Vehicle door system, control method and equipment, and vehicle

Abstract

A vehicle door system (800, 900), a control method (1000), a control device (2000), and a vehicle (100) are disclosed. The vehicle door system (800, 900) includes a first vehicle door (820) and a first LiDAR (810, 910), the first vehicle door (820) being located on a first side of a vehicle (720). The first LiDAR (810, 910) is positioned at a first position on the first side, the first position being outside the vehicle door area on the first side, and the first LiDAR (810, 910) is configured to sense a first obstacle in the sweep area of ​​the first vehicle door (820), the vehicle door area being the area in which the first vehicle door (820) is located. The vehicle door system (800, 900) can be used in an intelligent vehicle or an electric vehicle. This not only reduces vehicle costs and door weight while ensuring vehicle safety, but also simplifies the complexity of the vehicle structure and eases constraints on door design.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicles, and more specifically, to vehicle door systems, control methods and devices, and vehicles.

Background Art

[0002] With the development of vehicle intelligence and electrification, the number of vehicles equipped with an automatic door opening and closing function is increasing. In the process of controlling the automatic opening and closing of vehicle doors, usually, it is necessary to use sensors to detect the environment near the vehicle door and determine whether the environment near the vehicle door meets the door opening and closing conditions and the maximum angle allowed for the opening and closing of the vehicle door.

[0003] In the current technical background, in order to detect the environment near the vehicle door, usually, it is necessary to install a large number of sensors on the vehicle. For example, one sensor is arranged for each vehicle door. However, the above-mentioned design not only leads to an increase in vehicle cost but also results in an increase in the overall weight of the vehicle.

[0004] Based on such a situation, it is urgent to develop a vehicle door control solution that can reduce vehicle cost and vehicle weight while ensuring vehicle safety.

Summary of the Invention

[0005] This application aims to provide a vehicle door system, a control method and device, and a vehicle that can not only reduce both vehicle cost and door weight while ensuring vehicle safety, but also simplify the complexity of the vehicle structure and relax the constraints of door design.

[0006] According to a first embodiment, a vehicle door system is provided. The system includes a first vehicle door and a first lidar, the first vehicle door being located on a first side of the vehicle. The first lidar is positioned at a first position on the first side, the first position being outside the vehicle door area on the first side, and the first lidar is configured to sense a first obstacle within a sweeping area of ​​the first vehicle door, the vehicle door area being the area on which the first vehicle door is located.

[0007] In the aforementioned technical solution, a LiDAR sensor positioned outside the vehicle door area can acquire information about the sweep area of ​​the vehicle door and the surrounding environment. This allows the vehicle door system to control the opening and closing of the vehicle door based on the environmental information, and further, to control the opening angle of the vehicle door based on the environmental information. For example, in a parking lot, LiDAR can detect whether there are obstacles such as other vehicles, pillars, or walls around the vehicle door that could affect its opening and closing. Furthermore, in the aforementioned technical solution, a single LiDAR sensor can monitor the environment around one side of the vehicle door and the door's open / closed state. This allows for a reduction in vehicle cost and door weight while ensuring vehicle safety. In addition, because the LiDAR sensor is positioned outside the vehicle door area, its sensing range is less affected by the structure and shape of the vehicle door. This reduces the complexity of the vehicle structure and alleviates design constraints on the door.

[0008] With respect to the first aspect, in some embodiments of the first aspect, the first position is located between the front of the vehicle and the vehicle door area on the first side, between the rear of the vehicle and the vehicle door area on the first side, and on the B-pillar on the first side.

[0009] In the aforementioned technical solution, when it is necessary to open a door, the first LiDAR located in the first position may be configured to detect environmental information around the vehicle door, thereby enabling the vehicle to determine whether the vehicle door can be opened successfully. During the vehicle's operation, the first LiDAR located in the first position may be further configured to detect information about the environment around the vehicle body in order to assist driving. LiDAR can be used for multiple purposes, which can further reduce the manufacturing cost of the vehicle.

[0010] With respect to the first aspect, in some embodiments of the first aspect, when the first position is located between the front of the vehicle and the vehicle door area on the first side, the first position is the area of ​​the front fender on the first side, or when the first position is located between the rear of the vehicle and the vehicle door area on the first side, the first position is the area of ​​the rear fender on the first side.

[0011] In some possible embodiments, a rider positioned on the rear fender may be further configured to identify, after the vehicle door has been opened, whether an obstacle exists between the open vehicle door and the vehicle body. If an obstacle is present, the vehicle door system may control the vehicle door to remain open.

[0012] In the aforementioned technical solution, the rider is positioned on the fender, facilitating rider installation and maintenance.

[0013] With respect to the first aspect, in some embodiments of the first aspect, the vehicle further includes a second vehicle door, the second vehicle door being located on the first side, and the first LiDAR is further configured to sense a second obstacle within the sweep area of ​​the second vehicle door.

[0014] The aforementioned technical solution allows a single LiDAR to monitor the environment around two or more doors on one side of the vehicle, thereby reducing vehicle costs. Furthermore, the vehicle door system can control two or more vehicle doors by analyzing data from the LiDAR, further reducing the complexity of the vehicle door control logic.

[0015] With respect to the first aspect, in some embodiments of the first aspect, the system further includes a first processing unit. The first processing unit is configured to control the first vehicle door to open or to keep the first vehicle door closed, based on the position of a first obstacle relative to the first vehicle door.

[0016] The aforementioned technical solution allows for control over whether the vehicle door is open or closed based on the position of the obstacle relative to the vehicle door. If the obstacle is too close to the vehicle door, the system can control the vehicle door to remain closed to avoid a collision between the vehicle door and the obstacle and reduce the user's property loss.

[0017] With respect to the first aspect, in some embodiments of the first aspect, the first processing unit is configured to determine the maximum opening dimension of the first vehicle door based on the position of the first obstacle relative to the first vehicle door (the maximum opening dimension represents the maximum angle to which the first vehicle door can rotate and / or the maximum width to which the first vehicle door can be opened when obstructed by the first obstacle), and to control the first vehicle door to open if the maximum opening dimension is greater than or equal to a preset dimensional threshold, or to keep the first vehicle door closed if the maximum opening dimension is less than a preset dimensional threshold.

[0018] For example, a preset dimension threshold may indicate a rotation angle and / or an opening width that facilitates user entry and exit. In one example, if the preset dimension threshold indicates a rotation angle, the preset dimension threshold may be 20°, 25°, or another angle. In another example, if the preset dimension threshold indicates an opening width, the preset dimension threshold may be 30 centimeters, 35 centimeters, or another width.

[0019] The aforementioned technical solutions provide effective criteria for determining whether an obstacle is preventing the opening and closing of a vehicle door.

[0020] With respect to the first aspect, in some embodiments of the first aspect, the first processing unit is configured to control the opening of the first vehicle door based on the maximum opening dimension or a preset dimension threshold when the maximum opening dimension is greater than or equal to a preset dimension threshold.

[0021] For example, controlling a first vehicle door to open based on its maximum opening dimension includes controlling it to open to its maximum opening dimension, and controlling a first vehicle door to open based on a preset dimension threshold includes controlling it to open to a preset dimension threshold.

[0022] The aforementioned technical solution allows for control over the rotation angle of the vehicle doors. This improves the vehicle's intelligence and increases the degree of human-likeness in the process of opening the vehicle doors, thereby enhancing the user's driving experience.

[0023] With respect to the first aspect, in some embodiments of the first aspect, the first processing unit is further configured to issue a prompt indicating that opening the first vehicle door is restricted when it controls the first vehicle door to remain closed.

[0024] For example, at least one of a speaker and a display device can be used to notify a user that opening the first vehicle door is restricted.

[0025] In the above-described technical solution, the user can be timely reminded that the opening and closing of the vehicle door is blocked, so that the user can notice the related obstacles and avoid the collision between the vehicle door and the obstacles caused by the forced opening and closing of the door by the user. After the user avoids the obstacle by adjusting the posture of the vehicle, the vehicle door is controlled to be opened, which can help improve the opening and closing efficiency of the door.

[0026] Regarding the first aspect, in some embodiments of the first aspect, the system further includes a transceiver unit configured to receive a first command, and the first command is used to request to open the first vehicle door. When the transceiver unit receives the first command, the first processing unit is further configured to control the first lidar to collect information about the first obstacle.

[0027] In the above-described technical solution, when the transceiver unit receives a command used to control the opening of the vehicle door, the first lidar starts to collect information about the environment near the vehicle door. This helps to reduce the energy consumption required for the lidar, thereby extending the cruising range of the vehicle.

[0028] Regarding the first aspect, in some embodiments of the first aspect, the first lidar is a short-range lidar.

[0029] For example, the short-range lidar can include at least one of a mechanical lidar, an optical phased array (OPA) lidar, and a time of flight (TOF) lidar. of flight, TOF) lidar can include at least one of them.

[0030] In the above-described technical solution, the lidar has a higher detection accuracy compared to the millimeter-wave radar. The short-range lidar has a smaller blind spot and a wider effective detection range compared to the long-range lidar. The short-range lidar is used to detect the proximity of the vehicle door. This helps to avoid security incidents caused by the insufficient detection accuracy of the millimeter-wave radar or the inability of the long-range lidar to detect nearby objects, and helps to improve the safety performance of the vehicle.

[0031] According to a second aspect, a vehicle door system is provided. The system includes a first lidar and a first processing unit. The first lidar is disposed at a first position on a first side of the vehicle, and the first position is located outside the vehicle door area on the first side. The first lidar is configured to sense a first obstacle within a sweeping area of the first vehicle door, and the vehicle door area is an area where the first vehicle door is located. The first processing unit is configured to control to open the first vehicle door or to keep the first vehicle door closed based on the position of the first obstacle relative to the first vehicle door.

[0032] Regarding the second aspect, in some embodiments of the second aspect, the first processing unit is configured to determine the maximum opening dimension of the first vehicle door based on the position of the first obstacle relative to the first vehicle door, (the maximum opening dimension indicates the maximum angle by which the first vehicle door can rotate and / or the maximum width by which the first vehicle door can be opened in a state blocked by the first obstacle,) and when the maximum opening dimension is greater than or equal to a preset dimension threshold, control to open the first vehicle door, or when the maximum opening dimension is less than the preset dimension threshold, control to keep the first vehicle door closed.

[0033] Regarding the second aspect, in some embodiments of the second aspect, the first processing unit is configured to control to open the first vehicle door based on the maximum opening dimension or the preset dimension threshold when the maximum opening dimension is greater than or equal to the preset dimension threshold.

[0034] With respect to a second aspect, in some embodiments of the second aspect, the first side further includes a second vehicle door, and the first LiDAR is further configured to sense a second obstacle within the sweep area of ​​the second vehicle door. The first processing unit is further configured to control the second vehicle door to open or to keep the second vehicle door closed, based on the position of the second obstacle relative to the second vehicle door.

[0035] With respect to a second aspect, in some embodiments of the second aspect, the first processing unit is further configured to issue a prompt indicating that opening the first vehicle door is restricted when it controls the first vehicle door to remain closed.

[0036] With respect to a second aspect, in some embodiments of the second aspect, the system further includes a transceiver unit configured to receive a first command used to request that a first vehicle door be opened. A first processing unit is further configured to control a first lidar to collect information about a first obstacle once the transceiver unit has received the first command.

[0037] With respect to the second aspect, in some embodiments of the second aspect, the first rider is a short-distance rider.

[0038] A third embodiment provides a control method, which may include: acquiring information about a first obstacle in the sweep area of ​​a first vehicle door, collected by a first lidar, the first lidar being positioned at a first position on a first side of the vehicle, the first position being outside the vehicle door area on the first side, and the vehicle door area being the area in which the first vehicle door is located; and controlling the first vehicle door to open or to keep the first vehicle door closed, based on the position of the first obstacle relative to the first vehicle door.

[0039] With respect to a third aspect, in some embodiments of the third aspect, the step of controlling to open or keep closed a first vehicle door based on the position of a first obstruction relative to the first vehicle door includes: determining a maximum opening dimension of the first vehicle door based on the position of a first obstruction relative to the first vehicle door, the maximum opening dimension representing the maximum angle to which the first vehicle door can be rotated and / or the maximum width to which the first vehicle door can be opened while obstructed by the first obstruction; and controlling to open the first vehicle door if the maximum opening dimension is greater than or equal to a preset dimensional threshold, or controlling to keep closed the first vehicle door if the maximum opening dimension is less than a preset dimensional threshold.

[0040] With respect to a third aspect, in some embodiments of the third aspect, the step of controlling the first vehicle door to open when the maximum opening dimension is greater than or equal to a preset dimensional threshold includes the step of controlling the first vehicle door to open based on the maximum opening dimension or a preset dimensional threshold when the maximum opening dimension is greater than or equal to a preset dimensional threshold.

[0041] With respect to a third aspect, in some embodiments of the third aspect, the first side further includes a second vehicle door, and the first lidar is further configured to sense a second obstacle within the sweep area of ​​the second vehicle door, and this method further includes the step of controlling to open the second vehicle door or to keep the second vehicle door closed based on the position of the second obstacle relative to the second vehicle door.

[0042] With respect to a third aspect, in some embodiments of the third aspect, the method further includes the step of issuing a prompt that opening the first vehicle door is restricted when the control is to keep the first vehicle door closed.

[0043] With respect to a third aspect, in some embodiments of the third aspect, the method further includes the steps of receiving a first command used to request that a first vehicle door be opened, and controlling a first LiDAR in accordance with the first command to collect information about a first obstacle.

[0044] With respect to the third aspect, in some embodiments of the third aspect, the first rider is a short-distance rider.

[0045] According to a fourth aspect, a control device is provided, which includes an acquisition unit and a processing unit. The acquisition unit is configured to acquire information collected by a first lidar, which is information about a first obstacle in the sweep area of ​​a first vehicle door. The first lidar is located at a first position on the first side of the vehicle, the first position being outside the vehicle door area on the first side, and the vehicle door area being the area in which the first vehicle door is located. The processing unit is configured to control the first vehicle door to open or to keep the first vehicle door closed, based on the position of the first obstacle relative to the first vehicle door.

[0046] With respect to a fourth aspect, in some embodiments of the fourth aspect, the processing unit is configured to determine the maximum opening dimension of the first vehicle door based on the position of the first obstacle relative to the first vehicle door (the maximum opening dimension represents the maximum angle to which the first vehicle door can rotate and / or the maximum width to which the first vehicle door can be opened while obstructed by the first obstacle), and to control the first vehicle door to open if the maximum opening dimension is greater than or equal to a preset dimensional threshold, or to keep the first vehicle door closed if the maximum opening dimension is less than a preset dimensional threshold.

[0047] With respect to the fourth aspect, in some embodiments of the fourth aspect, the processing unit is configured to control the opening of the first vehicle door based on the maximum opening dimension or a preset dimension threshold when the maximum opening dimension is greater than or equal to a preset dimension threshold.

[0048] With respect to a fourth aspect, in some embodiments of the fourth aspect, the first side further includes a second vehicle door, and the first lidar is further configured to sense a second obstacle within the sweep area of ​​the second vehicle door. The processing unit is further configured to control whether to open the second vehicle door or to keep the second vehicle door closed, based on the position of the second obstacle relative to the second vehicle door.

[0049] With respect to a fourth aspect, in some embodiments of the fourth aspect, the processing unit is further configured to issue a prompt indicating that opening the first vehicle door is restricted when it controls the first vehicle door to remain closed.

[0050] With respect to a fourth aspect, in some embodiments of the fourth aspect, the acquisition unit is further configured to receive a first command used to request that a first vehicle door be opened. The processing unit is further configured to control a first lidar in accordance with the first command and to collect information about a first obstacle.

[0051] With respect to the fourth aspect, in some embodiments of the fourth aspect, the first rider is a short-distance rider.

[0052] According to a fifth aspect, a control device is provided, which includes a memory configured to store a computer program and a processor configured to execute the computer program stored in the memory, thereby enabling the device to perform the method in any possible embodiment of the third aspect.

[0053] According to the sixth aspect, a vehicle is provided. This vehicle includes a vehicle door system in any possible embodiment of the first or second aspect, or includes control equipment in any possible embodiment of the fourth or fifth aspect.

[0054] According to the seventh aspect, a computer program product is provided, which includes computer program code. When this computer program code is executed on a computer, the computer can perform the methods in any possible embodiment of the third aspect.

[0055] It should be noted that this computer program code may be stored entirely or partially in a first storage medium. The first storage medium may be encapsulated together with the processor or separately from the processor.

[0056] According to the eighth aspect, a computer-readable medium is provided which stores instructions, and when these instructions are executed by a processor, the processor performs the method in any possible embodiment of the third aspect.

[0057] According to the ninth aspect, a chip is provided which includes a circuit which is configured to perform a method in any possible embodiment of the third aspect. [Brief explanation of the drawing]

[0058] [Figure 1] This is a functional block diagram of a vehicle according to one embodiment of the present invention. [Figure 2] This figure shows the position of the lidar according to one embodiment of the present invention. [Figure 3(a)] This figure shows the detection range of the LiDAR according to one embodiment of the present invention. [Figure 3(b)] This figure shows the detection range of the LiDAR according to one embodiment of the present invention. [Figure 3(c)] This figure shows the detection range of the LiDAR according to one embodiment of the present invention. [Figure 3(d)] This figure shows the detection range of the LiDAR according to one embodiment of the present invention. [Figure 3(e)] This figure shows the detection range of the LiDAR according to one embodiment of the present invention. [Figure 3(f)]This figure shows the detection range of the LiDAR according to one embodiment of the present invention. [Figure 4] Block diagram showing the architecture of a control system according to one embodiment of the present invention. [Figure 5] This is a schematic flowchart of a control method according to one embodiment of the present invention. [Figure 6(a)] This figure shows an application scenario according to one embodiment of the present invention. [Figure 6(b)] This figure shows an application scenario according to one embodiment of the present invention. [Figure 6(c)] This figure shows an application scenario according to one embodiment of the present invention. [Figure 6(d)] This figure shows an application scenario according to one embodiment of the present invention. [Figure 7(a)] This figure shows another application scenario according to one embodiment of the present invention. [Figure 7(b)] This figure shows another application scenario according to one embodiment of the present invention. [Figure 8] This is a block diagram of a vehicle door system according to one embodiment of the present invention. [Figure 9] Another block diagram of a vehicle door system according to one embodiment of the present invention. [Figure 10] This is a schematic flowchart of a control method according to one embodiment of the present invention. [Figure 11] This is a block diagram of a control device according to one embodiment of the present invention. [Figure 12] This is another block diagram of a control device according to one embodiment of the present invention. [Modes for carrying out the invention]

[0059] In the description of embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. In this specification, "and / or" describes a relationship between related objects and indicates that three relationships may exist. For example, A and / or B may indicate three cases: only A exists, both A and B exist, and only B exists. In this application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following items(number)" or similar expressions means any combination of these items, including any combination of singular or plural items(number). For example, at least one item(number) of a, b, or c may mean a, b, c, a and b, a and c, b and c, or a, b, and c, where a, b, and c may be singular or plural.

[0060] In the embodiments of this application, prefixes such as "first" and "second" are used solely to distinguish different subjects and do not limit the location, order, priority, quantity, or content of the subjects. The use of prefixes used to distinguish subjects in the embodiments of this application, such as ordinal numbers, does not constitute a limitation on the subjects. For a description of the subjects, please refer to the claims or the contextual description in the embodiments. The use of such prefixes does not constitute a redundant limitation.

[0061] As mentioned above, currently used solutions for automatic door opening and closing control require the installation of at least one sensor, such as an ultrasonic sensor or millimeter-wave sensor, on each vehicle door. Ultrasonic sensors have limitations in their detectable range. To achieve high detection accuracy, it is usually necessary to install two to three ultrasonic sensors on one vehicle door. Furthermore, because the accuracy of ultrasonic data is susceptible to vibration interference, in specific embodiments, vibration stoppers must be added to the vehicle door. As a result, the weight and cost of the vehicle door increase further. Millimeter-wave sensors have superior detection range and accuracy compared to ultrasonic sensors. Generally, only one millimeter-wave sensor needs to be installed on one vehicle door. However, millimeter-wave radar cannot penetrate metal parts. Therefore, when installing millimeter-wave radar, it is necessary to consider the impact of the structure and shape of the vehicle door on the transmission range of millimeter waves. In this way, the design of the structure and shape of the vehicle door is greatly restricted.

[0062] With this in mind, the present invention provides a vehicle door system, method, and apparatus. The vehicle door system may include a short-range lidar and a processing unit. The short-range lidar is positioned on the side of the vehicle and located outside the vehicle door area. Furthermore, the sensing range of the short-range lidar covers the sweeping area of ​​the vehicle door. The processing unit can control whether to open or keep the vehicle door closed based on environmental information acquired by the short-range lidar. In the above vehicle door control solution, it is possible to determine whether the environment near the two vehicle doors satisfies the door-opening conditions and / or the maximum angle at which the vehicle door can be opened, based on information about the environment near the vehicle doors, which is acquired by the two lidars. This helps to reduce the overall bill of material (BOM) cost of the vehicle and the weight of the door. Furthermore, the unique positioning of the two sensors can further reduce the complexity of the vehicle structure and alleviate design constraints on the door.

[0063] The sweep area of ​​a vehicle door will be understood to include the space occupied during the rotation of the vehicle door. More specifically, the sweep area of ​​a vehicle door may be the space occupied during the rotation of the vehicle door from position 1 to position 2. Position 1 may be the corresponding position when the vehicle door is closed. Position 2 may be the position corresponding to the maximum angle at which the vehicle door can be opened in the absence of obstacles. Alternatively, position 2 may be the position corresponding to a vehicle door opening angle preset in the vehicle system.

[0064] The following describes the technical solutions of the embodiments of this application with reference to the attached drawings.

[0065] Figure 1 is a functional block diagram of a vehicle 100 according to one embodiment of the present invention. The vehicle 100 may include a sensing system 120, a display device 130, and a computing platform 150. The sensing system 120 may include one or more sensors that sense information about the surrounding environment of the vehicle 100. For example, the sensing system 120 may include a positioning system. The positioning system may be a global positioning system (GPS), a Beidou system, another positioning system, or an inertial measurement unit (IMU). As another example, the sensing system 120 may further include one or more of lidar, millimeter-wave radar, ultrasonic radar, and imaging equipment.

[0066] The in-vehicle display devices 130 are mainly classified into two types. The first type is an in-vehicle display, and the second type is a projection display, such as a head-up display (HUD) device. An in-vehicle display is a physical display and is an important part of the in-vehicle infotainment system. Multiple displays may be arranged in the vehicle interior, such as a digital instrument display (hereinafter abbreviated as instrument screen), a central control screen, a display in front of the passenger in the front seat (also called the front row passenger), a display in front of the left rear row passenger, a display in front of the right rear row passenger, and so on. Furthermore, the windows of the vehicle can also be used as display screens. In some possible embodiments, one or more in-vehicle displays may be human-machine interfaces (HMIs). For example, the central display may be an HMI. A head-up display (HUD), also known as a head-up display system, is primarily configured to improve driving safety and comfort by displaying driving information such as speed and navigation on a display device in front of the user (e.g., the windshield), thereby reducing the time the user's eyes need to move and avoiding pupil dilation caused by eye movement. Examples of HUDs include combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality (AR-HUD) systems.

[0067] Some or all of the functions of vehicle 100 may be controlled by a computing platform 150. The computing platform 150 may include one or more processors such as processors 151 to 15n (where n is a positive integer). A processor is a circuit having instruction processing capability. In one embodiment, a processor may be a circuit having instruction reading and execution capability, and may be, for example, a Central Processing Unit (CPU), a microprocessor, a Graphics Processing Unit (GPU) (which may be understood as a microprocessor), or a Digital Signal Processor (DSP). In another embodiment, a processor may implement specific functions using logic relationships of hardware circuits. Logic relationships of hardware circuits may be fixed or reconfigurable. For example, a processor may be a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process by which the processor loads configuration documents to realize the hardware circuit configuration can be understood as the process by which the processor loads instructions to realize some or all of the functions of the aforementioned units. Alternatively, the processor may be a hardware circuit designed for artificial intelligence, and can be understood as an ASIC such as a neural network processing unit (NPU), a tensor processing unit (TPU), or a deep learning processing unit (DPU). Furthermore, the computing platform 150 may further include memory, which is configured to store instructions.Some or all of the processors 151-15n can call instructions in memory, execute those instructions, and implement the corresponding functions.

[0068] The computing platform 150 may include an advanced driving assistance system (ADAS). The ADAS uses multiple sensors in the vehicle (including, but not limited to, LiDAR, millimeter-wave radar, cameras, ultrasonic sensors, global positioning systems, and inertial measurement units) to acquire information about the vehicle's surroundings, and analyzes and processes the acquired information to realize functions such as obstacle detection, target recognition, vehicle positioning, route planning, and user monitoring / warning. In this way, the driving safety, automation, and comfort of the vehicle are improved.

[0069] From a logical function perspective, ADAS systems generally include three main functional modules: a sensing module, a decision-making module, and an execution module. The sensing module uses sensors to perceive the surrounding environment of the vehicle and inputs the corresponding real-time data to the processing center of the decision-making layer. The sensing module mainly includes on-board cameras, ultrasonic radar, millimeter-wave radar, or lidar. The decision-making module uses computing equipment and algorithms to make corresponding decisions based on the information obtained by the sensing module. When the execution module receives a decision command from the decision-making module, it performs the corresponding action, such as driving, changing lanes, steering, braking, or issuing a warning.

[0070] In this embodiment of the present invention, the computing platform 150 can control whether to open or keep the vehicle door open based on information about obstacles near the vehicle door of the vehicle 100, which is acquired by the sensing system 120. Furthermore, the computing platform 150 can enable the user to know the vehicle door control result in a timely manner by controlling the display device 130 to display the vehicle door control result.

[0071] In this embodiment of the present invention, in order to reduce the cost and weight of the vehicle, the LiDAR is positioned on one side of the vehicle to obtain information about the sweep area of ​​the vehicle door and information about the environment near the sweep area. Specifically, the LiDAR is positioned on the side of the vehicle and located outside the vehicle door area, and the sensing range of the LiDAR covers at least the sweep area of ​​the vehicle door.

[0072] Note that the vehicle door area is located on the vehicle body and may include the portion between the position where the hinge is located on the front door of the vehicle and the position where the sealing rubber strip is located on the rear door of the vehicle when the vehicle door is closed. For example, the vehicle is a five-seater. The vehicle door area is shown as the shaded area 210 in Figure 2(a) (hereinafter abbreviated as Figure 2a).

[0073] In some possible embodiments, the vehicle door region may include a front door region and / or a rear door region. The front door region may include the portion between the position where the hinge is located on the front door of the vehicle and the position where the sealing rubber strip is located on the front door of the vehicle, and the rear door region may include the portion between the position where the hinge is located on the rear door of the vehicle and the position where the sealing rubber strip is located on the rear door of the vehicle. For example, the vehicle is a five-seater vehicle. The front door region and the rear door region may be shown as shaded areas 220 and 230 in Figure 2(b) (hereinafter abbreviated as Figure 2b).

[0074] Figure 2 shows the arrangement position of the lidar according to one embodiment of the present invention.

[0075] As shown in Figure 2a, the rider can be positioned between the front of the vehicle and the vehicle door area, for example, on the front fender. More specifically, the rider may be positioned above the front wheel eyebrow, for example, (1) in Figure 2a. Alternatively, the rider can be positioned between the rear of the vehicle and the vehicle door area, for example, on the rear fender. More specifically, the rider may be positioned above the rear wheel eyebrow, for example, (2) in Figure 2a.

[0076] As shown in Figure 2b, the lidar may be positioned between the front and rear door areas of the vehicle, for example, on the B-pillar of the vehicle.

[0077] In some possible embodiments, one or more riders may be positioned on one side of the vehicle.

[0078] In some possible embodiments, the specific placement of the LiDAR outside the vehicle door area may alternatively be determined based on one or more of the LiDAR's blind spots, ranging capabilities, and field of view (FOV). The specific placement may include the distance from the boundary of the vehicle door area (e.g., the location of the vehicle door hinge or sealing rubber strip) and / or the distance from the lowest point of the wheel.

[0079] For example, a LiDAR system may include at least one of a short-range LiDAR, a medium-range LiDAR, and a long-range LiDAR. The following section describes the requirements regarding the sensing range of LiDARs positioned at different locations, using the example of a short-range LiDAR system.

[0080] Figures 3(a) and 3(b) respectively show the horizontal and vertical sensing ranges required for a short-range LiDAR to acquire the sweep area of ​​the vehicle door and environmental information near the sweep area of ​​the vehicle door when the short-range LiDAR is positioned between the front of the vehicle and the vehicle door area.

[0081] Figures 3(c) and 3(d) show the horizontal and vertical sensing ranges required for a short-range LiDAR to acquire the sweep area of ​​the vehicle door and environmental information near the sweep area of ​​the vehicle door, respectively, when the short-range LiDAR is positioned between the rear of the vehicle and the vehicle door area.

[0082] Figures 3(e) and 3(f) respectively show the horizontal and vertical sensing ranges required for a short-range lidar to acquire the sweep area of ​​the vehicle door and environmental information near the sweep area of ​​the vehicle door when the short-range lidar is installed on the B-pillar.

[0083] For example, a short-range lidar can include at least one of a mechanical lidar, an OPA lidar, and a TOF lidar. A TOF lidar uses an emitter to emit an infrared signal of a specific wavelength, which is then irradiated onto a target object and reflected. Using the reflected signal from the target object, the spatial distance of the target object can be calculated based on the relationship between distance and the speed of light or phase difference, and finally a point cloud image showing the position and distance of the spatial object can be obtained.

[0084] The distance measurement range of the TOF lidar may be in the range of 5m to 10m. The distance measurement accuracy may reach 3cm to 5cm. The horizontal and vertical resolutions can be determined based on the actual scenario requirements. The blind spot of the TOF lidar is within 5cm to 15cm, which is smaller than the 60cm blind spot of long-range lidar. The horizontal and vertical FOVs can be determined based on the actual scenario requirements. In this way, the aforementioned requirements regarding the placement and sensing range of the lidar can be met. For example, Table 1 shows the correspondence between parameters and corresponding parameter values ​​in a TOF lidar. [Table 1]

[0085] Please understand that the correspondence between the parameters and their values ​​listed in Table 1 is merely an example for illustrative purposes.

[0086] Figure 4 is a block diagram showing the architecture of a control system according to one embodiment of the present invention. As shown in Figure 4, the system includes a vehicle door control module 410, a processing module 420, an environment sensing module 430, and a vehicle door 440. The vehicle door control module 410 and the processing module 420 may each include one or more processors in the computing platform 150 shown in Figure 1. The vehicle door control module 410 is configured to control the opening and closing of the vehicle door 440 and can further control the rotation angle of the vehicle door. The processing module 420 is configured to control the environment sensing module 430 to acquire environmental information and, based on that environmental information, to determine whether the vehicle door control module 410 can be controlled to open the vehicle door 440. The environment sensing module 430 may include one or more sensors in the sensing system 120 shown in Figure 1, for example, a short-range lidar sensor. More specifically, the placement and sensing range of one or more sensors for collecting environmental information about the vehicle door sweep area and the area surrounding the vehicle door sweep area may be shown in Figures 2 and 3(a) to 3(f), respectively. Environmental information includes information about the location of obstacles, etc.

[0087] Please note that the modules described above are merely examples. In actual applications, these modules may be added or removed based on actual requirements. For example, in the system architecture shown in Figure 4, the vehicle door control module 410 and the processing module 420 can be integrated into a single module.

[0088] In the specific implementation process, when the vehicle door control module 410 receives a door open command, it sends a notification to the processing module 420, which in turn controls the environment sensing module 430 to obtain information about the sweep area of ​​the vehicle door and the environment near the sweep area of ​​the vehicle door. Furthermore, the processing module 420 processes and analyzes the information about the sweep area of ​​the vehicle door and the environment near the sweep area of ​​the vehicle door to determine whether there are any obstacles in the sweep area of ​​the vehicle door that affect the opening and closing angle of the vehicle door, and further sends a control command to the vehicle door control module 410 based on the relative positional relationship between the obstacle and the vehicle door. The control command may include a command to open and / or keep the vehicle door closed, or the control command may further include information about the maximum angle in which the vehicle door can be opened. Furthermore, the vehicle door control module 410 controls the vehicle door 440 to open and / or keep it closed according to the control command.

[0089] In a specific embodiment of the process, the vehicle door control module 410 may include a vehicle integration unit (VIU), or a body control module (BCM), or another type of vehicle door controller. The processing module 420 may include at least one of what is called an autonomous driving domain controller (ADC) or mobile data center (MDC), a vehicle domain controller (VDC), and a chassis domain controller (CDC). The processing module 420 may include another computing platform, for example, an in-car application server. Server, ICAS controller, body domain controller Controller (BDC), Special Equipment System (SAS), Media Graphics Unit (MGU), Body Super Core (body Super Core (BSC), or ADAS Super Core (ADAS It may further include a super core, but is not limited to this application. ICAS may include at least one of the following: a vehicle control server ICAS1, an intelligent driving server ICAS2, an intelligent cockpit server ICAS3, and an information entertainment server ICAS4.

[0090] Figure 5 is a schematic flowchart of a control method according to one embodiment of the present invention. This method may be applied to the vehicle shown in Figure 1, or it may be implemented by the system shown in Figure 4. For example, the following description will use an example implemented by a vehicle's computing platform. Method 500 may include the following steps:

[0091] S501: When a door open command is received, environmental sensing information for a pre-set area is acquired.

[0092] For example, a door open command is a command that requests that at least one vehicle door be opened, and the predefined area can include the sweep area of ​​at least one vehicle door. For example, a door open command could be a command that controls the opening of vehicle door 1, and the predefined area can include the sweep area of ​​vehicle door 1.

[0093] In one example, a door open command can be generated in response to user action. For instance, if a user taps the "one-tap door open" button inside the vehicle, the door open command is generated in response to the user's action. In another example, a user taps "one-tap door open" on a mobile device associated with the vehicle. The mobile device then uses a communication system to transmit a first signal to the vehicle, which is used to control the vehicle to open the doors. Upon receiving the first signal, the vehicle generates a door open command in response to the first signal.

[0094] In another example, the door open command may be automatically generated by the vehicle. For instance, a user may pre-set conditions in the system for automatically opening the vehicle's doors, and when the vehicle detects that these conditions are met, it generates a door open command.

[0095] For example, when the computing platform receives a door open command, it controls the LiDAR shown in Figure 2 or Figures 3(a) to 3(f) to acquire environmental sensing information for a pre-defined area.

[0096] S502: Based on environmental sensing information, determine whether there are obstacles in a pre-defined area.

[0097] Specifically, if there is an obstacle in a pre-defined area, S503 is executed; otherwise, S505 is executed.

[0098] S503: Determine the maximum opening dimension of the vehicle door based on the position of any obstacles relative to the vehicle door.

[0099] For example, the position of an obstacle relative to a vehicle door can be determined based on point cloud data of the obstacle acquired by LiDAR.

[0100] For example, the opening dimension of a vehicle door includes the rotation angle and / or opening width of the vehicle door. The opening width of a vehicle door may be the distance between a second point on the edge of the vehicle door and a third point on the door frame of the vehicle door. The second point may be any point on the edge on the side of the vehicle door that is away from the hinge. When the vehicle door is closed, the second point coincides with the third point. Alternatively, the opening width of a vehicle door may be determined in another way.

[0101] For example, the position of an obstacle relative to a vehicle door may include the coordinates of the obstacle in the vehicle coordinate system.

[0102] In some possible embodiments, if the computing platform has pre-stored the position of the lidar on the vehicle, the coordinates of an obstacle in the vehicle coordinate system may be determined based on the lidar's position and the obstacle's point cloud data.

[0103] In some possible embodiments, the lidar sensing range further includes the vehicle door area, i.e., the lidar can sense with the vehicle door closed. In this case, the point cloud data acquired by the lidar includes point cloud data of the obstacle and point cloud data of the vehicle door, and the relative position of the obstacle to the vehicle door can be determined based on the point cloud data of the obstacle and the point cloud data of the vehicle door.

[0104] For example, determining the maximum opening dimension of a vehicle door based on the position of an obstacle relative to the vehicle door includes determining the first point of the obstacle based on the position of the obstacle relative to the vehicle door. The maximum opening dimension of the vehicle door is determined based on the angle between the line in which the first point of the obstacle and the vehicle door hinge are located and the x-axis of the vehicle coordinate system (or the central axis of the vehicle). The first point of the obstacle is the point where the obstacle first collides with the vehicle door during the rotation process of the vehicle door.

[0105] S504: Determine whether the maximum opening dimension is less than a preset dimension threshold.

[0106] In some possible embodiments, the preset dimensional thresholds may be preset by the system or set by the user.

[0107] For example, a preset dimension threshold may indicate a rotation angle and / or an opening width that facilitates user entry and exit. In one example, if the preset dimension threshold indicates a rotation angle, the preset dimension threshold may be 20°, 25°, or another angle. In another example, if the preset dimension threshold indicates an opening width, the preset dimension threshold may be 30 centimeters, 35 centimeters, or another width.

[0108] Specifically, if the maximum opening dimension is greater than or equal to a preset dimension threshold, S505 is executed; otherwise, S506 is executed.

[0109] S505: Controls the vehicle doors to open.

[0110] For example, the vehicle door may be directly controlled to open to its maximum (extreme) angle if there are no obstacles in a pre-defined area. The maximum angle is the maximum angle to which the vehicle door can be opened.

[0111] In another example, if there is an obstacle within a predetermined area, the vehicle door may be controlled to open to its maximum opening dimension, or to open to a predetermined opening dimension threshold.

[0112] Figures 6(a) to 6(d) show point cloud data collected by lidar.

[0113] As shown in Figure 6(a), the point cloud data includes a figure 601 of point cloud data of the vehicle door in a closed state, and a figure 602 of point cloud data of the sweep area of ​​the vehicle door and obstacles near the vehicle door. For example, the sweep area of ​​the vehicle door is shown in 6011.

[0114] As shown in Figure 6(b), the point cloud data includes a figure of point cloud data 603 of the open vehicle door and a figure of point cloud data 604 of the obstacle. Some of the obstacles shown by point cloud data 604 are located within the sweep area 6011 of the vehicle door, but do not affect the opening and closing of the vehicle door.

[0115] As shown in Figure 6(c), the point cloud data includes point cloud data 605 of the vehicle door in a closed state and point cloud data 606 of obstacles within the vehicle door's sweep area 6011. Obstacles indicated by point cloud data 606 may interfere with the opening and closing of the vehicle door. Therefore, the maximum opening angle of the vehicle door can be determined based on point cloud data 606. Furthermore, if it is determined that the maximum opening angle of the vehicle door is greater than or equal to a preset angle threshold, the vehicle door can be controlled to open. Figure 6(d) shows the point cloud data collected by the lidar when the vehicle door is opened. Point cloud data of the vehicle door in an open state is shown in 607.

[0116] S506: Control the vehicle doors to remain closed and / or notify the user that there is an obstruction preventing the vehicle doors from being opened.

[0117] For example, controlling the vehicle doors to remain closed may include controlling them to lock.

[0118] For example, a display device can be used to notify the user that an obstacle is preventing the vehicle door from opening. The display device may be one or more of the display devices 130 in the embodiments described above. Alternatively, an audio broadcast can be used to notify the user that an obstacle is preventing the vehicle door from opening.

[0119] According to the control method provided in this embodiment of the present invention, the opening angle of a vehicle door can be controlled based on the position of an obstacle relative to the vehicle door. This contributes to improving the intelligence of the vehicle and the human-likeness of the vehicle door opening and closing process, and also improves the user's driving experience.

[0120] Figures 7(a) and 7(b) illustrate application scenarios of a control method according to one embodiment of the present invention. As shown in Figure 7(a), vehicle 710 is parked to the left of the parking position of vehicle 720. In this way, the driver's side door of vehicle 720 can be opened normally, but the opening and closing of the left rear door of vehicle 720 is restricted.

[0121] In the above scenario, when vehicle 720 receives a control command to open the driver's door, it can determine, based on the LiDAR sensor results, that there are no obstacles in the sweep area of ​​the driver's door, and then control the vehicle to open the driver's door. When vehicle 720 receives a command to control the left rear door, it may determine, based on the LiDAR sensor results, that an obstacle in the sweep area of ​​the left rear door is preventing the door from opening or closing, and that the maximum opening dimension of the left rear door is less than a preset dimension threshold. In this way, the vehicle can control the vehicle to keep the left rear door closed.

[0122] Furthermore, if vehicle 720 determines that it cannot open the left rear door to a preset dimensional threshold due to an obstacle, vehicle 720 may notify the user that the door cannot be opened properly. For example, as shown in Figure 7(b), the user may be notified of a specific vehicle door whose opening and closing is restricted using at least one of the speaker, HUD, and central control display. For example, as shown in 730, the HUD displays "Warning: Door opening and closing is restricted." Alternatively, as shown in 740, the speaker announces "Door opening and closing is restricted." Alternatively, as shown in 750, the central control display displays "Left rear door opening and closing is restricted! Adjust your pose and try again." In one example, as shown in 751, the central control display may further "highlight" or "flash" the vehicle door whose opening and closing is restricted.

[0123] Figure 8 is a block diagram of a vehicle door system 800 according to one embodiment of the present application. The vehicle door system 800 may be configured to implement method 500. As shown in Figure 8, the vehicle door system 800 includes a first lidar 810 and a first vehicle door 820. The first vehicle door 820 is located on the first side of the vehicle door system 800. The first lidar 810 is positioned at a first position on the first side, the first position is outside the vehicle door area on the first side, and the first lidar 810 is configured to sense a first obstacle within the sweep area of ​​the first vehicle door 820, the vehicle door area being the area on which the first vehicle door 820 is located.

[0124] For example, the first side could be the left or right side of the vehicle.

[0125] For example, the first lidar 810 may include one lidar in the sensing system 120 shown in Figure 1. Alternatively, the first lidar 810 may include one lidar in the environment sensing module 430 shown in Figure 4.

[0126] For example, specific placement locations of the first rider 810 are shown in Figure 2. For example, the first rider 810 may be placed between the front of the vehicle and the vehicle door area on the first side, between the rear of the vehicle and the vehicle door area on the first side, or on the B-pillar on the first side. More specifically, the first rider 810 may be placed on the front fender on the first side, or on the rear fender on the first side.

[0127] Optionally, the vehicle door system 800 further includes a first processing unit. The first processing unit is configured to control the first vehicle door 820 to open or to keep the first vehicle door 820 closed, based on the position of a first obstacle relative to the first vehicle door 820.

[0128] Optionally, the first processing unit can determine the maximum opening dimension of the first vehicle door based on the position of the first obstacle relative to the first vehicle door, control the first vehicle door to open if the maximum opening dimension is greater than or equal to a preset dimension threshold, and control the first vehicle door to remain closed if the maximum opening dimension is less than a preset dimension threshold. The maximum opening dimension represents the maximum angle to which the first vehicle door can rotate and / or the maximum width to which the first vehicle door can be opened while obstructed by the first obstacle.

[0129] For example, the maximum opening dimension may include the maximum opening dimension in method 500, and the preset dimension threshold may include the preset dimension threshold in method 500.

[0130] Optionally, if the maximum opening dimension is greater than or equal to a preset dimension threshold, the first processing unit may control the opening of the first vehicle door based on the maximum opening dimension or the preset dimension threshold.

[0131] For example, for a specific method of controlling the opening of a first vehicle door based on the maximum opening dimension or a preset dimension threshold, please refer to the description of Method 500. Further details will not be explained here.

[0132] Optionally, if the system is controlled to keep the first vehicle door closed, the first processing unit may further issue a prompt indicating that opening the first vehicle door is restricted.

[0133] For example, see the description in Method 500 for a specific method of issuing a prompt indicating that opening the first vehicle door is restricted. Further details will not be provided here.

[0134] Optionally, the vehicle further includes a transceiver unit configured to receive a first command, which is used to request that a first vehicle door be opened. A first processing unit is further configured to control a first lidar to collect information about a first obstacle once the transceiver unit receives the first command.

[0135] For example, in the embodiment described above, the first command may include a door open command.

[0136] Optionally, the first rider is a sprinter.

[0137] Figure 9 is a block diagram of a vehicle door system 900 according to one embodiment of the present invention. The vehicle door system 900 may be configured to implement method 500. As shown in Figure 9, the vehicle door system 900 includes a first lidar 910 and a first processing unit 920, wherein the first lidar 910 is positioned at a first position on a first side of the vehicle, the first position being outside the vehicle door area on the first side, and the first lidar 910 is configured to sense a first obstacle within the sweep area of ​​the first vehicle door. The vehicle door area includes the first vehicle door. The first processing unit 920 is configured to control the first vehicle door to open or to keep the first vehicle door closed, based on the position of the first obstacle relative to the first vehicle door.

[0138] It should be noted that the first lidar 910 may be a lidar in the sensing system 120 shown in Figure 1, or the first lidar 910 may be a lidar in the environment sensing module 430 shown in Figure 4, or the first lidar 910 may include the first lidar 810 shown in Figure 8. The first processing unit 920 may include one or more processors in the computing platform 150 shown in Figure 1, or the first processing unit 920 may include the vehicle door control module 410 and processing module 420 shown in Figure 4.

[0139] For example, please refer to the explanation of the corresponding part in Figure 8 for the specific placement of the first lidar 910. Further details will not be explained here.

[0140] For example, for a specific method by which the first processing unit 920 controls whether to open or keep the first vehicle door closed based on the position of the first obstacle relative to the first vehicle door, please refer to the description of the part corresponding to Method 500 or Figure 8. Further details will not be explained here.

[0141] Figure 10 is a schematic flowchart of a control method 1000 according to one embodiment of the present invention. This method can be applied to the vehicle shown in Figure 1, or it can be performed by the system shown in Figure 4 or Figure 9. Method 1000 may include the following steps:

[0142] S1010: Information relating to a first obstacle within the sweep area of ​​a first vehicle door, obtained from information sensed by a first LiDAR. The first LiDAR is positioned at a first position on the first side of the vehicle, the first position is located outside the vehicle door area on the first side, and the vehicle door area includes the first vehicle door.

[0143] For example, the first rider may include the first rider 810 of the vehicle door system 800, or the first rider 910 of the vehicle door system 900. The first vehicle door may include the vehicle door in method 500, for example, vehicle door 1, or further may include the first vehicle door 820 in Figure 8.

[0144] For the meaning of the sweep area of ​​the vehicle door, please refer to the description of the embodiment mentioned above. Further details will not be explained here.

[0145] S1020: Based on the position of the first obstacle relative to the first vehicle door, control is made to either open the first vehicle door or to keep the first vehicle door closed.

[0146] For example, for a specific method of controlling whether to open or keep a first vehicle door closed based on the position of a first obstacle relative to the first vehicle door, see the description of Method 500. Further details will not be explained here.

[0147] It should be noted that in this application, the vehicle door area may include the front door area or the rear door area. The front door area includes the front door of the vehicle but does not include the rear door of the vehicle. The rear door area includes the rear door of the vehicle but does not include the front door of the vehicle. Accordingly, based on the written concept of the invention of this application, a person skilled in the art will place a lid on the front door of the vehicle, control the rear door of the vehicle to open or to remain closed using the method described in this application, and place a lid on the rear door of the vehicle. According to the method described in this application, the front door of the vehicle is controlled to open or to remain closed. The above solution is also included in the scope of protection of this application.

[0148] In the embodiments of this application, unless otherwise specified or unless there is a logical inconsistency, the terminology and / or descriptions between embodiments are consistent and can be referenced to one another, and the technical features of different embodiments can be incorporated into newer embodiments based on their internal logical relationships.

[0149] The above describes in detail the method provided in the embodiments of the present application with reference to Figures 1 to 10. Below, the equipment provided in the embodiments of the present application will be described in detail with reference to Figures 11 and 12. Please understand that the description of the equipment embodiments corresponds to the description of the method embodiments. Therefore, for matters not described in detail, please refer to the method embodiments described above. For brevity, further details will not be explained here.

[0150] Figure 11 is a block diagram of a control device 2000 according to one embodiment of the present invention. The device 2000 includes an acquisition unit 2010 and a processing unit 2020.

[0151] The apparatus 2000 may include units configured to perform the method shown in Figure 10. Furthermore, each unit within the apparatus 2000 is used to perform the corresponding steps in the embodiment of the method shown in Figure 10.

[0152] Specifically, the acquisition unit 2010 is configured to acquire information about a first obstacle within the sweep area of ​​the first vehicle door, which is collected by the first lidar, the first lidar being located at a first position on the first side of the vehicle, the first position being located outside the vehicle door area on the first side, and the vehicle door area being the area in which the first vehicle door is located. The processing unit 2020 is configured to control the first vehicle door to open or to keep the first vehicle door closed, based on the position of the first obstacle relative to the first vehicle door.

[0153] Optionally, the processing unit 2020 is configured to determine the maximum opening dimension of the first vehicle door based on the position of the first obstacle relative to the first vehicle door (where the maximum opening dimension represents the maximum angle to which the first vehicle door can rotate and / or the maximum width to which the first vehicle door can be opened when obstructed by the first obstacle), and to control the first vehicle door to open if the maximum opening dimension is greater than or equal to a preset dimensional threshold, or to keep the first vehicle door closed if the maximum opening dimension is less than a preset dimensional threshold.

[0154] Optionally, the processing unit 2020 is configured to control the opening of the first vehicle door based on the maximum opening dimension or a preset dimension threshold, if the maximum opening dimension is greater than or equal to a preset dimension threshold.

[0155] Optionally, the first side further includes a second vehicle door, the first LiDAR is further configured to sense a second obstacle within the sweep area of ​​the second vehicle door, and the processing unit 2020 is further configured to control either opening the second vehicle door or keeping the second vehicle door closed, based on the position of the second obstacle relative to the second vehicle door.

[0156] Optionally, the processing unit 2020 may be further configured to issue a prompt indicating that opening the first vehicle door is restricted when it is controlled to keep the first vehicle door closed.

[0157] Optionally, the acquisition unit 2010 is further configured to receive a first command used to request that a first vehicle door be opened. The processing unit 2020 is further configured to control a first LiDAR to collect information about a first obstacle in accordance with the first command.

[0158] Optionally, the first rider is a sprinter.

[0159] For example, the acquisition unit 2010 and the processing unit 2020 can be located in the intelligent driving device 100 shown in Figure 1. More specifically, the acquisition unit 2010 and the processing unit 2020 can be located in the computing platform 150 shown in Figure 1. For example, the processing unit 2020 may further include the vehicle door control module 410 and the processing module 420 shown in Figure 4.

[0160] It should be noted that the division of the device into units described above is merely a logical functional division. In actual embodiments, all or part of the units may be integrated into a single physical entity or physically separated. Alternatively, the units of the device may be implemented in the form of software invoked by a processor. For example, the device includes a processor, the processor is connected to memory, the memory stores instructions, and the processor invokes the instructions stored in memory to perform one of the methods described above or to perform the functions of the units of the device. The processor is, for example, a general-purpose processor such as a CPU or microprocessor, and the memory is internal or external to the device. Alternatively, the units of the device may be implemented in the form of hardware circuits, and some or all of the functions of the units may be realized by designing the hardware circuits. The hardware circuits may be understood as one or more processors. For example, in one embodiment, the hardware circuit is an ASIC, and some or all of the functions of the units described above are implemented by designing the logical relationships between the elements in the circuit. As another example, in another embodiment, the hardware circuit may be implemented using a PLD. An FPGA is used as an example. The hardware circuit may include numerous logic gate circuits, and the connections between the logic gate circuits are configured using a configuration file to realize some or all of the functions of the aforementioned unit. All units of the aforementioned device may be implemented in the form of software called by the processor, or all units may be implemented in the form of hardware circuits, or some units may be implemented in the form of software called by the processor and the rest may be implemented in the form of hardware circuits.

[0161] Each unit within the aforementioned device may be one or more processors (or processing circuits) configured to perform the method described above, such as a CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, or FPGA, or a combination of at least two of these processor types.

[0162] Furthermore, all or some of the units within the aforementioned device may be integrated or implemented independently. In one embodiment, these units are integrated and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor configured to perform one of the methods or to realize the functions of the device's units. The at least one processor may be of different types. For example, the at least one processor may include a CPU and an FPGA, a CPU and an artificial intelligence processor, or a CPU and a GPU.

[0163] In a specific embodiment of the process, the operations performed by the acquisition unit 2010 and the processing unit 2020 may be performed by one processor or by different processors. In a specific embodiment of the process, one or more processors may be processors located on the computing platform 150 shown in Figure 1. Alternatively, the device 2000 may be a chip located on the vehicle 100.

[0164] Figure 12 is a block diagram of a control device according to one embodiment of the present invention. The control device 2100 shown in Figure 12 may include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected via an internal connection path. The memory 2130 is configured to store instructions. The processor 2110 is configured to execute the instructions stored in the memory 2130 and to perform the communication method in the embodiment described above. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0165] The transceiver 2120 may, but is not limited to, include an input / output interface type transceiver device for performing communication between the device 2100 and another device or communication network.

[0166] The memory 2130 may be read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM).

[0167] The transceiver 2120 uses (but is not limited to) transceiver equipment such as a transceiver to perform communication between the device 2100 and another device or communication network, and receives / transmits data / information used to perform the communication method in the embodiment described above.

[0168] In a specific embodiment of the process, the device 2100 can be placed on the computing platform 150 shown in Figure 1.

[0169] One embodiment of the present invention further provides a vehicle, the vehicle including a vehicle door system 800 or a vehicle door system 900, or the vehicle including a control device 2000 or a control device 2100.

[0170] One embodiment of the present application further provides a computer program product. The computer program product includes computer program code. When the computer program code is executed on a computer, the computer can implement the communication method in the above-described embodiment of the present application.

[0171] One embodiment of the present application further provides a computer-readable storage medium. The computer-readable medium stores computer instructions. When the computer instructions are executed on a computer, the computer can implement the communication method in the above-described embodiment of the present application.

[0172] Embodiments of the present invention further provide a chip comprising a circuit configured to perform the communication method of the above-described embodiment of the present invention.

[0173] In the implementation process, the steps in the method described above can be completed by using integrated logic circuits of hardware within the processor or by using instructions in the form of software. The communication method disclosed with reference to embodiments of this application may be executed directly by a hardware processor or by using a combination of hardware and software modules within the processor. The software modules may be located in a storage medium that is mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. The storage medium is located in memory, and the processor reads the information in memory and, in combination with the processor hardware, completes the steps in the method described above. For the sake of avoiding repetition, further details will not be described here.

[0174] Those skilled in the art will clearly understand that, for convenience and concise explanation, the detailed operating processes of the aforementioned systems, devices, and units should be described by referring to the corresponding processes in the embodiments of the methods described above. Further details will not be provided here.

[0175] In some embodiments provided herein, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the embodiments of the devices described are merely examples. For example, the division into units is merely a logical functional division. In actual embodiments, other methods of division may exist. For example, multiple units or components may be combined or integrated into another system, or some functions may be ignored or not performed. Furthermore, the mutual coupling, direct coupling, or communication connection shown or discussed may be implemented using some kind of interface. Indirect coupling or communication connection between devices or units may be implemented electronically, mechanically, or in other forms.

[0176] Units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, may be located in the same location, or may be distributed across multiple network units. Some or all of the units may be selected based on actual requirements in order to achieve the objectives of the embodiment's solution.

[0177] Furthermore, the functional units in the embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically independently, or two or more units may be integrated into a single unit.

[0178] The above description is merely a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modification or substitution that can be easily conceived by a person skilled in the art within the technical scope disclosed herein shall be included in the scope of protection of the present application. Accordingly, the scope of protection of the present application shall be subject to the scope of protection of the claims.

Claims

1. A vehicle door system including a first vehicle door and a first lidar, The first vehicle door is located on the first side of the vehicle, The first lidar is positioned at a first position on the first side, the first position is outside the vehicle door area on the first side, the first lidar is configured to sense a first obstacle within the sweep area of ​​the first vehicle door, the vehicle door area is the area where the first vehicle door is located. Vehicle door system.

2. The system according to claim 1, wherein the first position is located between the front of the vehicle and the vehicle door area on the first side, between the rear of the vehicle and the vehicle door area on the first side, and on the B-pillar on the first side.

3. When the first position is located between the front of the vehicle and the vehicle door area on the first side, the first position is the area of ​​the front fender on the first side, or The system according to claim 2, wherein when the first position is between the rear of the vehicle and the vehicle door area on the first side, the first position is the area of ​​the rear fender on the first side.

4. The system according to any one of claims 1 to 3, wherein the vehicle further includes a second vehicle door, the second vehicle door being located on the first side, and the first LiDAR is further configured to sense a second obstacle within the sweep area of ​​the second vehicle door.

5. The system according to any one of claims 1 to 4, wherein the vehicle further includes a first processing unit, the first processing unit is configured to control the first vehicle door to open or to keep the first vehicle door closed, based on the position of the first obstacle relative to the first vehicle door.

6. The first processing unit is configured to determine the maximum opening dimension of the first vehicle door based on the position of the first obstacle relative to the first vehicle door, and If the maximum opening dimension is greater than or equal to a preset dimension threshold, the system controls the first vehicle door to open, or If the maximum opening dimension is less than the preset dimension threshold, the first vehicle door is controlled to remain closed. The system according to claim 5, wherein the maximum opening dimension indicates the maximum angle to which the first vehicle door can rotate and / or the maximum width to which the first vehicle door can be opened when obstructed by the first obstacle.

7. The first processing unit is The system according to claim 6, configured to control the opening of the first vehicle door based on the maximum opening dimension or the preset dimension threshold when the maximum opening dimension is greater than or equal to the preset dimension threshold.

8. The first processing unit is The system according to any one of claims 5 to 7, further configured to issue a prompt indicating that opening the first vehicle door is restricted when the system is controlled to keep the first vehicle door closed.

9. The system further includes a transceiver unit configured to receive a first command, the first command being used to request the opening of the first vehicle door. The first processing unit is The system according to any one of claims 5 to 8, wherein when the transceiver unit receives the first command, it is further configured to control the first lidar to collect information relating to the first obstacle.

10. The system according to any one of claims 1 to 9, wherein the first rider is a short-distance rider.

11. A control method, wherein the method is A step of obtaining information relating to a first obstacle within the sweep area of ​​a first vehicle door, which is collected by a first LiDAR, wherein the first LiDAR is positioned at a first position on the first side of the vehicle, the first position is outside the vehicle door area on the first side, and the vehicle door area is the area on which the first vehicle door is located. The process includes the step of controlling the first vehicle door to open or to keep the first vehicle door closed, based on the position of the first obstacle relative to the first vehicle door. method.

12. The step of controlling the first vehicle door to open or to keep the first vehicle door closed, based on the position of the first obstacle relative to the first vehicle door, is: A step of determining the maximum opening dimension of the first vehicle door based on the position of the first obstacle relative to the first vehicle door, If the maximum opening dimension is greater than or equal to a preset dimension threshold, the system controls the first vehicle door to open, or The step of controlling the first vehicle door to remain closed if the maximum opening dimension is less than the preset dimension threshold, The method according to claim 11, wherein the maximum opening dimension indicates the maximum angle to which the first vehicle door can rotate and / or the maximum width to which the first vehicle door can be opened when obstructed by the first obstacle.

13. The step of controlling the vehicle to open the first vehicle door when the maximum opening dimension is greater than or equal to a preset dimension threshold is as follows: The method according to claim 12, further comprising the step of controlling the first vehicle door to open based on the maximum opening dimension or the preset dimension threshold when the maximum opening dimension is greater than or equal to the preset dimension threshold.

14. The first side further includes a second vehicle door, and the first lidar is further configured to sense a second obstacle within the sweep area of ​​the second vehicle door, and the method The method according to any one of claims 11 to 13, further comprising the step of controlling the second vehicle door to open or to keep the second vehicle door closed based on the position of the second obstacle relative to the second vehicle door.

15. This method is The method according to any one of claims 11 to 14, further comprising the step of issuing a prompt that opening the first vehicle door is restricted when the control is made to keep the first vehicle door closed.

16. This method is The steps include receiving a first command used to request that the first vehicle door be opened, The method according to any one of claims 11 to 15, further comprising the step of controlling the first lidar to collect the information relating to the first obstacle in accordance with the first instruction.

17. The method according to any one of claims 11 to 16, wherein the first rider is a short-distance rider.

18. A control device, said device is An acquisition unit configured to acquire information collected by a first lidar, wherein the first lidar is positioned at a first position on the first side of the vehicle, the first position is outside the vehicle door area on the first side, and the vehicle door area is the area on which the first vehicle door is located. A processing unit configured to control the first vehicle door to open or to keep the first vehicle door closed, based on the position of the first obstacle relative to the first vehicle door, device.

19. The aforementioned processing unit is Based on the position of the first obstacle relative to the first vehicle door, the maximum opening dimension of the first vehicle door is determined, and If the maximum opening dimension is greater than or equal to a preset dimension threshold, the first vehicle door is controlled to open, or The system is configured to control the first vehicle door to remain closed if the maximum opening dimension is less than the preset dimension threshold. The apparatus according to claim 18, wherein the maximum opening dimension indicates the maximum angle to which the first vehicle door can rotate and / or the maximum width to which the first vehicle door can be opened when obstructed by the first obstacle.

20. The aforementioned processing unit is The device according to claim 19, configured to control the opening of the first vehicle door based on the maximum opening dimension or the preset dimension threshold when the maximum opening dimension is greater than or equal to the preset dimension threshold.

21. The apparatus according to any one of claims 18 to 20, wherein the first side further includes a second vehicle door, the first lidar is further configured to sense a second obstacle within the sweep area of ​​the second vehicle door, and the processing unit is further configured to control the second vehicle door to open or to keep the second vehicle door closed based on the position of the second obstacle relative to the second vehicle door.

22. The aforementioned processing unit is The device according to any one of claims 18 to 21, further configured to issue a prompt indicating that opening the first vehicle door is restricted when the device is controlled to keep the first vehicle door closed.

23. The acquisition unit is further configured to receive a first command used to request the opening of the first vehicle door, The apparatus according to any one of claims 18 to 22, wherein the processing unit is further configured to control the first lidar to collect the information relating to the first obstacle in accordance with the first command.

24. The apparatus according to any one of claims 18 to 23, wherein the first rider is a short-distance rider.

25. A control device, said device is Memory configured to store computer programs, A processor that executes a computer program stored in the memory and is configured to enable the device to perform the method described in any one of claims 11 to 17, device.

26. A vehicle comprising a vehicle door system according to any one of claims 1 to 10, or a vehicle comprising a control device according to any one of claims 18 to 25.

27. A computer-readable storage medium that stores instructions, and when an instruction is executed by a processor, the processor can perform the method according to any one of claims 11 to 17. Computer-readable storage medium.

28. A chip, the chip including a circuit, the circuit configured to perform the method described in any one of claims 11 to 17, Tip.

29. A computer program product, the computer program product includes computer program code, and when the computer program code is executed on a computer, the computer is configured to perform the method described in any one of claims 11 to 17. Computer program products.

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