Interactive door opening control system and method for vehicle, readable storage medium, and vehicle

Abstract

The present application relates to intelligent vehicle control, and relates to an interactive door opening control system and method for a vehicle, a readable storage medium, and a vehicle. The interactive door opening control system for a vehicle comprises a position sensing module, a projection module, a sensor module, and an execution module. In the present application, position information of a target signal relative to the vehicle is acquired by means of controlling the position sensing module; in response to the target signal being within a preset range, the projection module is controlled to project a kick instruction image onto the ground of a region corresponding to a vehicle door and / or a liftgate; the sensor module is controlled to perform kick action signal identification on the ground of the region in which the kick instruction image is located; and, in response to a kick action matching a preset action, the execution module is controlled to open / close the vehicle door or the liftgate. In this way, the present invention implements human-computer interaction by means of projection, thereby enabling correct use of opening a door with a kick while implementing kick-based opening and closing of the vehicle door and increasing the level of intelligence of opening the vehicle door.

Description

Vehicle interactive door opening control system and method, readable storage medium and vehicle

[0001] Cross-reference to related applications

[0002] This application claims the benefit of Chinese Patent Application No. 202410457373.5, filed on April 16, 2024, the contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to vehicle intelligent control, in particular, to a vehicle interactive door opening control system and method, readable storage medium and vehicle. BACKGROUND

[0004] Automobiles have brought great convenience to people's lives since their development. With the continuous progress of automobile technology, the degree of intelligence is also gradually increasing, and the traditional car's tailgate is mainly opened manually, which is inconvenient in the case of both hands. In order to solve this problem, the current car is equipped with an electric tailgate, which does not need to be manually pushed and pulled to complete the door opening and closing operation. Even further, a foot kick radar is configured to achieve foot kick door opening.

[0005] However, in actual use, if the user does not know that the vehicle has a foot kick door opening function, or does not know the foot kick door opening operation method, the function cannot be correctly applied. Even if the user knows the foot kick door opening function, there may be cases where the foot kick position is incorrect or the foot kick method is incorrect, resulting in the function not being triggered. SUMMARY

[0006] The technical problem to be solved by the present application is to provide a vehicle interactive door opening control system and method, readable storage medium and vehicle, which can realize human-computer interaction through projection to realize the correct use of foot kick door opening, and at the same time can also realize foot kick opening and closing of the door, and improve the intelligence of the vehicle door opening.

[0007] To solve the above technical problems, the first aspect of the present application provides a vehicle interactive door opening control method, comprising:

[0008] Obtaining position information of a target signal relative to the vehicle;

[0009] In response to the target signal being within a preset range, projecting a foot kick instruction image on the ground surface corresponding to the area of the door and / or tailgate;

[0010] Performing foot kick action signal recognition on the ground area where the foot kick instruction image is located;

[0011] In response to the foot kick action conforming to a preset action, controlling the opening and closing of the door and / or tailgate.

[0012] In some embodiments, the preset range includes a first preset range located at the periphery of the vehicle door and a second preset range located at the periphery of the tailgate, and the projecting the kick indication image on the ground surface corresponding to the area of the vehicle door and / or the tailgate in response to the target signal being within the preset range includes:

[0013] projecting the kick indication image on the ground surface corresponding to the area of the vehicle door in response to the target signal being within the first preset range;

[0014] projecting the kick indication image on the ground surface corresponding to the area of the tailgate in response to the target signal being within the second preset range.

[0015] In some embodiments, the projecting the kick indication image is performed by a projection module, which is arranged on the vehicle door and the tailgate of the vehicle respectively to project the image to be displayed on the ground surface corresponding to the area of the vehicle door or the tailgate; or

[0016] The projection module is arranged on the vehicle, and the projection module has a projection position switching unit controlled to make the projection module project the image to be displayed on the ground surface corresponding to the area of the vehicle door or the tailgate.

[0017] In some embodiments, the kick indication image is projected on the ground surface to form at least a first display area and a second display area, the first display area is used to indicate the kick sensing area, and the second display area is used to feedback the kick result.

[0018] In some embodiments, the preset action includes at least a first preset action and a second preset action, and the controlling the opening and closing of the vehicle door and / or the tailgate in response to the kick action conforming to the preset action includes:

[0019] controlling the opening and closing of the vehicle door in response to the kick action conforming to the first preset action;

[0020] controlling the opening and closing of the tailgate in response to the kick action conforming to the second preset action.

[0021] In some embodiments, the kick action signal identification on the ground surface area where the kick indication image is located further includes:

[0022] switching the projection position in response to the kick action conforming to a third preset action;

[0023] performing kick action signal identification on the ground surface area where the kick indication image is located after the projection position is switched;

[0024] controlling the opening and closing of the vehicle door and / or the tailgate in response to the kick action conforming to the preset action.

[0025] In some embodiments, the position information of the target signal relative to the vehicle is acquired by using a position sensing module, the position sensing module includes a Bluetooth low energy and a positioning sensor, and the acquisition of the position information of the target signal relative to the vehicle includes:

[0026] The Bluetooth low energy is controlled to detect the target signal within a detection range of the vehicle.

[0027] In response to detecting the target signal, the positioning sensor is controlled to acquire the position information of the target signal relative to the vehicle.

[0028] In some embodiments, the position information of the target signal relative to the vehicle is acquired by using a position sensing module, and the ground area where the kick indication image is located is subjected to kick action signal recognition by using a sensing module, and at least part of the position sensing module is multiplexed as the sensing module.

[0029] In some embodiments, the kick indication image is projected by using a projection module, and the projection module is any one of a digital light processing projection, a laser scanning projection, and a switchable projection.

[0030] The second aspect of the present application provides a readable storage medium, characterized in that the readable storage medium stores executable instructions, and the executable instructions are used to be read by a processor of a computer to execute the vehicle interaction door opening control method.

[0031] The third aspect of the present application provides a vehicle interaction door opening control system, including:

[0032] A position sensing module is configured to locate position information of a target signal relative to a vehicle.

[0033] A projection module is capable of projecting a to-be-displayed image onto the ground in a region corresponding to a vehicle door or a tailgate.

[0034] A sensing module is configured to recognize a kick action signal in a region corresponding to the vehicle door or the tailgate.

[0035] An execution module is configured to execute opening and closing actions of the vehicle door and the tailgate.

[0036] A control module is configured to control the position sensing module to acquire the position information of the target signal relative to the vehicle, control the projection module to project a kick indication image onto the ground in a region corresponding to the vehicle door and / or the tailgate when the target signal is within a preset range, control the sensing module to recognize a kick action signal in a ground region where the kick indication image is located, and control the execution module to open and close the vehicle door and / or the tailgate when a kick action meets a preset action.

[0037] The fourth aspect of the present application provides a vehicle, characterized in that comprising the vehicle interactive door opening control system.

[0038] Through the above scheme, the beneficial effects of the present application are as follows:

[0039] The present application can also locate the position signal of the user relative to the vehicle through the target signal, so that the foot kicking indication image can be projected on the ground corresponding to the area of the tailgate and / or the door when the user reaches the preset range, so that the user can accurately know the foot kicking function, the foot kicking position and the action mode, thereby realizing the correct opening and closing of the tailgate and the door, making the vehicle have stronger human-computer interaction, and extending the foot kicking door opening mode to the door to improve the intelligent degree.

[0040] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0041] The accompanying drawings are used to provide further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with the following specific embodiments, but do not constitute a limitation to the present application. In the drawings:

[0042] Fig. 1 is a step diagram of the vehicle interactive door opening control method of the present application;

[0043] Fig. 2 is a structural block diagram of a first specific embodiment of the vehicle interactive door opening control system of the present application;

[0044] Fig. 3 is a schematic diagram of foot kicking control of tailgate opening and closing;

[0045] Fig. 4 is a schematic diagram of foot kicking control of door opening and closing;

[0046] Fig. 5 is a display area schematic diagram of a specific embodiment of the foot kicking indication image;

[0047] Fig. 6 is a judgment logic diagram of a specific embodiment of the vehicle interactive door opening control method of the present application;

[0048] Fig. 7 is a structural schematic diagram of a first specific embodiment of the projection module;

[0049] Fig. 8 is a structural schematic diagram of a second specific embodiment of the projection module;

[0050] Fig. 9 is a structural schematic diagram of a third specific embodiment of the projection module;

[0051] Fig. 10 is a structural block diagram of a second specific embodiment of the vehicle interactive door opening control system of the present application.

[0052] 100, position sensing module; 200, projection module; 300, sensing module; 400, execution module; 500, control module; 1, first display area; 2, second display area; 3, light source; 4, first optical unit; 5, pattern switching mechanism; 6, reflector; 7, MEMS scanning chip; 8, DMD chip; 9, projection optical mechanism; 10, UWB antenna; 11, PCB assembly. DETAILED DESCRIPTION

[0053] The specific embodiments of the present application are described in detail below with reference to the accompanying drawings, and it should be understood that the specific embodiments described herein are merely intended to explain and illustrate the present application, and the protection scope of the present application is not limited to the specific embodiments described below.

[0054] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "form", "provided with", "set", "connected" and the like should be understood in a broad sense, for example, the connection can be direct connection or indirect connection through an intermediate medium, can be fixed connection or detachable connection, or integral connection; can be direct connection or indirect connection through an intermediate connecting member, can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0055] To solve the above technical problems, the first aspect of the present application provides a vehicle interactive door opening control method, which is implemented by a vehicle interactive door opening control system. Referring to FIG. 2, the vehicle interactive door opening control system comprises a position sensing module 100, a projection module 200, a sensing module 300 and an execution module 400. The position sensing module 100 is a position sensor, which is used to locate the position information of a target signal relative to the vehicle. In some embodiments, the position sensing module 100 can locate the position of a person carrying a positioning device, and identify the identity of the person using the positioning device. The projection module 200 is a projector, which can project an image to be displayed onto the ground in the corresponding area of the vehicle door or tailgate. In some embodiments, the projection module 200 can be arranged on the vehicle door and tailgate respectively, so as to project the image to be displayed onto the ground in the corresponding area of the vehicle door or tailgate. In other embodiments, the projection module 200 can be arranged on the vehicle and switched by a projection position switching unit. The sensing module 300 is a sensor, which is used to identify a kicking action signal. In some embodiments, the sensing module 300 can be arranged on the vehicle door and tailgate respectively. In other embodiments, the sensing area of the sensing module 300 can be adjusted to sense the corresponding areas of the vehicle door and tailgate. The execution module 400 is an actuator, which is used to execute the opening and closing actions of the vehicle door and tailgate. In some embodiments, as shown in FIG. 2, the projection module 200 and the sensing module 300 can be integrated together as the same part for easy installation on the vehicle. In further embodiments, as shown in FIG. 10, the sensing module 300 can be reused as the position sensing module 100. The present application can realize more variations, which are not described here.

[0056] Based on the above vehicle interactive door opening control system, referring to FIG. 1, the vehicle interactive door opening control method comprises:

[0057] Step S100, controlling the position sensing module 100 to obtain the position information of the target signal relative to the vehicle.

[0058] In some optional embodiments, the target signal can not be a signal actively triggered by the user, but a signal passively triggered by the user. In order to reduce the overall power consumption of the vehicle interaction door opening control system, the position sensing module 100 includes a low-power Bluetooth (BLE) and a positioning sensor, and controls the low-power Bluetooth to detect the target signal within the detection range of the vehicle, for example, using BLE to sense the digital key; when approaching the set detection range, the system wakes up the positioning sensor in response to detecting the target signal, to control it to obtain the position information of the target signal relative to the vehicle. Since the power consumption of low-power Bluetooth (BLE) is low, it can be used to roughly sense the target signal, and wake up the positioning sensor to accurately carry the person with the positioning device (such as a remote key or a mobile phone with remote key function) through the positioning sensor. Thus, the combination of BLE and positioning sensor reduces the power consumption of the system, achieving the effect of energy saving of the vehicle. In other optional embodiments, BLE can also be used alone as a Bluetooth digital key to realize the positioning function of the digital key.

[0059] In some optional embodiments, the target signal can be a wireless signal used by the user to start the vehicle. The target signal can be a wireless start signal sent by the remote key to the vehicle, or a start signal for remotely starting the vehicle through the mobile phone APP. When starting the vehicle remotely through the mobile phone APP, the real-time positioning position of the mobile phone can be used to determine whether the start signal is within the preset range of the vehicle. The present application can realize more variations, which will not be described here.

[0060] Step S200, in response to the target signal being within the preset range, controlling the projection module 200 to project the kick indication image on the ground corresponding to the area of the vehicle door and / or the tail door; the preset range should be within the above-mentioned set detection range.

[0061] In some embodiments, referring to FIG. 5, the kick instruction image projected onto the ground can be formed with at least a first display area and a second display area, the first display area is used to indicate the kick sensing area, so that the user can clearly know the kick position, specifically, a text reminder and / or a pattern reminder can be performed on the first display area, for example, a "kick sensing area" word and / or a "kick action" pattern identification; and the second display area is used to feedback the kick result, so that the user can clearly know whether the kick action triggers the opening of the vehicle door and / or the tailgate successfully, specifically, a text reminder, a light reminder and / or a pattern reminder can be performed on the second display area, even in the case of no successful opening, the second display area can further inform the user of the failure reason, such as incorrect kick manner or kick position deviation, and inform the correct kick manner, so as to improve the user experience and realize the correct opening of the vehicle door and / or the tailgate. The above two display areas are only a specific embodiment, and it is conceivable that various display areas can be divided according to design requirements, which will not be described here.

[0062] Step S300, controlling the sensing module 300 to perform kick action signal recognition on the ground area where the kick instruction image is located.

[0063] The user performs a kick action according to the indication of the kick instruction image, so as to facilitate the recognition of the sensing module 300. It should be noted that the sensing module 300 can be awakened together with the projection module 200, or can continue to detect the position of the target signal after the projection module 200 is awakened, and then wake up the sensing module 300 when the target signal is close to the kick instruction image, so as to further reduce the overall power consumption of the vehicle interactive door opening control system.

[0064] Step 400, in response to the kick action conforming to the preset action, controlling the execution module 400 to open or close the vehicle door or the tailgate.

[0065] When controlling the opening and closing of the vehicle door or the tailgate, the opening and closing state of the vehicle door or the tailgate should be read in advance, if the vehicle door or the tailgate is in a closed state, the control execution module 400 opens the vehicle door or the tailgate; if the vehicle door or the tailgate is in an open state, the control execution module 400 opens the vehicle door or the tailgate. The execution module 400 is a mechanism for driving the electric opening or closing of the vehicle door or the tailgate, and its structure and working principle are well known to those skilled in the art, so it will not be described here.

[0066] In some embodiments, the vehicle part where the door and the tailgate are located is provided with the projection module 200 and the sensing module 300. In order to further reduce the overall power consumption of the vehicle interaction door opening control system, the preset range includes a first preset range located around the door and a second preset range located around the tailgate. Therefore, as a specific implementation, in response to the target signal being in the preset range, the projection module 200 is controlled to project the foot kick indication image on the ground in the corresponding area of the door and / or the tailgate, which includes:

[0067] In response to the target signal being in the first preset range, the projection module 200 is controlled to project the foot kick indication image on the ground in the corresponding area of the door, and the sensing module 300 corresponding to the door is woken up to identify the foot kick action signal; or the sensing module 300 corresponding to the door is woken up again when the user approaches the foot kick indication image in the first preset range.

[0068] In response to the target signal being in the second preset range, the projection module 200 is controlled to project the foot kick indication image on the ground in the corresponding area of the tailgate, and the sensing module 300 corresponding to the tailgate is woken up to identify the foot kick action signal; or the sensing module 300 corresponding to the tailgate is woken up again when the user approaches the foot kick indication image in the second preset range.

[0069] In other embodiments, the projection module 200 is provided on the vehicle, and the projection module 200 has a projection position switching unit which is controlled to make the projection module 200 project the to-be-displayed image on the ground in the corresponding area of the door or the tailgate. Thus, based on the first preset range and the second preset range where the target signal is located, the projection position switching unit of the projection module 200 can switch the projection position of the to-be-displayed image (such as switching on the ground in the corresponding area of the door or the tailgate). Thus, multiple projection modules do not need to be provided, and the system cost is reduced.

[0070] The control logic of the execution module 400 can adopt a one-to-one control mode, as shown in FIG. 4, that is, when the sensing module 300 corresponding to the vehicle door identifies that the kicking action meets the preset action, the execution module 400 can be controlled to open and close the vehicle door; as shown in FIG. 3, when the sensing module 300 corresponding to the tailgate identifies that the kicking action meets the preset action, the execution module 400 can be controlled to open and close the tailgate. However, in actual use, there may be a situation that the user is in the vehicle door area but needs to control the tailgate to open, or the user is in the tailgate area but needs to control the vehicle door, and in some specific embodiments of the present application, the above-mentioned preset action at least includes a first preset action and a second preset action, in response to the kicking action meeting the first preset action, the execution module 400 is controlled to open and close the vehicle door; in response to the kicking action meeting the second preset action, the execution module 400 is controlled to open and close the tailgate. Specifically, the first preset action and the second preset action can be distinguished according to the number of kicks. In other embodiments, different preset actions can be distinguished by combining a visual sensor, such as different kicking directions (moving forward or backward or moving left or right), and in order to facilitate user operation, the first preset action and the second preset action can be prompted in the kicking indication image and show whether they correspond to controlling the vehicle door or the tailgate. In addition, the above-mentioned preset action has various forms of distinction, and is not limited to the above-mentioned two preset actions, and can be set according to actual needs, for example, when the vehicle is a common four-door vehicle, the vehicle doors include the driver's door, the front passenger door, the left passenger door and the right passenger door, and each door is provided with a sensing module 300 and a projection module 200, at this time, a plurality of preset actions can be respectively set to be able to control the opening and closing of each door without changing the kicking sensing area.

[0071] In some specific embodiments, step S300 can further include: in response to the kicking action meeting a third preset action, controlling the projection module to switch the projection position; controlling the sensing module to identify the kicking action signal of the ground area where the kicking indication image is located after the projection position is switched; in response to the kicking action meeting the preset action, controlling the execution module to open and close the vehicle door or the tailgate. Thus, unlike the aforementioned control of the opening and closing of the vehicle door and the tailgate by different preset actions at the same projection position, the present embodiment can trigger the change of the projection position by different actions. For example, the user performs a third preset action at the tailgate to trigger the projection module 200 to switch the projection to the ground of the vehicle door corresponding area, and the user can perform a preset action on the ground of the vehicle door corresponding area to open and close the vehicle door. In other embodiments, the above two embodiments can be combined, for example, the user performs a third preset action at the tailgate to trigger the projection module 200 to switch the projection to the ground of the vehicle door corresponding area, and the user can perform a first preset action or a second preset action on the ground of the vehicle door corresponding area to open and close the vehicle door or the tailgate.

[0072] In some embodiments, when the passengers also need to open the doors and the rear doors in addition to the person carrying the positioning device (such as the driver), the position sensing module 100 can identify the position of the driver, and when the driver is within the preset range, the projection module 200 projects the foot kick indication image on the ground in the area corresponding to the door or the rear door where the driver is located. The driver performs the preset foot kick action to open the projection module 200 and the sensing module 300 corresponding to all the doors and the rear doors, so that the passengers perform the preset foot kick action to control the opening and closing of the corresponding doors. Alternatively, the driver performs the preset foot kick action to open the projection module 200 and the sensing module 300 corresponding to the selected doors and the rear doors (the doors and the rear doors have a mapping relationship with the foot kick action), so that the passengers at the selected doors and the rear doors perform the preset foot kick action to control the opening and closing of the corresponding doors. The present application can realize more variations, which are not described here.

[0073] In some embodiments, the projection module 200 described above can adopt digital light processing projection (DLP projection), laser scanning projection (LBS projection) and switchable projection, etc. Specifically, referring to FIG. 7, the projection module 200 is a switchable projection, which comprises a light source 3, a primary optical unit 4, a pattern switching mechanism 5 and a projection optical mechanism 9. The light source 3 is preferably an LED light source. The primary optical unit 4 comprises a condenser, a reflecting cup and a Fresnel lens, etc., so as to be able to converge the light emitted by the light source, and to project the converged light to the pattern to be projected on the pattern switching mechanism, and to project the image to be projected to the ground through the projection optical mechanism 9. The pattern switching mechanism 5 is formed with a plurality of patterns to be projected. The switching of the patterns to be projected can be performed by a motor or an electromagnetic valve according to the requirements of the display content. The projection optical mechanism can be a lens, a mirror, etc. Referring to FIG. 8, the projection module 200 is an LBS projection, which comprises a light source 3, a primary optical unit 4, a beam splitter 6 and a MEMS (Micro Electro Mechanical Systems) scanning chip 7 and its system. The light propagation path is shown by the dashed arrow line in the figure. The light source 3 is preferably an RGB laser light source. The light emitted by the RGB laser light source is converged by the primary optical unit 4, and then is projected to the beam splitter, and the light path is changed by the beam splitter, so as to form an image to be projected, and the image to be projected is scanned by the MEMS scanning chip 7. The technical principle of the MEMS scanning chip 7 can be electromagnetic, electrostatic, piezoelectric or electrothermal scheme. The scanning mode can be single-axis double-MEMS chip or double-axis scanning (the double-axis scanning mode can be Lissajous scanning or line-by-line scanning mode). Referring to FIG. 9, the projection module 200 is a DLP projection, which comprises a light source 3, a primary optical unit 4, a beam splitter 6, a DMD (Digital Micromirror Device) chip 8 and its system and a projection optical mechanism 9. The light propagation path is shown by the dashed arrow line in the figure. The light source 3 is preferably an RGB light source. The light emitted by the RGB light source is converged by the primary optical unit 4, and then is projected to the beam splitter 6, and the light path is changed by the beam splitter 6, so as to form an image to be projected, and the image to be projected is projected to the ground by the projection optical mechanism 9. The projection scheme adopted by the projection module 200 described above is only a specific embodiment of the present application, and is not a limitation on the protection scope of the present application. For example, the projection module 200 can also adopt LcoS (Liquid Crystal On Silicon) projection, liquid crystal projection, etc.

[0074] In some embodiments, the positioning sensor can adopt positioning technologies such as Bluetooth positioning, UWB (Ultra Wideband), etc., and the sensor of the sensing module 300 can include one or more sensors selected from a camera, a laser radar, a millimeter wave radar, a UWB radar, and a capacitive kick radar, so as to analyze the signals of the kick sensing area according to an image algorithm and / or a radar data processing algorithm, and identify the kick action signals of the area. As a preferred embodiment, referring to FIG. 10, the positioning sensor (position sensing module 100) and the sensor of the sensing module 300 both adopt a UWB radar, which can be used as one of the anchor points of the UWB positioning system while realizing the kick action identification, thereby reducing the number of components used and the manufacturing cost. In addition, the UWB system includes transmitting and receiving antennas. In order to further improve the integration and reduce the space occupation area, the above-mentioned three specific embodiments of the projection module 200 are provided with a PCB assembly 11 integrated with a light source and a light source driver, and the UWB chip and the UWB antenna 10 can be integrated on the PCB assembly 11. Similarly, the above-mentioned BLE chip and BLE antenna can also be integrated on the PCB assembly, and the above-mentioned UWB antenna and BLE antenna can adopt ceramic antennas or PCB antennas. It should be noted that the above-mentioned scheme of integrating the antennas on the PCB assembly is only a preferred embodiment of the present application, and it is conceivable that the UWB antenna can also be separately led out according to the actual situation.

[0075] In actual use, it is also necessary to avoid the kick-to-open-door mis-triggering situation. In order to avoid this situation, as one specific embodiment, the kick time interval and / or the kick number of times can be identified, and compared with the pre-set trigger parameter range. If it is not within the trigger parameter range, the vehicle door and the tailgate will not be controlled to be opened. As another specific embodiment, the vehicle interactive door opening control system of the present application can also include an infrared sensor. When identifying the kick signal, the infrared sensor can be controlled to collect the heat radiation of the object generating the kick action signal, and determine whether the heat radiation is within the wavelength range of the heat radiation of the foot. If the heat radiation is within the wavelength range of the heat radiation of the foot, the sensing module 300 is controlled to identify the kick action signal of the ground area of the kick indication image. Otherwise, the sensing module 300 is controlled not to identify the kick action signal. In order to reduce the overall power consumption of the system, the infrared sensor can be consistent with the wake-up mode of the sensing module 300, that is, the sensing module 300 is woken up at the same time as the infrared sensor. In addition, in order to increase the accuracy of the anti-mis-triggering identification, the above-mentioned two specific embodiments can be used at the same time. Only when both specific embodiments are met, the kick-to-open-door can be triggered correctly.

[0076] As some optional embodiments, after the kicking is completed, the sensing module 100 can obtain that the user is away from the sensing area of the vehicle sensing module 300, and then the sensing module 300 and the projection module 200 (and the infrared sensor) are turned off to avoid the system generating redundant power consumption.

[0077] As some specific embodiments, the vehicle interactive door opening control method of the present application performs real-time positioning on the position of the target signal. When it is identified that the target signal is in the vehicle, it means that the driver is inside the vehicle. At this time, the sensing module 300 and the projection module 200 (and the infrared sensor) can be turned off to avoid mis-triggering by other people outside the door and to avoid the system generating redundant power consumption.

[0078] In order to better understand the vehicle interactive door opening control method of the present application, the control process of the present application is described below in combination with specific embodiments and FIG. 6:

[0079] First, the system starts to identify the distance between the low-power BLE sensing digital key (target signal) and the vehicle. When the distance is less than distance a (preferably 10 m), the UWB digital key and the positioning system are woken up.

[0080] After the UWB digital key and the positioning system function are turned on, the position of the digital key is tracked. When the distance between the digital key and the projection module 200 of the kick-to-open door function is less than distance b (preferably 2.5 m), whether the driver is inside the vehicle can be identified through the digital key. If the driver is inside the vehicle, no operation is performed. If the driver is outside the vehicle, the projection module 200 and the UWB kick radar switch are turned on to form a ground interactive projection system. The projection module 200 projects the kick instruction image on the ground to indicate the kick sensing area and the kick action mode (such as forward and backward movement or left and right movement, etc.), and the light prompts the state of the kick function not being activated.

[0081] The driver performs the kick action according to the indication, the UWB kick radar judges and simultaneously identifies the kick action signal. If the kick action identification is successful, the corresponding vehicle door or tailgate is controlled to open and close, and the kick instruction image feeds back the identification result (successful kick). If the kick action identification fails, the identification result (failed kick) is fed back, and the kick mode is reminded again so that the driver can perform the kick-to-open door according to the correct kick mode according to the prompt.

[0082] The second aspect of the present application provides a readable storage medium, which stores executable instructions for being read by a processor of a computer to execute the vehicle interactive door opening control method provided by the first aspect of the present application.

[0083] The third aspect of the present application provides a vehicle interactive door opening control system, which comprises:

[0084] a position sensing module 100, configured to obtain position information of a target signal relative to the vehicle;

[0085] a projection module 200, respectively arranged on the vehicle door and the tailgate, and capable of projecting a to-be-displayed image onto the ground in a corresponding area of the vehicle door or the tailgate;

[0086] a sensing module 300, configured to identify a kicking action signal in the corresponding area of the vehicle door or the tailgate, and the sensing module 300 can be arranged on the vehicle door and / or the tailgate;

[0087] an execution module 400, configured to execute opening and closing actions of the vehicle door and the tailgate;

[0088] a control module 500, which is a processor and is electrically connected with the position sensing module 100, the projection module 200, the sensing module 300 and the execution module 400, so as to control the position sensing module 100 to obtain the position information of the target signal relative to the vehicle, control the projection module 200 to project a kicking instruction image onto the ground in the corresponding area of the vehicle door and / or the tailgate when the target signal is in a preset range, control the sensing module 300 to identify a kicking action signal in the ground area where the kicking instruction image is located, and control the execution module 500 to open and close the vehicle door and / or the tailgate when the kicking action meets a preset action; the control module 500 can be a vehicle-mounted processor or a cloud processor for network communication transmission, and is configured to read executable instructions stored in the readable storage medium provided in the second aspect of the application.

[0089] The fourth aspect of the application provides a vehicle including the vehicle interaction door opening control system provided in the third aspect of the application.

[0090] Through the above technical solution, the application realizes the interaction between the projection system and the kicking door opening, so that the user can accurately know the kicking function, the kicking position and the action mode, realize the correct opening and closing of the tailgate and the vehicle door, and can project the judgment result of the kicking radar, greatly increase the human-computer interaction, and improve the intelligent degree of the vehicle door opening. The kicking door opening is extended to the opening of the vehicle door, which can realize the opening of the vehicle door in extremely cold weather when the mechanical handle is frozen. In addition, the UWB radar is used as a sensor for the kicking door opening function, which can be reused as one of the anchor points of the UWB positioning system, and can be integrated in the PCB assembly of the projection module 200, thereby improving the integration of the whole system and reducing the occupation of the layout space.

[0091] Those skilled in the art will appreciate that embodiments of the application can be devised for a method, a system, or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer readable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0092] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0093] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart illustrations and / or block diagrams block or blocks.

[0094] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0095] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0096] The memory can include non-persistent memory and / or volatile memory, such as a random access memory (RAM) including a cache area for the temporary storage of data. The memory can also include non-volatile memory, such as read only memory (ROM) for storing structural information and / or instruction sets. Both can be within one or more memory devices 1225. Like a computer archive, the memory can be a removable memory device including a program cartridge and a floppy disk, and can also include an installed memory, such as disc drives, tape drives, etc.

[0097] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data.

[0098] Examples of computer-readable media of a computer include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette, magnetic tape disk storage, or other magnetic storage device, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0099] It should also be noted that the terms "comprising", "including", or any other variation thereof are intended to cover a non-exclusive inclusion, so that a process, method, article, or apparatus that comprises a list of elements does not only include those elements, but also includes other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0100] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A vehicle interaction door opening control method characterized by, The method comprises: acquiring position information of a target signal relative to a vehicle; in response to the target signal being within a preset range, projecting a kicking instruction image on the ground in a region corresponding to a vehicle door and / or a tailgate; performing kicking action signal identification on a ground region where the kicking instruction image is located; in response to the kicking action conforming to a preset action, controlling opening and closing of the vehicle door and / or the tailgate.

2. The vehicle interaction door opening control method according to claim 1, characterized by, The preset range comprises a first preset range located around the vehicle door and a second preset range located around the tailgate, and the response to the target signal being within the preset range comprises: in response to the target signal being within the first preset range, projecting the kicking instruction image on the ground in a region corresponding to the vehicle door; and in response to the target signal being within the second preset range, projecting the kicking instruction image on the ground in a region corresponding to the tailgate.

3. The vehicle interaction door opening control method according to claim 1, characterized by, The kicking instruction image is projected by a projection module, which is arranged on the vehicle door and the tailgate respectively, to project a to-be-displayed image on the ground in a region corresponding to the vehicle door or the tailgate; or The projection module is arranged on the vehicle, and the projection module has a projection position switching unit controlled to make the projection module project a to-be-displayed image on the ground in a region corresponding to the vehicle door or the tailgate.

4. The vehicle interaction door opening control method according to claim 1, characterized by, The kicking instruction image is projected on the ground to form at least a first display region and a second display region, the first display region is used to indicate a kicking sensing region, and the second display region is used to feedback a kicking result.

5. The vehicle interaction door opening control method according to claim 1, characterized by, The preset action comprises at least a first preset action and a second preset action, and the response to the kicking action conforming to the preset action comprises: in response to the kicking action conforming to the first preset action, controlling opening and closing of the vehicle door; and in response to the kicking action conforming to the second preset action, controlling opening and closing of the tailgate.

6. The vehicle interaction door opening control method according to claim 5, characterized by, After the kicking action signal identification on the ground region where the kicking instruction image is located, the method further comprises: in response to the kicking action conforming to a third preset action, switching the projection position; performing kicking action signal identification on a ground region where the kicking instruction image is located after the projection position is switched; in response to the kicking action conforming to the preset action, controlling opening and closing of the vehicle door and / or the tailgate.

7. The vehicle interactive door opening control method according to claim 1, characterized by, The position information of the target signal relative to the vehicle is acquired by a position sensing module, the position sensing module comprises a Bluetooth low energy and a positioning sensor, and the acquisition of the position information of the target signal relative to the vehicle comprises: controlling the Bluetooth low energy to detect the target signal within a detection range of the vehicle; and in response to the detection of the target signal, controlling the positioning sensor to acquire the position information of the target signal relative to the vehicle.

8. The vehicle interactive door opening control method according to any one of claims 1 to 7, characterized by, The position information of the target signal relative to the vehicle is acquired by a position sensing module, and the kicking action signal identification on the ground region where the kicking instruction image is located is performed by a sensing module, and at least part of the position sensing module is multiplexed as the sensing module.

9. The vehicle interactive door opening control method according to any one of claims 1 to 7, characterized by, The kicking instruction image is projected by a projection module, the projection module is any one of digital light processing projection, laser scanning projection and switchable projection.

10. A readable storage medium, characterized by, The readable storage medium stores executable instructions for being read by a processor of a computer to execute the vehicle interactive door opening control method according to any one of claims 1 to 9.

11. A vehicle interactive door opening control system characterized by, The vehicle interactive door opening control system comprises: a position sensing module configured to locate a position of a target signal relative to the vehicle; a projection module configured to project an image to be displayed onto a ground surface in a region corresponding to the door or the tailgate; a sensing module configured to identify a kicking action signal in the region corresponding to the door or the tailgate; an execution module configured to execute opening and closing actions of the door and the tailgate; a control module configured to control the position sensing module to obtain the position of the target signal relative to the vehicle, control the projection module to project a kicking instruction image onto the ground surface in the region corresponding to the door and / or the tailgate when the target signal is within a preset range, control the sensing module to identify a kicking action signal in a region of the ground surface on which the kicking instruction image is projected, and control the execution module to open and close the door and / or the tailgate when the kicking action conforms to a preset action.

12. A vehicle characterized by comprising: The vehicle interactive door opening control system according to claim 11.

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