Vehicle door control method, apparatus, and vehicle

Abstract

The present application provides a vehicle door control method, an apparatus, and a vehicle, which can be applied to the field of intelligent vehicles. The method comprises: acquiring information of a target around a vehicle; and when it is detected that an anti-collision function is triggered, and the relative speed between the vehicle and the target and TTC between the vehicle and the target meet preset conditions when the anti-collision function is triggered, controlling doors of the vehicle to be unlocked. The present application can be applied to intelligent vehicles or electric vehicles, and facilitates reducing the risk that vehicle doors cannot be automatically unlocked after a collision.

Description

Door control methods, devices and vehicles Technical Field

[0001] This application relates to the field of intelligent vehicles, and more specifically, to a door control method, device, and vehicle. Background Technology

[0002] With the development and popularization of electric vehicles, intelligence has become an important label for automobiles. Collision safety is also a crucial evaluation criterion for electric vehicles. For example, in the event of a collision, the vehicle can automatically unlock and extend the door handles, allowing occupants to quickly evacuate. Alternatively, it can enable rescue personnel outside the vehicle to promptly rescue those trapped inside.

[0003] Therefore, ensuring that the car doors can be unlocked in the event of a collision has become an urgent problem to be solved.

[0004] Summary of the Invention

[0005] This application provides a door control method, device, and vehicle that helps reduce the risk that vehicle doors cannot automatically unlock after a collision.

[0006] In a first aspect, this application provides a vehicle door control method, which includes: acquiring information about targets around the vehicle; and controlling the vehicle door to unlock when a collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the time to collision (TTC) between the vehicle and the target when the collision avoidance function is triggered meet preset conditions.

[0007] Based on the above technical solution, when the collision avoidance function is detected to be triggered, and the relative speed between the vehicle and the target, as well as the time-to-traffic (TTC) between the vehicle and the target, meet preset conditions at the time of the collision avoidance function triggering, the vehicle doors can be unlocked in advance. In this way, by unlocking the doors before a collision, the risk of the doors failing to unlock automatically due to mechanical failure after the collision can be reduced.

[0008] In some possible implementations, when the collision avoidance function is triggered, the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions, including: during the time period from the moment the collision avoidance function is triggered to the moment the collision avoidance function is deactivated, the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions.

[0009] In some possible implementations, when the collision avoidance function is triggered, the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions, including: the relative speed between the vehicle and the target and the TTC between the vehicle and the target obtained at the moment the collision avoidance function is triggered meet preset conditions.

[0010] In some possible implementations, when the collision avoidance function is triggered, the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions, including: the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions for a period of time before the collision avoidance function is triggered.

[0011] In some possible implementations, the collision avoidance function can be categorized according to the possible collision directions between the vehicle and the target.

[0012] For example, the collision avoidance function includes one or more of the following: forward collision avoidance function, rear collision avoidance function, or side collision avoidance function.

[0013] For example, the forward collision avoidance function includes one or more of forward collision warning (FCW), automatic emergency braking (AEB), automatic emergency steering (AES), or emergency steering assist (ESA); the rear collision avoidance function includes rear collision warning (RCW); and the lateral collision avoidance function includes lane departure warning (LDW) and / or emergency lane keeping (ELK).

[0014] In some possible implementations, the collision avoidance function may include collision warning functionality and / or collision avoidance functionality.

[0015] For example, collision warning functions include one or more of LDW, FCW, or RCW; collision avoidance functions include one or more of AEB, ELK, AES, or ESA.

[0016] In some possible implementations, the relative speed between the vehicle and the target, as well as the TTC between the vehicle and the target, meet preset conditions, including: the relative speed between the vehicle and the target is greater than or equal to a speed threshold and the TTC between the vehicle and the target is less than or equal to a TTC threshold.

[0017] In some possible implementations, the TTC threshold for triggering the collision avoidance function is another TTC threshold, wherein the other TTC threshold for triggering the collision avoidance function is greater than the TTC threshold in the preset condition.

[0018] In some possible implementations, the TTC threshold in the preset condition can be determined by the door lock control module controlling the duration of door lock opening. For example, the TTC threshold in the preset condition can be the duration of door lock opening plus a preset duration.

[0019] Based on the above technical solution, by setting a TTC threshold related to the duration of door lock opening in the preset conditions, it helps to reduce the false trigger rate of door unlocking before a collision, helps to ensure that the door unlocking action is completed before a collision, and helps to improve the user's driving safety and driving experience.

[0020] In some possible implementations, the TTC threshold in the preset condition can be determined by the duration the door lock is open and / or the duration the concealed door handle pops out.

[0021] In some possible implementations, the TTC threshold in the preset condition can be the greater of the duration the door lock is open and the duration the concealed door handle pops out, plus the preset duration.

[0022] Based on the above technical solution, by setting a TTC threshold related to the duration of door lock opening and the duration of hidden door handle pop-out in the preset conditions, it helps to reduce the false triggering rate of door unlocking and hidden door handle pop-out before a collision, helps to ensure that the door unlocking action and hidden door handle pop-out action are completed before a collision, and helps to improve the user's driving safety and driving experience.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, when a collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions, controlling the unlocking of the vehicle door includes: when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target, the overlap between the vehicle and the target, and the collision time TTC between the vehicle and the target meet the preset conditions, controlling the unlocking of the vehicle door.

[0024] In some possible implementations, the relative speed between the vehicle and the target, the overlap between the vehicle and the target, and the time to collision (TTC) between the vehicle and the target satisfy the preset conditions, including: the relative speed between the vehicle and the target is greater than or equal to a speed threshold, the overlap between the vehicle and the target is greater than or equal to a preset overlap, and the TTC between the vehicle and the target is less than or equal to a TTC threshold.

[0025] Based on the above technical solution, by combining the judgment of the overlap between the vehicle and the target, the car door can be unlocked in advance when the overlap between the vehicle and the target is high during a collision. This helps to avoid unnecessary unlocking in minor collision scenarios and helps to improve the user's driving safety and driving experience.

[0026] In conjunction with the first aspect, in certain implementations of the first aspect, when a collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target, as well as the time-to-market (TTC) between the vehicle and the target, meets preset conditions, the vehicle door is unlocked, including: when the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the first vehicle is greater than or equal to a first preset speed, and the TTC between the vehicle and the first vehicle is less than or equal to a first preset TTC, the door is unlocked, and the size of the first vehicle is a first size; or, when the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the second vehicle is greater than or equal to a second preset speed, and the TTC between the vehicle and the second vehicle is less than or equal to a second preset TTC, the door is unlocked, and the size of the second vehicle is a second size; wherein the first size is greater than the second size, and the first preset speed is less than the second preset speed.

[0027] Based on the above technical solution, different preset conditions can be set for different types of targets. For example, for the larger first vehicle, the first preset speed in the preset conditions can be a smaller value; and for the smaller second vehicle, the second preset speed in the preset conditions can be a larger value. Thus, at the same relative speed, when there is a risk of collision between the vehicle and the larger first vehicle compared to the smaller second vehicle, the vehicle will be more likely to trigger the door unlocking before the collision, or the vehicle will trigger the door unlocking before the collision earlier. Since the damage to the vehicle and its occupants may be greater after a collision with the larger first vehicle, by setting preset speeds for vehicles of different sizes, it can be ensured that the doors can unlock earlier or more easily before a collision with the larger first vehicle. This facilitates timely evacuation of occupants after a collision and also facilitates rescue by rescue personnel outside the vehicle.

[0028] In some possible implementations, the first dimension and the second dimension can be determined by the length, width, and height of the 3D detection box corresponding to the target vehicle.

[0029] In some possible implementations, the first dimension and the second dimension can be determined by the polygonal outline of the target vehicle.

[0030] In conjunction with the first aspect, in some implementations of the first aspect, the first preset TTC is greater than or equal to the second preset TTC.

[0031] Based on the above technical solution, by setting different preset TTC for vehicles of different sizes, it can be ensured that the doors of the vehicle can be unlocked earlier or more easily before the collision with the larger vehicle. After the collision, it can facilitate the timely evacuation of the users inside the vehicle and also facilitate the rescue of the users inside the vehicle by rescue personnel outside the vehicle.

[0032] In conjunction with the first aspect, in some implementations of the first aspect, before controlling the unlocking of the vehicle's door, the method further includes: determining that the target is a target of a preset type, the preset type of target including a vehicle or a general obstacle, the size of which is greater than or equal to a preset size.

[0033] Based on the above technical solution, when the target is determined to be a vehicle or a general obstacle, the judgment logic for unlocking the door before a collision is used to make a judgment, which helps to reduce the false trigger rate of unlocking the door before a collision, thereby helping to improve the user's driving safety and driving experience.

[0034] In some possible implementations, the method also includes: if the target is detected to be a pedestrian or a two-wheeled vehicle, the pre-collision unlocking judgment may not be performed.

[0035] In conjunction with the first aspect, in some implementations of the first aspect, when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions, controlling the vehicle door to unlock includes: when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions, controlling the door to unlock and controlling the hidden door handle of the vehicle to pop out.

[0036] Based on the above technical solution, when the triggering conditions for unlocking the vehicle door before a collision are met, in addition to controlling the door to unlock, for vehicles equipped with hidden door handles, the hidden door handles can also be popped out. This facilitates rescue personnel outside the vehicle to rescue the occupants after a collision.

[0037] In conjunction with the first aspect, in some implementations of the first aspect, when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions, controlling the vehicle door to unlock includes: when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions, controlling the door to unlock and controlling the door not to perform an electric opening operation.

[0038] Based on the above technical solution, after the triggering conditions for door unlocking before a collision are met and the door is unlocked, the system can prevent electrically operated doors from opening. This avoids safety risks to occupants due to electrically operated doors opening before a collision occurs.

[0039] In conjunction with the first aspect, in some implementations of the first aspect, before controlling the door to unlock and controlling the door not to perform an electric opening operation, the method further includes: determining that the vehicle speed is greater than or equal to a third preset speed.

[0040] Based on the above technical solution, by setting the vehicle speed condition for the electric opening of the door after pre-collision unlocking, the safety risks to the users inside the vehicle due to the electric opening operation before a collision can be avoided.

[0041] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: locking the door when the collision avoidance function is detected to be deactivated and no collision signal is received from the airbag control unit (ACU) within a preset time period from the time the door is unlocked.

[0042] Based on the above technical solution, if the anti-collision function is deactivated and no collision signal is received from the ACU within a preset time period from the time the door is unlocked, the door can be locked. This avoids the safety risks associated with the door being unlocked when there is no risk of collision.

[0043] In some possible implementations, when the collision avoidance function is detected to be deactivated and no collision signal is received from the ACU within a preset time period from the time the door is unlocked, the door is locked, including: when the collision avoidance function is detected to be deactivated and no collision signal is received from the ACU within a preset time period from the time the door is unlocked, the door is locked and the concealed door handle is kept in a concealed state (or retracted state).

[0044] In conjunction with the first aspect, in some implementations of the first aspect, when the collision avoidance function is detected to be deactivated and no collision signal is received from the ACU within a preset time period from the time the door is unlocked, controlling the door to lock includes: controlling the door to lock when the collision avoidance function is detected to be deactivated, no collision signal is received within a preset time period from the time the door is unlocked, and the speed of the vehicle is greater than or equal to a fourth preset speed.

[0045] Secondly, this application provides a vehicle door control device, which includes: an acquisition unit for acquiring information about targets around the vehicle; and a control unit for controlling the unlocking of the vehicle door when a collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions at the time the collision avoidance function is triggered.

[0046] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically used to: control the door to unlock when it is detected that the collision avoidance function is triggered, the relative speed between the vehicle and the target is greater than or equal to a speed threshold, and the TTC between the vehicle and the target is less than or equal to a TTC threshold; wherein the TTC threshold for triggering the collision avoidance function is another TTC threshold, which is less than the other TTC threshold.

[0047] In conjunction with the second aspect, in some implementations of the second aspect, the TTC threshold is determined by the duration of the door being unlocked.

[0048] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically used to: control the door to unlock when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target, the overlap between the vehicle and the target, and the collision time TTC between the vehicle and the target meet the preset conditions.

[0049] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically configured to: control the door to unlock when the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the first vehicle is greater than or equal to a first preset speed, and the time-to-market (TTC) between the vehicle and the first vehicle is less than or equal to the first preset TTC, wherein the size of the first vehicle is a first size; or, control the door to unlock when the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the second vehicle is greater than or equal to a second preset speed, and the TTC between the vehicle and the second vehicle is less than or equal to the second preset TTC, wherein the size of the second vehicle is a second size; wherein the first size is greater than the second size, and the first preset speed is less than the second preset speed.

[0050] In conjunction with the second aspect, in some implementations of the second aspect, the first preset TTC is greater than or equal to the second preset TTC.

[0051] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes a determining unit, which is used to determine, before the control unit controls the door to unlock, that the target is a target of a preset type, the preset type of target including a vehicle or a general obstacle, the size of which is greater than or equal to a preset size.

[0052] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically used to: when a collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions, control the door to unlock and control the hidden door handle of the vehicle to pop out.

[0053] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically used to: when a collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions, control the door to unlock and control the door not to perform an electric opening operation.

[0054] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes a determining unit, which is used to determine, before the control unit controls the door to unlock and controls the door not to perform an electric opening operation, that the vehicle speed is greater than or equal to a third preset speed.

[0055] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is further configured to: lock the door when it is detected that the anti-collision function has been deactivated and no collision signal has been received from the ACU within a preset time period from the time the door is unlocked.

[0056] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically used to: control the door to lock when the collision avoidance function is detected to be deactivated, no collision signal is received within a preset time period from the time the door is unlocked, and the speed of the vehicle is greater than or equal to a fourth preset speed.

[0057] In conjunction with the second aspect, in some implementations of the second aspect, the collision avoidance function includes one or more of the following: forward collision avoidance function, rear collision avoidance function, or side collision avoidance function.

[0058] Thirdly, this application provides a door control device, which includes a processor and a memory, wherein the memory is used to store instructions, and the processor executes the instructions stored in the memory to cause the device to perform any of the possible methods in the first aspect.

[0059] Fourthly, this application provides a door control system, which includes a sensing system and any one of the possible door control devices in the second or third aspect described above.

[0060] Fifthly, this application provides a vehicle that includes any of the possible door control devices in the second or third aspect described above, or includes the door control system described in the fourth aspect described above.

[0061] In a sixth aspect, this application provides a computer program product comprising: computer program code, which, when executed on a computer, causes the computer to perform any of the possible methods described in the first aspect above.

[0062] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or packaged separately from the processor. This application embodiment does not specifically limit this.

[0063] In a seventh aspect, this application provides a computer-readable storage medium storing program code that, when executed on a computer, causes the computer to perform any of the possible methods described in the first aspect above.

[0064] Eighthly, this application provides a chip system including circuitry for performing any of the possible methods described in the first aspect above. Attached Figure Description

[0065] Figure 1 is a functional block diagram of the vehicle provided in an embodiment of this application.

[0066] Figure 2 is a schematic block diagram of the intelligent driving system provided in an embodiment of this application.

[0067] Figure 3 is a schematic diagram of the signal flow and energy flow along the door unlocking path.

[0068] Figure 4 is a schematic flowchart of the door control method provided in an embodiment of this application.

[0069] Figure 5 is a schematic block diagram of the door control device provided in an embodiment of this application.

[0070] Figure 6 shows the timing of the actions performed by each module before and after the collision, as provided in the embodiments of this application.

[0071] Figure 7 is a schematic block diagram of the door control device provided in an embodiment of this application. Detailed Implementation

[0072] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. "At least one" refers to one or more. For example, "at least one of A and B," similar to "A and / or B," describes the association relationship between related objects, indicating that three relationships can exist. For example, at least one of A and B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0073] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0074] Figure 1 is a functional block diagram of a vehicle 100 provided in an embodiment of this application.

[0075] As shown in Figure 1, the vehicle 100 may include a perception system 110 and a computing platform 120. The perception system 110 may include one or more sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 110 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou Navigation Satellite System, or another positioning system. Alternatively, the perception system 110 may include one or more of the following: an inertial measurement unit (IMU), an accelerometer, a lidar, millimeter-wave radar, ultrasonic radar, and a camera device. Furthermore, the perception system 110 may include one or more collision sensors.

[0076] Some or all of the functions of vehicle 100 can be controlled by computing platform 120. Computing platform 120 may include one or more processors, such as processors 121 to 12n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 120 may also include a memory for storing instructions. Some or all of the processors 121 to 12n can call the instructions in the memory to implement the corresponding functions.

[0077] Optionally, the structure of the vehicle 100 described above is merely illustrative. In actual applications, various components of the vehicle 100 may be added or removed as needed.

[0078] The vehicle 100 in this application may include: road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, vehicle 100 may be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the type of vehicle.

[0079] For example, Figure 2 shows a schematic block diagram of an intelligent driving system provided in an embodiment of this application. The intelligent driving system may include three functional modules: a perception module 210, a planning module 220, and a control module 230. The perception module 210 perceives the environment surrounding the vehicle through sensors and outputs corresponding perception data to the planning module 220. The planning module 220 obtains information such as road topology and target objects based on the information acquired by the perception module 210. Based on the road topology and target object information, the planning module 220 can determine a planned trajectory over a period of time. The planning module 220 can send this planned trajectory to the control module 230. After receiving the planned trajectory from the planning module 220, the control module 230 can output control signals to control the actuators to take corresponding actions, such as steering, acceleration, and deceleration.

[0080] The above-mentioned sensing module 210, planning module 220 and control module 230 can be located in the above-mentioned computing platform 120.

[0081] Vehicle-based driving automation systems are classified into five levels (or L0-L5) based on the degree to which they can perform dynamic driving tasks, according to the role allocation in performing these tasks and the presence or absence of an operational design domain (ODD), such as the external conditions (road, traffic, weather, lighting, etc.) defined during the system's design. Levels 0-2 represent driver assistance, where the system assists humans in performing dynamic driving tasks, but the driver remains the primary driver. Levels 3-5 represent autonomous driving, where the system performs dynamic driving tasks in place of the human under the designed operating conditions; when activated, the system becomes the primary driver. The names and definitions of each level are as follows:

[0082] Level 0 driving automation (also known as emergency assistance) systems cannot continuously perform lateral or longitudinal motion control of the vehicle during dynamic driving tasks, but they possess the ability to continuously perform partial target and event detection and response during dynamic driving tasks. Level 1 driving automation (also known as partial driver assistance) systems continuously perform lateral or longitudinal motion control of the vehicle during dynamic driving tasks under their design operating conditions, and possess the ability to perform partial target and event detection and response adapted to the performed lateral or longitudinal motion control. Level 2 driving automation (also known as combined driver assistance) systems continuously perform lateral and longitudinal motion control of the vehicle during dynamic driving tasks under their design operating conditions, and possess the ability to perform partial target and event detection and response adapted to the performed lateral and longitudinal motion control. Level 3 driving automation (also known as conditionally automated driving) systems continuously perform all dynamic driving tasks under their design operating conditions. Level 4 driving automation (also known as highly automated driving) systems continuously perform all dynamic driving tasks under their design operating conditions and automatically execute minimum risk strategies. Level 5 driving automation (also known as fully automated driving) systems continuously perform all dynamic driving tasks and automatically execute minimum risk strategies under any drivable conditions.

[0083] Figure 3 shows a schematic diagram of the signal and energy flow along the door unlocking path.

[0084] To ensure automatic door unlocking in the event of a collision, current common electrical architectures connect the ACU (Autonomous Control Unit) to the body control module (BCM), and the low-voltage battery and direct current converter (DCDC) connect to the collision sensors, ACU, BCM, door lock motors, and door handle motors. After a collision, the ACU sends a collision signal to the BCM, which then drives the door lock motors to unlock the door. This door unlocking mechanism relies on the proper functioning of the door lock controller, low-voltage battery, communication system, and actuators after a collision. However, real-world collision scenarios are complex and varied. Components and links along the door unlocking path may be damaged or fail after a collision, potentially preventing the doors from unlocking and hindering escape for occupants or rescue efforts for those outside the vehicle. In some vehicle models, the low-voltage battery is located in the front compartment or rear trunk. In extreme high-speed head-on collisions or rear-end collisions, the low-voltage battery and / or power supply harness may be damaged by the impact, causing a short circuit or open circuit in the low-voltage power supply circuit, which may prevent the door lock motor from unlocking. Alternatively, the communication link between the ACU, BCM, and door lock controller may be damaged due to the collision, resulting in the failure of the unlocking signal transmission, which may also cause the door to be unable to unlock after a collision.

[0085] This application provides a vehicle door control method, device, and vehicle that can control the unlocking of the vehicle door before a collision occurs, avoiding the problem that the door cannot be unlocked after a collision due to damage to components, failure to transmit the unlocking signal, or short circuit or open circuit in the low-voltage power supply circuit, thus facilitating the user to leave the vehicle in time or for rescue personnel outside the vehicle to carry out timely rescue.

[0086] Figure 4 shows a schematic flowchart of a door control method 400 provided in an embodiment of this application. This method 400 can be executed by the vehicle 100; or by the computing platform 120; or by a processor, chip, or circuit in the computing platform 120; or by the intelligent driving system; or by both the intelligent driving system and the BCM. The method 400 includes:

[0087] S410: Acquire information about targets around the vehicle.

[0088] Optionally, information about targets around the vehicle can be acquired, including: acquiring data collected by sensors; and determining the type and size of the target based on the data.

[0089] Optionally, if the target is another type of vehicle, the method further includes determining the driving parameters of the other vehicle. For example, the driving parameters include, but are not limited to, speed and yaw angle.

[0090] S420: When a collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions at the time the collision avoidance function is triggered, the vehicle door is unlocked.

[0091] Optionally, when the collision avoidance function is triggered, the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions, including: during the time period from the moment the collision avoidance function is triggered to the moment the collision avoidance function is deactivated, the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions.

[0092] Optionally, when the collision avoidance function is triggered, the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions, including: the relative speed between the vehicle and the target and the TTC between the vehicle and the target obtained at the moment the collision avoidance function is triggered meet preset conditions.

[0093] Optionally, when the collision avoidance function is triggered, the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions, including: the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions for a period of time before the collision avoidance function is triggered.

[0094] Optionally, taking the method 400 executed by the aforementioned intelligent driving system as an example, controlling the unlocking of the vehicle's doors includes: the intelligent driving system sending an unlocking signal to the door lock controller.

[0095] Optionally, when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions, the vehicle door is unlocked, including: when the target is a target of a preset type, the collision avoidance function is triggered and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions, the vehicle door is unlocked.

[0096] For example, the target of the preset type includes a vehicle or a general obstacle, such as a passenger car, a truck, or a construction vehicle, and the size of the general obstacle is greater than or equal to the preset size.

[0097] For example, the general obstacle includes, but is not limited to, walls, stone blocks, pillars, and trees that conform to preset length, width, and height specifications.

[0098] For example, if the target type is a pedestrian or a two-wheeled vehicle, the above S420 may not be executed. That is, when the target is determined to be a pedestrian or a two-wheeled vehicle, the vehicle may not perform the pre-collision unlock judgment.

[0099] For example, the collision avoidance function can be categorized according to the possible collision directions between the vehicle and the target.

[0100] For example, the collision avoidance function includes one or more of forward collision avoidance, rear collision avoidance, or side collision avoidance functions. For example, the forward collision avoidance function includes one or more of FCW, AEB, AES, or ESA; the rear collision avoidance function includes RCW; and the side collision avoidance function includes LDW and / or ELK.

[0101] For example, the collision avoidance function may include a collision warning function and / or a collision avoidance function. For example, the collision warning function includes one or more of LDW, FCW, or RCW; the collision avoidance function includes one or more of AEB, ELK, AES, or ESA.

[0102] Optionally, the relative speed between the vehicle and the target, and the TTC between the vehicle and the target, meet preset conditions, including: the relative speed between the vehicle and the target is greater than or equal to a speed threshold and the TTC between the vehicle and the target is less than or equal to a TTC threshold.

[0103] For example, the speed threshold can be 40 km / h, and the TTC threshold can be 600 ms.

[0104] Optionally, the TTC threshold value for triggering the collision avoidance function is another TTC threshold, wherein the other TTC threshold for triggering the collision avoidance function is greater than the TTC threshold in the preset condition.

[0105] For example, let's take RCW (Responsive Collision Warning) as an example. When the Time-to-Traffic (TTC) between the vehicle and the target is less than or equal to 2 seconds, the vehicle can trigger the RCW function. At this time, the vehicle can continue to determine whether the relative speed between the vehicle and the target, as well as the TTC between them, meets preset conditions. When the relative speed between the vehicle and the target is greater than or equal to 40 km / h and the TTC between them is less than or equal to 600 ms, the vehicle doors can be unlocked.

[0106] Optionally, the TTC threshold in the preset condition can be determined by the door lock control module controlling the duration of door lock opening.

[0107] For example, the TTC threshold in the preset conditions can be the duration the door lock is open plus a preset duration.

[0108] For example, if the vehicle door lock takes 500ms to open and the preset time is 100ms, then the TTC threshold in the preset conditions can be 600ms.

[0109] Optionally, the TTC threshold in the preset conditions can be determined by the duration of the door lock being open and / or the duration of the concealed door handle being ejected.

[0110] Optionally, the TTC threshold in the preset condition can be the greater of the duration of the door lock being open and the duration of the concealed door handle popping out, plus the preset duration.

[0111] For example, if the door lock takes 500ms to open, the hidden door handle takes 600ms to pop out, and the preset duration is 100ms, then the TTC threshold in the preset conditions can be 700ms.

[0112] Optionally, when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions, the vehicle door is unlocked, including: when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target, the overlap between the vehicle and the target and the TTC between the vehicle and the target meet the preset conditions, the vehicle door is unlocked.

[0113] For example, the method 400 further includes: determining the overlap between the vehicle and the target based on the yaw angle of the vehicle and the yaw angle of the target.

[0114] Optionally, the relative speed between the vehicle and the target, the overlap between the vehicle and the target, and the time to collision (TTC) between the vehicle and the target satisfy the preset conditions, including: the relative speed between the vehicle and the target is greater than or equal to a speed threshold, the overlap between the vehicle and the target is greater than or equal to a preset overlap, and the TTC between the vehicle and the target is less than or equal to a TTC threshold.

[0115] For example, the preset overlap can be 25%.

[0116] For example, for certain targets that meet preset size requirements (e.g., trees and pillars), it is not necessary to determine the degree of overlap between the vehicle and the target. When the collision avoidance function is triggered and the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions, the door can be unlocked.

[0117] Optionally, when a collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target, as well as the time-to-market (TTC) between the vehicle and the target, meet preset conditions, the vehicle door is unlocked, including: when the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the first vehicle is greater than or equal to a first preset speed, and the TTC between the vehicle and the first vehicle is less than or equal to a first preset TTC, the door is unlocked, and the size of the first vehicle is a first size; or, when the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the second vehicle is greater than or equal to a second preset speed, and the TTC between the vehicle and the second vehicle is less than or equal to a second preset TTC, the door is unlocked, and the size of the second vehicle is a second size; wherein the first size is greater than the second size, and the first preset speed is less than the second preset speed.

[0118] For example, the first preset speed is 30 km / h and the second preset speed is 50 km / h.

[0119] Optionally, the first dimension is greater than or equal to a preset dimension, and the second dimension is less than the preset dimension.

[0120] For example, if the size of the first vehicle is greater than or equal to the preset size, then the first vehicle can be identified as a large vehicle; or, if the size of the second vehicle is less than the preset size, then the second vehicle can be identified as a small vehicle.

[0121] Optionally, the first dimension and the second dimension can be determined by the length, width and height of the 3D detection box corresponding to the target vehicle.

[0122] For example, at least one of the length, width, and height of a large vehicle is greater than or equal to a preset value for the corresponding dimension. For example, the length, width, and height of a small vehicle are all less than the preset values ​​for the corresponding dimensions.

[0123] Optionally, the first dimension and the second dimension can be determined by the polygonal outline of the target vehicle.

[0124] For example, the area of ​​the polygonal outline of a large vehicle is greater than or equal to a preset area. For example, the area of ​​the polygonal outline of a small vehicle is less than a preset area.

[0125] Different preset speeds can be set for large and small vehicles. For example, for large vehicles, the first preset speed in the preset conditions can be a smaller value; and for small vehicles, the second preset speed in the preset conditions can be a larger value. Thus, at the same relative speed, when there is a risk of collision between a vehicle and a large vehicle compared to a small vehicle, the vehicle will be more likely to trigger door unlocking before the collision, or the vehicle will trigger door unlocking earlier. Since the damage to the vehicle and its occupants may be greater after a collision with a large vehicle, setting different preset speeds for vehicles of different sizes ensures that the doors can unlock earlier or more easily before a collision with a large vehicle. This facilitates timely evacuation of occupants after a collision and also facilitates rescue by rescue personnel outside the vehicle.

[0126] Optionally, the first preset TTC is greater than or equal to the second preset TTC.

[0127] For example, the first preset TTC is 700ms and the second preset TTC is 600ms.

[0128] Different preset TTCs can be set for large and small vehicles. For example, for large vehicles, the first preset TTC in the preset conditions can be a larger value; while for small vehicles, the second preset TTC in the preset conditions can be a smaller value. Thus, when the relative distance and relative speed between the vehicle and the target are the same, when there is a risk of collision between a vehicle and a large vehicle, the vehicle will be more likely to trigger pre-collision door unlocking, or the vehicle will trigger pre-collision door unlocking earlier than a small vehicle. Since the damage to the vehicle and its occupants after a collision with a large vehicle may be greater, setting different preset TTCs for vehicles of different sizes ensures that the doors can unlock earlier or more easily before a collision with a large vehicle, facilitating timely evacuation of occupants after a collision and enabling rescue personnel outside the vehicle to rescue them.

[0129] The above description uses the classification of target vehicles into large and small vehicles as an example, but the embodiments of this application are not limited thereto. For example, the target vehicle can also be classified into large, medium and small vehicles; or, the target vehicle can also be classified into passenger cars, buses, trucks and engineering vehicles, etc., and different preset speeds and / or preset TTCs can be set for different types of vehicles.

[0130] Optionally, when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions, the vehicle door is unlocked, including: when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions, the door is unlocked and the hidden door handle of the vehicle is popped out.

[0131] For example, for vehicles equipped with concealed door handles, when the collision avoidance function is triggered and the relative speed between the vehicle and the target, as well as the time-to-traffic (TTC) between the vehicle and the target, meet preset conditions, the doors can be unlocked and the concealed door handles can be deployed. This facilitates rescue personnel outside the vehicle to rescue the occupants after a collision.

[0132] Optionally, when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions, the vehicle door is unlocked, including: when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet preset conditions, the door is unlocked and the door is not electrically opened.

[0133] For example, for vehicles equipped with electric opening, electric spring, or electric sliding functions, the electric opening operation of the door can be omitted after the door is unlocked. This avoids safety risks to the occupants of the vehicle due to the electric opening operation before a collision occurs.

[0134] Optionally, before controlling the door to unlock and controlling the door not to perform an electric opening operation, the method 400 further includes: determining that the vehicle speed is greater than or equal to a third preset speed.

[0135] For example, the third preset speed is 5-15 km / h.

[0136] For example, for vehicles equipped with electric opening, electric spring, or electric sliding functions, after the door is unlocked, the vehicle speed can be detected. If the vehicle speed is greater than or equal to a third preset speed, the electric opening operation of the door can be not performed.

[0137] Optionally, the method 400 further includes: locking the door when the collision avoidance function is detected to be deactivated and no collision signal is received from the ACU within a preset time period from the time the door is unlocked.

[0138] For example, when the collision avoidance function is detected to be deactivated and no collision signal is received from the ACU within a preset time period, the door can be locked.

[0139] For example, for a vehicle equipped with a concealed door handle, when the collision avoidance function is triggered and the relative speed between the vehicle and the target, as well as the time-to-traffic (TTC) between the vehicle and the target, meet preset conditions, the door can be unlocked and the concealed door handle can be popped out. When the collision avoidance function is detected to be deactivated and no collision signal is received from the ACU within a preset time, the door can be locked and the concealed door handle can be kept in a concealed state (or retracted state).

[0140] Optionally, when the collision avoidance function is detected to be deactivated and no collision signal is received from the ACU within a preset time period from the time the door is unlocked, the door is locked, including: when the collision avoidance function is detected to be deactivated, no collision signal is received within a preset time period from the time the door is unlocked, and the speed of the vehicle is greater than or equal to a fourth preset speed, the door is locked.

[0141] For example, the fourth preset speed is 5-15 km / h.

[0142] Optionally, taking the method 400 executed by the aforementioned intelligent driving system as an example, controlling the vehicle door locking includes: the intelligent driving system sending a locking signal to the door lock controller.

[0143] Figure 5 shows a schematic block diagram of a door control device 500 provided in an embodiment of this application. The door control device 500 includes a pre-collision judgment module 510 and a pre-collision unlock judgment module 520. The pre-collision judgment module 510 can be used to identify whether the intelligent driving system has triggered the anti-collision function and to monitor the collision signal sent by the ACU. For example, if the intelligent driving system triggers the anti-collision function, the pre-collision judgment module 510 can activate the pre-collision unlock judgment module 520. The pre-collision unlock judgment module 520 is used to determine whether preset conditions are met in the pre-collision scenario based on the pre-collision signal from the intelligent driving system. If the preset conditions are met, the pre-collision unlock judgment module 520 can send an unlock signal to the door lock controller; if the preset conditions are not met, the next pre-collision unlock judgment cycle is performed.

[0144] Optionally, if preset conditions are met, the pre-collision unlocking judgment module 520 can send an unlocking signal to the door lock controller, which can then control the door lock motor to perform the unlocking operation and control the hidden door handle to pop out. Optionally, while controlling the door lock motor to perform the unlocking operation and controlling the hidden door handle to pop out, the door lock controller can also monitor the vehicle's speed. If the vehicle's speed is greater than or equal to a third preset speed, the door lock controller may not perform electric opening, electric springing, or electric sliding operations on the door.

[0145] For example, the pre-collision judgment module 510 and the pre-collision unlock judgment module 520 may be located in the above-mentioned intelligent driving system; or, the pre-collision judgment module 510 may be located in the above-mentioned intelligent driving system and the pre-collision unlock judgment module 520 may be located in the BCM; or, both the pre-collision judgment module 510 and the pre-collision unlock judgment module 520 may be located in the BCM.

[0146] Optionally, the preset collision signal includes the relative speed between the vehicle and the target, as well as the TTC between the vehicle and the target.

[0147] For example, after activating the pre-collision unlocking judgment module 520, the pre-collision judgment module 510 can process the pre-collision signal. If the pre-collision unlocking judgment module 520 determines that the relative speed between the vehicle and the target is greater than or equal to a speed threshold and the TTC between the vehicle and the target is less than or equal to a TTC threshold, the pre-collision unlocking judgment module 520 can send an unlocking signal to the door lock controller.

[0148] Optionally, the preset collision signal includes the type of the target, the relative speed between the vehicle and the target, and the TTC between the vehicle and the target.

[0149] For example, after activating the pre-collision unlocking judgment module 520, the pre-collision judgment module 510 can first determine whether the type of the target is a preset type.

[0150] For example, if the target type is a pedestrian or a two-wheeled vehicle, the pre-collision unlocking judgment module 520 may not perform the pre-collision unlocking judgment.

[0151] For example, if the target is a vehicle or a general obstacle that meets preset length, width, and height specifications, a pre-collision unlocking judgment can be triggered. When the relative speed between the vehicle and the target is greater than or equal to a speed threshold and the total time to collision (TTC) between the vehicle and the target is less than or equal to the TTC threshold, the pre-collision unlocking judgment module 520 can send an unlocking signal to the door lock controller.

[0152] Optionally, the preset collision signal includes the type of the target, the size of the target, the relative speed between the vehicle and the target, and the TTC between the vehicle and the target.

[0153] For example, taking a vehicle as the target type, the target can be categorized into two types based on its length, width, and height: small vehicles and large vehicles. For instance, different relative speed thresholds between the vehicle and the target can be set in preset conditions, where the relative speed threshold for small vehicles (e.g., 50 km / h) is greater than that for large vehicles (e.g., 30 km / h). As another example, different TTC thresholds between the vehicle and the target can be set in preset conditions, where the TTC threshold for small vehicles (e.g., 600 ms) is less than that for large vehicles (e.g., 700 ms).

[0154] Optionally, the preset collision signal includes the overlap between the vehicle and the target, the relative speed between the vehicle and the target, and the TTC between the vehicle and the target.

[0155] For example, after activating the pre-collision unlocking judgment module 520, the pre-collision judgment module 510 can process the pre-collision signal. If the pre-collision unlocking judgment module 520 determines that the overlap between the vehicle and the target is greater than or equal to a preset overlap, the relative speed between the vehicle and the target is greater than or equal to a speed threshold, and the TTC between the vehicle and the target is less than or equal to a TTC threshold, the pre-collision unlocking judgment module 520 can send an unlocking signal to the door lock controller.

[0156] For example, when the target type is a specific target that meets preset size requirements (e.g., trees, pillars), the overlap between the vehicle and the target does not need to be judged. As long as the relative speed and TTC between the vehicle and the target meet preset conditions, the pre-collision unlock judgment module 520 can send an unlock signal to the door lock controller.

[0157] Optionally, the preset collision signal includes the type of the target, the degree of overlap between the vehicle and the target, the relative speed between the vehicle and the target, and the TTC between the vehicle and the target.

[0158] For example, after activating the pre-collision unlocking judgment module 520, the pre-collision judgment module 510 can process the pre-collision signal. If the pre-collision unlocking judgment module 520 determines that the target is a vehicle or a general obstacle, then when the overlap between the vehicle and the target is greater than or equal to a preset overlap, the relative speed between the vehicle and the target is greater than or equal to a speed threshold, and the TTC between the vehicle and the target is less than or equal to a TTC threshold, the pre-collision unlocking judgment module 520 can send an unlocking signal to the door lock controller.

[0159] Optionally, when the pre-collision judgment module 510 determines that the anti-collision function is deactivated and no collision signal is received from the ACU within a preset time period from the time the door lock controller performs the door unlocking operation, the pre-collision judgment module 510 can instruct the pre-collision unlocking judgment module 520 to enter a deactivation state (the pre-collision unlocking judgment module 520 can stop the pre-collision unlocking judgment after receiving this instruction) and send a locking signal to the door lock controller. After receiving the locking signal, the door lock controller can control the door lock motor to perform a locking operation and control the door handle motor to adjust the hidden door handle to a hidden state (or a retracted state).

[0160] Optionally, when the pre-collision judgment module 510 determines that the anti-collision function is deactivated, the vehicle speed is greater than or equal to the fourth preset speed, and no collision signal is received from the ACU within a preset time period from the door lock controller performing the door unlocking operation, the pre-collision judgment module 510 may send a locking signal to the door lock controller and control the hidden door handle to adjust to the hidden state (or, the retracted state).

[0161] Figure 6 illustrates the timing of the actions performed by each module before and after a collision according to an embodiment of this application. It can be seen that at time T4, the pre-collision judgment module 510 determines that the anti-collision function is triggered and can activate the pre-collision unlock judgment module 520. For example, taking the anti-collision function as RCW, the duration between time T4 and the unlock completion time is greater than or equal to 2 seconds.

[0162] During the time interval from time T4 to time T2, the pre-collision unlocking judgment module 520 can determine whether preset conditions are met based on the pre-collision signal. For example, if at time T2 the pre-collision unlocking judgment module 520 determines that the pre-collision signal meets the preset conditions, then the pre-collision unlocking judgment module 520 can send an unlocking signal to the door lock controller. For example, the duration between time T2 and the unlocking completion time is greater than or equal to 500ms.

[0163] At time T1, the door lock controller receives an unlock signal from the pre-collision unlocking judgment module 520, thereby controlling the door to unlock. For example, the duration between time T2 and time T1 is generally less than or equal to 20ms.

[0164] If no collision signal is received from the ACU within a preset time period after the anti-collision function is deactivated and the door lock controller performs the door unlocking operation, and the vehicle speed is greater than or equal to the fourth preset speed, the door lock controller can control the door to lock and control the hidden door handle to adjust to the hidden state (or, the retracted state).

[0165] Figure 7 shows a schematic block diagram of a door control device 700 provided in an embodiment of this application. The door control device 700 includes: an acquisition unit 710 for acquiring information about targets around the vehicle; and a control unit 720 for controlling the unlocking of the vehicle door when a collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions at the time the collision avoidance function is triggered.

[0166] Optionally, the control unit 720 is specifically configured to: control the door to unlock when it is detected that the collision avoidance function is triggered, the relative speed between the vehicle and the target is greater than or equal to a speed threshold, and the TTC between the vehicle and the target is less than or equal to a TTC threshold; wherein the TTC threshold for triggering the collision avoidance function is another TTC threshold, which is less than the other TTC threshold.

[0167] Optionally, the TTC threshold is determined by the duration of the door being unlocked.

[0168] Optionally, the control unit 720 is specifically configured to: control the door to unlock when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target, the overlap between the vehicle and the target, and the collision time TTC between the vehicle and the target meet the preset conditions.

[0169] Optionally, the control unit 720 is specifically configured to: control the door to unlock when the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the first vehicle is greater than or equal to a first preset speed, and the time-to-market (TTC) between the vehicle and the first vehicle is less than or equal to a first preset TTC, wherein the size of the first vehicle is a first size; or, control the door to unlock when the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the second vehicle is greater than or equal to a second preset speed, and the TTC between the vehicle and the second vehicle is less than or equal to a second preset TTC, wherein the size of the second vehicle is a second size; wherein the first size is greater than the second size, and the first preset speed is less than the second preset speed.

[0170] Optionally, the first preset TTC is greater than or equal to the second preset TTC.

[0171] Optionally, the device further includes a determining unit, which is used to determine the target as a preset type of target before the control unit 720 controls the door to unlock. The preset type of target includes a vehicle or a general obstacle, the size of which is greater than or equal to a preset size.

[0172] Optionally, the control unit 720 is specifically configured to: when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions, control the door to unlock and control the hidden door handle of the vehicle to pop out.

[0173] Optionally, the control unit 720 is specifically configured to: when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions, control the door to unlock and control the door not to perform an electric opening operation.

[0174] Optionally, the device further includes a determining unit, which is used to determine that the vehicle speed is greater than or equal to a third preset speed before the control unit 720 controls the door to unlock and controls the door not to perform an electric opening operation.

[0175] Optionally, the control unit 720 is also configured to: lock the door when it is detected that the anti-collision function is deactivated and no collision signal is received from the ACU within a preset time period from the time the door is unlocked.

[0176] Optionally, the control unit 720 is specifically used to: lock the door when the anti-collision function is detected to be deactivated, no collision signal is received within a preset time period from the time the door is unlocked, and the speed of the vehicle is greater than or equal to a fourth preset speed.

[0177] Optionally, the collision avoidance function includes one or more of the following: forward collision avoidance function, rear collision avoidance function, or side collision avoidance function.

[0178] It should be understood that the division of units in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the device can be implemented by a processor calling software; for example, the device includes a processor connected to memory, which stores instructions. The processor calls the instructions stored in memory to implement any of the above methods or to implement the functions of each unit in the device. The processor can be, for example, a general-purpose processor, such as a CPU or microprocessor, and the memory can be internal or external to the device. Alternatively, the units in the device can be implemented as hardware circuits. The functions of some or all units can be implemented through the design of the hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all units are implemented through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a PLD, such as an FPGA, which can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby implementing the functions of some or all units. All units of the above devices can be implemented entirely through processor calling software, or entirely through hardware circuits, or partially through processor calling software with the remaining parts implemented through hardware circuits.

[0179] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a CPU, microprocessor, GPU, or DSP. In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, or DPU.

[0180] As can be seen, each unit in the above device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0181] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a System-on-a-Chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and AI processor, CPU and GPU, etc.

[0182] This application also provides a door control device, which includes a processing unit and a storage unit. The storage unit stores instructions, and the processing unit executes the instructions stored in the storage unit to enable the device to perform the methods or steps described in the above embodiments.

[0183] Optionally, if the door control device is located in the vehicle, the processing unit may be the processor 121-12n shown in FIG1.

[0184] This application also provides a door control system, which may include a sensing system and a computing platform, the computing platform including the aforementioned door control device 700.

[0185] This application also provides a vehicle that may include the aforementioned door control device 700 or the aforementioned door control system.

[0186] This application also provides a computer program product, which includes computer program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.

[0187] This application also provides a computer-readable medium storing program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.

[0188] This application also provides a chip, which includes a circuit for performing the methods described in the above embodiments.

[0189] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules within the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, power-on erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0190] It should be understood that in the embodiments of this application, the memory may include read-only memory and random access memory, and provides instructions and data to the processor.

[0191] It should also be understood that, in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0192] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0193] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0194] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0195] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0196] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0197] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0198] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be covered. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A door control method, characterized in that, include: Obtain information about targets around the vehicle; When the collision avoidance function is detected to be triggered, and the relative speed between the vehicle and the target and the collision time TTC between the vehicle and the target meet preset conditions when the collision avoidance function is triggered, the vehicle door is unlocked.

2. The method according to claim 1, characterized in that, The step of controlling the vehicle doors to unlock when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target, as well as the time-to-traffic (TTC) between the vehicle and the target, meet preset conditions includes: When the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the target is greater than or equal to a speed threshold, and the time to collision (TTC) between the vehicle and the target is less than or equal to a TTC threshold, the door is controlled to unlock. The TTC threshold value that triggers the anti-collision function is another TTC threshold, and the TTC threshold is less than the other TTC threshold.

3. The method according to claim 2, characterized in that, The TTC threshold is determined by the duration of the door being unlocked.

4. The method according to any one of claims 1 to 3, characterized in that, The step of controlling the vehicle doors to unlock when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target, as well as the time-to-traffic (TTC) between the vehicle and the target, meet preset conditions includes: When the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target, the overlap between the vehicle and the target, and the TTC between the vehicle and the target meet the preset conditions, the door is controlled to unlock.

5. The method according to any one of claims 1 to 4, characterized in that, The step of controlling the vehicle doors to unlock when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target, as well as the time-to-traffic (TTC) between the vehicle and the target, meet preset conditions includes: When the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the first vehicle is greater than or equal to a first preset speed, and the time-to-traffic (TTC) between the vehicle and the first vehicle is less than or equal to a first preset TTC, the door is unlocked, and the size of the first vehicle is a first size; or, When the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the second vehicle is greater than or equal to a second preset speed, and the time-to-traffic (TTC) between the vehicle and the second vehicle is less than or equal to a second preset TTC, the door is unlocked, and the size of the second vehicle is the second size. Wherein, the first size is larger than the second size, and the first preset speed is smaller than the second preset speed.

6. The method according to claim 5, characterized in that, The first preset TTC is greater than or equal to the second preset TTC.

7. The method according to any one of claims 1 to 6, characterized in that, Before unlocking the vehicle doors, the method further includes: The target is determined to be a target of a preset type, which includes vehicles or general obstacles, and the size of the general obstacles is greater than or equal to a preset size.

8. The method according to any one of claims 1 to 7, characterized in that, The step of controlling the vehicle doors to unlock when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target, as well as the time-to-traffic (TTC) between the vehicle and the target, meet preset conditions includes: When the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet the preset conditions, the door is unlocked and the hidden door handle of the vehicle is popped out.

9. The method according to any one of claims 1 to 8, characterized in that, The step of controlling the vehicle doors to unlock when the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target, as well as the time-to-traffic (TTC) between the vehicle and the target, meet preset conditions includes: When the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet the preset conditions, the door is controlled to unlock and the door is controlled not to perform an electric opening operation.

10. The method according to claim 9, characterized in that, Before controlling the door to unlock and controlling the door not to perform an electric opening operation, the method further includes: The vehicle speed is determined to be greater than or equal to a third preset speed.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: If the collision avoidance function is detected as deactivated and no airbag control unit is received within a preset time period from the time the door is unlocked. When the ACU sends a collision signal, it controls the door to lock.

12. The method according to claim 11, characterized in that, The step of locking the door when the anti-collision function is detected to be deactivated and no collision signal is received from the ACU within a preset time period from the time the door is unlocked includes: When the anti-collision function is detected to be deactivated, no collision signal is received within the preset time period, and the vehicle speed is greater than or equal to a fourth preset speed, the door is locked.

13. The method according to any one of claims 1 to 12, characterized in that, The collision avoidance function includes one or more of the following: forward collision avoidance function, rear collision avoidance function, or side collision avoidance function.

14. A vehicle door control device, characterized in that, include: The acquisition unit is used to acquire information about targets around the vehicle. The control unit is configured to control the vehicle doors to unlock when a collision avoidance function is detected to be triggered and the relative speeds of the vehicle and the target, as well as the time-to-traffic (TTC) between the vehicle and the target, meet preset conditions at the time the collision avoidance function is triggered.

15. The apparatus according to claim 14, characterized in that, The control unit is specifically used for: When the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the target is greater than or equal to a speed threshold, and the time to collision (TTC) between the vehicle and the target is less than or equal to a TTC threshold, the door is controlled to unlock. The TTC threshold value that triggers the anti-collision function is another TTC threshold, and the TTC threshold is less than the other TTC threshold.

16. The apparatus according to claim 15, characterized in that, The TTC threshold is determined by the duration of the door being unlocked.

17. The apparatus according to any one of claims 14 to 16, characterized in that, The control unit is specifically used for: When the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target, the overlap between the vehicle and the target, and the TTC between the vehicle and the target meet the preset conditions, the door is controlled to unlock.

18. The apparatus according to any one of claims 14 to 17, characterized in that, The control unit is specifically used for: When the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the first vehicle is greater than or equal to a first preset speed, and the time-to-traffic (TTC) between the vehicle and the first vehicle is less than or equal to a first preset TTC, the door is unlocked, and the size of the first vehicle is a first size. or, When the collision avoidance function is detected to be triggered, the relative speed between the vehicle and the second vehicle is greater than or equal to a second preset speed, and the time-to-traffic (TTC) between the vehicle and the second vehicle is less than or equal to a second preset TTC, the door is unlocked, and the size of the second vehicle is the second size. Wherein, the first size is larger than the second size, and the first preset speed is smaller than the second preset speed.

19. The apparatus according to claim 18, characterized in that, The first preset TTC is greater than or equal to the second preset TTC.

20. The apparatus according to any one of claims 14 to 19, characterized in that, The device also includes a determining unit. The determining unit is configured to determine that the target is a target of a preset type before the control unit controls the door to unlock. The target of the preset type includes a vehicle or a general obstacle, and the size of the general obstacle is greater than or equal to a preset size.

21. The apparatus according to any one of claims 14 to 20, characterized in that, The control unit is specifically used for: When the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet the preset conditions, the door is unlocked and the hidden door handle of the vehicle is popped out.

22. The apparatus according to any one of claims 14 to 21, characterized in that, The control unit is specifically used for: When the collision avoidance function is detected to be triggered and the relative speed between the vehicle and the target and the TTC between the vehicle and the target meet the preset conditions, the door is controlled to unlock and the door is controlled not to perform an electric opening operation.

23. The apparatus according to claim 22, characterized in that, The device also includes a determining unit. The determining unit is used to determine that the vehicle speed is greater than or equal to a third preset speed before the control unit controls the door to unlock and controls the door not to perform an electric opening operation.

24. The apparatus according to any one of claims 14 to 23, characterized in that, The control unit is also used for: When the collision avoidance function is detected to be deactivated and no collision signal is received from the ACU within a preset time period from the time the door is unlocked, the door is locked.

25. The apparatus according to claim 24, characterized in that, The control unit is specifically used for: When the anti-collision function is detected to be deactivated, no collision signal is received within the preset time period, and the vehicle speed is greater than or equal to a fourth preset speed, the door is locked.

26. The apparatus according to any one of claims 14 to 25, characterized in that, The collision avoidance function includes one or more of the following: forward collision avoidance function, rear collision avoidance function, or side collision avoidance function.

27. A vehicle door control device, characterized in that, include: Memory, used to store computer programs; A processor for executing a computer program stored in the memory to cause the apparatus to perform the method as described in any one of claims 1 to 13.

28. A vehicle door control system, characterized in that, It includes a sensing system and a computing platform, wherein the computing platform includes the means as described in any one of claims 14 to 27.

29. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 14 to 27, or includes the system as described in claim 28.

30. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, cause the processor to implement the method as described in any one of claims 1 to 13.

31. A computer program product, characterized in that, The computer program product includes computer program code that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 13.

32. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 13.

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