CN113236067A - Scissor door control method and device, vehicle and storage medium - Google Patents
Scissor door control method and device, vehicle and storage medium Download PDFInfo
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- CN113236067A CN113236067A CN202110524692.XA CN202110524692A CN113236067A CN 113236067 A CN113236067 A CN 113236067A CN 202110524692 A CN202110524692 A CN 202110524692A CN 113236067 A CN113236067 A CN 113236067A
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- 238000003860 storage Methods 0.000 title claims abstract description 11
- 238000011217 control strategy Methods 0.000 claims abstract description 111
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- 230000004888 barrier function Effects 0.000 description 3
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/55—Windows
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Abstract
The embodiment of the invention provides a control method, a device, a vehicle and a storage medium of a scissor door, wherein the method can be applied to the vehicle with the scissor door, when the vehicle receives an opening instruction, the obstacle information aiming at the scissor door is acquired, then a target opening strategy matched with the obstacle information is extracted from a preset vehicle door control strategy, then the vehicle can control the scissor door to execute opening operation corresponding to the target opening strategy, different vehicle door control strategies can correspondingly control the scissor door to execute operations with different opening distances and different opening angles, so that in the process of opening the scissor door, the vehicle can select a proper control strategy to open the scissor door according to the actual scene of the vehicle door, the damage to the vehicle door in the vehicle door opening process is effectively avoided, the safety of opening the vehicle door is improved, and the vehicle door can be opened to the maximum position, the convenience is got on or off the bus to the passenger, has improved user's experience with the car.
Description
Technical Field
The present invention relates to the field of scissor door control technologies, and in particular, to a scissor door control method, a scissor door control device, a vehicle, and a computer-readable storage medium.
Background
As the vehicle market expands, the exterior design of the vehicle also becomes an important commercial value, wherein the personalized design of the vehicle door is one of the important selling points of many manufacturers, and in addition to the most common direct-opening or sliding doors, there are also more unique forms such as scissor doors, butterfly doors, and the like. Scissors doors, i.e. scissors doors, can be broadly divided into the following three types: the direct opening type is a door opening mode of directly opening upwards and downwards; the opening is outward, and the opening can be upward only after the opening is outward for a certain angle; the hybrid can outwards open like ordinary car, can upwards open again, through set up the scissors door on the vehicle, can improve the aesthetic feeling of vehicle greatly. However, when the scissors door is opened, especially when the scissors door is opened in a narrow space, the scissors door cannot be effectively controlled, and therefore, the scissors door easily collides with a window, a rearview mirror and the like, so that related components of the vehicle door are damaged, and a loss is brought to a user.
Disclosure of Invention
The embodiment of the invention provides a scissor door control method, which aims to solve or partially solve the problem that parts are easy to damage in the scissor door control process in the prior art.
In order to solve the above problems, an embodiment of the present invention discloses a method for controlling a scissor door, including:
responding to an opening instruction aiming at a scissor door, and acquiring obstacle information aiming at the scissor door;
selecting a target opening strategy matched with the obstacle information from preset vehicle door control strategies;
and controlling the scissor door to execute opening operation corresponding to the target opening strategy.
Optionally, the controlling the scissor door to perform an opening operation corresponding to the target opening policy includes:
outputting prompt information corresponding to the target opening strategy;
controlling the scissor door to execute an opening operation corresponding to the target opening strategy;
determining a stopping strategy for the opening operation according to the window state of the scissor door;
and stopping the opening operation of the scissor door according to the stopping strategy to complete the control of the scissor door.
Optionally, the target opening policy includes an initial opening distance and an initial opening angle, and the controlling the scissor door to perform an opening operation corresponding to the target opening policy includes:
and controlling the scissor door to execute opening operation corresponding to the initial opening distance and the initial opening angle while controlling the scissor door window to descend.
Optionally, the stopping strategy includes an upper limit opening distance and an upper limit opening angle, and the stopping the opening operation of the scissor door according to the stopping strategy to complete the control of the scissor door includes:
and stopping the opening operation of the scissor door according to the opening upper limit distance and the opening upper limit angle to complete the control of the scissor door.
Optionally, the determining a stop strategy for the opening operation according to the window state of the scissor door comprises:
if the obstacle encountered in the descending process of the car window is detected, acquiring a first target stop strategy aiming at the scissor door;
the first target stop strategy comprises a first opening upper limit distance and a first opening upper limit angle corresponding to the scissor door executing opening operation when the scissor door does not descend the vehicle window.
Optionally, the determining a stop strategy for the opening operation according to the window state of the scissor door comprises:
if the situation that the vehicle window does not encounter an obstacle in the descending process is detected, a second target stop strategy for the scissor door is acquired;
and the second target stop strategy comprises a second opening upper limit distance and a second opening upper limit angle corresponding to the scissor door executing opening operation when the scissor door descends the window.
Optionally, the obstacle information at least includes a relative angle between the scissor door and the obstacle and an obstacle distance at the relative angle, and the selecting a target opening strategy matched with the obstacle information from preset vehicle door control strategies includes:
if the obstacle distance is larger than or equal to a first preset threshold value, selecting a first opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
the first opening strategy is a corresponding vehicle door control strategy when the scissor door descends a vehicle window and retracts a rearview mirror.
Optionally, the selecting a target opening strategy matched with the obstacle information from preset vehicle door control strategies includes:
if the obstacle distance is smaller than the first preset threshold and is larger than or equal to a second preset threshold, selecting a second opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
wherein the first preset threshold is greater than the second preset threshold; the second opening strategy is a corresponding vehicle door control strategy when the scissor door descends the vehicle window and does not retract the rearview mirror.
Optionally, the selecting a target opening strategy matched with the obstacle distance from preset vehicle door control strategies includes:
if the obstacle distance is smaller than the second preset threshold and is larger than or equal to a third preset threshold, selecting a third opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
wherein the second preset threshold is greater than the third preset threshold; the third control strategy is a corresponding vehicle door control strategy when the scissor door does not descend the vehicle window and the rearview mirror is retracted.
Optionally, the selecting a target opening strategy matched with the obstacle distance from preset vehicle door control strategies includes:
if the obstacle distance is smaller than the third preset threshold value, selecting a fourth opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
and the fourth control strategy is a corresponding vehicle door control strategy when the scissor door does not lower the vehicle window and does not retract the rearview mirror.
The embodiment of the invention also discloses a control device of the scissor door, which comprises:
the obstacle information acquisition module is used for responding to an opening instruction aiming at the scissor door and acquiring obstacle information aiming at the scissor door;
the strategy selection module is used for selecting a target opening strategy matched with the obstacle information from preset vehicle door control strategies;
and the vehicle door control module is used for controlling the scissor door to execute opening operation corresponding to the target opening strategy.
Optionally, the door control module comprises:
the prompt information output submodule is used for outputting prompt information corresponding to the target opening strategy;
the opening operation control sub-module is used for controlling the scissor door to execute opening operation corresponding to the target opening strategy;
the stopping strategy determining submodule is used for determining a stopping strategy aiming at the opening operation according to the window state of the scissor door;
and the opening operation stopping submodule is used for stopping the opening operation of the scissor door according to the stopping strategy to complete the control of the scissor door.
Optionally, the target starting strategy includes an initial starting distance and an initial starting angle, and the starting operation control sub-module is specifically configured to:
and controlling the scissor door to execute opening operation corresponding to the initial opening distance and the initial opening angle while controlling the scissor door window to descend.
Optionally, the stopping policy includes an upper limit opening distance and an upper limit opening angle, and the opening operation stopping sub-module is specifically configured to:
and stopping the opening operation of the scissor door according to the opening upper limit distance and the opening upper limit angle to complete the control of the scissor door.
Optionally, the stopping policy determining sub-module is specifically configured to:
if the obstacle encountered in the descending process of the car window is detected, acquiring a first target stop strategy aiming at the scissor door;
the first target stop strategy comprises a first opening upper limit distance and a first opening upper limit angle corresponding to the scissor door executing opening operation when the scissor door does not descend the vehicle window.
Optionally, the stopping policy determining sub-module is specifically configured to:
and if the situation that no obstacle is encountered in the descending process of the vehicle window is detected, acquiring a second target stop strategy aiming at the scissor door.
And the second target stop strategy comprises a second opening upper limit distance and a second opening upper limit angle corresponding to the scissor door executing opening operation when the scissor door descends the window.
Optionally, the obstacle information at least includes a relative angle between the scissor door and the obstacle and an obstacle distance at the relative angle, and the policy selection module is specifically configured to:
if the obstacle distance is larger than or equal to a first preset threshold value, selecting a first opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
the first opening strategy is a corresponding vehicle door control strategy when the scissor door descends a vehicle window and retracts a rearview mirror.
Optionally, the policy selection module is specifically configured to:
if the obstacle distance is smaller than the first preset threshold and is larger than or equal to a second preset threshold, selecting a second opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
wherein the first preset threshold is greater than the second preset threshold; the second opening strategy is a corresponding vehicle door control strategy when the scissor door descends the vehicle window and does not retract the rearview mirror.
Optionally, the policy selection module is specifically configured to:
if the obstacle distance is smaller than the second preset threshold and is larger than or equal to a third preset threshold, selecting a third opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
wherein the second preset threshold is greater than the third preset threshold; the third control strategy is a corresponding vehicle door control strategy when the scissor door does not descend the vehicle window and the rearview mirror is retracted.
Optionally, the policy selection module is specifically configured to:
if the obstacle distance is smaller than the third preset threshold value, selecting a fourth opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
and the fourth control strategy is a corresponding vehicle door control strategy when the scissor door does not lower the vehicle window and does not retract the rearview mirror.
The embodiment of the invention also discloses a vehicle, which comprises:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform the method as described above.
Embodiments of the present invention also disclose a computer-readable storage medium having instructions stored thereon, which, when executed by one or more processors, cause the processors to perform the method as described above.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, when the vehicle receives an opening instruction, the obstacle information aiming at the scissor door can be acquired, the obstacle information can be used for representing the position relationship between the scissor door and an obstacle, then a target opening strategy matched with the obstacle information is extracted from preset vehicle door control strategies, and then the vehicle can control the scissor door to execute opening operation corresponding to the target opening strategy, wherein the vehicle door control strategy can be a control strategy determined according to different states of the scissor door, different vehicle door control strategies can correspondingly control the scissor door to execute operations with different opening distances and different opening angles, so that in the process of opening the scissor door, the vehicle can select a proper control strategy to open the scissor door according to the actual scene of the vehicle door, thereby effectively avoiding the damage to the vehicle door in the process of opening the vehicle door, the safety of door opening is improved to can open the door to the biggest position, make things convenient for the passenger to get on or off the bus, improve user's experience with the car.
Drawings
Fig. 1 is a flowchart illustrating steps of a method for controlling a scissor door according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating steps of a method for controlling a scissor door according to an embodiment of the present invention;
fig. 3 is a block diagram of a scissor door control device according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As an example, when the scissors door is opened, especially when the scissors door is opened in a narrow space, the scissors door cannot be effectively controlled, and thus, the scissors door easily collides with a window, a rearview mirror, and the like, so that a vehicle door related component is damaged, and a loss is brought to a user.
In view of the above, one of the core invention points of the embodiments of the present invention is that when the vehicle receives and responds to the opening instruction for the scissor door, the vehicle may acquire the obstacle information for the scissor door through the sensor, then select a target opening policy matched with the obstacle information from the vehicle door control policies determined according to different states of the scissor door, and then control the scissor door to perform an opening operation corresponding to the target opening policy, where the vehicle door control policy may be a control policy determined according to different states of the scissor door, and different vehicle door control policies may correspondingly control the scissor door to perform operations of different opening distances and different opening angles, so that during the opening of the scissor door, the vehicle may select a suitable control policy to open the scissor door according to a scene where the vehicle door is actually located, thereby effectively avoiding damage to the vehicle door during the opening of the vehicle door, the safety of door opening is improved to can open the door to the biggest position, make things convenient for the passenger to get on or off the bus, improve user's experience with the car.
Specifically, referring to fig. 1, a flowchart illustrating steps of a method for controlling a scissor door according to an embodiment of the present invention is shown, and the method may specifically include the following steps:
in the embodiment of the present invention, the present invention may be applied to a vehicle having a scissor door, and various sensors may be provided on the vehicle for determining the positional relationship between the scissor door and the obstacle. Alternatively, the sensor may include an ultrasonic sensor, a vision sensor, and the like, and the distance information between the scissor door and the obstacle, the type information of the obstacle, the angle information between the scissor door and the obstacle, and the like may be acquired through the ultrasonic sensor, and the invention is not limited thereto.
In one example, the ultrasonic sensor may be a sensor that converts an ultrasonic signal into another energy signal, and may be disposed on a door accessory of the scissors door, and more reliable detection information may be acquired by disposing the ultrasonic sensor on the door accessory, for example, the ultrasonic sensor may be disposed on a left door, a right door, or the like. In addition, the scissor door may also include various accessories that provide auxiliary functions, including rear view mirrors, windows, window lifters, hinges, door locks, inner handles, stops, and seals, among others.
In addition, the vision sensor may include cameras disposed at different positions of the vehicle, such as a front-view camera, a rear-view camera, a panoramic camera, and the like, wherein the front-view camera is used for acquiring forward multimedia information (images, videos, and the like) in a forward preset size field of view of the vehicle; the rear-view camera is used for acquiring rear multimedia information in a rear preset large and small view field of the vehicle; the panoramic camera is used for acquiring panoramic multimedia information and the like in a preset radius range of the vehicle, the vehicle can comprehensively acquire environmental information of the vehicle through the cameras arranged in different directions, the environmental information can visually reflect the conditions of obstacles around the current vehicle, and a vehicle-mounted system can make decisions, for example, a corresponding vehicle door control strategy is selected by combining information acquired by the ultrasonic sensor.
Optionally, the opening instruction of the scissor door may be a vehicle door opening instruction sent by a user through a mobile device outside the vehicle, may also be a vehicle door opening instruction input by the user through a physical key, a vehicle-mounted central control large screen, and the like inside the vehicle, and may also be a vehicle door opening instruction input by the user through voice inside the vehicle, and the like.
After the vehicle detects an opening instruction for the scissor door, different sensors can be called to acquire corresponding obstacle information, and then the obstacle information for the scissor door is determined according to the obstacle information so as to determine a vehicle door control strategy according to the obstacle information.
In one example, after the vehicle responds to an opening instruction for the scissor door, information such as the distance and the angle between the topmost end of the window and the obstacle can be acquired through a vehicle body ultrasonic sensor, a vision sensor and the like, information such as the distance and the angle between the outermost side of the exterior rearview mirror and the obstacle can also be acquired, and then filtering and fusion processing are performed on the acquired information to obtain obstacle information. The obstacle information may include a relative angle between the scissor door and the obstacle, an obstacle distance at the relative angle, and the like.
102, selecting a target opening strategy matched with the obstacle information from preset vehicle door control strategies;
in the embodiment of the invention, the vehicle door control strategy can be a control strategy determined according to different states of the scissor door, and different control strategies can correspond to different opening states of the vehicle door, namely different control strategies can correspond to the opening distance, the opening angle and the like of the scissor door. The different states of the scissor door can be determined by whether to lower the vehicle window or not and whether to retract the rearview mirror, and different vehicle door control strategies of the scissor door are shown with reference to table 1:
| vehicle door control strategy | Folding rearview mirror | Lowering vehicle window | Opening mode |
| Control strategy 1 | Whether or not | Whether or not | Opening distance A1 and opening angle A2 |
| Control strategy 2 | Is that | Whether or not | Opening distance B1 and opening angle B2 |
| Control strategy c | Whether or not | Is that | Opening distance C1 and opening angle C2 |
| Control strategy | Is that | Is that | Opening distance D1, openingOpening angle D2 |
TABLE 1
Specifically, different opening distances and opening angles of the door can be planned according to the movement track of the scissor door and based on the condition that the rearview mirror and/or the window are retracted and lowered to the lowest end, and as shown in the table above, when the scissor door does not retract the rearview mirror and does not lower the window, the scissor door corresponds to the opening distance a1 and the opening angle a 2; when the rear-view mirror is packed up to the scissors door, when descending the door window, it corresponds opening distance D1, opening angle D2 etc. through categorizing control strategy according to the different states of scissors door to can pass through the sensor at the vehicle and confirm corresponding obstacle information after, select suitable control strategy, under the circumstances of guaranteeing the door and opening the security, provide great opening space for the user as far as possible, so that the user gets on or off the bus.
And 103, controlling the scissor door to execute opening operation corresponding to the target opening strategy.
In concrete realization, after the vehicle confirms the obstacle information, can select suitable control strategy to open the scissors door to effectively avoided the door to open the in-process and caused the damage to the door, improved the security that the door was opened, and can open the door to the biggest position, make things convenient for the passenger to get on or off the bus, improved user's experience with the car.
In the embodiment of the invention, when the vehicle receives an opening instruction, the obstacle information aiming at the scissor door can be acquired, the obstacle information can be used for representing the position relationship between the scissor door and an obstacle, then a target opening strategy matched with the obstacle information is extracted from preset vehicle door control strategies, and then the vehicle can control the scissor door to execute opening operation corresponding to the target opening strategy, wherein the vehicle door control strategy can be a control strategy determined according to different states of the scissor door, different vehicle door control strategies can correspondingly control the scissor door to execute operations with different opening distances and different opening angles, so that in the process of opening the scissor door, the vehicle can select a proper control strategy to open the scissor door according to the actual scene of the vehicle door, thereby effectively avoiding the damage to the vehicle door in the process of opening the vehicle door, the safety of door opening is improved to can open the door to the biggest position, make things convenient for the passenger to get on or off the bus, improve user's experience with the car.
Referring to fig. 2, a flowchart illustrating steps of a method for controlling a scissor door according to an embodiment of the present invention is shown, and specifically, the method may include the following steps:
after the vehicle detects an opening instruction for the scissor door, different sensors can be called to acquire corresponding obstacle information, and then the obstacle information for the scissor door is determined according to the obstacle information so as to determine a vehicle door control strategy according to the obstacle information.
in the embodiment of the invention, the obstacle information at least comprises the relative angle between the scissor door and the obstacle distance at the relative angle, and the vehicle can select a target opening strategy matched with the obstacle distance from the preset vehicle door control strategies. The vehicle door control strategy can be a control strategy determined according to different states of the scissor door, and different control strategies can correspond to different opening states of the vehicle door, namely different control strategies can correspond to the opening distance, the opening angle and the like of the scissor door.
In specific implementation, if the obstacle distance is greater than or equal to a first preset threshold, a first opening strategy matched with the obstacle distance may be selected from preset vehicle door control strategies, where the first opening strategy is a vehicle door control strategy corresponding to when the scissor door lowers the vehicle window and retracts the rearview mirror.
If the obstacle distance is smaller than a first preset threshold and is larger than or equal to a second preset threshold, selecting a second opening strategy matched with the obstacle distance from preset vehicle door control strategies, wherein the first preset threshold is larger than the second preset threshold; the second opening strategy is a corresponding vehicle door control strategy when the scissor door descends the vehicle window and does not retract the rearview mirror.
If the barrier distance is smaller than a second preset threshold value and is larger than or equal to a third preset threshold value, selecting a third opening strategy matched with the barrier distance from preset vehicle door control strategies, wherein the second preset threshold value is larger than the third preset threshold value; the third control strategy is a corresponding vehicle door control strategy when the scissor door does not lower the vehicle window and the rearview mirror is retracted.
And if the obstacle distance is smaller than a third preset threshold value, selecting a fourth opening strategy matched with the obstacle distance from preset vehicle door control strategies, wherein the fourth control strategy is a vehicle door control strategy corresponding to the situation that the scissor door does not lower the vehicle window and does not retract the rearview mirror.
Specifically, can be according to the movement track of scissors door, based on pack up the condition that rear-view mirror and/or door window fall to the least significant end, plan out the different opening distance of door and opening angle, classify control strategy through the different states according to scissors door for the vehicle can be after confirming corresponding obstacle information through the sensor, select suitable control strategy, under the circumstances of security is opened to the assurance door, provides great opening space for the user as far as possible, so that the user gets on or off the bus.
in a specific implementation, after the vehicle determines the target starting strategy, prompt information corresponding to the target starting strategy can be output. For example, when the vehicle detects an obstacle, it is determined that the opening space of the scissor door is small, and after a target opening strategy is determined, a voice broadcast of "the door opening space is small, a window is lowered, a rearview mirror is retracted, and the maximum opening space is obtained" and the like can be reported; in the process of descending the car window and retracting the rearview mirror, the voice broadcasting of 'descending the car window and retracting the rearview mirror, please note safety' can be performed; when the door moves to the opening angle and the opening distance, the voice broadcasting of 'the door is opened to the current maximum position, please get off the vehicle after detecting the environment' and the like can be realized. Further, the image video of the object may be output through an in-vehicle center control screen of the vehicle, and the present invention is not limited thereto.
in a specific implementation, the target opening strategy may include an initial opening distance and an initial opening angle, and the vehicle may lower the window while opening the scissor door to avoid damaging the window during the opening process, and the vehicle may control the scissor door to perform an opening operation corresponding to the initial opening distance and the initial opening angle while controlling the scissor door window to lower.
Wherein, for the opening of the scissor door, there exists a corresponding maximum opening distance and a maximum opening angle, and the initial opening distance may be the maximum distance (less than or equal to the maximum opening distance) that the scissor door can move under the target opening strategy, and the initial opening angle may be the maximum angle (less than or equal to the maximum opening angle) that the scissor door can open under the target opening strategy.
in a specific implementation, since the scissor door is automatically opened, a corresponding stopping strategy needs to be set to stop the opening operation of the scissor door. The stopping strategy can comprise a first target stopping strategy and a second target stopping strategy, wherein the first target stopping strategy comprises a first opening upper limit distance and a first opening upper limit angle corresponding to the scissor door executing opening operation when the scissor door does not descend the window; the second target stop strategy comprises a second opening upper limit distance and a second opening upper limit angle corresponding to the opening operation executed by the scissor door when the scissor door descends the vehicle window. As shown in table 2 below:
TABLE 2
The first target stop strategy can correspond to a maximum stop strategy, and the second target stop strategy can correspond to an initial stop strategy, so that the vehicle can perform anti-pinch detection on the vehicle window in the process of opening the scissor door, and if the vehicle window is detected to have an obstacle, the opening of the scissor door can be controlled according to the initial stop strategy, and the vehicle window stops descending; if not detect the barrier, then can control the opening of scissors door according to the biggest strategy that stops, not only can effectively open the door, can also realize preventing pressing from both sides of door window.
In one example, in combination with a preset vehicle door control strategy, in the opening process of the scissor door, the vehicle detects the anti-pinch of the vehicle window in real time, and determines a corresponding stopping strategy so as to complete the control of the opening of the scissor door. Referring to table 3, in the process of opening the scissor door, the scissor door can be controlled in the manner shown in table 3:
TABLE 3
It should be noted that, because the shape of the scissors door is different from that of the ordinary vehicle door, and the detection mode is different from that of the ordinary detection method, the states of the window and the rearview mirror are the influence factors influencing the opening of the vehicle door when the vehicle door is opened, and therefore, the states of the window and the rearview mirror are used as the determination basis of different control strategies. Simultaneously, also at the in-process application that the door window descends and prevent that the information of preventing pressing from both sides from getting into wherein, in time stops the door to through the control to automobile body part, opening of reasonable control scissors door guarantees to drive the door to the biggest in suitable position, makes things convenient for people to get on or off the bus and gives other people good user experience.
And step 206, stopping the opening operation of the scissor door according to the stopping strategy, and finishing the control of the scissor door.
In the embodiment of the invention, the stopping strategy may include an upper opening limit distance and an upper opening limit angle, and the vehicle may stop the opening operation of the scissor door according to the upper opening limit distance and the upper opening limit angle, so as to complete the control of the scissor door.
In the process that the vehicle opens the scissor door according to the target opening strategy, the scissor door can be controlled to be opened according to the initial opening distance and the initial opening angle, and in the executing process, if foreign matters are detected in the descending process of the vehicle window, the scissor door is controlled to be opened according to the initial stopping strategy (including the corresponding opening upper limit distance and the corresponding opening upper limit angle), and the descending operation of the vehicle window is stopped; and if the foreign matter is not detected in the descending process of the car window, controlling the opening of the scissor door according to a maximum stopping strategy (comprising a corresponding opening upper limit distance and an opening upper limit angle). In the process, the initial opening distance corresponding to the target opening strategy may be the same as or different from the opening upper limit distance in the stopping strategy, the control strategy is updated according to the opening upper limit distance in the stopping strategy, the control strategy is changed according to the vehicle door control environment in real time, the appropriate control strategy is selected to open the scissor door, damage to the vehicle door in the vehicle door opening process is effectively avoided, the safety of vehicle door opening is improved, the vehicle door can be opened to the maximum position, passengers can get on or off the vehicle conveniently, and vehicle using experience of users is improved.
In addition, for the opening control of the scissor door, a corresponding switch operation may be provided for the user, the user selects whether to open the control operation of the scissor door, and determines whether to execute the automatic control operation of the scissor door according to the selection of the user, which is not limited in the present invention.
In the embodiment of the invention, when the vehicle receives an opening instruction, the obstacle information aiming at the scissor door can be acquired, the obstacle information can be used for representing the position relationship between the scissor door and an obstacle, then a target opening strategy matched with the obstacle information is extracted from preset vehicle door control strategies, and then the vehicle can control the scissor door to execute opening operation corresponding to the target opening strategy, wherein the vehicle door control strategy can be a control strategy determined according to different states of the scissor door, different vehicle door control strategies can correspondingly control the scissor door to execute operations with different opening distances and different opening angles, so that in the process of opening the scissor door, the vehicle can select a proper control strategy to open the scissor door according to the actual scene of the vehicle door, thereby effectively avoiding the damage to the vehicle door in the process of opening the vehicle door, the safety of door opening is improved to can open the door to the biggest position, make things convenient for the passenger to get on or off the bus, improve user's experience with the car.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 3, a block diagram of a structure of a control device of a scissor door according to an embodiment of the present invention is shown, and the control device may specifically include the following modules:
the obstacle information acquiring module 301 is configured to respond to an opening instruction for a scissor door and acquire obstacle information for the scissor door;
a strategy selection module 302, configured to select a target opening strategy matched with the obstacle information from preset vehicle door control strategies;
and the vehicle door control module 303 is configured to control the scissor door to perform an opening operation corresponding to the target opening policy.
In an alternative embodiment of the present invention, the door control module 303 includes:
the prompt information output submodule is used for outputting prompt information corresponding to the target opening strategy;
the opening operation control sub-module is used for controlling the scissor door to execute opening operation corresponding to the target opening strategy;
the stopping strategy determining submodule is used for determining a stopping strategy aiming at the opening operation according to the window state of the scissor door;
and the opening operation stopping submodule is used for stopping the opening operation of the scissor door according to the stopping strategy to complete the control of the scissor door.
In an optional embodiment of the present invention, the target opening policy includes an initial opening distance and an initial opening angle, and the opening operation control sub-module is specifically configured to:
and controlling the scissor door to execute opening operation corresponding to the initial opening distance and the initial opening angle while controlling the scissor door window to descend.
In an optional embodiment of the present invention, the stop policy includes an upper limit opening distance and an upper limit opening angle, and the opening operation stop sub-module is specifically configured to:
and stopping the opening operation of the scissor door according to the opening upper limit distance and the opening upper limit angle to complete the control of the scissor door.
In an optional embodiment of the present invention, the stop policy determining sub-module is specifically configured to:
if the obstacle encountered in the descending process of the car window is detected, acquiring a first target stop strategy aiming at the scissor door;
the first target stop strategy comprises a first opening upper limit distance and a first opening upper limit angle corresponding to the scissor door executing opening operation when the scissor door does not descend the vehicle window.
In an optional embodiment of the present invention, the stop policy determining sub-module is specifically configured to:
if the situation that the vehicle window does not encounter an obstacle in the descending process is detected, a second target stop strategy for the scissor door is acquired;
and the second target stop strategy comprises a second opening upper limit distance and a second opening upper limit angle corresponding to the scissor door executing opening operation when the scissor door descends the window.
In an optional embodiment of the invention, the obstacle information at least comprises a relative angle between the scissor door and the obstacle and an obstacle distance at the relative angle, and the policy selection module 302 is specifically configured to:
if the obstacle distance is larger than or equal to a first preset threshold value, selecting a first opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
the first opening strategy is a corresponding vehicle door control strategy when the scissor door descends a vehicle window and retracts a rearview mirror.
In an optional embodiment of the present invention, the policy selection module 302 is specifically configured to:
if the obstacle distance is smaller than the first preset threshold and is larger than or equal to a second preset threshold, selecting a second opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
wherein the first preset threshold is greater than the second preset threshold; the second opening strategy is a corresponding vehicle door control strategy when the scissor door descends the vehicle window and does not retract the rearview mirror.
In an optional embodiment of the present invention, the policy selection module 302 is specifically configured to:
if the obstacle distance is smaller than the second preset threshold and is larger than or equal to a third preset threshold, selecting a third opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
wherein the second preset threshold is greater than the third preset threshold; the third control strategy is a corresponding vehicle door control strategy when the scissor door does not descend the vehicle window and the rearview mirror is retracted.
In an optional embodiment of the present invention, the policy selection module 302 is specifically configured to:
if the obstacle distance is smaller than the third preset threshold value, selecting a fourth opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
and the fourth control strategy is a corresponding vehicle door control strategy when the scissor door does not lower the vehicle window and does not retract the rearview mirror.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides a vehicle, including:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform a method as described in embodiments of the invention.
Embodiments of the present invention also provide a computer-readable storage medium having stored thereon instructions, which, when executed by one or more processors, cause the processors to perform a method according to embodiments of the present invention.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, EEPROM, Flash, eMMC, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The present invention provides a method and a device for controlling a scissor door, a vehicle and a computer readable storage medium, which are described in detail above, and the present invention applies specific examples to illustrate the principles and embodiments of the present invention, and the above description of the embodiments is only provided to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (13)
1. A method of controlling a scissor door, comprising:
responding to an opening instruction aiming at a scissor door, and acquiring obstacle information aiming at the scissor door;
selecting a target opening strategy matched with the obstacle information from preset vehicle door control strategies;
and controlling the scissor door to execute opening operation corresponding to the target opening strategy.
2. The method of claim 1, wherein said controlling the scissor door to perform an opening operation corresponding to the target opening strategy comprises:
outputting prompt information corresponding to the target opening strategy;
controlling the scissor door to execute an opening operation corresponding to the target opening strategy;
determining a stopping strategy for the opening operation according to the window state of the scissor door;
and stopping the opening operation of the scissor door according to the stopping strategy to complete the control of the scissor door.
3. The method of claim 2, wherein the target opening strategy includes an initial opening distance and an initial opening angle, the controlling the scissor door to perform an opening operation corresponding to the target opening strategy comprising:
and controlling the scissor door to execute opening operation corresponding to the initial opening distance and the initial opening angle while controlling the scissor door window to descend.
4. The method of claim 2, wherein the stop strategy includes an upper opening limit distance and an upper opening limit angle, and wherein stopping the opening operation of the scissor door in accordance with the stop strategy completes the control of the scissor door comprises:
and stopping the opening operation of the scissor door according to the opening upper limit distance and the opening upper limit angle to complete the control of the scissor door.
5. The method of claim 3, wherein determining a stopping strategy for the opening operation based on the window state of the scissor door comprises:
if the obstacle encountered in the descending process of the car window is detected, acquiring a first target stop strategy aiming at the scissor door;
the first target stop strategy comprises a first opening upper limit distance and a first opening upper limit angle corresponding to the scissor door executing opening operation when the scissor door does not descend the vehicle window.
6. The method of claim 3, wherein determining a stopping strategy for the opening operation based on the window state of the scissor door comprises:
if the situation that the vehicle window does not encounter an obstacle in the descending process is detected, a second target stop strategy for the scissor door is acquired;
and the second target stop strategy comprises a second opening upper limit distance and a second opening upper limit angle corresponding to the scissor door executing opening operation when the scissor door descends the window.
7. The method of claim 1, wherein the obstruction information includes at least a relative angle between the scissor door and the obstruction and an obstruction distance at the relative angle, and the selecting a target opening strategy from preset vehicle door control strategies that matches the obstruction information comprises:
if the obstacle distance is larger than or equal to a first preset threshold value, selecting a first opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
the first opening strategy is a corresponding vehicle door control strategy when the scissor door descends a vehicle window and retracts a rearview mirror.
8. The method of claim 7, wherein selecting the target opening strategy from the preset vehicle door control strategies that matches the obstacle information comprises:
if the obstacle distance is smaller than the first preset threshold and is larger than or equal to a second preset threshold, selecting a second opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
wherein the first preset threshold is greater than the second preset threshold; the second opening strategy is a corresponding vehicle door control strategy when the scissor door descends the vehicle window and does not retract the rearview mirror.
9. The method of claim 8, wherein selecting the target opening strategy from the preset vehicle door control strategies that matches the obstacle distance comprises:
if the obstacle distance is smaller than the second preset threshold and is larger than or equal to a third preset threshold, selecting a third opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
wherein the second preset threshold is greater than the third preset threshold; the third control strategy is a corresponding vehicle door control strategy when the scissor door does not descend the vehicle window and the rearview mirror is retracted.
10. The method of claim 9, wherein selecting the target opening strategy from the preset vehicle door control strategies that matches the obstacle distance comprises:
if the obstacle distance is smaller than the third preset threshold value, selecting a fourth opening strategy matched with the obstacle distance from the preset vehicle door control strategies;
and the fourth control strategy is a corresponding vehicle door control strategy when the scissor door does not lower the vehicle window and does not retract the rearview mirror.
11. A scissor door control device, comprising:
the obstacle information acquisition module is used for responding to an opening instruction aiming at the scissor door and acquiring obstacle information aiming at the scissor door;
the strategy selection module is used for selecting a target opening strategy matched with the obstacle information from preset vehicle door control strategies;
and the vehicle door control module is used for controlling the scissor door to execute opening operation corresponding to the target opening strategy.
12. A vehicle, characterized by comprising:
one or more processors; and
one or more machine-readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform the method of any of claims 1-10.
13. A computer-readable storage medium having stored thereon instructions, which when executed by one or more processors, cause the processors to perform the method of any one of claims 1-10.
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Effective date of registration: 20240228 Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 46, room 406, No. 1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou, Guangdong 510725 Patentee before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Country or region before: China |