CN115341825A - Control method and control device for sliding door in parking process - Google Patents

Control method and control device for sliding door in parking process Download PDF

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Publication number
CN115341825A
CN115341825A CN202210766744.9A CN202210766744A CN115341825A CN 115341825 A CN115341825 A CN 115341825A CN 202210766744 A CN202210766744 A CN 202210766744A CN 115341825 A CN115341825 A CN 115341825A
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China
Prior art keywords
vehicle
door
user
sliding
opened
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CN202210766744.9A
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CN115341825B (en
Inventor
耿艺嘉
杨朔
张子良
甄溢军
康飞
蒋琪
蔡志伟
贾儒
孙思洋
金心娴
张宗胜
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Zhiji Automobile Technology Co Ltd
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Zhiji Automobile Technology Co Ltd
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Priority to CN202210766744.9A priority Critical patent/CN115341825B/en
Publication of CN115341825A publication Critical patent/CN115341825A/en
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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
    • 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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  • Power-Operated Mechanisms For Wings (AREA)

Abstract

The invention discloses a control method and a control device for sliding a car door in a parking process, wherein the control method comprises the following steps: obtaining a parking distance of a parking space, and estimating at least one target parking space according to the opening distance of a door of a self vehicle; giving a reminding or option for controlling the opening of the vehicle door according to the at least one target parking space, and receiving a desired selection of a user, wherein the desired selection of the user comprises single-side door opening or double-side door opening; and controlling the vehicle to park in a target parking space corresponding to the expected selection of the user according to the expected selection of the user, and controlling the door opening angle of the sliding vehicle door to be opened to a proper angle, wherein the door opening angle at least meets the requirements of getting on and off the vehicle by the user.

Description

Control method and control device for sliding door in parking process
Technical Field
The invention relates to the technical field of vehicle control, in particular to a control method and a control device for sliding a vehicle door in a parking process.
Background
At present, in order to meet the pursuit of users on space and comfort, the size of vehicles is also extending, especially high-end and flagship models; together with the increasing automobile inventory and limited parking space, the difficulty in parking and poor alighting experience have become a real problem for users to complain.
With the development of technology, many vehicle models are provided with intelligent parking auxiliary systems, and the difficult problem of parking can be relieved through strong environmental perception and active intervention to a certain degree. However, the parking system mainly considers how to make the vehicle enter the parking space, mainly considers functions and safety, does not further deeply consider the feeling of the client when getting off the vehicle and the experience of the whole parking process, and does not form a closed loop for scene use and user perception.
Disclosure of Invention
In order to solve the technical problems, the invention provides a control method and a control device for sliding a vehicle door in a parking process, which can better control the opening of the vehicle door and facilitate a user to get on or off the vehicle.
In a first aspect of an embodiment of the present invention, a method for controlling a sliding door during parking is provided, including:
obtaining a parking distance of a parking space, and estimating at least one target parking space according to the opening distance of a door of a self vehicle;
giving a reminding or option for controlling the opening of the vehicle door according to the at least one target parking space, and receiving a desired selection of a user, wherein the desired selection of the user comprises single-side door opening or double-side door opening;
and controlling the vehicle to park in a target parking space corresponding to the expected selection of the user according to the expected selection of the user, and controlling the door opening angle of the sliding vehicle door to be opened to a proper angle, wherein the door opening angle at least meets the requirements of getting on and off the vehicle by the user.
Optionally, the control method further includes: and when the parking distance of the parking space is smaller than the opening distance of the door of the own vehicle, reminding to find other parking spaces and stopping the automatic parking function.
Optionally, the controlling, according to the selection of the user, the vehicle to park in the target parking space corresponding to the selection of the user, and controlling the opening angle of the sliding vehicle door to be opened to a suitable angle includes:
if the target parking space meets the condition of double-side door opening, respectively obtaining the distance between the self-vehicle and the vehicles on two sides of the self-vehicle, and controlling the sliding vehicle doors on two sides of the self-vehicle to be opened to the maximum angle or controlling the sliding vehicle door on one side of the self-vehicle to be opened to the maximum angle according to the distance between the self-vehicle and the vehicles on two sides of the self-vehicle;
and if the target parking space meets the condition of single-side door opening, respectively obtaining the distance between the self-vehicle and the vehicles on two sides of the self-vehicle, and controlling the sliding door on the door opening side of the self-vehicle to be opened to the maximum angle according to the distance between the door opening side of the self-vehicle and the adjacent vehicle on the side.
Optionally, the controlling, according to the selection of the user, the vehicle to park in the target parking space corresponding to the selection of the user, and controlling the opening angle of the sliding vehicle door to be opened to a suitable angle includes:
the control sliding vehicle door is at least opened to a first demand angle meeting the user's requirements for getting on and off the vehicle, or the control sliding vehicle door is at least opened to a second demand angle meeting the user's requirements for use, or the control sliding vehicle door is at least opened to a third demand angle meeting the user's requirements.
Optionally, the controlling the door opening angle of the sliding vehicle door to open to a suitable angle further includes:
after the sliding vehicle door is controlled to be opened, if the situation that a user pushes the vehicle door is detected, the sliding vehicle door is limited to be opened continuously at the maximum opening angle of the vehicle door;
or after the sliding vehicle door is controlled to be opened, if the situation that the user pushes the vehicle door is detected, and if the pushing direction is the door closing angle, the sliding vehicle door is automatically closed.
Optionally, the giving of a reminder or option for door opening control according to the at least one target parking space includes:
and displaying a door opening state prompt which can be supported by the current parking position on a vehicle display screen, and marking the door opening state prompt on two sides of a vehicle graphical interface.
In a third aspect of the embodiments of the present invention, there is provided a control device for sliding a door during parking, including:
the parking module is used for acquiring the parking distance of the parking space and predicting at least one target parking space according to the opening distance of the door of the vehicle;
the reminding processing module is used for giving a reminding or option for controlling the opening of the vehicle door according to the at least one target parking space and receiving a desired selection of a user, wherein the desired selection of the user comprises single-side door opening or double-side door opening;
the control module is used for controlling a vehicle to park in a target parking space corresponding to the expected selection of the user according to the expected selection of the user and controlling the door opening angle of the sliding vehicle door to be opened to a proper angle, wherein the door opening angle at least meets the requirement of the user for getting on or off the vehicle.
Optionally, the control device further comprises: and the parking control module is used for reminding of finding other parking spaces and stopping the automatic parking function when the parking distance of the parking spaces is smaller than the opening distance of doors of the own car.
Optionally, the control module comprises:
the first control unit is used for respectively obtaining the distance between the self-vehicle and the vehicles on two sides of the self-vehicle if the target parking space meets double-side door opening, and controlling the sliding doors on two sides of the self-vehicle to be opened at the maximum angle or controlling the sliding doors on one side of the self-vehicle to be opened to the maximum angle according to the distance between the self-vehicle and the vehicles on two sides of the self-vehicle;
and the second control unit is used for respectively obtaining the distance between the self-vehicle and the vehicles on two sides of the self-vehicle if the target parking space meets the condition of single-side door opening, and controlling the sliding door on the door opening side of the self-vehicle to be opened to the maximum angle according to the distance between the door opening side of the self-vehicle and the adjacent vehicle on the side.
Optionally, the control module comprises:
and the third control module is used for controlling the sliding vehicle door to be at least opened to a first demand angle meeting the user's requirements for getting on and off the vehicle, or controlling the sliding vehicle door to be at least opened to a second demand angle meeting the user's requirements for use, or controlling the sliding vehicle door to be at least opened to a third demand angle meeting the user's requirements.
Optionally, the third control module is further configured to: after the sliding vehicle door is controlled to be opened, if the situation that a user pushes the vehicle door is detected, the sliding vehicle door is limited to be opened continuously at the maximum opening angle of the vehicle door; or after the sliding vehicle door is controlled to be opened, if the situation that the user pushes the vehicle door is detected, and if the pushing direction is the door closing angle, the sliding vehicle door is automatically closed.
Optionally, the reminder processing module includes:
and the display reminding unit is used for displaying the door opening state reminding which can be supported by the current parking position on the vehicle display screen and marking the door opening state reminding on two sides of the own vehicle graphical interface.
In a third aspect of the embodiments of the present invention, there is provided a vehicle comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method according to the first aspect of the embodiments of the present invention.
In a fourth aspect of the embodiments of the present invention, there is provided a computer-readable storage medium on which a computer program is stored, the computer program, when executed by a computer, performing the method according to the first aspect of the embodiments of the present invention.
According to the invention, the parking position is controlled according to the requirement of opening the vehicle door, and then the vehicle door is controlled to be opened after parking, so that the vehicle door is prevented from being damaged; the trouble of getting on or off the vehicle of a user is solved by reserving the vehicle door to open the required space.
Drawings
FIG. 1 is a flow chart illustrating a method for controlling a sliding door during parking according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating another method for controlling door sliding during parking according to an embodiment of the present invention;
FIG. 3 is a schematic view showing the opening distance between the vehicle body and the sliding door after the sliding door is opened according to the embodiment of the invention;
FIG. 4 is a schematic view showing a warning "door open on a parking space support side" in an embodiment of the present invention;
FIG. 5 is a schematic diagram showing a reminder "parking space supports simultaneous opening of doors on both sides" in an embodiment of the present invention;
FIG. 6 is a schematic diagram showing a prompt of "a parking space is small and other parking spaces are suggested to be found" in the embodiment of the present invention;
fig. 7 is a block diagram of another control device for sliding the doors during parking according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The main reason for the difficulty in parking and getting off is the contradiction between the increasing size of automobiles and the limited space of parking spaces, and in order to solve the worry of users about parking, parking assist systems are widely used. The parking assist system of the electric automobile usually identifies the distance between the periphery of the automobile and an obstacle through a camera or a radar sensing system, and reminds a user through an interaction mode such as an automobile interface, an atmosphere lamp and a sound system, so that the purposes of reducing collision and quickly parking are achieved.
The parking system in the prior art mainly focuses on parking well, but does not take further consideration on the optimization of subsequent behavior experience of a user, and meanwhile, the current parking auxiliary system is widely applied to the traditional revolving door automobile, but has low applicability to the use scene of an innovative sliding door-opening (such as an automobile door which is opened outwards by sliding). The sliding side-by-side combination automobile door is an innovative product, the use habit of a user is not formed, the required opening space of the automobile door is difficult to accurately evaluate in the parking process, and the required opening space of the automobile door cannot be accurately reserved, so that the user of the sliding side-by-side combination automobile can conveniently get on or off the automobile.
In order to improve the parking experience of a user and accurately control the real requirements and expectations of the user in a parking scene, the sliding door needs to be controlled on the basis of auxiliary parking, and the behaviors of scratching, damaging and the like of a vehicle caused by misoperation of the user are prevented.
Referring to fig. 1, the present invention provides a method for controlling a sliding door during parking, including:
step 110: and acquiring the parking distance of the parking space, and estimating at least one target parking space according to the opening distance of the door of the vehicle.
The parking distance of the parking space may have different definitions or directions in different scenarios. When there is a definite parking line in the parking environment, the distance between the parking lines is taken as the parking distance. When vehicles are parked on two sides of the parking space, the distance between the vehicles on the two sides of the parking space is used as the parking distance. If there is a vehicle on one side of the parking space and no vehicle on the other side is parked, the parking distance is determined by the vehicle on one side and the parking line on the other side, or the boundary on the other side is counted to be infinite. Of course, if there are obstacles or other objects, the parking distance is also calculated by their physical boundaries.
The door opening distance of the self-vehicle comprises a minimum door opening distance, a maximum door opening distance and a door opening process distance between the maximum distance and the minimum distance, different vehicle types have different distances, specifically, the door opening distance can be stored in a parking auxiliary system, the width of the self-vehicle can be acquired from the left and right side boundaries of the self-vehicle by a camera and a radar of the parking auxiliary system, and then the distance extended by the door, namely the door opening distance, is added; the amount of the opening distance of the vehicle door during parking is controlled by the parking system according to the parking scene.
Under the condition of meeting the parking requirement, various parking schemes exist, and various target parking spaces are correspondingly formed. Such as single-side door opening parking, double-side door opening parking, single-side minimum door opening angle parking, single-side maximum angle parking, etc. The parking process can be an automatic driving process or a manual driving process.
Step 120: and giving a reminding or option for controlling the opening of the vehicle door according to the at least one target parking space, and receiving a desired selection of a user, wherein the desired selection of the user comprises single-side door opening or double-side door opening.
When the auxiliary parking system determines one or more target parking spaces, the parking preference is reminded or displayed for a driver so as to control the vehicle door to facilitate the user to get off the vehicle. In general, when only a driver is present, the user prefers the assisted parking driving with the door opened on one side during parking, and when other passengers such as a passenger ride, the user prefers the assisted parking driving with the door opened on both sides. As a reference example, the hinge angle when the sliding door is fully opened is 120 degrees, and the door opening distance is 664mm. In the door opening angle range, a user can freely get on or off the vehicle.
The reminding mode is diversified, voice reminding can be achieved through the vehicle-mounted AI voice assistant, the graphical user interface is displayed through the display screen for reminding, and meanwhile parking options can be provided for a user through voice or the graphical user interface. For example, a voice or graphical user interface provides for one-sided or two-sided door opening parking; an angle option to control door opening may also be provided.
Step 130: and controlling the vehicle to park in a target parking space corresponding to the expected selection of the user according to the expected selection of the user, and controlling the door opening angle of the sliding vehicle door to be opened to a proper angle, wherein the door opening angle at least meets the requirements of getting on or off the vehicle by the user.
If the user selects the single-side door opening or the double-side door opening, the user selects a position where the single-side door opening or the double-side door opening can be performed for parking, and after the vehicle is parked at a proper position, the sliding vehicle door is controlled to be opened. The opening angle of the sliding door can be set by a user or a system, and can also be determined according to the distance between the sliding door and an adjacent vehicle.
When the user selects single or double-side door opening, the user knows the door opening side, the maximum value of the opening and closing angle of the sliding door opening is fixed, the door can be locked by the door control module, the misoperation of the user is prevented from damaging the vehicle, and therefore the problem that the user cannot master the opening angle of the sliding door is solved. Different from the prior art, the invention controls the opening of the car door after parking again on the basis of controlling the parking position according to the car door opening requirement, thereby preventing the car door from being damaged and optimizing the experience of getting on or off the car and parking for users.
It will be appreciated that the minimum opening of the door is required to allow the user to get on and off the vehicle. Therefore, on the basis that the opening angle of the sliding door of the vehicle is the minimum and the width of the vehicle when a user gets on or off the vehicle is known, the problem that the door cannot be opened to get off the vehicle after the vehicle is parked in the parking space can be solved after the whole distance of the parking space is obtained, and particularly the problem that the door is opened conveniently on the other side of the side where the vehicle needs to get off the vehicle after the vehicle is parked.
The parking assistance based on the size analysis of the sliding vehicle door can be widely applied to different parking environments, effectively helps a user to pre-judge the space of the parking space, provides parking suggestions, optimizes the parking journey, realizes efficient parking, and reduces bad experience caused by the fact that the vehicle door cannot be opened due to insufficient space of the parking space.
Further, as shown in fig. 2, the present invention also provides a method for controlling a sliding door during parking, comprising the following steps:
step 210: obtaining a parking distance of a parking space, and estimating at least one target parking space according to a door opening distance of a self vehicle;
step 220: giving a reminding or option for controlling the opening of the vehicle door according to the at least one target parking space, and receiving a desired selection of a user, wherein the desired selection of the user comprises single-side door opening or double-side door opening;
step 230: and controlling the vehicle to park in a target parking space corresponding to the expected selection of the user according to the expected selection of the user, and controlling the door opening angle of the sliding vehicle door to be opened to a proper angle, wherein the door opening angle at least meets the requirements of getting on and off the vehicle by the user.
The above steps 210 to 230 can refer to the descriptions of the above steps 110 to 130, and are not described again.
Step 240: and when the parking distance of the parking space is smaller than the opening distance of the door of the own vehicle, reminding to find other parking spaces and stopping the automatic parking function.
In this embodiment, if the parking distance of the parking space satisfies the parking but cannot satisfy the getting-off requirement of the user, the parking function is automatically stopped to remind the user to find another parking space, so as to prevent the user from moving again to park after parking. If the user drives manually or semi-automatically, a reminding instruction can be given, and the user is advised to take over the parking space manually and then park.
In the embodiment shown in fig. 1 and fig. 2, further, the controlling, according to the selection desired by the user, the vehicle to park in the target parking space corresponding to the selection desired by the user, and controlling the door opening angle of the sliding door to open to a suitable angle further includes the following implementation manners:
illustratively, if the target parking space satisfies double-side door opening, it indicates that the space of the parking space is large enough, and the parking system respectively obtains the distances between the own vehicle and the vehicles on both sides of the own vehicle, determines the distances as the parking space, and detects the spatial distance for parking. And then controlling the maximum opening angle of the sliding doors at the two sides of the self-vehicle according to the distance between the self-vehicle and the vehicles at the two sides of the self-vehicle. The maximum angle described in this example can be understood as the maximum angle at which the sliding doors can be opened in the current parking position, i.e., the door opening angle at which the vehicle does not touch both sides of the host vehicle, and the limited maximum angle at which the vehicle can be opened in the distance between the left and right vehicles. For example, the hinge angle is 120 degrees when the door is fully opened, and the maximum angle that can be currently opened is 110 degrees. The distance between the door and the body can be seen schematically in fig. 3.
Different from the maximum opening angle, the sliding door on one side of the bicycle can be controlled to be opened to the maximum angle. Namely, only the door opening distance of one side of the self-vehicle is concerned, and the door opening angle of the other side is not considered, so that a better getting-off space is provided for a user. Usually, the door opening angle from one side of the vehicle is only required to be the maximum opening angle, for example, the hinge angle when the vehicle door is completely opened is 120 degrees, and the other side of the parking space usually does not influence the getting on or off of other vehicles.
As another exemplary embodiment, if the target parking space satisfies the one-side door opening, the distances between the self-vehicle and the vehicles on both sides of the self-vehicle are respectively obtained, and the sliding door on the door opening side of the self-vehicle is controlled to be opened to the maximum angle according to the distance between the door opening side of the self-vehicle and the adjacent vehicle on the side.
For example, the parking space only satisfies the condition of opening the door on one side, the user selects to open the door on the left side, and the vehicle parks in the parking space as far as possible according to the small distance from the vehicle on the right side of the vehicle, so as to ensure that the door on the left side can be opened at the maximum angle. When the sliding vehicle door is opened, the maximum angle is directly opened, namely the maximum angle which can be opened is judged according to the distance between the vehicle on the left side and the vehicle, namely the limited maximum angle which can be opened in the distance between the vehicle on the left side and the vehicle on the right side.
In the two exemplary embodiments, in the parking process, the auxiliary parking system judges the maximum opening angle of the sliding vehicle door according to the door opening distance between the vehicle and the vehicle in the surrounding environment after the vehicle is parked at the parking position, so that a user can get on or off the vehicle more conveniently and finish final parking. Especially, when the bicycle is opened, the user can be better optimized to get on or off the bus, and other vehicles are not influenced. Compared with the prior art that the vehicle is directly parked or the vehicle can be parked and opened only by calculating, the method and the device can give a user better environment for getting on and off the vehicle and better control over the pair of vehicle doors.
Further, when the opening angle of the control sliding vehicle door is opened to a proper angle, the following control can be carried out:
and after the sliding vehicle door is controlled to be opened, if the situation that the user pushes the vehicle door is detected, the sliding vehicle door is limited to be continuously opened by the maximum opening angle of the vehicle door. For example, when the user pushes the sliding door manually, the sliding door can be locked to avoid the damage of the door. Or after the sliding vehicle door is controlled to be opened, if the user is detected to push the vehicle door, if the pushing direction is the door closing angle, the sliding vehicle door is automatically closed, and the purpose of automatically closing the vehicle door is achieved.
Different from the automatic control of the maximum opening angle of the vehicle door according to the distance between the vehicle and other vehicles, the vehicle door pair control can be realized by setting different opening angle ranges. As some other distinguishing embodiments, the present invention provides method steps of: the method for controlling the vehicle to park in the target parking space corresponding to the expected selection of the user according to the expected selection of the user and controlling the door opening angle of the sliding vehicle door to be opened to a proper angle further comprises the following steps:
the control sliding vehicle door is at least opened to a first demand angle meeting the user's requirements for getting on and off the vehicle, or the control sliding vehicle door is at least opened to a second demand angle meeting the user's requirements for use, or the control sliding vehicle door is at least opened to a third demand angle meeting the user's requirements.
Taking the door opening angle of a specific vehicle type as an example, the 3 kinds of width state data of the sliding vehicle door opening are based on the opening size data of the single-side vehicle door. Through digital-analog size analysis, the automobile door is opened to 64 degrees, the opening degree of the automobile door is 300mm, and the minimum getting-off requirement of 95% of separated users can be met. The door was opened to 81.82 degrees, and the vehicle body had a maximum Y-direction width of 361mm. The door aperture 664mm, the door is opened to 120 degrees and is satisfied the most convenient user demand of getting on or off the bus this moment.
As for the above-described technology, the door may be opened to 64 degrees as the first required angle, the door may be opened to 64 degrees or more and 81.82 degrees or more as the second required angle, and the door may be opened to 81.82 degrees or more and 120 degrees or more as the third required angle. In the control process of the vehicle door, the vehicle door can be manually moved within a required angle range, so that the opening angle of the vehicle door can be better and actively adjusted, and the requirements of users are met. At the first desired angle, especially when the sliding door can only be opened to 64 degrees, the door is locked from opening outward and free to open inward. Similarly, the second required angle and the third required angle are also locked within the angle range. Especially, when the user parks manually, the automobile door can be freely regulated and controlled, and the automobile door can be prevented from being damaged. Of course, such door opening range control is also applicable to the automatic parking assist system.
And further, after the sliding vehicle door is controlled to be opened, if the sliding vehicle door is detected to be pushed by a user, the sliding vehicle door is automatically closed if the pushing direction is a door closing angle, and the purpose of automatically closing the vehicle door is achieved.
Furthermore, a door opening state prompt which can be supported by the current parking position is displayed on the vehicle display screen and marked on two sides of the own vehicle graphical interface. Fig. 4 to 6 show schematic graphical interfaces of one-side door-opening parking, two-side door-opening parking and no-parking suggestion. Fig. 4 is a schematic view showing a reminder of "the parking space supports the opening of the doors on one side", and fig. 5 is a schematic view showing a reminder of "the parking space supports the simultaneous opening of the doors on both sides"; fig. 6 is a schematic diagram showing a prompt of "the parking space is small, and other parking spaces are suggested to be found".
As shown in fig. 7, the present invention also provides a control device for sliding a door during parking, comprising:
the parking module 71 is configured to obtain a parking distance of a parking space, and estimate at least one target parking space according to a door opening distance of a self-vehicle;
the reminding processing module 72 is used for giving a reminding or option for controlling the opening of the vehicle door according to the at least one target parking space and receiving a desired selection of a user, wherein the desired selection of the user comprises single-side door opening or double-side door opening;
and the control module 73 is used for controlling the vehicle to park in a target parking space corresponding to the expected selection of the user according to the expected selection of the user and controlling the door opening angle of the sliding vehicle door to be opened to a proper angle, wherein the door opening angle at least meets the requirement of the user for getting on or off the vehicle.
The control device 72 further includes: and the parking control module is used for reminding of finding other parking spaces and stopping the automatic parking function when the parking distance of the parking spaces is smaller than the opening distance of doors of the vehicle.
The control module 72 includes:
the first control unit is used for respectively obtaining the distance between the self-vehicle and the vehicles on two sides of the self-vehicle if the target parking space meets double-side door opening, and controlling the sliding doors on two sides of the self-vehicle to be opened at the maximum angle or controlling the sliding doors on one side of the self-vehicle to be opened to the maximum angle according to the distance between the self-vehicle and the vehicles on two sides of the self-vehicle;
and the second control unit is used for respectively obtaining the distance between the self-vehicle and the vehicles on two sides of the self-vehicle if the target parking space meets the condition of single-side door opening, and controlling the sliding door on the door opening side of the self-vehicle to be opened to the maximum angle according to the distance between the door opening side of the self-vehicle and the adjacent vehicle on the side.
The control module 72 includes:
and the third control module is used for controlling the sliding vehicle door to be at least opened to a first demand angle meeting the user's requirements for getting on and off the vehicle, or controlling the sliding vehicle door to be at least opened to a second demand angle meeting the user's requirements for use, or controlling the sliding vehicle door to be at least opened to a third demand angle meeting the user's requirements.
The third control module is further configured to: after the sliding vehicle door is controlled to be opened, if the situation that a user pushes the vehicle door is detected, the sliding vehicle door is limited to be continuously opened by the maximum opening angle of the vehicle door; or after the sliding vehicle door is controlled to be opened, if the situation that the user pushes the vehicle door is detected, and if the pushing direction is the door closing angle, the sliding vehicle door is automatically closed.
The reminder processing module 73 includes:
and the display reminding unit is used for displaying the door opening state reminding which can be supported by the current parking position on the vehicle display screen and marking the door opening state reminding on two sides of the own vehicle graphical interface.
The present invention also provides a vehicle comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the method for controlling sliding doors during parking as described above.
The present invention also provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the steps of the method for controlling a sliding door during parking as described above.
It is to be understood that the computer-readable storage medium may include: any entity or device capable of carrying a computer program, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), software distribution medium, and the like. The computer program includes computer program code. The computer program code may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), and software distribution medium.
In some embodiments of the present invention, the apparatus may include a controller, and the controller is a single chip integrated with a processor, a memory, a communication module, and the like. The processor may refer to a processor included in the controller. The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (14)

1. A method of controlling door slippage during parking, comprising:
obtaining a parking distance of a parking space, and estimating at least one target parking space according to the opening distance of a door of a self vehicle;
giving a reminder or option for controlling the opening of the vehicle door according to the at least one target parking space, and receiving a desired selection of a user, wherein the desired selection of the user comprises single-side door opening or double-side door opening;
and controlling the vehicle to park in a target parking space corresponding to the expected selection of the user according to the expected selection of the user, and controlling the door opening angle of the sliding vehicle door to be opened to a proper angle, wherein the door opening angle at least meets the requirements of getting on or off the vehicle by the user.
2. The control method according to claim 1, characterized by further comprising: and when the parking distance of the parking space is smaller than the opening distance of the door of the vehicle, reminding to find other parking spaces and stopping the automatic parking function.
3. The control method according to claim 1, wherein the controlling of the vehicle to park in the target parking space corresponding to the user's desired selection and the controlling of the opening angle of the sliding door to open to a suitable angle according to the user's desired selection comprises:
if the target parking space meets the condition of double-side door opening, respectively obtaining the distance between the self-vehicle and the vehicles on two sides of the self-vehicle, and controlling the sliding vehicle doors on two sides of the self-vehicle to be opened to the maximum angle or controlling the sliding vehicle door on one side of the self-vehicle to be opened to the maximum angle according to the distance between the self-vehicle and the vehicles on two sides of the self-vehicle;
and if the target parking space meets the condition of single-side door opening, respectively obtaining the distance between the self-vehicle and the vehicles on two sides of the self-vehicle, and controlling the sliding door on the door opening side of the self-vehicle to be opened to the maximum angle according to the distance between the door opening side of the self-vehicle and the adjacent vehicle on the side.
4. The control method according to claim 1, wherein the controlling of the vehicle to park in the target parking space corresponding to the user's desired selection and the controlling of the opening angle of the sliding door to open to a suitable angle according to the user's desired selection comprises:
the sliding vehicle door is controlled to be at least opened to a first demand angle meeting the user's requirements for getting on and off the vehicle, or the sliding vehicle door is controlled to be at least opened to a second demand angle meeting the user's requirements for use, or the sliding vehicle door is controlled to be at least opened to a third demand angle meeting the user's requirements.
5. The control method according to claim 4, wherein the controlling of the opening angle of the sliding door to be opened to a suitable angle further comprises:
after the sliding vehicle door is controlled to be opened, if the situation that a user pushes the vehicle door is detected, the sliding vehicle door is limited to be continuously opened by the maximum opening angle of the vehicle door;
or after the sliding vehicle door is controlled to be opened, if the situation that the user pushes the vehicle door is detected, and if the pushing direction is the door closing angle, the sliding vehicle door is automatically closed.
6. The method of claim 1, wherein said giving a reminder or option to door open control based on said at least one target parking space comprises:
and displaying the vehicle door opening state prompt supportable by the current parking position on a vehicle display screen, and marking the vehicle door opening state prompt on two sides of the vehicle graphical interface.
7. A control device for sliding a door during parking, comprising:
the parking module is used for acquiring the parking distance of the parking space and predicting at least one target parking space according to the opening distance of the door of the vehicle;
the reminding processing module is used for giving a reminding or option for controlling the opening of the vehicle door according to the at least one target parking space and receiving a desired selection of a user, wherein the desired selection of the user comprises single-side door opening or double-side door opening;
the control module is used for controlling a vehicle to park in a target parking space corresponding to the expected selection of the user according to the expected selection of the user and controlling the door opening angle of the sliding vehicle door to be opened to a proper angle, wherein the door opening angle at least meets the requirement of the user for getting on or off the vehicle.
8. The control device according to claim 7, characterized by further comprising: and the parking control module is used for reminding of finding other parking spaces and stopping the automatic parking function when the parking distance of the parking spaces is smaller than the opening distance of doors of the own car.
9. The control device of claim 7, wherein the control module comprises:
the first control unit is used for respectively obtaining the distance between the self-vehicle and the vehicles on two sides of the self-vehicle if the target parking space meets double-side door opening, and controlling the sliding doors on two sides of the self-vehicle to be opened at the maximum angle or controlling the sliding doors on one side of the self-vehicle to be opened to the maximum angle according to the distance between the self-vehicle and the vehicles on two sides of the self-vehicle;
and the second control unit is used for respectively obtaining the distance between the self-vehicle and the vehicles on two sides of the self-vehicle if the target parking space meets the condition of single-side door opening, and controlling the sliding door on the door opening side of the self-vehicle to be opened to the maximum angle according to the distance between the door opening side of the self-vehicle and the adjacent vehicle on the side.
10. The control device of claim 7, wherein the control module comprises:
and the third control module is used for controlling the sliding vehicle door to be at least opened to a first demand angle meeting the user's requirements for getting on and off the vehicle, or controlling the sliding vehicle door to be at least opened to a second demand angle meeting the user's requirements for use, or controlling the sliding vehicle door to be at least opened to a third demand angle meeting the user's requirements.
11. The control device of claim 10, wherein the third control module is further configured to: after the sliding vehicle door is controlled to be opened, if the situation that a user pushes the vehicle door is detected, the sliding vehicle door is limited to be continuously opened by the maximum opening angle of the vehicle door; or after the sliding vehicle door is controlled to be opened, if the situation that the user pushes the vehicle door is detected, and if the pushing direction is the door closing angle, the sliding vehicle door is automatically closed.
12. The control device of claim 7, wherein the reminder processing module comprises:
and the display reminding unit is used for displaying the door opening state reminding which can be supported by the current parking position on the vehicle display screen and marking the door opening state reminding on two sides of the own vehicle graphical interface.
13. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the method of any one of claims 1 to 6.
14. A computer-readable storage medium, on which a computer program is stored which, when executed by a computer, performs the method of any one of claims 1 to 6.
CN202210766744.9A 2022-07-01 2022-07-01 Control method and control device for sliding vehicle door in parking process Active CN115341825B (en)

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