CN116220483A - Door opening early warning method, device, vehicle, medium, equipment and program product - Google Patents
Door opening early warning method, device, vehicle, medium, equipment and program product Download PDFInfo
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- CN116220483A CN116220483A CN202310504721.5A CN202310504721A CN116220483A CN 116220483 A CN116220483 A CN 116220483A CN 202310504721 A CN202310504721 A CN 202310504721A CN 116220483 A CN116220483 A CN 116220483A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000004888 barrier function Effects 0.000 claims abstract description 7
- 238000004590 computer program Methods 0.000 claims description 17
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 12
- 230000009471 action Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B81/00—Power-actuated vehicle locks
- E05B81/54—Electrical circuits
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B81/00—Power-actuated vehicle locks
- E05B81/54—Electrical circuits
- E05B81/64—Monitoring or sensing, e.g. by using switches or sensors
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05C—BOLTS OR FASTENING DEVICES FOR WINGS, SPECIALLY FOR DOORS OR WINDOWS
- E05C17/00—Devices for holding wings open; Devices for limiting opening of wings or for holding wings open by a movable member extending between frame and wing; Braking devices, stops or buffers, combined therewith
- E05C17/003—Power-actuated devices for limiting the opening of vehicle doors
- E05C17/006—Power-actuated devices for limiting the opening of vehicle doors with means for detecting obstacles outside the doors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Power-Operated Mechanisms For Wings (AREA)
Abstract
The application discloses a door opening early warning method, a device, a vehicle, a medium, equipment and a program product based on radar, and belongs to the technical field of vehicle devices. The method comprises the steps of obtaining a door opening and closing condition of a vehicle and a dynamic obstacle existence condition in an alarm area; when dynamic barriers exist in the alarm area and the door opening and closing condition is a closed state, controlling a door lock of the vehicle to keep the door in the closed state; when a dynamic obstacle exists in the alarm area and the door opening and closing condition is an open state, the door of the vehicle is controlled to keep the current position. According to the method and the device, the door opening early warning of the vehicle can be more reliable under the condition that the manufacturing cost is not increased, and the life and property safety of passengers and drivers can be better guaranteed.
Description
Technical Field
The present disclosure relates to the field of vehicle devices, and in particular, to a door opening early warning method, a device, a vehicle, a medium, equipment and a computer program product based on radar.
Background
In the related art, a door opening warning function (DOW) mounted on a vehicle is implemented by rear angle radars mounted at left and right corners of a rear bumper of a host vehicle. When the vehicle is stationary and a moving object such as a bicycle or a car approaches the vehicle while the driver or the passenger tries to open the door, there is a risk of collision, and at this time, the door opening warning function is activated and warns the driver or the passenger of the risk of collision to avoid collision. However, the prior art has the following disadvantages: the device can only remind or warn the driver or the passengers through the instrument panel and the like, and can play a role in avoiding collision, mainly depends on the attention degree of the driver or the passengers to the reminding signal in the vehicle, and if the passengers or the drivers who are about to open the vehicle doors cannot notice the reminding signal, the risk of collision still exists.
Disclosure of Invention
Aiming at the potential safety hazard problem of the door opening early warning function in the prior art, the application mainly provides a door opening early warning method, a device, a vehicle, a medium, equipment and a computer program product based on radar.
In order to achieve the above object, a first technical solution adopted in the present application is: the utility model provides a door opening early warning method based on radar, which comprises the following steps: acquiring the opening and closing condition of a vehicle door and the existence condition of a dynamic barrier in an alarm area;
when dynamic barriers exist in the alarm area and the door opening and closing condition is a closed state, controlling a door lock of the vehicle to keep the door in the closed state; when a dynamic obstacle exists in the alarm area and the door opening and closing condition is an open state, the door of the vehicle is controlled to keep the current position.
Optionally, when a dynamic obstacle exists in the alarm area and the door opening and closing condition is a closed state, controlling the door lock of the vehicle to keep the door in the closed state includes: acquiring a door lock state of a vehicle, and controlling the door lock of the vehicle according to the door lock state; when the door lock is in an unlocking state, the door lock state is converted into a locking state; when the door lock is in the locked state, the door lock is kept in the locked state.
Optionally, when a dynamic obstacle exists in the alarm area and the door opening and closing condition is an open state, controlling the door of the vehicle to maintain the current position includes: and acquiring a door opening angle of the vehicle, and controlling the door to keep the current position according to the door opening angle.
The second technical scheme adopted by the application is as follows: provided is a radar-based door opening early warning device, which comprises: the parameter acquisition module is used for acquiring the opening and closing condition of a vehicle door and the existence condition of a dynamic barrier in an alarm area; the judging module is used for controlling a door lock of the vehicle to keep a door in a closed state when a dynamic obstacle exists in the alarm area and the door opening and closing condition is a closed state; and a module for controlling the door of the vehicle to maintain the current position when a dynamic obstacle exists in the alarm area and the door opening and closing condition is an open state.
Optionally, the judging module includes: the module is used for acquiring the state of a door lock of the vehicle and controlling the door lock of the vehicle according to the state of the door lock; when the door lock is in an unlocking state, the door lock state is converted into a locking state; when the door lock is in the locked state, the door lock is kept in the locked state.
Optionally, the judging module includes: and the module is used for acquiring the opening angle of the vehicle door and controlling the vehicle door to keep the current position according to the opening angle of the vehicle door.
The third technical scheme adopted in the application is as follows: a computer-readable storage medium is provided that stores a computer program/instructions that are operable to perform the radar-based door opening warning method of scenario one.
The fourth technical scheme adopted in the application is as follows: there is provided a computer device comprising a memory, a processor and a computer program stored on the memory, the processor executing the computer program to implement the radar-based door opening warning method of aspect one.
The fifth technical scheme adopted by the application is as follows: there is provided a computer program product comprising computer programs/instructions which when executed by a processor implement the radar-based door opening warning method as in aspect one.
The sixth technical scheme adopted in the application is as follows: provided is a vehicle equipped with a radar-based door opening warning method according to the first aspect.
The beneficial effect that this application's technical scheme can reach is: based on the existing car door opening early warning technology, the application provides an upgrading scheme, and car door opening early warning is achieved by restraining the opening action of the car door, so that the life and property safety of passengers and drivers can be better guaranteed on the basis of not increasing cost.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of one embodiment of a radar-based door opening warning method of the present application;
FIG. 2 is a schematic diagram of a DOW system framework of the present application;
fig. 3 is a schematic diagram of an embodiment of a radar-based door opening warning device according to the present application.
Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.
Detailed Description
The preferred embodiments of the present application will be described in detail below with reference to the drawings so that the advantages and features of the present application can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present application.
It is noted that relational terms such as first and second, and the like are 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. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The following describes the technical solution of the present application and how the technical solution of the present application solves the above technical problems in detail with specific embodiments. The specific embodiments described below may be combined with one another to form new embodiments. The same or similar ideas or processes described in one embodiment may not be repeated in certain other embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
The door opening early warning function is mainly used for detecting vehicles approaching the vehicle behind the adjacent lanes of the vehicle, the door opening early warning function needs to act on large vehicles, two-wheelers, tricycles, pedestrians and the like, and when a target vehicle enters a detection area and collision risks exist between the target vehicle and the vehicle, the door opening early warning function can send out warning requests, so that collision is avoided. In the prior art, the instrument is controlled by a DOW function switch signal and a DOW function alarm state signal which are output by a DOW system, and corresponding reminding is carried out on the instrument according to different signal states, namely, the warning is usually realized by flashing an atmosphere lamp in a vehicle, flashing an outside rearview mirror lamp and audible alarm of a buzzer in the prior art, but in the prior art, whether a method for reminding or warning a driver or a passenger through equipment such as the instrument or the rearview mirror can really play a role of avoiding collision or not, and the method also depends on the attention degree of the driver or the passenger to the reminding signal in the vehicle, and if the passenger or the driver who is about to open a vehicle door cannot notice the reminding signal, the risk of collision still exists.
According to the method, when the radar detects that a moving target is approaching in an adjacent lane or an alarm area, and a driver or a passenger opens the door to get off, the vehicle-mounted controller (ECU) of the vehicle is used for reminding, the ECU of the vehicle is used for controlling the state of the door of the vehicle, the opened door is locked again or the door lock which is ready to be opened is locked, or the door lock is limited at a certain opened door position, so that the purpose that the driver or the passenger cannot continue to open the door is achieved, and after the moving target leaves an area monitored by the radar, the door is unlocked again, and further the life and property safety of the driver and the passenger is guaranteed.
Fig. 1 illustrates one embodiment of a door opening warning method based on radar according to the present application.
The door opening early warning method based on radar shown in fig. 1 comprises the following steps: step S101, acquiring the opening and closing condition of a vehicle door and the existence condition of a dynamic barrier in an alarm area; step S102, when dynamic barriers exist in an alarm area and the condition of opening and closing the vehicle door is in a closed state, controlling a door lock of the vehicle to keep the vehicle door in the closed state; when a dynamic obstacle exists in the alarm area and the door opening and closing condition is an open state, the door of the vehicle is controlled to keep the current position.
According to the specific embodiment, the early warning of opening the vehicle door is realized by inhibiting the opening action of the vehicle door, and the life and property safety of passengers and drivers can be better ensured on the basis of not increasing the cost. In this embodiment, the probability of a door collision can be reduced by an improvement of the prior art without increasing the number of parts and without increasing the manufacturing cost.
In the embodiment shown in fig. 1, the radar-based door opening early warning method includes step S101, where a door opening and closing condition of a vehicle and a dynamic obstacle existence condition in an alarm area are acquired. This step makes the control of the door by the DOW system easier to implement by adding two CAN signals, door open/close and door open angle, to the DOW of the prior art.
Specifically, fig. 2 is a schematic diagram of a DOW system framework of the present application. As shown in fig. 2, the DOW obtains vehicle speed information of the vehicle to determine whether the own vehicle is in a stationary state, a door opening/closing condition, a door opening angle, a door unlocking/locking condition, DOW function opening information and an engine state, and obtains a dynamic obstacle existence condition in an alarm area by using a radar.
Preferably, the range corresponding to the alarm area includes a lateral detection distance and a longitudinal TTC (Time To Collision) time, wherein the lateral detection distance can be a distance from 0.25m to 2.25m on the side of the vehicle, the longitudinal TTC time can be 2.5S, and the specific range of the alarm area is not limited in the application.
In the embodiment shown in fig. 1, the radar-based door opening warning method includes the steps of S102, when a dynamic obstacle exists in a warning area and a door opening/closing condition is a closed state, controlling a door lock of a vehicle to keep the door in the closed state; when a dynamic obstacle exists in the alarm area and the door opening and closing condition is an open state, the door of the vehicle is controlled to keep the current position.
Specifically, as shown in fig. 2, the present application adds a door opening angle signal based on the input signal of the existing DOW system frame; on the basis of the output signal of the existing DOW system frame, a door lock state signal and a door opening angle signal are added, and a door control system such as a BCM controller is controlled according to the door lock state signal and the door opening angle signal, so that the door opening action is restrained.
In a specific embodiment of the present application, step S102 includes, when a dynamic obstacle exists in the alarm area and the door opening/closing condition is a closed state, controlling the door lock of the vehicle to keep the door in the closed state includes: acquiring a door lock state of a vehicle, and controlling the door lock of the vehicle according to the door lock state; when the door lock is in an unlocking state, the door lock state is converted into a locking state; when the door lock is in the locked state, the door lock is kept in the locked state.
Specifically, when the engine is turned off and the vehicle is parked at a certain position, when the driver or the passenger on the vehicle is ready to get off, but the door is not opened, and when the door lock is unlocked and the DOW function is opened, namely, the engine state signal is closed, the door lock is opened/locked, the door opening/closing condition is closed and the corresponding value of the door opening angle is 0 °, if a moving target appears in the alarm area, besides reminding the driver and the passenger by using the instrument, the door lock is required to be locked again, at this time, the door lock opening/locking condition is changed from opening to locking until the moving target moves outside the DOW alarm area and then the door is unlocked, and at this time, the passenger on the vehicle can open the door.
When the engine is not in a flameout state and the vehicle is temporarily parked at a certain position, when a driver or a passenger on the vehicle is ready to get off the vehicle but the door is not opened, the door lock is not unlocked and the DOW function is opened, namely, the engine state signal is open, the door lock is open/locked, the door is open/closed, the door opening angle corresponds to a value of 0 DEG, if a moving target appears in an alarm area, the state corresponding to the door lock needs to be kept locked except for reminding the driver and the passenger by using an instrument, the door is unlocked again until the moving target moves outside the DOW alarm area, and at the moment, the person on the vehicle can open the door.
In particular, when any one of the doors on the same side of the vehicle generates a DOW alarm and a door control action, the door opening action of the other doors on the same side can be directly and simultaneously limited without judging each calculation according to specific conditions corresponding to the other doors on the same side, so that calculation force is reduced.
In a specific embodiment of the present application, step S102 includes, when a dynamic obstacle exists in the alarm area and the door opening/closing condition is an open state, controlling the door of the vehicle to maintain the current position includes: and acquiring a door opening angle of the vehicle, and controlling the door to keep the current position according to the door opening angle.
Specifically, when the engine is turned off and the vehicle is parked at a certain position, when the driver or the passenger on the vehicle is ready to get off and the door is opened to a certain angle, that is, the engine state signal is closed, the door lock is opened, the door open/close condition is opened and the value corresponding to the door open angle is not 0 °, if a moving target appears in the alarm area, besides reminding the driver and the passenger by using the instrument, the door is limited at the current open door position, and the door is not allowed to be opened again, but the door is allowed to be closed at the moment, so that the risk of accidents is reduced. And unlocking the vehicle door until the moving target moves out of the DOW alarm area, and opening the vehicle door by a person on the vehicle. The BCM controller transmits a corresponding control command to the door actuating mechanism according to the acquired data so as to control the door angle.
Fig. 3 shows a specific embodiment of a door opening early warning device based on radar.
In the specific embodiment shown in fig. 3, the door opening early warning device based on radar mainly includes: the parameter acquisition module 301 acquires the door opening and closing condition of the vehicle and the existence condition of the dynamic obstacle in the alarm area;
a judging module 302, configured to control a door lock of a vehicle to keep a door in a closed state when a dynamic obstacle exists in an alarm area and a door opening/closing condition is a closed state; and a module for controlling the door of the vehicle to maintain the current position when a dynamic obstacle exists in the alarm area and the door opening and closing condition is an open state.
In a specific embodiment of the present application, the judging module includes: the module is used for acquiring the state of a door lock of the vehicle and controlling the door lock of the vehicle according to the state of the door lock; when the door lock is in an unlocking state, the door lock state is converted into a locking state; when the door lock is in the locked state, the door lock is kept in the locked state.
In a specific embodiment of the present application, the judging module includes: and the module is used for acquiring the opening angle of the vehicle door and controlling the vehicle door to keep the current position according to the opening angle of the vehicle door.
The door opening early warning device based on the radar provided by the application can be used for executing the door opening early warning method based on the radar described in any embodiment, and the implementation principle and the technical effect are similar, and are not repeated here.
In one embodiment of the present application, the functional modules in a radar-based door opening warning device may be directly in hardware, in a software module executed by a processor, or in a combination of the two.
A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium.
The processor may be a central processing unit (English: central Processing Unit; CPU; for short), or other general purpose processor, digital signal processor (English: digital Signal Processor; for short DSP), application specific integrated circuit (English: application Specific Integrated Circuit; ASIC; for short), field programmable gate array (English: field Programmable Gate Array; FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, etc. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In another embodiment of the present application, a computer readable storage medium stores a computer program/instruction that is operative to perform the radar-based door opening warning method described in the above embodiments.
In one embodiment of the present application, a computer device includes a memory, a processor, and a computer program stored on the memory, where the processor executes the computer program to implement the radar-based door opening warning method described in the above embodiments.
In one embodiment of the present application, a computer program product includes a computer program/instruction that when executed by a processor implements the radar-based door opening warning method described in the above embodiments.
In one specific embodiment of the present application, a vehicle is mounted with the radar-based door opening warning method described in the above embodiment.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The foregoing description is only exemplary embodiments of the present application and is not intended to limit the scope of the present application, and all equivalent structural changes made by the present application and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the present application.
Claims (10)
1. The door opening early warning method based on the radar is characterized by comprising the following steps of:
acquiring the opening and closing condition of a vehicle door and the existence condition of a dynamic barrier in an alarm area;
when a dynamic obstacle exists in the alarm area and the door opening and closing condition is a closed state, controlling a door lock of the vehicle to keep the door in the closed state;
and when a dynamic obstacle exists in the alarm area and the door opening and closing condition is an open state, controlling the door of the vehicle to keep the current position.
2. The radar-based door opening warning method according to claim 1, wherein when a dynamic obstacle exists in the warning area and the door opening/closing condition is a closed state, controlling a door lock of the vehicle to keep a door in a closed state comprises:
acquiring a door lock state of the vehicle, and controlling the door lock of the vehicle according to the door lock state;
when the door lock is in an unlocking state, converting the door lock state into a locking state;
when the door lock is in a locked state, the door lock is kept in the locked state.
3. The radar-based door opening warning method according to claim 1, wherein controlling the door of the vehicle to maintain the current position when a dynamic obstacle exists in the warning area and the door opening/closing condition is an open state comprises:
and acquiring a door opening angle of the vehicle, and controlling the door to keep the current position according to the door opening angle.
4. The utility model provides a early warning device opens door based on radar which characterized in that includes:
the parameter acquisition module is used for acquiring the opening and closing condition of a vehicle door and the existence condition of a dynamic obstacle in an alarm area;
the judging module is used for controlling a door lock of the vehicle to keep a door in a closed state when a dynamic obstacle exists in the alarm area and the door opening and closing condition is in a closed state; and controlling the vehicle door to maintain the current position when a dynamic obstacle exists in the alarm area and the door opening and closing condition is an open state.
5. The radar-based door opening warning device of claim 4, wherein the determining module comprises:
the module is used for acquiring the state of a door lock of the vehicle and controlling the door lock of the vehicle according to the state of the door lock;
when the door lock is in an unlocking state, converting the door lock state into a locking state;
when the door lock is in a locked state, the door lock is kept in the locked state.
6. The radar-based door opening warning device of claim 4, wherein the determining module comprises:
and the module is used for acquiring the opening angle of the vehicle door and controlling the vehicle door to keep the current position according to the opening angle of the vehicle door.
7. A vehicle on which the radar-based door opening warning method according to any one of claims 1 to 3 is mounted.
8. A computer-readable storage medium storing a computer program/instruction operable to perform the radar-based door opening warning method of any one of claims 1 to 3.
9. A computer device comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the radar-based door opening warning method of any one of claims 1-3.
10. A computer program product comprising computer programs/instructions which when executed by a processor implement the radar-based door opening warning method according to any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310504721.5A CN116220483A (en) | 2023-05-08 | 2023-05-08 | Door opening early warning method, device, vehicle, medium, equipment and program product |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310504721.5A CN116220483A (en) | 2023-05-08 | 2023-05-08 | Door opening early warning method, device, vehicle, medium, equipment and program product |
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| CN116220483A true CN116220483A (en) | 2023-06-06 |
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| CN202310504721.5A Pending CN116220483A (en) | 2023-05-08 | 2023-05-08 | Door opening early warning method, device, vehicle, medium, equipment and program product |
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| CN112796609A (en) * | 2019-11-13 | 2021-05-14 | 北京新能源汽车股份有限公司 | Vehicle door early warning method, device and equipment and vehicle |
| CN111502464A (en) * | 2020-04-23 | 2020-08-07 | 佛山职业技术学院 | Vehicle door control method and system |
| CN114701424A (en) * | 2022-03-31 | 2022-07-05 | 岚图汽车科技有限公司 | Vehicle door control method, device, equipment and readable storage medium |
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