this embodiment, the reserved length is a preset length threshold, which can be customized. The reserved length can be pre-configured in the vehicle; alternatively, the reserved length can be dynamically changed, such as being related to at least one of the parking speed and the door opening speed. For example, when the parking speed or door opening speed is high, the reserved length can be set to be larger, and when the parking speed or door opening speed is low, the reserved length can be set to be smaller. The specific setting can be customized based on experience, which can further improve the collision avoidance reliability of opening the door after parking in parking scenarios.

[0167] In some embodiments, the control device can also continue parking when the sensing information indicates that the obstacle is not within the reserved movement area. This improves the continuity and efficiency of the parking process while ensuring parking success and reducing the risk of collision when opening the door after parking, making the parking process more aligned with real-world user needs and enhancing the user experience.

[0168] For example, such as Figure 4 As shown, the tailgate length is L, and the reserved length is δ (e.g., 5cm). If R' > L + δ, the control device determines that the obstacle is not within the reserved movement area and controls the vehicle to continue parking; if R' ≤ L + δ, the control device determines that the obstacle is within the reserved movement area and controls the vehicle to stop parking.

[0169] The following example uses a specific scenario: Scene 1: In this scenario, the tailgate of the vehicle is 60cm long, with a reserved length of 5cm, meaning the distance threshold is 65cm.

[0170] When the vehicle begins parking, the control device acquires the second distance R' between the obstacle and the center of the door pivot in real time. If R' is less than 65cm, the control device determines that the obstacle is not in the reserved movement area and controls the vehicle to continue parking.

[0171] When the obstacle's position is fixed, and R' equals 65cm, the control device determines that the obstacle is within the reserved movement area and controls the vehicle to stop parking. When the obstacle's position is not fixed, and R' is less than 65cm, the control device determines that the obstacle is within the reserved movement area and controls the vehicle to stop parking.

[0172] It should be understood that the reserved length in this scenario, such as 5cm, is an example, and this application does not specifically limit the size of the reserved length.

[0173] In some embodiments, the control device can acquire the maximum opening angle of the door and determine whether an obstacle is within the reserved movement area based on the second distance and the maximum opening angle. For example, the maximum opening angle can be preset at the vehicle factory. For example, the maximum opening angle varies depending on the scenario; this maximum opening angle can be pre-configured or user-defined, and this application does not limit this. During vehicle parking, the door can be in a closed state.

[0174] It is understandable that during vehicle parking, if the second distance is less than or equal to a distance threshold, there is a risk of collision with an obstacle during the door opening process. In this embodiment, in addition to relying on the second distance, the control device also considers the maximum opening angle of the door to determine whether the obstacle is within the reserved movement area, which can further improve the accuracy of determining whether the obstacle is within the reserved movement area during parking.

[0175] In some embodiments, the control device can determine whether an obstacle is within a reserved movement area based on a second distance, a distance threshold, and a maximum opening angle. The distance threshold is the sum of the door length and the reserved length. The control device determines that the obstacle is within the reserved movement area if the second distance is less than or equal to the distance threshold and the maximum opening angle is greater than or equal to a first angle threshold. The first angle threshold is related to a first angle and a third reserved angle for reaching the obstacle. Alternatively, the control device determines that the obstacle is not within the reserved movement area if the second distance is greater than the distance threshold, or if the second distance is less than or equal to the distance threshold and the maximum opening angle is less than the first angle threshold.

[0176] It is understood that in this embodiment, the first angle is calculated in real time by the control device based on sensing information. In practical applications, the sensing information measured by the sensing system may have measurement errors, leading to inaccurate calculation of the first angle. This will affect the accuracy of the control device in determining whether an obstacle is within the reserved movement area, thereby increasing the risk of collision. The third reserved angle in this embodiment can be a pre-configured calibrable system tolerance for the vehicle. When the control device determines whether an obstacle is within the reserved movement area based on the first angle and the third reserved angle, the accuracy of the determination result can be improved, thereby reducing the risk of collision. Specifically, when the first angle is small, the actual angle of the obstacle relative to the center of the pivot is larger. In this case, the first angle threshold is the sum of the first angle and the third reserved angle. When the first angle is large, the actual angle of the obstacle relative to the center of the pivot is smaller. In this case, the first angle threshold is the difference between the first angle and the third reserved angle.

[0177] In this embodiment, the third reserved angle is a preset angle threshold; alternatively, the third reserved angle can be dynamically changed, such as being related to at least one of the parking speed and the door opening speed. For example, when the parking speed or door opening speed is high, the third reserved angle can be set to be larger, and when the parking speed or door opening speed is low, the third reserved angle can be set to be smaller. The specific setting can be customized based on experience, which can further improve the collision avoidance reliability of opening the door after parking in parking scenarios.

[0178] It is understandable that during vehicle parking, even if the vehicle is parked at a distance less than or equal to a second distance threshold, there may still be situations where the door, even when opened to its maximum angle, does not make contact with an obstacle. In this embodiment, the control device determines whether an obstacle is within the reserved movement area by combining the second distance and the maximum opening angle of the door, which can further improve the accuracy of the control device in determining whether an obstacle is within the reserved movement area during parking. This reduces the risk of collision while compressing the space between the door and the obstacle to a preset minimum safety value, maximizing the use of parking space and significantly improving parking accuracy and space utilization.

[0179] For example, refer to Figure 5 The rear-end perception area mesh model is divided with a 10cm gradient on the horizontal ground direction and a 30cm gradient on the vertical ground direction. The arrows indicate the parking direction. The dashed lines correspond to the starting parking position, and the fan-shaped dashed area corresponds to the tailgate's movement area at the starting parking position. The solid lines correspond to the stopping parking position, and the fan-shaped solid area corresponds to the tailgate's movement area after stopping parking. In the coordinate system defined by this model, the coordinates of the tailgate pivot center are the origin, and the reference line is the line connecting the tailgate pivot center and the maximum closed position. Figure 5 In the sector, on one side perpendicular to the ground, the coordinates of the obstacle are (x', y'), and the first angle is Ωp. Then the second distance is R' = Given that the tailgate length is L, the reserved length is δ (e.g., 5cm), the maximum opening angle of the tailgate is Φ, and the second reserved angle is ψ (e.g., 5°). If R' > L + δ, the control device determines that the obstacle is not within the reserved movement area and controls the vehicle to continue parking; if R' ≤ L + δ, the control device further compares the first angle threshold (Ωp + ψ) with the maximum opening angle Φ of the tailgate. If Φ < Ωp + ψ, the control device determines that the obstacle is not within the reserved movement area and controls the vehicle to continue parking; if Φ ≥ Ωp + ψ, the control device determines that the obstacle is within the reserved movement area and controls the vehicle to stop parking.

[0180] The following example uses a specific scenario: Scene 2: In this scenario, the tailgate of the vehicle is 60cm long, with a reserved length of 5cm, a first angle of 40°, and a second reserved angle of 5°. That is, the distance threshold is 65cm and the first angle threshold is 45°.

[0181] When the vehicle begins parking, the control device acquires the second distance R' between the obstacle and the center of the door pivot in real time. If R' is less than 65cm, the control device determines that the obstacle is not in the reserved movement area and controls the vehicle to continue parking.

[0182] When R' is less than or equal to 65cm, the control device obtains the maximum opening angle Φ of the tailgate.

[0183] If Φ is less than 45°, the control device determines that the obstacle is not in the reserved movement area and controls the vehicle to continue parking; if Φ is greater than or equal to 45°, the control device determines that the obstacle is in the reserved movement area and controls the vehicle to stop parking.

[0184] It should be understood that the second reserved angle in this scenario, such as 5°, is an example, and this application does not specifically limit the size of the second reserved angle.

[0185] In some embodiments, when the sensing information indicates that the obstacle is in the reserved movement area, the control device can also control the vehicle to output alarm information.

[0186] In some embodiments, the control device can control the vehicle to output alarm information based on a first angle. Thus, when an obstacle is within a reserved movement area, the control device can control the vehicle to output alarm information, providing a warning to the user. Furthermore, since the control device combines the first angle with the control of the vehicle's alarm information output, invalid alarms caused by obstacles within a safe angle range can be filtered out, reducing the false alarm rate and enhancing the accuracy of the alarms.

[0187] In some embodiments, the control device can classify the risk level of door opening (such as high risk level, medium risk level and low risk level) based on the first angle and in combination with multiple angle thresholds, and control the vehicle to output alarm information of the corresponding level when the first angle is within the preset angle threshold range.

[0188] In some embodiments, the control device can control the vehicle to output alarm information based on a first angle, a second angle threshold, a third angle threshold, and a fourth angle threshold. Specifically, when the first angle is less than or equal to the second angle threshold, the control device controls the vehicle to output a first alarm message, indicating that the risk level of the door opening is level one; when the first angle is greater than the second angle threshold and less than or equal to the third angle threshold, the control device controls the vehicle to output a second alarm message, indicating that the risk level is level two, which is lower than level one; when the first angle is greater than the third angle threshold and less than or equal to the fourth angle threshold, the control device controls the vehicle to output a third alarm message, indicating that the risk level is level three, which is lower than level two.

[0189] In this embodiment, the door opening risk level corresponding to the first level is higher than that corresponding to the second level, and the door opening risk level corresponding to the second level is higher than that corresponding to the third level. The vehicle can be equipped with a second angle threshold, a third angle threshold, and a fourth angle threshold. These are all preset angle thresholds and can be customized; this application does not impose specific limitations on them.

[0190] Understandably, in real-world applications, when a vehicle stops parking, and an obstacle is within the designated movement area, the obstacle may be closer to or farther from the vehicle door. In this embodiment, the control device combines a first angle, a second angle threshold, a third angle threshold, and a fourth angle threshold to control the vehicle to output different levels of alarm information based on the magnitude of the first angle, thereby achieving refined alarm information and further enhancing the accuracy of the alarms.

[0191] In some embodiments, after the control device controls the vehicle to output alarm information, it can also send the alarm information to other devices (such as mobile phones, tablets, etc.) via a communication module (such as a T-BOX), so that the alarm information can be displayed on other devices. For example, after the control device controls the vehicle to output alarm information, it can send the alarm information to the user's mobile phone via the T-BOX, and display the alarm information through a third-party application (APP) on the mobile phone, which is convenient for the user to view and improves the human-computer interaction experience.

[0192] In some embodiments, the control device can control the vehicle's display screen to show different colors to output different levels of alarm information. For example, the control device controls the interface to display a first color to output a first alarm message; the control device controls the interface to display a second color to output a second alarm message; and the control device controls the interface to display a third color to output a third alarm message. In this embodiment, by controlling the vehicle's display screen to display different colors to output different levels of alarm information, the control device can provide more intuitive alarm prompts to the user and improve the human-computer interaction experience.

[0193] In some embodiments, the vehicle's display screen can show a user experience (UX) interface, and the control device can control the UX interface to display different colors to output different levels of alarm information, thereby providing different levels of alarm prompts to the user. For example, when the first angle is less than or equal to 30°, the control device controls the UX interface to display red, indicating to the user that the risk level of the door opening is high; when the first angle is greater than 30° and less than or equal to 60°, the control device controls the UX interface to display orange, indicating to the user that the risk level of the door opening is medium; when the first angle is greater than 60° and less than or equal to 85°, the control device controls the UX interface to display white, indicating to the user that the risk level of the door opening is low; when the first angle is greater than 85°, the control device does not control the UX interface to output alarm information.

[0194] It should be understood that the second angle threshold such as 30°, the third angle threshold such as 60°, and the fourth angle threshold such as 85° in the above examples are just examples, and this application does not specifically limit the size of the second angle threshold, the third angle threshold, and the fourth angle threshold.

[0195] The above embodiments, using a control device as the execution entity, have described the door control method provided in this application. The following section will discuss the interaction between modules deployed within the control device, referring to... Figure 6 This application describes a door control method provided in its embodiments, using a vehicle including an MDC (Multi-Directional Control Center) as an example. The perception system includes ultrasonic radar and a rearview camera, or alternatively, it may include DTOF (Direct-to-Flight) radar.

[0196] For example, ultrasonic radar and a rearview camera can send the collected obstacle data to the MDC. The MDC determines a first angle, a first distance, and a second distance based on the obstacle data and sends these parameters to the iDVP. Alternatively, the MDC can use a software development kit (SDK) to directly render the first angle, first distance, and second distance onto the instrument panel / central control screen for display. Hall effect sensors ( Figure 6 (Not shown in the image) The collected data is sent to the iDVP. The iDVP determines the second angle based on the data collected by the Hall sensor. The iDVP controls the tailgate movement based on the data obtained from the MDC (such as the first angle, first distance, and second distance) and its own determined data (such as the second angle). In addition, the iDVP can also control the tailgate lock and tailgate strut to control the tailgate. The iDVP can also drive a buzzer to remind the user of the current status of the tailgate or the risk level of opening the tailgate.

[0197] For example, the ultrasonic radar and rearview camera can directly send the collected obstacle data to iDVP, and the Hall sensor sends the collected data to iDVP. iDVP determines a first angle, a first distance, and a second distance based on the obstacle data, and determines a second angle based on the data collected by the Hall sensor. iDVP controls the movement of the door based on the data it determines (such as the first angle, the second angle, the first distance, and the second distance).

[0198] For example, iDVP can control the vehicle to output alarm information based on a first angle obtained from MDC or a first angle determined by itself. iDVP can display the alarm information on the vehicle's instrument panel / central control screen via CDC, or it can display the alarm information on an app on other devices (such as a mobile phone) via T-BOX, making it convenient for users to view and improving the human-machine interaction experience.

[0199] The embodiments of this application have the same technical principles and effects as the embodiments described above, and can be referred to the relevant descriptions in the embodiments above, which will not be repeated here.

[0200] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of related data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0201] The door control method provided in the embodiments of this application has been described above. The apparatus for executing the above method, provided in the embodiments of this application, is described below. Those skilled in the art will understand that the methods and apparatus can be combined with and referenced in each other. The related apparatus provided in the embodiments of this application can execute the steps in the door control method. The related apparatus can be referred to in the following description: This application provides a control device, with reference to... Figure 7 The control device 700 may include an acquisition unit 701 and a control unit 702.

[0202] Acquisition unit 701 is configured to acquire perception information from at least one sensor, the perception information indicating the position and / or angle information of an obstacle relative to the vehicle door. Control unit 702 is configured to, when the perception information indicates that the obstacle is within the movement area of ​​the vehicle door, at least based on the perception information, control the movement range of the vehicle door to be outside the area of ​​the obstacle.

[0203] In one possible implementation, the angle information includes a first angle and a second angle, where the first angle is the angle of the obstacle relative to the center of the door pivot, and the second angle is the angle of the door relative to the center of the door pivot; wherein the first angle and the second angle are defined as deflection from the vertical direction to the horizontal direction.

[0204] In one possible implementation, the control unit 702 is specifically used to determine the target position where the door stops moving based on the first angle, the second angle, and the direction of movement of the door, and to control the door to move to the target position.

[0205] In one possible implementation, the direction of movement is the opening direction, and the control unit 702 is specifically used to determine the target position as the maximum opening position of the door when the first angle is less than the second angle; or, when the first angle is greater than the second angle, determine the target position as the first position, which is related to the first angle and the first reserved angle for reaching the obstacle.

[0206] In one possible implementation, the direction of movement is the closing direction, and the control unit 702 is specifically used to determine the target position as the maximum closed position of the door when the first angle is greater than the second angle; or, when the first angle is less than the second angle, determine the target position as the second position, which is related to the first angle and the second reserved angle for reaching the obstacle.

[0207] In one possible implementation, the location information includes the location of the obstacle, and the control device further includes a determining unit. The acquiring unit 701 is also used to acquire the location of the obstacle. The determining unit is used to determine whether the obstacle is within the movement area based on its location.

[0208] In one possible implementation, the determining unit is specifically used to determine a first distance between the obstacle and the center of the door pivot based on the position of the obstacle; if the first distance is less than or equal to the length of the door, the obstacle is determined to be in the moving area; if the first distance is greater than the length of the door, the obstacle is determined not to be in the moving area.

[0209] In one possible implementation, the determining unit is specifically used to determine that the obstacle is in the movement area if the obstacle's position is included in the position set, the position set including all positions within the movement area, and to determine that the obstacle is not in the movement area if the obstacle's position is not included in the position set.

[0210] In one possible implementation, when the sensing information indicates that the obstacle is not in the movement area, the control unit 702 is specifically used to control the door to move to the maximum open position when the movement direction is the opening direction, and to control the door to move to the maximum closed position when the movement direction is the closing direction.

[0211] In one possible implementation, the control unit 702 is further configured to control the vehicle to stop parking during the parking process when the perception information indicates that the obstacle is within the reserved movement area of ​​the door, wherein the reserved movement area includes the movement area and is larger than the movement area of ​​the door.

[0212] In one possible implementation, the location information includes the position of the obstacle, and the control device further includes a determining unit. The determining unit is used to determine a second distance between the obstacle and the center of the door pivot point based on the obstacle's position. The determining unit is also used to determine whether the obstacle is within a reserved movement area based on the second distance.

[0213] In one possible implementation, the determining unit is specifically used to determine that the obstacle is in the reserved movement area when the second distance is less than or equal to a distance threshold, the distance threshold being the sum of the door length and the reserved length; and to determine that the obstacle is not in the reserved movement area when the second distance is greater than the distance threshold.

[0214] In one possible implementation, a determining unit is specifically used to determine whether the obstacle is within the reserved movement area based on the second distance and the maximum opening angle.

[0215] In one possible implementation, the angle information includes a first angle, which is the angle of the obstacle relative to the center of the door pivot. The determining unit is specifically configured to determine that the obstacle is within a reserved movement area when the second distance is less than or equal to a distance threshold and the maximum opening angle is greater than or equal to the first angle threshold. The distance threshold is the sum of the door length and the reserved length. The first angle threshold is related to the first angle and a third reserved angle for reaching the obstacle. Furthermore, if the second distance is greater than the distance threshold, the unit determines that the obstacle is not within the reserved movement area; or, if the second distance is less than or equal to the distance threshold and the maximum opening angle is less than the first angle threshold, the unit determines that the obstacle is not within the reserved movement area.

[0216] In one possible implementation, the angle information includes a first angle, which is the angle of the obstacle relative to the center of the door pivot. When the sensing information indicates that the obstacle is in the reserved movement area, the control unit 702 is also used to control the vehicle to output alarm information based on the first angle.

[0217] In one possible implementation, the control unit 702 is specifically configured to control the vehicle to output a first alarm message when the first angle is less than or equal to a second angle threshold, the first alarm message indicating that the risk level of the door opening is level one; when the first angle is greater than the second angle threshold and less than or equal to a third angle threshold, the control unit 702 is configured to control the vehicle to output a second alarm message, the second alarm message indicating that the risk level is level two and level two is less than level one; and when the first angle is greater than the third angle threshold and less than or equal to a fourth angle threshold, the control unit 702 is configured to control the vehicle to output a third alarm message, the third alarm message indicating that the risk level is level three and level three is less than level two.

[0218] In one possible implementation, the control unit 702 is specifically used to control the display screen of the vehicle to display a first color, control the display screen to display a second color, and control the display screen to display a third color.

[0219] In one possible implementation, the control unit 702 is also configured to control the vehicle to continue parking when the perception information indicates that the obstacle is not in the reserved movement area.

[0220] This application provides a control device, with reference to... Figure 8 The control device 800 may include a processor 801 (e.g., a CPU) and a memory 802. The memory 802 may include high-speed random-access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device. The memory 802 is used to store computer program code, which includes computer instructions. When the computer instructions are executed by the processor 801, the control device 800 performs various processing functions and implements the method steps of the embodiments of this application.

[0221] In some embodiments, the control device 800 may be a physical device. Exemplarily, the control device 800 may include one or more of the following modules: a central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a complex programmable logic device (CPLD), a coprocessor (assisting the CPU in completing corresponding processing and applications), a microcontroller unit (MCU), a domain controller (DC), a VDC, an ECU, a CDC, a VIU, a VCU, etc. Further, the control device 800 may include at least one processor integrated in the form of a system-on-chip (SOC), commonly referred to as an SOC by those skilled in the art. The SOC may include at least one processor, and when the SOC includes multiple processors, the types of processors may be different.

[0222] This application provides a vehicle door control system, which includes a vehicle door and the above-mentioned features. Figure 7 The control device 700 shown, or as above Figure 8 The control device 800 shown.

[0223] This application provides a vehicle that includes the aforementioned door control system.

[0224] This application provides a chip. The chip includes a processor, which is used to call a computer program in memory to execute the technical solutions in the above embodiments. Its implementation principle and technical effects are similar to those in the related embodiments described above, and will not be repeated here.

[0225] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, it implements the methods described above. The methods described in the above embodiments can be implemented wholly or partially by software, hardware, firmware, or any combination thereof. If implemented in software, the functionality can be stored as one or more instructions or code on or transmitted over the computer-readable medium. The computer-readable medium can include computer storage media and communication media, and can also include any medium that can transfer a computer program from one place to another. The storage medium can be any target medium accessible by a computer.

[0226] In one possible implementation, a computer-readable medium may include RAM, read-only memory (ROM), compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage or other magnetic storage devices, or any other medium targeted to carry or to store the required program code in the form of instructions or data structures, and accessible by a computer. Furthermore, any connection is appropriately referred to as a computer-readable medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. As used herein, disks and optical discs include optical discs, laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while optical discs optically reproduce data using lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0227] This application provides a computer program product, which includes a computer program that, when run, causes a computer to perform the above-described method.

[0228] It should be noted that the modules or components described in the above embodiments can be one or more integrated circuits configured to implement the above methods, such as one or more ASICs, one or more digital signal processors (DSPs), or one or more FPGAs, etc. Furthermore, when a module is implemented through processing element scheduler code, the processing element can be a general-purpose processor, such as a CPU or other processor capable of calling program code, such as a controller. Additionally, these modules can be integrated together and implemented as a System-on-a-Chip (SoC).

[0229] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0230] 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 electronic hardware, or a combination of computer software and electronic 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.

[0231] Those skilled in the art will clearly 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.

[0232] 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.

[0233] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0234] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0235] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), RAM, magnetic disks, or optical disks.

[0236] In the description of the embodiments in this application, unless otherwise stated, " / " means "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, or B existing alone. In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0237] The prefixes such as "first" and "second" used in the embodiments of this application 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 the embodiments of this application 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 an unnecessary limitation due to the use of such prefixes. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of units is not necessarily limited to those units, but may include other units not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0238] In the embodiments of this application, "instruction" can include direct and indirect instructions, as well as explicit and implicit instructions. The information indicated by a certain piece of information is called the information to be instructed. In specific implementation, there are many ways to instruct the information to be instructed, such as, but not limited to, directly instructing the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly instruct the information to be instructed by instructing other information, where there is an association between the other information and the information to be instructed; or it can only instruct a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction can be implemented by using a pre-agreed (e.g., protocol predefined) arrangement of various information, thereby reducing the instruction overhead to some extent. This application does not limit the specific method of instruction. It is understood that for the sender of the instruction information, the instruction information can be used to instruct the information to be instructed; for the receiver of the instruction information, the instruction information can be used to determine the information to be instructed.

[0239] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application.

[0240] It is understood that "greater than or equal to" in the examples of this application embodiments can also be replaced with "greater than", and correspondingly, "less than" can also be replaced with "less than or equal to". Similarly, "less than or equal to" in the examples of this application embodiments can also be replaced with "less than", and correspondingly, "greater than" can also be replaced with "greater than or equal to".

[0241] It is understood that, in the embodiments of this application, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0242] 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 door control method, characterized in that, The method includes: Acquire perception information from at least one sensor, the perception information being used to indicate the position and / or angle information of an obstacle relative to the vehicle door; When the sensing information indicates that the obstacle is within the movement area of ​​the door, the movement range of the door is controlled to be outside the area of ​​the obstacle, at least according to the sensing information.

2. The method according to claim 1, characterized in that, The angle information includes a first angle and a second angle. The first angle is the angle of the obstacle relative to the center of the door pivot, and the second angle is the angle of the door relative to the center of the door pivot. The first angle and the second angle are defined as deflection from the vertical direction to the horizontal direction.

3. The method according to claim 2, characterized in that, The step of controlling the movement range of the vehicle door to be outside the obstacle, based at least on the perceived information, includes: Based on the first angle, the second angle, and the direction of movement of the door, determine the target position where the door stops moving; Control the movement of the car door to the target position.

4. The method according to claim 3, characterized in that, The direction of movement is the opening direction. Determining the target position where the door stops moving based on the first angle, the second angle, and the direction of movement of the door includes: The target position is determined to be the maximum opening position of the vehicle door, where the first angle is smaller than the second angle; or, The target position is determined as a first position, the first angle is greater than the second angle, and the first position is related to the first angle and the first reserved angle for reaching the obstacle.

5. The method according to claim 3, characterized in that, The direction of movement is the closing direction. Determining the target position where the door stops moving based on the first angle, the second angle, and the direction of movement of the door includes: The target position is determined to be the maximum closed position of the door, and the first angle is greater than the second angle; or, The target position is determined as the second position, the first angle is smaller than the second angle, and the second position is related to the first angle and the second reserved angle for reaching the obstacle.

6. The method according to any one of claims 1-5, characterized in that, The location information includes the location of the obstacle, and the method further includes: Based on the location of the obstacle, determine whether the obstacle is within the movement area.

7. The method according to claim 6, characterized in that, The step of determining whether the obstacle is within the movement area based on its position includes: Based on the position of the obstacle, determine the first distance between the obstacle and the center of the door pivot. Determine that the obstacle is within the movement area, and the first distance is less than or equal to the length of the vehicle door; or, It is determined that the obstacle is not within the movement area, and the first distance is greater than the length of the vehicle door.

8. The method according to claim 6, characterized in that, The step of determining whether the obstacle is within the movement area based on its position includes: The obstacle is determined to be within the movement area, and the position of the obstacle is contained in a set of positions, which includes all positions within the movement area; or, It is determined that the obstacle is not located within the movement area, and the location of the obstacle is not included in the location set.

9. The method according to any one of claims 1-8, characterized in that, When the sensing information indicates that the obstacle is not in the movement area, the method further includes: When the direction of movement is the opening direction, control the door to move to the maximum opening position; When the direction of movement is the closing direction, control the door to move to the maximum closed position.

10. The method according to any one of claims 1-9, characterized in that, The method further includes: During vehicle parking, when the sensing information indicates that the obstacle is within the reserved movement area of ​​the door, the vehicle is controlled to stop parking. The reserved movement area includes the movement area and is larger than the movement area.

11. The method according to claim 10, characterized in that, The location information includes the location of the obstacle, and the method further includes: Based on the position of the obstacle, determine the second distance between the obstacle and the center of the door pivot. Based on the second distance, determine whether the obstacle is within the reserved movement area.

12. The method according to claim 11, characterized in that, The step of determining whether the obstacle is within the reserved movement area based on the second distance includes: The obstacle is determined to be within the reserved movement area, and the second distance is less than or equal to a distance threshold, wherein the distance threshold is the sum of the door length and the reserved length; or, It is determined that the obstacle is not within the reserved movement area, and the second distance is greater than the distance threshold.

13. The method according to claim 11, characterized in that, The step of determining whether the obstacle is within the reserved movement area based on the second distance includes: Based on the second distance and the maximum opening angle of the door, it is determined whether the obstacle is within the reserved movement area.

14. The method according to claim 13, characterized in that, The angle information includes a first angle, which is the angle of the obstacle relative to the center of the door pivot. Determining whether the obstacle is within the reserved movement area based on the second distance and the maximum opening angle of the door includes: The obstacle is determined to be within the reserved movement area, the second distance is less than or equal to a distance threshold, and the maximum opening angle is greater than or equal to a first angle threshold. The distance threshold is the sum of the door length and the reserved length. The first angle threshold is related to the first angle and the third reserved angle for reaching the obstacle. or, If the obstacle is not located in the reserved movement area, the second distance is greater than the distance threshold, or the second distance is less than or equal to the distance threshold and the maximum opening angle is less than the first angle threshold.

15. The method according to any one of claims 10-14, characterized in that, The angle information includes a first angle, which is the angle of the obstacle relative to the center of the door pivot. When the sensing information indicates that the obstacle is in the reserved movement area, the method further includes: Based on the first angle, control the vehicle to output alarm information.

16. The method according to claim 15, characterized in that, The step of controlling the vehicle to output alarm information based on the first angle includes: The vehicle is controlled to output a first alarm message, which indicates that the risk level of the door opening is level one, and the first angle is less than or equal to a second angle threshold. or, The vehicle is controlled to output a second alarm message, which indicates that the risk level is a second level, the second level is less than the first level, and the first angle is greater than the second angle threshold and less than or equal to the third angle threshold. or, The vehicle is controlled to output a third alarm message, which indicates that the risk level is level three, which is less than level two, and the first angle is greater than the third angle threshold and less than or equal to the fourth angle threshold.

17. The method according to claim 16, characterized in that, The control of the vehicle to output the first alarm information includes: The interface controlling the vehicle's display screen shows a first color; The control of the vehicle to output a second alarm message includes: Control the interface to display a second color; The control of the vehicle to output a third alarm message includes: Control the interface to display a third color.

18. The method according to any one of claims 10-17, characterized in that, The method further includes: When the perception information indicates that the obstacle is not in the reserved movement area, the vehicle is controlled to continue parking.

19. A control device, characterized in that, Includes an acquisition unit and a control unit; The acquisition unit is used to acquire perception information from at least one sensor, the perception information being used to indicate the position and / or angle information of the obstacle relative to the vehicle door; The control unit is configured to, at least based on the sensing information, control the movement range of the vehicle door to be outside the area of ​​the obstacle when the sensing information indicates that the obstacle is in the movement area of ​​the door.

20. The apparatus according to claim 19, characterized in that, The angle information includes a first angle and a second angle. The first angle is the angle of the obstacle relative to the center of the door pivot, and the second angle is the angle of the door relative to the center of the door pivot. The first angle and the second angle are defined as deflection from the vertical to the horizontal direction.

21. The apparatus according to claim 19 or 20, characterized in that, The control unit is also used for: During vehicle parking, when the sensing information indicates that the obstacle is within the reserved movement area of ​​the door, the vehicle is controlled to stop parking. The reserved movement area includes the movement area and is larger than the movement area of ​​the door.

22. The apparatus according to claim 21, characterized in that, The location information includes the location of the obstacle, and the device further includes a determining unit; The determining unit is used to determine a second distance between the obstacle and the center of the door pivot based on the position of the obstacle; The determining unit is further configured to determine whether the obstacle is within the reserved movement area based on the second distance.

23. The apparatus according to claim 22, characterized in that, The determining unit is specifically used for: The obstacle is determined to be within the reserved movement area, and the second distance is less than or equal to a distance threshold, wherein the distance threshold is the sum of the door length and the reserved length; or, It is determined that the obstacle is not within the reserved movement area, and the second distance is greater than the distance threshold.

24. The apparatus according to claim 22, characterized in that, The determining unit is specifically used for: Based on the second distance and the maximum opening angle of the door, it is determined whether the obstacle is within the reserved movement area.

25. The apparatus according to claim 24, characterized in that, The angle information includes a first angle, which is the angle of the obstacle relative to the center of the door hinge. The determining unit is specifically used for: The obstacle is determined to be within the reserved movement area, the second distance is less than or equal to a distance threshold, and the maximum opening angle is greater than or equal to a first angle threshold. The distance threshold is the sum of the door length and the reserved length. The first angle threshold is related to the first angle and the third reserved angle for reaching the obstacle. or, If the obstacle is not located in the reserved movement area, the second distance is greater than the distance threshold, or the second distance is less than or equal to the distance threshold and the maximum opening angle is less than the first angle threshold.

26. The apparatus according to any one of claims 21-25, characterized in that, The angle information includes a first angle, which is the angle of the obstacle relative to the center of the door hinge. When the sensing information indicates that the obstacle is in the reserved movement area, the control unit is further configured to: Based on the first angle, the vehicle is controlled to output alarm information.

27. A vehicle door control system, characterized in that, It includes vehicle doors and a control device as described in any one of claims 19-26.

28. A vehicle, characterized in that, Including the door control system as described in claim 27.

29. A computer program product, characterized in that, The computer program product includes a program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1-18.

30. A computer-readable storage medium, characterized in that, Includes computer instructions that, when executed on the device, cause the device to perform the method as described in any one of claims 1-18.

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