Door opening control method and control device, vehicle controller

Abstract

A door opening control method and control device, and a vehicle controller are disclosed, the control method including the steps of: collecting a tap signal; acquiring vehicle status information including a door status, a vehicle speed, and a vehicle lock status when it is determined that the tap signal is valid based on the tap signal; and controlling the door to open in response to the tap signal when it is determined that the vehicle status information satisfies a predetermined condition.

Description

Technical Field

[0001] (Cross-reference to Related Applications) This disclosure is based on a Chinese patent application with application number 202111443403.X and filing date November 30, 2021, and claims its priority, and all of its contents are incorporated herein by reference.

[0002] This disclosure relates to the technical field of vehicles, and particularly to a method for controlling door opening, a control device for door opening, a vehicle controller, and a computer-readable storage medium.

Background Art

[0003] With the increasing needs of people for automobiles, regarding the side doors of automobiles as passenger boarding and alighting mechanisms, the demand for automated and intelligent electric side doors is increasing. In the case of conventional side doors, it is necessary to manually pull the outer handle of the door and unlock the door lock through the connection of the mechanical structure. After unlocking, it is also necessary to push open the side door to board and alight, and the process is complicated. Especially when the hands of passengers are occupied and it is difficult to operate the handle of the side door, boarding and alighting become more difficult.

[0004] In related technologies, for a handleless automatic door system, vehicles with handleless doors are provided. That is, the doors of such vehicles are not provided with handles, and instead of the conventional handles, the buttons on the B-pillar or C-pillar of the vehicle are used to unlock the doors. Regarding the electric door opening function of the automatic door system, by using different control policies, an accurate control method for automatic sensing door opening that does not require manual operation is being studied.

[0005] However, there are a series of problems in the above control policies, such as hole punching and sealing on sheet metal and trim, and the layout is difficult. Also, in order to accurately recognize the user's intention to open the door, generally, a complex algorithm is required, and at the same time, the hardware cost is also high. [Overview of the Initiative]

[0006] This disclosure aims to solve, at least to some extent, one of the technical challenges of related technologies. To that end, this disclosure provides a door opening control method in which the door is opened by tapping, which is easy to operate, more interesting in the human interface process, and the tap control method is determined based on principles such as mechanics, has a simpler algorithm, can maintain the original appearance of the vehicle, and is less expensive.

[0007] This disclosure provides a door opening control device.

[0008] This disclosure provides a vehicle controller.

[0009] This disclosure provides a vehicle.

[0010] This disclosure provides a computer-readable storage medium.

[0011] A door opening control method according to an embodiment of the first aspect of the present disclosure includes the steps of: collecting a tap signal; if it is determined that the tap signal is valid based on the tap signal, acquiring vehicle status information including door status, vehicle speed, and vehicle lock status; and if it is determined that the vehicle status information satisfies predetermined conditions, controlling the door to open in response to the tap signal.

[0012] In the door opening control method according to the embodiment of the present disclosure, first, a tap signal is collected; then, if it is determined that the tap signal is valid based on the tap signal, vehicle status information including door status, vehicle speed, and vehicle lock status is acquired; and finally, if it is determined that the vehicle status information satisfies predetermined conditions, the door is controlled to open in response to the tap signal. This control method opens the door by tapping, is easy to operate, is more engaging in the human interface process, and the tap-based door opening method maintains the original vehicle appearance and saves modification costs.

[0013] Furthermore, the door opening control method according to the above embodiment of this disclosure may have the following additional technical features.

[0014] In one embodiment of the present disclosure, the step of determining whether a tap signal is valid based on a tap signal includes the step of determining whether a tap signal is valid if the value of the tap force corresponding to the tap signal is greater than a predetermined value of the tap force.

[0015] In another embodiment of the present disclosure, the step of determining that a tap signal is valid based on a tap signal includes determining that a tap signal is valid if the number of tap signals collected within a first predetermined time period reaches a set number and the tap force value corresponding to each collected tap signal is greater than a predetermined tap force value.

[0016] In yet another embodiment of the present disclosure, the step of determining that a tap signal is valid based on a tap signal includes determining that a tap signal is valid if the number of tap signals collected within a first predetermined time reaches a set number, the tap force value corresponding to each collected tap signal is greater than a predetermined tap force value, and the tap operation does not occur within a second predetermined time after the door has been opened and closed.

[0017] In one embodiment of the present disclosure, if the door is closed, the vehicle is unlocked, and the vehicle speed is less than a predetermined speed, it is determined that the vehicle state information satisfies a predetermined condition.

[0018] In one embodiment of the present disclosure, before controlling the door to open it, the method further includes the steps of acquiring road condition information around the vehicle and determining whether or not an obstacle is present outside the door based on the road condition information around the vehicle.

[0019] In one embodiment of the present disclosure, the system is controlled to unlock the door and initiate the opening operation if there are no obstacles outside the door.

[0020] In one embodiment of the present disclosure, in the process of opening a door, the method further includes the step of controlling the door to hover if it is determined that an obstacle is present outside the door.

[0021] In one embodiment of the present disclosure, in the process of opening a door, the door opening control method further includes the step of controlling the door to open it to a predetermined maximum angle if it is determined that there are no obstacles outside the door.

[0022] A door opening control device according to an embodiment of a second aspect of the present disclosure includes: an acquisition module for collecting tap signals; a determination module for acquiring vehicle status information, including door status, vehicle speed, and vehicle lock status, if it is determined that the tap signal is valid based on the tap signal; and a control module for responding to the tap signal and controlling the door to open if it is determined that the vehicle status information satisfies predetermined conditions.

[0023] The door opening control device according to the embodiment of this disclosure collects tap signals using an acquisition module, and if the decision module determines that the tap signal is valid based on the tap signal, it acquires vehicle status information including door status, vehicle speed, and vehicle lock status. If the decision module determines that the vehicle status information satisfies predetermined conditions, the control module responds to the tap signal and controls the door to open. The device is easy to operate due to its tap-based door opening method, is more engaging in the human interface process, and maintains the original appearance of the vehicle, saving modification costs.

[0024] A vehicle controller according to an embodiment of a third aspect of the present disclosure includes a memory, a processor, and a door opening control program stored in the memory and executable on the processor, wherein the processor implements the door opening control method when it executes the door opening control program.

[0025] The vehicle controller according to an embodiment of the present disclosure executes a door opening control program by a processor, realizes the above door opening control method, has a simple operation, and at the same time, has higher interest in the human interface process. In addition, the door opening method by tapping can maintain the appearance of the original vehicle and save the modification cost.

[0026] The vehicle according to an embodiment of the fifth aspect of the present disclosure includes the above vehicle controller.

[0027] The vehicle according to an embodiment of the present disclosure can improve the interest in the human interface process by the above vehicle controller, maintain the appearance of the original vehicle, and save the modification cost.

[0028] The computer-readable storage medium according to an embodiment of the fifth aspect of the present disclosure stores a door opening control program that realizes the above door opening control method when executed by a processor.

[0029] The computer-readable storage medium according to an embodiment of the present disclosure realizes the above door opening control method when executing the door opening control program stored thereon by a processor, has a simple operation, has higher interest in the human interface process, and can maintain the appearance of the original vehicle and save the modification cost by the door opening method by tapping.

[0030] Some of the additional aspects and advantages of the present disclosure are shown in the following description, some will become clear in the following description, or will be grasped by the implementation of the present disclosure.

Brief Description of the Drawings

[0031] [Figure 1] It is a flowchart of a door opening control method according to an embodiment of the present disclosure. [Figure 2] It is a flowchart of a door opening control method according to a specific embodiment of the present disclosure. [Figure 3]This is a block diagram of a door opening control device according to an embodiment of the present disclosure. [Figure 4] This is a block diagram of a vehicle controller according to an embodiment of the present disclosure. [Figure 5] This is a block diagram of a vehicle according to an embodiment of the present disclosure. [Modes for carrying out the invention]

[0032] The embodiments of this disclosure will be described in detail below, and examples of such embodiments are shown in the drawings. Throughout, the same or similar reference numerals represent the same or similar elements, or elements having the same or similar functions. The embodiments described below with reference to the drawings are illustrative and intended to be used to interpret this disclosure, and should not be understood as limiting this disclosure.

[0033] Hereinafter, with reference to the drawings, a door opening control method, a door opening control device, a vehicle controller, and a computer-readable storage medium according to embodiments of this disclosure will be described.

[0034] Figure 1 is a flowchart of a door opening control method according to an embodiment of the present disclosure.

[0035] As shown in Figure 1, the door opening control method according to an embodiment of this disclosure includes the following steps S1 to S3.

[0036] In step S1, the tap signal is collected.

[0037] Specifically, when a user taps the sensitive area, the sensitive surface of the tap sensor receives the tapping force and transmits a tap signal to the vehicle controller via the harness. The tap sensor may also be a force detection sensor that distinguishes a valid tap signal by detecting the value of the tapping force.

[0038] In one embodiment of this disclosure, the tap sensor may be mounted between the door outer panel and the door inner panel, with the sensing surface attached to the inside of the door outer panel's sheet metal and secured by a corresponding bracket, which is connected to the sheet metal with an adhesive or similar fastening material to achieve the purpose of fastening. Furthermore, by concealing the tap sensor inside the door outer panel's sheet metal, it is not necessary to drill holes in the door outer panel, thus avoiding a series of problems such as drilling and sealing on the sheet metal and trim, simplifying placement, saving costs, and providing a mounting surface for the tap sensor's sensing surface on the inside of the door outer panel to form a tap-sensitive area. Users can use different stickers to draw attention to the tap-sensitive area on the outside of the door outer panel according to their individual needs.

[0039] In step S2, if it is determined that the tap signal is valid based on the tap signal, vehicle status information including door status, vehicle speed, and vehicle lock status is acquired.

[0040] In one embodiment of the present disclosure, the step of determining whether a tap signal is valid based on a tap signal may include the step of determining whether a tap signal is valid if the value of the tap force corresponding to the tap signal is greater than a predetermined value of the tap force.

[0041] Specifically, the value of the tap force of a single tap signal is used as the validity determination condition. For example, let F be a predetermined value of tap force, and let f be the value of the tap force of the tap signal acquired in real time by the tap sensor. The value of the tap force f is compared with the pre-stored value of F (the predetermined value of tap force), and if f is greater than F, the tap signal is determined to be valid; if f is less than or equal to F, it is determined to be an invalid signal.

[0042] To improve the accuracy of the determination, in another embodiment of the present disclosure, the step of determining whether a tap signal is valid based on the tap signal may include the step of determining whether a tap signal is valid if the number of tap signals collected within a first predetermined time reaches a set number, and each time a tap force value corresponding to a collected tap signal is greater than a predetermined tap force value. The first predetermined time may be set according to the actual situation; for example, the first predetermined time may be 1 second, and the set number may be 2.

[0043] Specifically, the validity determination conditions are the number of valid tap signals and the magnitude of the tap force value within a first predetermined time period. For example, if two tap signals are collected within the first predetermined time period, and the tap force value of each collected tap signal is greater than a predetermined tap force value, the tap signal is considered valid. If two tap signals are not collected within the first predetermined time period, or if the tap force value of the collected tap signals does not reach the predetermined tap force value, the tap signal is considered invalid.

[0044] To further improve the accuracy of the determination, in yet another embodiment of the present disclosure, the step of determining that a tap signal is valid based on the tap signal may include the step of determining that the tap signal is valid if the number of tap signals collected within a first predetermined time reaches a set number, the value of the tap force corresponding to each collected tap signal is greater than a predetermined tap force value, and the tap operation does not occur within a second predetermined time after the door has been opened and closed. The predetermined tap force value, the first predetermined time, and the second predetermined time may be set and stored in advance based on the actual application, for example, the first predetermined time may be 1 s and the second predetermined time may be 500 ms.

[0045] Specifically, the number of taps within a first predetermined time, the value of the tapping force, and the time of the first tap operation are used as validity determination conditions. For example, when making a determination based on the number of tap signals within the first predetermined time, if the number of taps within the first predetermined time reaches a set number, and the value of the tapping force corresponding to each tap signal is greater than the predetermined value of the tapping force, in order to improve the accuracy of determining whether or not the tap signal is valid, the time of the first tap signal is obtained, and it is determined whether or not that time falls within a certain period after the door has been opened and closed. If it does not, it is explained that the current tap signal is due to vibrations after the door has been closed, and if so, the current tap signal is valid. This prevents vibrations when the door is closed from being mistaken for a tap signal.

[0046] Furthermore, using the above method, the timing operation of the system, which is started when the door is opened and then closed, can be automatically stopped if the timing time is longer than the second set time and the first tap signal does not occur. In other words, all subsequent tap operations satisfy the condition that the tap operation occurs within the second predetermined time after the door is opened and then closed. Subsequently, the validity of the tap signal is determined by a determination method that uses the number of valid tap signals and the magnitude of the tap force value within the first predetermined time as validity determination conditions. The above timing operation is automatically started after the operation of opening and closing the door, and thereafter, the validity of the tap signal is re-certified using the above determination method. It should be understood that the above timing operation is reset or restarted when the next operation of opening and closing the door occurs.

[0047] Furthermore, all three of the above-described determination methods can realize the door control method according to the present invention, and different determination methods can be selected according to the actual operating conditions of the vehicle. The accuracy of determining whether or not the tap signal is valid in the above-described embodiments gradually increases.

[0048] In one embodiment of the present disclosure, if the door is closed, the vehicle is unlocked, and the vehicle speed is less than a predetermined speed, the vehicle status information is determined to satisfy a predetermined condition. The predetermined speed may be set in advance according to the actual situation; for example, the predetermined speed may be 3 km / h.

[0049] Specifically, when it is determined that the tap signal is a valid signal, the door status, vehicle speed, and vehicle lock status are acquired. If the door is closed, the vehicle is unlocked, and the current vehicle speed is less than a predetermined vehicle speed, the vehicle status information satisfies the predetermined conditions.

[0050] In step S3, if the vehicle status information determines that a predetermined condition is met, the system responds to the tap signal and controls the door to open.

[0051] Specifically, when the vehicle status information determines that a predetermined condition is met, the system responds to the tap signal, controls the door to unlock it, controls the corresponding drive mechanism (side door drive mechanism) to drive the motor, moves the door away from the vehicle body, and performs the door opening operation.

[0052] In one embodiment of the present disclosure, before controlling the door to open it, the method further includes the steps of acquiring road condition information around the vehicle and determining whether or not an obstacle is present outside the door based on the road condition information around the vehicle.

[0053] Specifically, left and right cameras mounted on the vehicle's rearview mirrors capture image information within the same angle as the rearview mirrors, and the image information is processed to determine whether or not an obstacle or pedestrian is present within that range. Alternatively, a millimeter-wave radar mounted at the rear of the vehicle collects image information from behind, and based on this rear image information, it is possible to determine whether or not a vehicle is approaching from behind. In addition, an ultrasonic radar mounted on the vehicle body collects image information from both sides of the vehicle.

[0054] Millimeter-wave radar can detect people and objects up to 20 meters away, while ultrasonic radar can detect people, objects, falling objects, and small obstacles nearby within 2 meters. A camera mounted on the vehicle's rearview mirror, ultrasonic radar mounted on the vehicle body, and millimeter-wave radar mounted at the rear of the vehicle enable omnidirectional detection of road conditions around the vehicle.

[0055] In one embodiment of the present disclosure, if an obstacle is present outside the door, the door is controlled to unlock. That is, if it is determined that an obstacle is present outside the door, the door is first controlled to unlock but not open. Then, it is determined whether the distance between the obstacle and the vehicle is greater than a predetermined distance. For example, if the door can be opened to a certain angle to allow people to get in and out, and if the distance is greater than the predetermined distance, it is determined that the door can be opened, and the angle of door opening is further controlled based on the distance between the obstacle and the vehicle.

[0056] In one embodiment of the present disclosure, the system is controlled to unlock the door and initiate the opening operation if there are no obstacles outside the door.

[0057] Specifically, if the tap signal is a valid signal and the vehicle status information meets predetermined conditions, before controlling the corresponding door assembly to open it, the system first wakes up the side door detection radar attached to the corresponding door. The side door detection radar determines any obstacles outside the door and feeds back the obstacle signal and distance to the obstacle to the domain controller. Then, based on the feedback information, it acquires road condition information around the vehicle and determines whether or not an obstacle exists outside the door. For example, the system can pre-store a safe distance based on the area required to open the door. If the distance to the obstacle acquired by the side door detection radar is less than or equal to the safe distance, i.e., if the obstacle is within the door opening area, opening the door would likely result in a collision with the obstacle. The system determines that an obstacle exists outside the door and controls the door to unlock it, but does not output a drive signal to the side door drive mechanism, maintaining the door in a closed state. If the distance acquired by the side door detection radar is greater than the safety distance, that is, if the obstacle is outside the door opening area, the system determines that there is no collision with the obstacle during the door opening process and that there is no obstacle outside the door, so it controls the door to unlock and the side door drive mechanism performs the door opening operation. In one embodiment, the side door drive mechanism is provided with a speed sensor or an acceleration sensor, and the speed sensor or acceleration sensor is connected to the vehicle controller to provide real-time feedback on the door opening status to the vehicle controller.

[0058] It should be understood that the door unlocking structure in the embodiments of this disclosure is an electrically operated unlocking structure.

[0059] The above safety distance may be set according to the actual door opening direction and size, and is based on the premise that it satisfies the normal opening of the door.

[0060] To prevent the occurrence of unexpected events, in one embodiment of the present disclosure, in the process of opening a door, the method further includes the step of controlling the door to hover if it is determined that an obstacle is present outside the door.

[0061] In other words, if an obstacle is detected outside the door during the door opening process—for example, if the obstacle is a pedestrian and the pedestrian approaches the vehicle during the automatic door opening process, or if there is a fallen object or small obstacle—the door is controlled to immediately stop its operation, that is, the door is controlled to hover. This avoids the risk of collision or scrape with a pedestrian in sudden situations.

[0062] In one embodiment of the present disclosure, in the process of opening a door, the method further includes the step of controlling the door to open it to a predetermined maximum angle if it is determined that there are no obstacles outside the door.

[0063] Specifically, during the process in which the side door drive mechanism opens the door, the side door detection radar detects obstacles outside the door in real time and feeds back the obstacle signal and distance to the obstacle to the vehicle controller in real time. The vehicle controller then determines the surrounding road conditions based on the real-time feedback of obstacle information, and if it determines that there are no obstacles outside the door, it controls the door to open it to a predetermined maximum angle. As a specific example of the door opening control method according to this disclosure, as shown in Figure 2, the door opening control method includes the following steps S201 to S216.

[0064] In step S201, signal detection is initiated.

[0065] Step S202 determines whether or not a tap signal has been collected. If so, step S03 is executed; otherwise, step S201 is executed.

[0066] In step S203, it is determined whether the tap force value f of the tap signal is greater than a predetermined tap force value F. If so, step S204 is executed; otherwise, step S201 is executed.

[0067] In step S204, it is determined whether two valid tap signals have been collected within a first predetermined time of 1 s. If so, step S205 is executed; otherwise, step S201 is executed.

[0068] In step S205, it is determined whether the initial tap signal was collected within 500ms after the door was opened and then closed. If so, step S206 is executed; otherwise, step S201 is executed.

[0069] Step S206 determines whether the door is in the closed position. If so, step S207 is executed; otherwise, step S208 is executed.

[0070] Step S207 determines whether the vehicle is in an unlocked state. If so, step S209 is executed; otherwise, step S208 is executed.

[0071] Step S208 does not respond to the tap signal for this door open request.

[0072] In step S209, it is determined whether the current vehicle speed v is less than the set vehicle speed of 3 km / h. If so, step S210 is executed; otherwise, step S208 is executed.

[0073] Step S210 determines whether or not there is an obstacle outside the door. If so, step S211 is executed; otherwise, step S212 is executed.

[0074] In step S211, the door is unlocked, but the door opening action is not performed.

[0075] In step S212, the door is unlocked and the side door drive mechanism performs the door opening operation.

[0076] In step S213, it is determined whether or not there is an obstacle outside the door during the process of opening the door. If so, step S214 is executed; otherwise, step S215 is executed.

[0077] In step S214, the side door drive mechanism stops moving, causing the door to hover.

[0078] In step S215, it is determined whether the door opening angle has reached its maximum opening angle. If so, step S216 is executed; otherwise, step S212 is executed.

[0079] In step S216, the side door drive mechanism stops, and the door opening operation is completed.

[0080] In summary, compared to conventional automobile door opening methods, the tap-operated door opening method in the present invention is simpler to operate and offers a more engaging human interface. Furthermore, conventional door opening methods using outer handles or buttons typically require drilling holes in sheet metal or trim for the installation of the door opening device. Simultaneously, the drilled areas must be specially sealed to meet the vehicle's waterproof and dustproof requirements, resulting in high costs, affecting the overall appearance, and being unsuitable for design. The installation method of the present invention eliminates the need for drilling holes, is directly hidden inside the sheet metal or trim, avoiding a series of problems such as drilling and sealing, saving costs, and simplifying design without compromising the vehicle's appearance.

[0081] In the door opening control method according to an embodiment of the present disclosure, first, a tap signal is collected; then, if it is determined that the tap signal is valid based on the tap signal, vehicle status information including door status, vehicle speed, and vehicle lock status is acquired; and finally, if it is determined that the vehicle status information satisfies predetermined conditions, the door is controlled to open in response to the tap signal. Compared to conventional automobile door opening methods, this method is simpler to operate due to the tap-based door opening method, is more engaging in the human interface process, and allows for the maintenance of the original vehicle appearance and saves modification costs. In accordance with the above embodiment, the present disclosure further provides a door opening control device.

[0082] As shown in Figure 3, the door opening control device according to the embodiment of the present disclosure may include a collection module 10, a determination module 20, and a control module 30.

[0083] The collection module 10 collects the tap signal. The decision module 20, if it determines that the tap signal is valid based on the tap signal, acquires vehicle status information, including door status, vehicle speed, and vehicle lock status. The control module 30, if it determines that the vehicle status information meets predetermined conditions, responds to the tap signal and controls the door to open it.

[0084] In one embodiment of the present disclosure, the decision module 20 determines that a tap signal is valid based on the tap signal, specifically, if the value of the tap force corresponding to the tap signal is greater than a predetermined value of the tap force, the decision module 20 determines that the tap signal is valid.

[0085] In another embodiment of the present disclosure, the decision module 20 determines that a tap signal is valid based on the tap signal, specifically, if the number of tap signals collected within a first predetermined time reaches a set number and the tap force value corresponding to each collected tap signal is greater than a predetermined tap force value.

[0086] In yet another embodiment of the present disclosure, the decision module 20 determines that a tap signal is valid based on the tap signal, specifically if the number of tap signals collected within a first predetermined time reaches a set number, the tap force value corresponding to each collected tap signal is greater than a predetermined tap force value, and the tap operation does not occur within a second predetermined time after the door has been opened and closed.

[0087] In one embodiment of the present disclosure, if the door is closed, the vehicle is unlocked, and the vehicle speed is less than a predetermined speed, the control module 30 determines that the vehicle status information satisfies predetermined conditions.

[0088] In one embodiment of the present disclosure, the control module 30, before controlling and opening the door, specifically acquires road condition information around the vehicle and determines whether or not an obstacle exists outside the door based on the road condition information around the vehicle.

[0089] In one embodiment of the present disclosure, if there are no obstacles outside the door, the control module 30 controls the door to unlock and begin opening.

[0090] In one embodiment of the present disclosure, during the process of opening the door, the control module 30 further controls the door to hover if it determines that an obstacle exists outside the door.

[0091] In one embodiment of the present disclosure, during the process of opening the door, the control module 30 further controls the door to open it to a predetermined maximum angle if it determines that there are no obstacles outside the door.

[0092] Details not disclosed in the door opening control device according to the embodiments of this disclosure are not specifically described here and should be referred to in the details disclosed in the door opening control method according to the embodiments of this disclosure.

[0093] In summary, the door opening control device according to the embodiment of the present disclosure collects tap signals using an acquisition module, and if the tap signal is determined to be valid by a determination module, it acquires vehicle status information including door status, vehicle speed, and vehicle lock status, and if the vehicle status information determines that predetermined conditions are met, it responds to the tap signal and controls the door to open using a control module. The device is easy to operate due to its tap-based door opening method, is more engaging in the human interface process, and maintains the original appearance of the vehicle, saving modification costs.

[0094] In accordance with the above embodiments, this disclosure further provides a vehicle controller.

[0095] As shown in Figure 4, the vehicle controller 300 according to the embodiment of the present disclosure includes a memory 310, a processor 320, and a door opening control program stored in the memory 310 and executable on the processor. When the processor 320 executes the door opening control program, it realizes the above-described door opening control method.

[0096] The vehicle controller according to the embodiment of this disclosure executes a door opening control program using a processor, realizes the above-mentioned door opening control method, is easy to operate, and at the same time, is more interesting in the human interface process. Furthermore, the tap-type door opening method maintains the original appearance of the vehicle and saves modification costs.

[0097] In accordance with the above embodiments, the present disclosure further provides vehicles.

[0098] As shown in Figure 5, the vehicle 400 according to the embodiment of this disclosure includes the vehicle controller 300.

[0099] The vehicle according to the embodiment of this disclosure, with the above-mentioned vehicle controller, can improve the enjoyment of the human interface process, maintain the appearance of the original vehicle, and save on modification costs.

[0100] In accordance with the above embodiments, the present disclosure further provides a computer-readable storage medium.

[0101] The computer-readable storage medium according to the embodiment of this disclosure stores a door opening control program that, when executed by a processor, implements the above-described door opening control method.

[0102] The computer-readable storage medium according to the embodiment of this disclosure, when executed by a processor on which a door opening control program is stored thereon, realizes the above-mentioned door opening control method, and the tap-operated door opening method maintains the original appearance of the vehicle and saves modification costs.

[0103] Furthermore, logic and / or steps shown in flowcharts or otherwise described herein may be considered, for example, as an ordered list of executable instructions for implementing a logic function, specifically, being specifically implemented on any computer-readable medium and used by an instruction execution system, device or apparatus (e.g., a computer-based system, a system including a processor, or other system capable of reading and executing instructions from an instruction execution system, device or apparatus), or used in combination with such instruction execution systems, devices or apparatus. In this specification, “computer-readable medium” may be any device capable of storing, storing, communicating, propagating, or transmitting a program used by or in combination with such instruction execution systems, devices or apparatus. More specific examples (a non-exclusive list) of computer-readable storage media include electrical connections with one or more wires (electronic devices), portable computer disk boxes (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber devices, and portable read-only memory (CDROM). Furthermore, the computer-readable storage medium may also be paper or other suitable medium on which the program can be printed, for example, by optically scanning paper or other medium, then editing and interpreting it, or processing it in any other suitable manner, and then storing it in computer memory.

[0104] It should be understood that each part of this disclosure can be implemented by hardware, software, firmware, or a combination thereof. In the embodiments described above, several steps or methods can be implemented by software or firmware stored in memory and executed by an appropriate instruction execution system. For example, when implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of known technologies in the art, such as discrete logic circuits having logic gate circuits for implementing logic functions for data signals, application-specific integrated circuits having appropriate combination logic gate circuits, programmable gate arrays (PGAs), and field-programmable gate arrays (FPGAs).

[0105] In this specification, any reference to the terms “one embodiment,” “several embodiments,” “example,” “specific example,” or “several examples” means that the specific features, structures, materials, or properties described in combination with such embodiment or example are included in at least one embodiment or example of this disclosure. In this specification, the exemplary expressions of the above terms are not necessarily limited to the same embodiment or example. Furthermore, the specific features, structures, materials, or properties described may be appropriately combined in any one or more embodiments or examples.

[0106] Furthermore, the terms “First” and “Second” are used solely for descriptive purposes and should not be understood as indicating or suggesting relative importance, or implying the quantity of the technical features shown. Thus, features limited by “First” and “Second” may explicitly or implicitly include at least one such feature. In the description of this disclosure, “multiple” means at least two, for example, two, three, etc., unless otherwise explicitly and specifically limited.

[0107] In this disclosure, unless explicitly stated and limited, terms such as “attached,” “connected,” “connected,” and “fixed” should be understood broadly, and unless explicitly limited, they may include, for example, fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections via an intermediate medium; internal communication between two elements; or an interaction relationship between two elements. Those skilled in the art will be able to understand the specific meaning of these terms in this disclosure based on the specific circumstances.

[0108] Although embodiments of the present disclosure have been shown and explained above, these embodiments are illustrative and should not be understood as limiting the present disclosure. Those skilled in the art can modify, alter, replace, and change the embodiments within the scope of the present disclosure.

Claims

1. Steps to collect tap signals, If it is determined that the tap signal is valid based on the tap signal, the steps include acquiring vehicle status information including door status, vehicle speed, and vehicle lock status, If the vehicle status information determines that predetermined conditions are met, the step of responding to the tap signal and controlling the door to open it, Includes, The aforementioned door is a revolving side door, Before controlling the aforementioned door to open it, The steps include: acquiring road condition information around the vehicle; The steps include determining whether or not an obstacle exists outside the door based on road condition information around the vehicle, It further includes, The road condition information surrounding the vehicle is characterized by being image information obtained by left and right cameras installed on the vehicle's rearview mirrors, within the same angle as the rearview mirrors. Door opening control method.

2. The step of determining whether a tap signal is valid based on the tap signal is characterized by including the step of determining whether a tap signal is valid if the value of the tap force corresponding to the tap signal is greater than a predetermined value of the tap force. The method for controlling door opening according to claim 1.

3. The step of determining whether a tap signal is valid based on the tap signal is characterized by including the step of determining whether a tap signal is valid if the number of tap signals collected within a first predetermined time reaches a set number, and the value of the tap force corresponding to each collected tap signal is greater than a predetermined value of tap force. A method for controlling door opening according to claim 1 or 2.

4. The step of determining whether a tap signal is valid based on the tap signal is characterized by including the step of determining whether the tap signal is valid if the number of tap signals collected within a first predetermined time reaches a set number, the value of the tap force corresponding to each collected tap signal is greater than a predetermined value of tap force, and the tap operation does not occur within a second predetermined time after the door has been opened and closed. A method for controlling door opening according to claim 1 or 2.

5. The system is characterized in that, if the door is in the closed position, the vehicle is unlocked, and the vehicle's speed is less than a predetermined speed, the system determines that the vehicle's state information satisfies the predetermined conditions. A method for controlling door opening according to claim 1 or 2.

6. The system is characterized by controlling the door to unlock and begin opening if there are no obstacles outside the door. The method for controlling door opening according to claim 1.

7. In the process of opening the door, the method further includes the step of controlling the door to hover if it is determined that an obstacle exists outside the door. The door opening control method according to claim 6.

8. In the process of opening the door, the method further includes the step of controlling the door to open it to a predetermined maximum angle if it is determined that there are no obstacles outside the door. The door opening control method according to claim 6.

9. A collection module that collects tap signals, If it is determined that the tap signal is valid based on the tap signal, a determination module acquires vehicle status information including door status, vehicle speed, and vehicle lock status. When the vehicle status information determines that predetermined conditions are met, a control module responds to the tap signal and controls the door to open, Includes, The aforementioned door is a revolving side door, Before controlling the aforementioned door to open it, To acquire information on the road conditions around the aforementioned vehicle, Based on road condition information surrounding the vehicle, it is determined whether or not an obstacle exists outside the door. It further includes, The road condition information surrounding the vehicle is characterized by being image information obtained by left and right cameras installed on the vehicle's rearview mirrors, within the same angle as the rearview mirrors. Door opening control device.

10. It includes memory, a processor, and a door opening control program stored in memory and executable on the processor, The processor, upon executing the door opening control program, realizes the door opening control method described in claim 1 or 2. Vehicle controller.

11. A vehicle controller as described in claim 10, vehicle.

12. The system is characterized in that, when executed by the processor, a door opening control program is stored which implements the door opening control method described in claim 1 or 2. Computer-readable storage medium.

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