A vehicle door sensor and control method

Abstract

This invention provides a vehicle door sensor and control method, including: an ultrasonic sensor array disposed on the vehicle door, used to detect hand gestures and focus and emit ultrasonic waves based on the hand gestures to form tactile feedback; this invention utilizes the simple hardware and high real-time performance of the ultrasonic sensor array to achieve non-contact detection, detect hand gestures without complex signal conversion, is unaffected by the environment, improves the accuracy of hand gesture detection, and provides tactile feedback to the user, thus enhancing the user experience.

Description

Technical Field

[0001] This invention relates to the field of vehicle door lock technology, and in particular to a vehicle door sensor, a control method for the vehicle door sensor, a vehicle controller, a computer-readable storage medium, a computer program product, and a vehicle. Background Technology

[0002] With the development of technology and living standards, the methods for opening vehicle doors, such as luggage compartment doors and passenger compartment doors, are constantly being updated. From the traditional mechanical key to remote key operation, to the current non-contact sensor-based opening method, the technology has evolved. However, many non-contact sensing methods utilize capacitive detectors, detecting kicking or sweeping motions through changes in capacitance to trigger the door control. This detection method is susceptible to false triggers due to changes in the capacitive electric field of any living organism, resulting in insufficient accuracy. Furthermore, users cannot accurately pinpoint the location, and the lack of feedback mechanisms means they are unaware of the outcome of their actions, leading to a poor user experience. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a vehicle door sensor, a control method for a vehicle door sensor, a vehicle controller, a computer-readable storage medium, a computer program product, and a vehicle that overcome or at least partially solve the above problems.

[0004] To address the aforementioned problems, in a first aspect of the present invention, an embodiment of the present invention discloses a vehicle door sensor, comprising: An ultrasonic sensor array, mounted on the vehicle door, is used to detect hand gestures and, based on the gestures, to focus and emit ultrasonic waves to generate tactile feedback.

[0005] Optionally, the ultrasonic sensor array includes: Central ultrasonic sensor; At least one layer of ring-shaped ultrasonic sensor group is arranged around the central ultrasonic sensor in successive layers.

[0006] Optionally, the vehicle door sensor further includes: A fixing part is connected to the ultrasonic sensor array and is used to fix the ultrasonic sensor array to the vehicle door.

[0007] In a second aspect, embodiments of the present invention disclose a control method for a vehicle door sensor, wherein the vehicle door sensor includes the vehicle door sensor described above, and the method includes: The intention of the operation is determined in response to a gesture applied to the vehicle door sensor; Based on the stated operational intent, the vehicle door sensor is controlled to emit tactile feedback.

[0008] Optionally, the step of responding to a gesture operation applied to the vehicle door sensor and determining the operation intention includes: In response to a gesture applied to the vehicle door sensor, the ultrasonic reflection signal detected by the vehicle door sensor is acquired; The operation trajectory is determined based on the ultrasonic reflected signal; The operational intent is determined based on the described operational trajectory.

[0009] Optionally, the step of determining the operating trajectory based on the ultrasonic reflection signal includes: The intensity of the synthesized signal is determined by superimposing the ultrasonic reflected signals. The azimuth angle that matches the peak value of the synthesized signal intensity is determined as the target azimuth angle; The operation trajectory is determined by combining the target azimuth angle.

[0010] Optionally, the step of superimposing the ultrasonic reflected signals to determine the intensity of the synthesized signal includes: Calculate the relative time delay of the sensor for the ultrasonic wave reflection signal; The strength of the synthesized signal is determined by summing the relative time delays of the sensors.

[0011] Optionally, the step of determining the operation intention based on the operation trajectory includes: If the operation trajectory matches the preset trajectory, the operation intention is determined.

[0012] Optionally, the step of controlling the vehicle door sensor to emit tactile feedback based on the operational intent includes: Based on the stated operational intent, determine the target location for feedback; The feedback target position is converted into a control phase; Based on the control phase, the signal is modulated to determine the ultrasonic transmission signal; The vehicle door sensor is controlled to send the ultrasonic transmission signal.

[0013] Optionally, the method includes: Perform the door lock operation corresponding to the stated operational intent.

[0014] In a third aspect, an embodiment of the present invention discloses a vehicle controller, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the vehicle door sensor control method as described above.

[0015] In a fourth aspect, embodiments of the present invention disclose a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the active air-conditioning discharge control method as described above.

[0016] In a fifth aspect of the invention, an embodiment of the invention discloses a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle door sensor control method as described above.

[0017] In a sixth aspect of the invention, an embodiment of the invention discloses a vehicle door, including a door body and a vehicle door sensor as described above, wherein the vehicle door sensor is mounted on the door body.

[0018] In a seventh aspect of the invention, an embodiment of the invention discloses a vehicle including a vehicle door as described above.

[0019] The embodiments of the present invention have the following advantages: This invention employs an ultrasonic sensor array mounted on a vehicle door. The array detects hand gestures and focuses ultrasonic waves based on these gestures to provide tactile feedback. Leveraging the simple hardware and high real-time performance of the ultrasonic sensor array, a non-contact detection method is achieved. This method detects hand gestures without complex signal conversion, is unaffected by environmental conditions, improves the accuracy of gesture detection, and provides tactile feedback to the user, enhancing the user experience. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a vehicle door sensor according to the present invention; Figure 2 This is a schematic diagram of the structure of an ultrasonic sensor for a vehicle door sensor according to the present invention; Figure 3 This is a schematic diagram of the structure of the fixing part of the ultrasonic sensor of a vehicle door sensor according to the present invention; Figure 4 This is a flowchart illustrating the steps of an embodiment of the control method for a vehicle door sensor according to the present invention; Figure 5 This is a flowchart illustrating the steps of another embodiment of the control method for a vehicle door sensor according to the present invention; Figure 6 This is a coordinate system schematic diagram of an embodiment of a vehicle door sensor control method according to the present invention; Figure 7 This is a schematic diagram of gesture recognition according to an embodiment of the control method for a vehicle door sensor of the present invention; Figure 8 This is a schematic diagram of ultrasonic signal focusing according to an embodiment of the control method for a vehicle door sensor of the present invention; Figure 9 This is a schematic diagram of tactile feedback from an embodiment of a vehicle door sensor control method of the present invention; Figure 10 This is a structural schematic diagram of a vehicle hatch according to the present invention.

[0021] Explanation of reference numerals in the attached figures: 10 - Vehicle door sensor; 20 - Vehicle door; 100 - Ultrasonic sensor array, 200 - Fixing part, 110 - Central ultrasonic sensor, 120 - Circular ultrasonic sensor group. Detailed Implementation

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Reference Figure 1 A schematic diagram of a vehicle door sensor according to the present invention is shown. The vehicle door sensor includes: An ultrasonic sensor array 100 is installed on the vehicle door to detect hand gestures and focus ultrasonic waves emitted based on the hand gestures to form tactile feedback.

[0024] In this embodiment of the invention, the vehicle door sensor may include an ultrasonic sensor array 100. The ultrasonic sensor array 100 is disposed on the vehicle door. The vehicle door refers to various openable and closable doors on a vehicle, including but not limited to luggage compartment doors, passenger compartment doors, engine compartment doors, charging compartment doors, fuel filler caps, roof doors, and battery compartment doors. The ultrasonic sensor array 100 can be disposed in an area on the vehicle door that is easily accessible to the user, such as the outer surface of the vehicle door. For example, the ultrasonic sensor array 100 can be disposed in the central area of ​​the outer surface of the luggage compartment door, allowing the user to operate it from outside the luggage compartment door.

[0025] The ultrasonic sensor array 100 can excite ultrasonic waves of different timings or phases through its array sensor probes. These ultrasonic waves can be reflected in the environment to form reflected ultrasonic waves. The ultrasonic sensor array 100 can receive the reflected ultrasonic waves, determine the distance based on the time difference between the transmitted and reflected ultrasonic waves, and detect the environment based on different sensor probes within the array. The ultrasonic sensor array 100 detects user gestures through ultrasonic detection. The operating state of the ultrasonic sensor array 100 can be controlled by the vehicle's own energy consumption control strategy. For example, it can enter a sleep state after a preset time when the vehicle is powered off. When the vehicle detects a user approaching or within its sensing range, the ultrasonic sensor array 100 can be activated to detect user gestures. Upon detecting a gesture, it focuses and emits ultrasonic waves based on the type of gesture, concentrating the sound field of the ultrasonic waves within a region perceptible to the user to form tactile feedback. The user can then use this tactile feedback to determine whether their action was correct or whether the vehicle responded, allowing the user to perceive the result of their action.

[0026] In this embodiment of the invention, an ultrasonic sensor array 100 is installed on the vehicle door. The ultrasonic sensor array 100 detects hand gestures and focuses and emits ultrasonic waves based on the gestures to generate tactile feedback. Utilizing the simple hardware and high real-time performance of the ultrasonic sensor array 100, a non-contact detection method is achieved to detect hand gestures. This eliminates the need for complex signal conversion, is unaffected by environmental conditions, improves the accuracy of hand gesture detection, and provides tactile feedback to the user, enhancing the user experience.

[0027] In an optional embodiment of the present invention, the ultrasonic sensor array 100 includes: Central ultrasonic sensor 110; At least one layer of annular ultrasonic sensor group 120 is arranged around the central ultrasonic sensor 110 in successive layers.

[0028] In this embodiment of the invention, the ultrasonic sensor array 100 includes a central ultrasonic sensor 110 at a central position and at least one layer of annular ultrasonic sensor groups 120. The central ultrasonic sensor 110 is the ultrasonic sensor located at the center of the ultrasonic sensor array 100. Each layer of annular ultrasonic sensor groups 120 has a plurality of ultrasonic sensors, and each layer of annular ultrasonic sensor groups 120 is arranged layer by layer around the central ultrasonic sensor 110. That is, the plurality of ultrasonic sensors in the first layer of annular ultrasonic sensor groups 120 are arranged around the central ultrasonic sensor 110. The plurality of ultrasonic sensors in the second layer of annular ultrasonic sensor groups 120 are arranged around the first layer of annular ultrasonic sensor groups 120 with the central ultrasonic sensor 110 as the center; the third layer of annular ultrasonic sensor groups 120 surrounds the second layer of annular ultrasonic sensor groups 120, and so on. The types of ultrasonic sensors in each layer of annular ultrasonic sensor groups 120 can be the same or different. The types of ultrasonic sensors in the annular ultrasonic sensor groups 120 and the central ultrasonic sensor 110 can be the same or different. The embodiments of the present invention are not limited. In one example, the ultrasonic sensors in each layer of the annular ultrasonic sensor group 120 are of the same type as the central ultrasonic sensor 110, that is, the entire ultrasonic sensor array 100 is composed of the same ultrasonic sensors. The shape of the ultrasonic sensor can be referred to Figure 2 The ultrasonic sensor consists of a circular outer shell and an internal piezoelectric ceramic sheet. Under pulse excitation, the piezoelectric ceramic drives the metal shell to vibrate at high speed, emitting ultrasonic waves. These ultrasonic waves propagate through the air and, upon encountering obstacles, are reflected back onto the surface of the metal shell, further driving the piezoelectric ceramic to vibrate, thus generating a voltage change. The voltage is calculated based on the emission time t1, the reflection time t2, and the speed of sound propagation c. This allows us to determine the distance d between the obstacle and the ultrasonic sensor.

[0029] The number of ultrasonic sensors in each layer of the annular ultrasonic sensor group 120 can be set according to the detection requirements. The number of ultrasonic sensors in each layer of the annular ultrasonic sensor group 120 can be different or the same. In one example, the ultrasonic sensor array 100 can consist of 13 ultrasonic sensors. The ultrasonic sensor array 100 includes a central ultrasonic sensor 110 in the middle and two layers of annular ultrasonic sensor groups 120. The first layer of annular ultrasonic sensor group 120 can include 6 ultrasonic sensors. The second layer of annular ultrasonic sensor group 120 can include 6 ultrasonic sensors. The ultrasonic sensors in the central ultrasonic sensor 110 and the first layer of annular ultrasonic sensor group 120 are ultrasonic sensors with a radius of 11 mm. The ultrasonic sensors in the second layer of annular ultrasonic sensor group 120 are ultrasonic sensors with a radius of 19 mm. The central ultrasonic sensor 110 is located at the center. The six ultrasonic sensors in the first-layer annular ultrasonic sensor group 120 are evenly distributed circumferentially around the central ultrasonic sensor 110. Similarly, the six ultrasonic sensors in the first-layer annular ultrasonic sensor group 120 are also evenly distributed circumferentially around the central ultrasonic sensor 110. The operating frequency of the ultrasonic sensors can be determined based on the electromagnetic environment during use. For example, a 40kHz ultrasonic sensor can be used for detection.

[0030] By arranging the central ultrasonic sensor 110 as the center, the annular ultrasonic sensor array 120 is set up layer by layer around the central ultrasonic sensor 110, so that it can detect in different directions around the central ultrasonic sensor 110, so that the ultrasonic sensor array 100 can detect gesture operations from any direction, thereby improving the detection range of the ultrasonic sensor array 100.

[0031] In an optional embodiment of the present invention, the vehicle door sensor further includes: The fixing part 200 is connected to the ultrasonic sensor array 100 and is used to fix the ultrasonic sensor array 100 to the vehicle door.

[0032] In this embodiment of the invention, the vehicle door sensor further includes a fixing part 200. The fixing part 200 can be connected to the ultrasonic sensor array 100, that is, the fixing part 200 is connected to the ultrasonic sensor in the ultrasonic sensor array 100 and the ultrasonic sensor in the annular ultrasonic sensor group 120. The ultrasonic sensor array 100 is fixed to the vehicle door using a fixing member. The user can perform related gesture operations on the vehicle door to control the vehicle door. For example, if a gesture operation is performed on the ultrasonic sensor array 100 of the vehicle door, after the ultrasonic sensor array 100 detects the gesture operation, it controls the vehicle door to open and provides tactile feedback to the user.

[0033] In one example, you can refer to Figure 3 The fixing part 200 can be a rubber component, the outer side of which connects to the vehicle door. The rubber component has several mounting holes, into which the ultrasonic sensors of the central ultrasonic sensor 110 and the annular ultrasonic sensor group 120 are respectively installed, thereby fixing all the ultrasonic sensors of the ultrasonic sensor array 100 to the vehicle door. Furthermore, the rubber component buffers vibrations from the vehicle, minimizing errors caused by positional shifts due to vibration, thus improving detection accuracy.

[0034] Reference Figure 4 This diagram illustrates a flowchart of an embodiment of a control method for a vehicle door sensor according to the present invention. The vehicle door sensor includes the vehicle door sensor described above. Details regarding the vehicle door sensor can be found in the above embodiment and will not be repeated here. The control method for the vehicle door sensor may include the following steps: Step 401: Respond to the gesture operation applied to the vehicle door sensor and determine the operation intention; When a user needs to control the vehicle doors, they can perform gesture operations on the vehicle door sensors to control the vehicle. When the vehicle door sensors detect a gesture operation, they can respond to the gesture operation and determine the user's intention based on the specific type of gesture operation.

[0035] Step 402: Based on the stated operational intent, control the vehicle door sensor to emit tactile feedback.

[0036] Based on the user's intent, the system determines whether the operation is correct or whether the relevant control is possible. Based on the specific state, the vehicle door sensors emit corresponding tactile feedback. This tactile feedback is then used to inform the user of the specific status.

[0037] This invention, in its embodiments, determines the operational intent by responding to a gesture operation applied to a vehicle door sensor; based on the operational intent, it controls the vehicle door sensor to emit tactile feedback. Utilizing the hardware simplicity and high real-time performance of an ultrasonic sensor array, a non-contact detection method is achieved to detect gesture operations. This eliminates the need for complex signal conversion, is unaffected by environmental factors, and accurately determines the true operational intent, improving the accuracy of gesture detection. Furthermore, tactile feedback can be provided to the user based on the operational intent, allowing the user to understand the operation status and enhancing the user experience.

[0038] Reference Figure 5 This diagram illustrates a flowchart of another embodiment of the control method for a vehicle door sensor according to the present invention. The vehicle door sensor includes the vehicle door sensor described above. The control method for the vehicle door sensor may include the following steps: Step 501: Respond to the gesture operation applied to the vehicle door sensor and determine the operation intention; After the vehicle is turned off and locked, it can control low-frequency wake-up antennas distributed throughout the vehicle to emit weak low-frequency wake-up signals at fixed intervals. The coverage area of ​​the low-frequency wake-up signal can be the area around the vehicle. When the vehicle key is brought into the wake-up signal coverage area, the vehicle recognizes the user's approach and can wake up the vehicle door sensors, which then detect whether the user is performing a gesture. The vehicle key can be a standalone key or a mobile terminal used by the user. After the vehicle door sensors are woken up, they can continuously or periodically emit ultrasonic signals to detect whether the user is performing a gesture on the sensor. When the user performs a gesture on the door sensor, i.e., when the sensor receives a nearby ultrasonic signal, it can determine that the user has performed a gesture. The system responds to the gesture acting on the door sensor and identifies the user's intention.

[0039] Step 502: Based on the stated operational intent, control the vehicle door sensor to emit tactile feedback; Based on the state of the identified operational intent, the corresponding feedback form can be determined, controlling the vehicle door sensors to emit tactile feedback. Tactile feedback can take different shapes based on different operational intents or the state of intent recognition, such as circles, polygons, irregular shapes; or it can provide feedback on different hand positions; or it can provide different tactile sensations, etc. For example, when the operational intent is to open, a light, fast tactile feedback can be provided when the intent is successfully recognized, and a heavy, slow tactile feedback when recognition fails. Another example is that a circular tactile feedback can be provided when the operational intent is successfully recognized, and a straight tactile feedback when recognition fails. Furthermore, the type of tactile feedback can be determined based on the type of operational intent, such as providing a first-frequency tactile feedback for the first type of operational intent, and a second-frequency tactile feedback for the second type of operational intent, and so on.

[0040] Step 503: Perform the door lock operation corresponding to the stated operation intention.

[0041] Furthermore, it can execute door lock operations corresponding to user intents, thereby controlling the vehicle's door locks. Users can control the vehicle's door locks through gestures. For example, if the intent is to open the vehicle's door, the user can unlock the door and drive it open.

[0042] This invention, in its embodiments, determines the operational intent by responding to a gesture input to a vehicle door sensor; based on the operational intent, it controls the vehicle door sensor to emit tactile feedback; and executes the door lock operation corresponding to the operational intent. Utilizing the hardware simplicity and high real-time performance of an ultrasonic sensor array, a non-contact detection method is achieved to detect gesture inputs. This eliminates the need for complex signal conversions, is unaffected by environmental factors, and accurately determines the true operational intent, thus improving the accuracy of gesture detection. Furthermore, tactile feedback can be provided to the user based on the operational intent, allowing the user to understand the operation status and improving the user experience. After determining the operational intent, the corresponding door lock operation can be executed to control the door lock, thereby improving the accuracy of vehicle control.

[0043] In an optional embodiment of the present invention, the step of determining the operation intention in response to a gesture operation applied to the vehicle door sensor includes: Sub-step S5011: In response to a gesture operation applied to the vehicle door sensor, acquire the ultrasonic reflection signal detected by the vehicle door sensor; The ultrasonic signals emitted by the vehicle door sensor are reflected on the user's palm when the user performs a gesture on the vehicle door sensor, forming an ultrasonic reflection signal. Therefore, the ultrasonic reflection signal detected by the vehicle door sensor can be acquired in response to a gesture.

[0044] Sub-step S5012: Determine the operation trajectory based on the ultrasonic wave reflection signal; Based on the ultrasonic reflection signal, the relative distance between the user's palm and each ultrasonic sensor in the ultrasonic sensor array of the vehicle door sensor can be determined when the user performs a gesture operation, thereby determining the palm position in each detection cycle during the gesture operation. Connecting each palm position according to time sequence determines the operation trajectory.

[0045] Furthermore, the step of determining the operation trajectory based on the ultrasonic reflection signal includes: superimposing the ultrasonic reflection signals to determine the composite signal intensity; determining the azimuth angle that matches the peak value of the composite signal intensity as the target azimuth angle; and determining the operation trajectory by combining the target azimuth angle.

[0046] A coordinate system can be established based on the center of the vehicle door sensor, specifically the center position of the central ultrasonic sensor. The coordinate system can be configured as follows: Figure 6 As shown, a cylindrical coordinate system can be established with the center position of the central ultrasonic sensor, where, The horizontal distance from the target to the center of the central ultrasonic sensor; Let be the azimuth angle of the target, i.e., the horizontal direction, and the angle between it and the x-axis; z is the vertical distance from the target to the ultrasonic sensor array plane of the vehicle door sensor. The ultrasonic reflected signals detected by each ultrasonic sensor in the ultrasonic sensor array are superimposed according to the direction corresponding to the azimuth angle of each ultrasonic sensor, resulting in a composite signal corresponding to the azimuth angle of each ultrasonic sensor. The intensity of this composite signal is determined as the composite signal intensity. For example, the ultrasonic sensor array includes 13 ultrasonic sensors, with the center ultrasonic sensor positioned according to the following... Figure 6 After establishing the cylindrical coordinate system as shown, the azimuth angles corresponding to the 13 ultrasonic sensors can be obtained as follows: , , ,... , (With the x-axis as 0°, counterclockwise is positive). According to... The ultrasonic reflection signals detected by 13 ultrasonic sensors were superimposed and synthesized to obtain... The synthesized signal intensity corresponding to the synthesized signal below. Then according to The ultrasonic reflection signals detected by 13 ultrasonic sensors were superimposed and synthesized to obtain... The synthetic signal intensity corresponding to the synthetic signal is calculated, and the synthetic signal intensity of the azimuth angle of each ultrasonic sensor is calculated sequentially.

[0047] Specifically, the step of superimposing the ultrasonic reflected signals to determine the strength of the composite signal includes: calculating the sensor relative time delay of the ultrasonic reflected signals; summing the sensor relative time delays to determine the strength of the composite signal.

[0048] The specific process for calculating the intensity of each synthesized signal can be summarized as follows: First, calculate the relative time delay of each ultrasonic reflection signal. The relative time delay is the time difference between the emission and reception of the ultrasonic wave signal by each ultrasonic sensor at the same azimuth angle. Then, sum the relative time delays of the sensors at the same azimuth angle to obtain the synthesized signal intensity at that ultrasonic sensor's azimuth angle. Specifically, for the azimuth angle of the same ultrasonic sensor, the relative time delay of the i-th sensor is: ; in, The distance from the center of the ultrasonic sensor to the target can be calculated using the distance formula in spherical coordinates: ; This refers to the straight-line distance between each ultrasonic sensor and the target being detected, i.e., the azimuth angle of the ultrasonic sensor. The straight-line distance from the target with a horizontal distance of r to the sensor i (with a distribution radius of R) is: ; i is a positive integer.

[0049] Then, for each ultrasonic sensor's azimuth angle, the relative time delays of all ultrasonic sensors at that azimuth angle are summed to obtain the composite signal strength at that azimuth angle. For example, when using 13 ultrasonic sensors, the composite signal strength obtained by summing the relative time delays of the 13 ultrasonic sensors at any given azimuth angle can be expressed by a formula. Synthetic signal strength of azimuth angle for:

[0050] After obtaining the synthetic signal intensity corresponding to the azimuth angle of each sensor, these synthetic signal intensities are compared at the same time. The azimuth angle matching the peak value of the synthetic signal intensity, i.e., the azimuth angle of the ultrasonic sensor with the largest synthetic signal intensity, can be determined as the target azimuth angle. For example, when using 13 ultrasonic sensors, after obtaining the synthetic signal intensity at the azimuth angles of the 13 ultrasonic sensors, the 13 synthetic signal intensities can be compared, and the azimuth angle of the ultrasonic sensor corresponding to the largest synthetic signal intensity can be determined as the target azimuth angle.

[0051] After obtaining the target azimuth angle corresponding to each detection cycle, the trajectory obtained by combining the target azimuth angle sequentially according to the time sequence of the detection cycle is the operation trajectory.

[0052] For example, you can refer to Figure 7 When a user performs a gesture operation, the system can identify the first target azimuth angle in the first detection cycle, the second target azimuth angle in the second detection cycle, and the third target azimuth angle in the third detection cycle. The three azimuth angles shift sequentially to the right, and the trajectory formed by these three target azimuth angles from left to right is recorded as the operation trajectory.

[0053] By fitting the signals from multiple ultrasonic sensors in an ultrasonic sensor array to their corresponding azimuth angles, the specific operation of the gesture is determined. This allows for the detection of gestures in various directions without limiting the direction of the operation, thus improving the accuracy of detection.

[0054] Sub-step S5013: Determine the operation intention based on the operation trajectory.

[0055] The user's operational intent can be determined based on the pattern of the operation trajectory.

[0056] Specifically, the step of determining the operation intention based on the operation trajectory includes: determining the operation intention when the operation trajectory matches a preset trajectory.

[0057] Pre-set trajectories can be pre-defined based on different operational intentions. For each operational intention, there can be at least one pre-set trajectory. After determining the operational trajectory, it can be matched against each pre-set trajectory one by one. When an operational trajectory matches a pre-set trajectory, the operational intention corresponding to that match is taken as the final output operational intention. Furthermore, if neither the operational trajectory nor a pre-set trajectory matches, it indicates that there is no corresponding operational intention, and the operational intention is determined to be empty.

[0058] In an optional embodiment of the present invention, the step of controlling the vehicle door sensor to emit tactile feedback based on the operational intent includes: Sub-step S5021: Based on the stated operation intent, determine the feedback target location; Based on the type of operation intent, determine the target location for the feedback. For example, if the operation intent is to unlock a door, the center of the user's palm can be determined as the target location for the feedback.

[0059] For the feedback target location, the vertical distance z=v*Δt / 2 can be calculated using the echo time difference of ultrasound. Combined with the final target azimuth angle, the position of the palm's center can be determined, thus completing the positioning of the user's palm. At this point, the position of the palm's center can be determined as the feedback target location. Alternatively, based on requirements, further offsets can be made to determine other locations on the palm as feedback target locations.

[0060] Sub-step S5023: Convert the feedback target position into a control phase; The feedback target position can be used as the target position for the ultrasonic emission signal emitted by each ultrasonic sensor, and the phase of the ultrasonic emission signal emitted by each ultrasonic sensor when reaching the target position point can be determined.

[0061] Sub-step S5024: Based on the control phase, perform signal modulation to determine the ultrasonic wave transmission signal; The ultrasonic transmission signal can be determined by modulating the control phase of each ultrasonic sensor with its own control phase.

[0062] For example, you can refer to Figure 8 Different ultrasonic sensors modulate signals based on their own control phase to determine the ultrasonic transmission signal that matches the control phase.

[0063] In sub-step S5025, the vehicle door sensor is controlled to send the ultrasonic transmission signal.

[0064] Then, each ultrasonic sensor in the vehicle's door sensor system can be controlled to send ultrasonic emission signals. These signals are concentrated on the target location, and in the space outside this target location, due to phase differences, they are superimposed, weakened, or even canceled out. This achieves ultrasonic focusing and thus tactile feedback. Furthermore, when the ultrasonic focus is applied to the skin and rotated around the target location at different frequencies (e.g., 5Hz, 10Hz, 50Hz), different tactile feedback will be generated at that location. Figure 9 As shown, ultrasonic waves can be focused at a target location on the hand to generate tactile feedback.

[0065] By utilizing phased array technology to control the ultrasonic sensor, the emitted ultrasonic signal can be focused onto the user's palm, allowing the user to receive tactile feedback and understand the result of the operation. This provides a clear picture of the specific execution status of the gesture, achieving human-computer interaction and improving the user experience.

[0066] To enable those skilled in the art to clearly understand the implementation process of the embodiments of the present invention, the following example illustrates the control method process using a vehicle door sensor: Define the direction of hand movement as x, the direction of fingers as y, and the height direction as z. As the palm gets closer to the center of the array, the angle between x and z gradually decreases to 0. This is achieved by detecting... Determine the target azimuth angle at its maximum. Record the target azimuth angle for trajectory tracking. Once the target matches the trajectory and hovers directly above the target for 1 second, apply haptic feedback to the center of the palm and open the car door.

[0067] It should be noted that, for the sake of simplicity, the above embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0068] This invention also discloses a vehicle controller, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the steps of the vehicle door sensor control method as described above.

[0069] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0070] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0071] This invention also discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the vehicle door sensor control method described above.

[0072] This invention also discloses a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle door sensor control method described above.

[0073] You can refer to Figure 10 This diagram illustrates a structural schematic of a vehicle hatch according to the present invention. The vehicle hatch includes a hatch body 20 and a vehicle hatch sensor 10 as described above, the vehicle hatch sensor 10 being mounted on the hatch body 20. Figure 10 As shown, the door body 20 can be a vehicle luggage compartment door, and the vehicle luggage compartment door sensor 10 is installed in the middle area of ​​the rear of the vehicle luggage compartment door. The user can control the opening or closing of the vehicle luggage compartment door by operating the vehicle luggage compartment door sensor 10.

[0074] This invention discloses a vehicle, including a vehicle door as described above.

[0075] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0076] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0077] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0078] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0079] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0080] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0081] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0082] The foregoing has provided a detailed description of a vehicle door sensor, a control method for the vehicle door sensor, a vehicle controller, a computer-readable storage medium, a computer program product, and a vehicle provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A vehicle door sensor, characterized in that, include: An ultrasonic sensor array, mounted on the vehicle door, is used to detect hand gestures and, based on the gestures, to focus and emit ultrasonic waves to generate tactile feedback.

2. The vehicle door sensor according to claim 1, characterized in that, The ultrasonic sensor array includes: Central ultrasonic sensor; At least one layer of ring-shaped ultrasonic sensor group is arranged around the central ultrasonic sensor in successive layers.

3. The vehicle door sensor according to any one of claims 1-2, characterized in that, The vehicle door sensor also includes: A fixing part is connected to the ultrasonic sensor array and is used to fix the ultrasonic sensor array to the vehicle door.

4. A control method for a vehicle door sensor, characterized in that, The vehicle door sensor includes the vehicle door sensor as described in any one of claims 1-3, and the method includes: The intention of the operation is determined in response to a gesture applied to the vehicle door sensor; Based on the stated operational intent, the vehicle door sensor is controlled to emit tactile feedback.

5. The method according to claim 4, characterized in that, The step of responding to a gesture operation applied to the vehicle door sensor and determining the operation intention includes: In response to a gesture applied to the vehicle door sensor, the ultrasonic reflection signal detected by the vehicle door sensor is acquired; The operation trajectory is determined based on the ultrasonic reflected signal; The operational intent is determined based on the described operational trajectory.

6. The method according to claim 5, characterized in that, The step of determining the operation trajectory based on the ultrasonic reflection signal includes: The intensity of the synthesized signal is determined by superimposing the ultrasonic reflected signals. The azimuth angle that matches the peak value of the synthesized signal intensity is determined as the target azimuth angle; The operation trajectory is determined by combining the target azimuth angle.

7. The method according to claim 6, characterized in that, The step of superimposing the ultrasonic reflected signals to determine the intensity of the synthesized signal includes: Calculate the relative time delay of the sensor for the ultrasonic wave reflection signal; The strength of the synthesized signal is determined by summing the relative time delays of the sensors.

8. The method according to claim 4, characterized in that, The step of determining the operation intention based on the operation trajectory includes: If the operation trajectory matches the preset trajectory, the operation intention is determined.

9. The method according to claim 12, characterized in that, The step of controlling the vehicle door sensor to emit tactile feedback based on the operational intent includes: Based on the stated operational intent, determine the target location for feedback; The feedback target position is converted into a control phase; Based on the control phase, the signal is modulated to determine the ultrasonic transmission signal; The vehicle door sensor is controlled to send the ultrasonic transmission signal.

10. The method according to claim 12, characterized in that, The method includes: Perform the door lock operation corresponding to the stated operational intent.

11. A vehicle controller, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the control method for the vehicle door sensor as described in claims 4-10.

12. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the control method for the vehicle door sensor as described in claims 4-10.

13. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the steps of the control method for the vehicle door sensor as described in claims 4-10.

14. A vehicle hatch, characterized in that, It includes a door body and a vehicle door sensor as described in any one of claims 1-3, wherein the vehicle door sensor is mounted on the door body.

15. A vehicle, characterized in that, Including the vehicle hatch as described in claim 14.

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