CN117513933A - Vehicle door control method and device and vehicle - Google Patents
Vehicle door control method and device and vehicle Download PDFInfo
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- CN117513933A CN117513933A CN202311399263.XA CN202311399263A CN117513933A CN 117513933 A CN117513933 A CN 117513933A CN 202311399263 A CN202311399263 A CN 202311399263A CN 117513933 A CN117513933 A CN 117513933A
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Classifications
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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
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
- E05F15/76—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects responsive to devices carried by persons or objects, e.g. magnets or reflectors
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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
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
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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
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
- E05F15/75—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects responsive to the weight or other physical contact of a person or object
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Abstract
The embodiment of the application discloses a vehicle door control method and device and a vehicle. The method comprises the following steps: controlling the opening of the vehicle door in response to receiving the vehicle door opening request; in the process of opening the vehicle door, acquiring a reference distance between the vehicle door and an obstacle in real time; determining a speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relation; determining a reference speed corresponding to the reference distance based on a second preset mapping relation; determining a target speed corresponding to the reference distance based on the reference speed and the speed attenuation coefficient; and when the reference distance is smaller than the preset safety distance, controlling the vehicle door to stop opening. By the method, the speed attenuation coefficient and the reference speed can be determined based on the reference distance, the first preset mapping relation and the second preset mapping relation to obtain the target speed, and the vehicle door is controlled to stop opening under the condition that the vehicle door is at a lower speed due to the fact that the speed attenuation coefficient is smaller when the reference distance is smaller, so that shake when the vehicle door is stopped can be reduced.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a vehicle door control method and device, and a vehicle.
Background
With the continuous development of vehicle technology, door opening automation of vehicles has become a research hotspot, and in related modes, vehicles can be provided with electric doors so as to automatically open and close the doors, but in related modes, there is also a problem that shaking is obvious when the doors are stopped.
Disclosure of Invention
In view of the above, the present application proposes a vehicle door control method, apparatus, and vehicle to achieve improvement of the above problems.
In a first aspect, the present application provides a vehicle door control method, the method comprising: controlling the opening of the vehicle door in response to receiving the vehicle door opening request; in the process of opening a vehicle door, acquiring a reference distance between the vehicle door and an obstacle in real time, wherein the reference distance is the distance between the vehicle door and the obstacle closest to the vehicle door; determining a speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relation, wherein the first preset mapping relation represents the mapping relation between the reference distance and the speed attenuation coefficient, and the smaller the reference distance is, the smaller the speed attenuation coefficient corresponding to the reference distance is; determining a reference speed corresponding to the reference distance based on a second preset mapping relation, wherein the second preset mapping relation represents a mapping relation between the reference distance and the reference speed, and the reference speed is an opening speed corresponding to different opening positions of the vehicle door under the condition that no obstacle exists outside the vehicle; determining a target speed corresponding to the reference distance based on the reference speed and the speed attenuation coefficient, wherein the target speed is the opening speed of the vehicle door at the reference distance; and when the reference distance is smaller than the preset safety distance, controlling the vehicle door to stop opening.
In a second aspect, the present application provides a vehicle door control apparatus, the apparatus comprising: the distance acquisition module is used for acquiring a reference distance between the vehicle door and the obstacle in real time in the opening process of the vehicle door, wherein the reference distance is the distance between the vehicle door and the obstacle closest to the vehicle door; the speed acquisition module is used for determining a speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relation, wherein the first preset mapping relation represents the mapping relation between the reference distance and the speed attenuation coefficient, the smaller the reference distance is, the smaller the speed attenuation coefficient corresponding to the reference distance is, the second preset mapping relation is used for determining a reference speed corresponding to the reference distance, the second preset mapping relation represents the mapping relation between the reference distance and the reference speed, the reference speed is an opening speed corresponding to different opening positions of the vehicle door under the condition that no obstacle exists outside the vehicle, and the target speed corresponding to the reference distance is determined based on the reference speed and the speed attenuation coefficient; the control module is used for controlling the opening of the vehicle door in response to the received opening request of the vehicle door; and controlling the vehicle door to be opened in a pause mode when the reference distance is smaller than a preset safety distance.
In a third aspect, the present application provides a vehicle comprising one or more processors, a door, and a memory; one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the methods described above.
In a fourth aspect, the present application provides a computer readable storage medium having program code stored therein, wherein the method described above is performed when the program code is run.
According to the vehicle door control method, the vehicle door control device and the vehicle, after a vehicle door opening request is received, the vehicle door is controlled to be opened, in the process of opening the vehicle door, the reference distance representing the distance between the vehicle door and the obstacle closest to the vehicle door is obtained in real time, the speed attenuation coefficient corresponding to the reference distance is determined based on the first preset mapping relation used for representing the mapping relation between the reference distance and the speed attenuation coefficient, the smaller the reference distance is, the smaller the speed attenuation coefficient corresponding to the reference distance is, the reference speed corresponding to the reference distance is determined based on the second preset mapping relation used for representing the mapping relation between the reference distance and the reference speed, wherein the reference speed is the opening speed corresponding to different opening positions under the condition that the vehicle door is not provided with an obstacle outside the vehicle door, the target speed corresponding to the reference distance is determined based on the reference speed and the speed attenuation coefficient, and when the reference distance is smaller than the preset safety distance, the vehicle door is controlled to be stopped to be opened. According to the method, the reference distance between the vehicle door and the obstacle can be obtained in real time in the opening process of the vehicle door, so that the speed attenuation coefficient and the reference speed are obtained based on the first preset mapping relation and the second preset mapping relation respectively, the target speed corresponding to the reference distance is obtained, the vehicle door is controlled to be opened at the target speed corresponding to the reference distance under the reference distance, and the vehicle door is controlled to be opened under the condition that the vehicle door is at a lower speed due to the fact that the smaller speed attenuation coefficient is smaller when the reference distance is smaller, so that shake when the vehicle door is stopped can be reduced.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling a vehicle door according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a safety threshold distance set forth in the present application;
FIG. 3 is a flow chart illustrating a method of controlling a vehicle door according to another embodiment of the present application;
FIG. 4 shows a flow chart of a preferred embodiment presented herein;
fig. 5 shows a block diagram of a vehicle door control apparatus according to an embodiment of the present application;
fig. 6 shows a block diagram of a vehicle according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
In the embodiment of the application, the inventor provides a vehicle door control method, a device and a vehicle, after a vehicle door opening request is received, the vehicle door is controlled to be opened, in the process of opening the vehicle door, a reference distance representing the distance between the vehicle door and an obstacle closest to the vehicle door is obtained in real time, a speed attenuation coefficient corresponding to the reference distance is determined based on a first preset mapping relation used for representing the mapping relation between the reference distance and the speed attenuation coefficient, the smaller the reference distance is, the smaller the speed attenuation coefficient corresponding to the reference distance is, the reference speed corresponding to the reference distance is determined based on a second preset mapping relation used for representing the mapping relation between the reference distance and the reference speed, wherein the reference speed is the opening speed corresponding to different opening positions when the reference speed is no obstacle outside the vehicle door, the target speed corresponding to the reference distance is determined based on the reference speed and the speed attenuation coefficient, and the target speed is the opening speed of the vehicle door under the reference distance, and when the reference distance is smaller than the preset safety distance, the vehicle door is controlled to be stopped. According to the method, the reference distance between the vehicle door and the obstacle can be obtained in real time in the opening process of the vehicle door, so that the speed attenuation coefficient and the reference speed are obtained based on the first preset mapping relation and the second preset mapping relation respectively, the target speed corresponding to the reference distance is obtained, the vehicle door is controlled to be opened at the target speed corresponding to the reference distance under the reference distance, and the vehicle door is controlled to be opened under the condition that the vehicle door is at a lower speed due to the fact that the smaller speed attenuation coefficient is smaller when the reference distance is smaller, so that shake when the vehicle door is stopped can be reduced.
Referring to fig. 1, a method for controlling a vehicle door according to an embodiment of the present application includes:
s110: and controlling the opening of the vehicle door in response to receiving the vehicle door opening request.
Wherein, the door opening request can be used for informing the vehicle that the door opening operation needs to be performed, and the door opening request can be obtained based on the use requirement of a user.
As one approach, the vehicle may respond to a received door opening request and control door opening.
Optionally, the controller (Electronic Control Unit, ECU) corresponding to the door handle may be triggered to send a door opening request to the whole vehicle controller (Vehicle Control Unit, VCU) of the vehicle in response to the operation of the door handle by the user; the method comprises the steps that a central control display screen can be made to send a door opening request to a whole vehicle controller (Vehicle Control Unit, VCU) of a vehicle in response to operation of the central control display screen by a user; the controller (Electronic Control Unit, ECU) corresponding to the remote key may be triggered to send a door opening request to the vehicle control unit (Vehicle Control Unit, VCU) of the vehicle in response to a user's operation of the remote key unlocking key.
In the embodiment of the application, the opening mode of the vehicle door can be selected according to the actual requirements of the user and the specific use scene.
S120: and in the process of opening the vehicle door, acquiring a reference distance between the vehicle door and the obstacle in real time, wherein the reference distance is the distance between the vehicle door and the obstacle closest to the vehicle door.
The process of opening the door may refer to a process in which the door is being opened. The obstacles may include pedestrians, road blocks, objects, curbs, etc.
As one mode, a radar sensor may be provided on the door, and the distance between the door and the nearest obstacle may be acquired in real time by the radar sensor.
Optionally, because the radar sensor may receive noise or other interference, smoothing filtering (such as kalman filtering) may be performed on the distance signal acquired by the radar sensor, so that high-frequency components in the distance signal are removed, so that the distance signal is smoother, the distance signal obtained by real-time detection is filtered through the smoothing filtering, and a reference distance between the vehicle door and the obstacle is obtained, so that the acquired reference distance is more accurate.
S130: and determining a speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relation, wherein the first preset mapping relation represents the mapping relation between the reference distance and the speed attenuation coefficient, and the smaller the reference distance is, the smaller the speed attenuation coefficient corresponding to the reference distance is.
The speed damping coefficient may refer to a coefficient for controlling a decrease in a door speed of the door with a reference distance during opening of the door.
As one mode, if the reference distance is greater than or equal to the safety threshold distance, determining that the speed attenuation coefficient corresponding to the reference distance is a first preset value, wherein the safety threshold distance is the maximum distance between the vehicle door and the vehicle body under the condition that no obstacle exists outside the vehicle; if the reference distance is smaller than the safety threshold distance and is larger than or equal to the preset safety distance, determining that the speed attenuation coefficient corresponding to the reference distance is a second preset value, wherein the preset safety distance is smaller than the safety threshold distance, and the second preset value is smaller than the first preset value; if the reference distance is smaller than the preset safety distance, determining that the speed attenuation coefficient corresponding to the reference distance is a third preset value, wherein the third preset value is smaller than the second preset value.
The preset safety distance may refer to a shortest distance between the door and the obstacle, which is set in advance based on the purpose of avoiding the door from being scratched by the obstacle. The safety threshold distance may refer to a maximum distance between the door and the vehicle body when the door is in the maximum open position.
For example, as shown in fig. 2, the open position of the door may include OA1, OA2, OA3, and OA4, wherein OA1 may be used to represent the maximum distance between the door and the vehicle body, and in this case, the distance between the door and the vehicle body may be represented as D1, and D1 may be the length of the door; OA2 may be used to indicate when the door is open to the first open position, where the distance between the door and the body may be indicated as D2, and D2 may be the shortest distance from point A2 to OA 4; OA3 may be used to indicate when the door is open to the second open position, at which point the distance between the door and the body may be indicated as D3, and D3 may be the shortest distance from point A3 to OA 4; OA4 may be used to represent the door and body overlap, at which time the distance between the door and body may be represented as D4, and D4 is 0, and in the present embodiment, D1 > D2 > D3 > d4=0.
Alternatively, the preset safety distance and the safety threshold distance may be calibrated in advance based on the vehicle type or the multi-vehicle test result.
In this embodiment of the present application, the first preset value may be set to 1, the range of the second preset value may be (0, 1), and the third preset value may be set to 0.
Optionally, when the reference distance is smaller than the safety threshold distance and greater than or equal to the preset safety distance, the smaller the reference distance, the smaller the second preset value of the speed attenuation coefficient corresponding to the reference distance.
As one way, the reference distance between the preset safety distance and the safety threshold distance may be equally divided into a plurality of reference distance segments, each of which corresponds to a speed attenuation coefficient, and the attenuation magnitudes of the speed attenuation coefficients may be the same.
For example, as shown in table 1, the preset safety distance of the vehicle may be 20cm, the safety threshold distance may be 100cm, and the safety threshold distance may be divided into four reference distance segments of 20-40cm, 40-60cm, 60-80cm, and 80-100cm, and then the velocity attenuation coefficient corresponding to 20-40cm may be 0.05, the velocity attenuation coefficient corresponding to 40-60cm may be 0.3, the velocity attenuation coefficient corresponding to 60-80cm may be 0.55, and the velocity attenuation coefficient corresponding to 80-100cm may be 0.75.
TABLE 1
| Reference distance | Speed attenuation coefficient |
| 20-40cm | 0.05 |
| 40-60cm | 0.3 |
| 60-80cm | 0.55 |
| 80-100cm | 0.75 |
As one way, the reference distance between the preset safety distance and the safety threshold distance may be equally divided into a plurality of reference distance segments, each reference distance segment corresponds to a speed attenuation coefficient, and the attenuation amplitude of the speed attenuation coefficient may be increased.
For example, as shown in table 2, the preset safety distance of the vehicle may be 20cm, the safety threshold distance may be 100cm, and the safety threshold distance may be divided into four reference distance segments of 20-40cm, 40-60cm, 60-80cm, and 80-100cm, and then the velocity attenuation coefficient corresponding to 20-40cm may be 0.05, the velocity attenuation coefficient corresponding to 40-60cm may be 0.45, the velocity attenuation coefficient corresponding to 60-80cm may be 0.75, and the velocity attenuation coefficient corresponding to 80-100cm may be 0.95.
TABLE 2
| Reference distance | Speed attenuation coefficient |
| 20-40cm | 0.05 |
| 40-60cm | 0.45 |
| 60-80cm | 0.75 |
| 80-100cm | 0.95 |
As one way, the reference distance between the preset safety distance and the safety threshold distance may be divided into a plurality of reference distance segments, each reference distance segment corresponds to a speed attenuation coefficient, and the attenuation amplitude of the speed attenuation coefficient may be increased.
For example, as shown in table 3, the preset safety distance of the vehicle may be 20cm, the safety threshold distance may be 100cm, and the safety threshold distance may be divided into four reference distance segments of 20-30cm, 30-40cm, 40-60cm, and 60-100cm, and then the velocity attenuation coefficient corresponding to 20-30cm may be 0.05, the velocity attenuation coefficient corresponding to 30-40cm may be 0.45, the velocity attenuation coefficient corresponding to 40-60cm may be 0.8, and the velocity attenuation coefficient corresponding to 60-100cm may be 0.9.
TABLE 3 Table 3
| Reference distance | Speed attenuation coefficient |
| 20-30cm | 0.05 |
| 30-40cm | 0.45 |
| 40-60cm | 0.8 |
| 60-100cm | 0.9 |
As one way, the distance between the door and the vehicle body may be obtained based on the reference distance, thereby determining the reference speed corresponding to the reference distance.
The second preset mapping relationship may be a mapping relationship between a distance between the vehicle door and the vehicle body and a reference speed.
As one way, the distance between the door and the body may be equally divided into a plurality of distance segments, each distance segment corresponding to a reference speed.
By way of example, as shown in Table 4, the maximum distance between the door and the body may be set to 100cm, which may be divided into five reference distance segments of 0-20cm, 20-40cm, 40-60cm, 60-80cm, 80-100cm, and then the reference speed corresponding to 0-20cm may be 2m/s, the reference speed corresponding to 20-40cm may be 1.2m/s, the reference speed corresponding to 40-60cm may be 0.8m/s, the reference speed corresponding to 60-80cm may be 0.2m/s, and the reference speed corresponding to 80-100cm may be 0.01m/s.
TABLE 4 Table 4
| Distance between door and body | Reference speed |
| 0-20cm | 2m/s |
| 20-40cm | 1.2m/s |
| 40-60cm | 0.8m/s |
| 60-80cm | 0.2m/s |
| 80-100cm | 0.01m/s |
Alternatively, the distance between the vehicle door and the vehicle body at the corresponding reference distance may be obtained, and the reference speed corresponding to the reference distance may be determined based on the distance between the vehicle door and the vehicle body and the second preset mapping relationship.
Alternatively, the map between the reference distance and the reference speed may be a positive correlation, and the map between the reference speed and the distance between the door and the vehicle body may be a negative correlation, that is, as the reference distance decreases, the distance between the door and the vehicle body increases, and the reference speed corresponding to the reference distance decreases.
Alternatively, the open position of the door may be determined based on an angle between the door and the vehicle body, the larger the angle is, the smaller the reference speed is, and the open position of the door may be determined based on a distance between the door and the vehicle body.
S150: and determining a target speed corresponding to the reference distance based on the reference speed and the speed attenuation coefficient, wherein the target speed is the opening speed of the vehicle door under the reference distance.
As one way, the target speed corresponding to the reference distance may be obtained based on the product between the reference speed corresponding to the reference distance and the speed attenuation coefficient corresponding to the reference distance, and the calculation formula of the target speed may be expressed as:
V n ＝v n *a n
wherein V can be used to represent the target speed corresponding to the reference distance, V n Can be used to represent the reference velocity, a, at the nth acquired reference distance n May be used to represent the velocity decay factor at the nth acquired reference distance.
Exemplary, if the door moves to OA1 as shown in FIG. 2, and the reference velocity corresponding to the reference distance is v 1 The reference distance corresponds to a speed attenuation coefficient of a 1 Then the reference distance corresponds to the target velocity V 1 ＝v 1 *a 1 The method comprises the steps of carrying out a first treatment on the surface of the If the vehicle door moves to OA2 and the reference speed corresponding to the reference distance is v 2 The reference distance corresponds to a speed attenuation coefficient of a 2 Then the reference distance corresponds to the target velocity V 2 ＝v 2 *a 2 。
In this embodiment of the present application, if the reference distance is greater than or equal to the safety threshold distance, the speed attenuation coefficient corresponding to the reference distance is 1, and the reference speed corresponding to the reference distance is V, and then the target speed v=v corresponding to the reference distance, that is, the vehicle door may be opened based on the reference speed; if the reference distance is smaller than the safety threshold distance and greater than or equal to the preset safety distance, the speed attenuation coefficient a corresponding to the reference distance is in the range of (0, 1), the reference speed corresponding to the reference distance is V, and the target speed v=v×a corresponding to the reference distance, that is, the vehicle door can be decelerated based on the reference speed and the speed attenuation coefficient; if the reference distance is smaller than the preset safety distance, the speed attenuation coefficient corresponding to the reference distance is 0, the reference speed corresponding to the reference distance is V, and the target speed v=0 corresponding to the reference distance, that is, the vehicle door is stopped to be opened.
S160: and when the reference distance is smaller than the preset safety distance, controlling the vehicle door to stop opening.
The way in which the door is stopped may include hard stop and soft stop.
Alternatively, hard stop may refer to immediately stopping the door by turning off power supply or braking the motor, and soft stop may refer to gradually decelerating the motor to zero by gradually controlling electromagnetic force of the motor so that the speed of the door is reduced to zero.
As one way, when the reference distance is smaller than the preset safety distance, the door may be controlled to stop opening by using a hard stop or a soft stop.
In the embodiment of the application, in the process of gradually reducing the reference distance, the target speed corresponding to the vehicle door is also continuously reduced, so that the speed of the vehicle door is gradually reduced, and the shake when the vehicle door is stopped is reduced, so that before the vehicle door is stopped by adopting soft stop or hard stop, the speed of the vehicle door is already approaching zero, that is, the difference between the vehicle door stopping modes adopting hard stop or soft stop is not large in the application, and the vehicle door opening can be stopped by selecting soft stop or hard stop based on the using habit of a user, thereby improving the participation degree of the user.
According to the vehicle door control method, after a vehicle door opening request is received, the vehicle door is controlled to be opened, in the vehicle door opening process, the reference distance of the distance between the vehicle door and the obstacle closest to the vehicle door is represented in real time, the speed attenuation coefficient corresponding to the reference distance is determined based on the first preset mapping relation for representing the mapping relation between the reference distance and the speed attenuation coefficient, the smaller the reference distance is, the smaller the speed attenuation coefficient corresponding to the reference distance is, the reference speed corresponding to the reference distance is determined based on the second preset mapping relation for representing the mapping relation between the reference distance and the reference speed, wherein the reference speed is the opening speed corresponding to different opening positions of the vehicle door under the condition that no obstacle exists outside the vehicle, the target speed corresponding to the reference distance is determined based on the reference speed and the speed attenuation coefficient, and the target speed is the opening speed of the vehicle door under the reference distance. By the method, the reference distance between the vehicle door and the obstacle can be acquired in real time in the opening process of the vehicle door, so that the speed attenuation coefficient and the reference speed are respectively obtained based on the first preset mapping relation and the second preset mapping relation, the target speed corresponding to the reference distance is obtained, the vehicle door is controlled to be opened at the target speed corresponding to the reference distance under the reference distance, and the vehicle door is controlled to be opened under the condition that the vehicle door is at a lower speed due to the fact that the smaller speed attenuation coefficient is smaller when the reference distance is smaller, so that shake when the vehicle door is stopped can be reduced
Referring to fig. 3, a method for controlling a vehicle door according to an embodiment of the present application includes:
s210: in response to receiving the door opening request, it is determined whether a current vehicle state satisfies a target condition.
The vehicle state may include a whole vehicle power mode state, a running state of the vehicle, and a door state. The whole vehicle power supply mode state can refer to a working state of a vehicle power supply, and can comprise a driving state, a standby state and a closing state. The running state of the vehicle may include a moving state, which may refer to the running speed of the vehicle being other than 0, and a stationary state, which may refer to the running speed of the vehicle being 0. The door states may include an unlocked state and an unlocked state. The target condition may refer to a condition that the door is opened and the vehicle needs to be satisfied, and the target condition may include that the vehicle is in a standby state in a whole vehicle power mode state, in a stationary state, and in an unlocked state.
As one mode, the vehicle may acquire a vehicle state including a vehicle power mode state, a running state of the vehicle, and a door state in response to a received door opening request, and determine whether the current vehicle state is the same as the target condition, and if the vehicle power mode state of the vehicle is a standby state, the vehicle is in a stationary state, and the door is in an unlocked state, the current vehicle state is the same as the target condition.
S220: and if the vehicle state meets the target condition, controlling the opening of the vehicle door.
As one way, the vehicle may respond to the received door opening request, and if the current vehicle state is that the vehicle power mode state of the vehicle is a standby state, the vehicle is in a stationary state, and the door is in an unlocked state, it may indicate that the vehicle state satisfies the target condition, and thus the door opening may be controlled.
Optionally, if the current vehicle state does not satisfy any one of the standby state, the stationary state and the unlocked state of the vehicle, the door opening request of the door may be rejected, and information that a specific item in the current vehicle state does not satisfy may be fed back, so that the user may adjust the current state of the vehicle, and thus the door opening operation may be re-performed.
As one way, if the vehicle state satisfies the target condition, acquiring an initial distance between the vehicle door and the obstacle; an initial speed is determined based on the initial distance and the door is controlled to open at the initial speed.
Wherein, the initial distance can refer to the distance between the door and the nearest obstacle when the door is not opened; the initial speed includes a first initial speed or a second initial speed, the first initial speed being greater than the second initial speed. The first initial speed is the corresponding opening speed at different distances between the vehicle door and the vehicle body under the condition that no obstacle exists outside the vehicle. The second initial speed is the corresponding opening speed at different distances between the vehicle door and the vehicle body under the condition that an obstacle exists outside the vehicle.
Optionally, when the vehicle door is not opened, the initial distance between the vehicle door and the obstacle closest to the vehicle door can be obtained in real time through the radar sensor, the initial speed can be determined based on the initial distance, and the vehicle door is controlled to be opened at the initial speed corresponding to the initial distance.
As one way, if the initial distance is greater than or equal to the preset safety distance, an initial speed is determined based on the initial distance, and the door is controlled to be opened at the initial speed.
Optionally, if the initial distance is greater than the safety threshold distance, determining the initial speed as a first initial speed, and controlling the vehicle door to open at the first initial speed.
The first initial speed is a reference speed when the vehicle door is just opened under the condition that no obstacle exists outside the vehicle.
Optionally, if the initial distance is greater than the safety threshold distance, a first initial speed corresponding to the initial distance may be obtained based on the initial distance, so as to control the vehicle door to open at the first initial speed.
Optionally, if the initial distance is smaller than the safety threshold distance and greater than or equal to the preset safety distance, determining that the initial speed is the second initial speed, and controlling the vehicle door to be opened at the second initial speed.
Optionally, if the initial distance is smaller than the safety threshold distance and greater than or equal to the preset safety distance, a first initial speed corresponding to the initial distance and a speed attenuation coefficient corresponding to the initial distance may be determined based on the initial distance, so that a second initial speed may be obtained, and the vehicle door is controlled to be opened at the second initial speed.
As another way, if the initial distance is smaller than the preset safety distance, the vehicle door is controlled to be in an unopened state, and prompt information is sent to the user terminal, wherein the prompt information is used for prompting that the current position of the vehicle is not suitable for opening the vehicle door.
In the embodiment of the application, if the user is in the vehicle, the user terminal may include a central control display screen and/or a speaker, so that the prompt information that the current position of the vehicle is not suitable for opening the vehicle door may be displayed through the central control display screen, and the vehicle is also prompted through the speaker to sound that the current position of the vehicle is not suitable for opening the vehicle door; if the user is outside the vehicle, the user terminal may include a mobile phone and/or a tablet and/or a bracelet, that is, the prompt information that the current position of the vehicle is not suitable for opening the vehicle door may be displayed through the mobile phone and/or the tablet and/or the bracelet, so that the user may adjust the current position of the vehicle, and thus the opening operation of the vehicle door may be re-performed.
S230: and in the process of opening the vehicle door, acquiring a reference distance between the vehicle door and the obstacle in real time, wherein the reference distance is the distance between the vehicle door and the obstacle closest to the vehicle door.
S240: and determining a speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relation, wherein the first preset mapping relation represents the mapping relation between the reference distance and the speed attenuation coefficient, and the smaller the reference distance is, the smaller the speed attenuation coefficient corresponding to the reference distance is.
S250: and determining a reference speed corresponding to the reference distance based on a second preset mapping relation, wherein the second preset mapping relation represents the mapping relation between the reference distance and the reference speed, and the vehicle door is at opening speeds corresponding to different opening positions under the condition that no obstacle exists outside the vehicle.
S260: and determining a target speed corresponding to the reference distance based on the reference speed and the speed attenuation coefficient, wherein the target speed is the opening speed of the vehicle door under the reference distance.
S270: and when the reference distance is smaller than the preset safety distance, controlling the vehicle door to stop opening.
According to the positioning method, the reference distance between the vehicle door and the obstacle can be obtained in real time in the opening process of the vehicle door, so that the speed attenuation coefficient and the reference speed are obtained based on the first preset mapping relation and the second preset mapping relation respectively, the target speed corresponding to the reference distance is obtained, the vehicle door is controlled to be opened at the target speed corresponding to the reference distance under the reference distance, and the speed attenuation coefficient is smaller when the reference distance is smaller, so that the vehicle door is controlled to stop being opened under the condition that the vehicle door is at a lower speed, and shake when the vehicle door is stopped can be reduced. In this embodiment, when the control response receives the door opening request, the vehicle state, the initial distance between the vehicle and the obstacle, and the initial speed of the vehicle may be determined first to control the vehicle to open at the initial speed corresponding to the initial distance, and when the vehicle is closer to the obstacle, the door opening speed is correspondingly reduced, so that the situation that the door is scratched and other obstacles are rubbed due to the overlarge door opening distance is reduced, and it is required to determine that the vehicle state meets the target condition, so that the door opening can be controlled, and the vehicle safety can be ensured.
For a better understanding of the aspects of the examples of the present application, a flow of a preferred embodiment is described below.
Referring to fig. 4, when it is determined that the vehicle state satisfies the target condition based on step S1, an initial distance between the door and the obstacle may be obtained based on step S2, thereby determining an initial speed of the door, and controlling the vehicle to be opened at the initial speed; when it is determined that the vehicle does not satisfy the target condition based on step S1, it may return to the start until step S1 determines that the vehicle state satisfies the target condition.
After step S2 is executed, a reference distance between the vehicle door and the obstacle can be obtained in real time based on step S3, a speed attenuation coefficient corresponding to the current reference distance and a reference speed corresponding to the current reference distance are obtained based on step S4, and a target speed corresponding to the current reference distance is obtained based on step S5, so that the vehicle door is opened based on the target speed; if it is determined that the distance between the door and the obstacle is smaller than the preset safety distance based on the step S6, a step S8 may be executed to control the door to pause to open; if it is determined that the distance between the door and the obstacle is greater than the preset safety distance based on the step S6, it may be determined whether the door reaches the door opening target position based on the step S7, and if it is determined that the door reaches the door opening target position based on the step S7, the step S8 may be executed to control the door to be opened temporarily; if it is determined that the door does not reach the door opening target position based on step S7, the process may return to step S6 until step S6 determines that the distance between the door and the obstacle is less than the preset safety distance, and step S8 is executed to control the door to pause opening.
Referring to fig. 5, a vehicle door control apparatus 800 provided in the present application, the apparatus 800 includes:
the distance obtaining module 810 is configured to obtain, in real time, a reference distance between the vehicle door and the obstacle during the opening process of the vehicle door, where the reference distance is a distance between the vehicle door and the obstacle closest to the vehicle door.
The speed obtaining module 820 is configured to determine a speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relationship, where the first preset mapping relationship characterizes a mapping relationship between the reference distance and the speed attenuation coefficient, the smaller the reference distance is, the smaller the speed attenuation coefficient corresponding to the reference distance is, and determine a reference speed corresponding to the reference distance based on a second preset mapping relationship, where the second preset mapping relationship characterizes a mapping relationship between the reference distance and the reference speed, and the reference speed is an opening speed corresponding to a different opening position of the vehicle door when no obstacle exists outside the vehicle, and is configured to determine a target speed corresponding to the reference distance based on the reference speed and the speed attenuation coefficient, where the target speed is an opening speed of the vehicle door under the reference distance.
A control module 830 for controlling the opening of the door in response to receiving the door opening request; and controlling the vehicle door to be opened in a pause mode when the reference distance is smaller than a preset safety distance.
As one way, the speed obtaining module 820 is specifically configured to, when determining the speed attenuation coefficient corresponding to the reference distance, determine that the speed attenuation coefficient corresponding to the reference distance is a first preset value if the reference distance is greater than or equal to a safety threshold distance, where the safety threshold distance is a maximum distance between the vehicle door and the vehicle body when no obstacle exists outside the vehicle; if the reference distance is smaller than the safety threshold distance and larger than or equal to the preset safety distance, determining that a speed attenuation coefficient corresponding to the reference distance is a second preset value, wherein the preset safety distance is smaller than the safety threshold distance, and the second preset value is smaller than the first preset value; and if the reference distance is smaller than the preset safety distance, determining that the speed attenuation coefficient corresponding to the reference distance is a third preset value, wherein the third preset value is smaller than the second preset value.
As one way, the control module 830 is specifically configured to determine, in response to receiving the door opening request, whether the current vehicle state meets a target condition; and if the vehicle state meets the target condition, controlling the opening of the vehicle door.
Optionally, the target condition includes that the whole vehicle power mode state of the vehicle is a standby state, the vehicle is in a static state and the vehicle door is in an unlocked state.
As one way, the control module 830 is specifically configured to, when controlling the door opening of the vehicle, obtain an initial distance between the door and the obstacle if the vehicle state meets the target condition; and determining an initial speed based on the initial distance, and controlling the vehicle door to open at the initial speed.
Optionally, the initial speed includes a first initial speed or a second initial speed, the first initial speed being greater than the second initial speed.
As one way, the control module 830 is specifically configured to determine, when the door is opened at the initial speed, that the initial speed is a first initial speed if the initial distance is greater than the safety threshold distance, and control the door to be opened at the first initial speed, where the safety threshold distance is a maximum distance between the door and the vehicle body when no obstacle is outside the vehicle, and the first initial speed is a reference speed when the door is just opened when no obstacle is outside the vehicle; and if the initial distance is smaller than the safety threshold distance and larger than or equal to a preset safety distance, determining the initial speed as a second initial speed, and controlling the vehicle door to be opened at the second initial speed.
As one way, the control module 830 is specifically configured to, when controlling the vehicle door to open at the initial speed, determine the initial speed based on the initial distance if the initial distance is greater than or equal to the preset safety distance, and control the vehicle door to open at the initial speed; and if the initial distance is smaller than the preset safety distance, controlling the vehicle door to be in an unopened state, and sending prompt information to a user terminal, wherein the prompt information is used for prompting that the current position of the vehicle is not suitable for opening the vehicle door.
A vehicle provided in the present application will be described with reference to fig. 6.
Referring to fig. 6, another vehicle 100 capable of executing the above-mentioned door control method is provided in the embodiment of the present application based on the above-mentioned positioning method and device. The vehicle 100 includes a processor 102, a memory 104, and a door 106, wherein the memory 104 stores a program that can execute the contents of the foregoing embodiments, and the processor 102 can execute the program stored in the memory 104.
Wherein the processor 102 may include one or more processing cores. The processor 102 utilizes various interfaces and lines to connect various portions of the overall vehicle 100, perform various functions of the vehicle 100 and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 104, and invoking data stored in the memory 104. Alternatively, the processor 102 may be implemented in hardware in at least one of a network processor (Neural network Processing Unit, NPU), digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 102 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), a network processor (Neural network Processing Unit, NPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for being responsible for rendering and drawing of display content; the NPU is responsible for processing multimedia data of video and image types; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 102 and may be implemented solely by a single communication chip.
The Memory 104 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (DDR) and a Double data rate synchronous dynamic random access Memory (Double data rate). Memory 104 may be used to store instructions, programs, code sets, or instruction sets. The memory 104 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (e.g., a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described below, etc. The storage data area may also store data created by the vehicle 100 in use (e.g., phonebook, audio-video data, chat-record data), and the like.
Embodiments of the present application provide a computer-readable storage medium 1000. The computer readable storage medium 1000 has stored therein program code that can be invoked by a processor to perform the methods described in the method embodiments described above.
The computer readable storage medium 1000 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Optionally, computer readable storage medium 1000 includes a non-volatile computer readable storage medium (non-transitory computer-readable storage medium). The computer readable storage medium 1000 has storage space for program code 1010 that performs any of the method steps described above. The program code can be read from or written to one or more computer program products. Program code 1010 may be compressed, for example, in a suitable form.
In summary, after a door opening request is received, the door opening is controlled, in the process of opening the door, a reference distance representing a distance between the door and an obstacle closest to the door is obtained in real time, a speed attenuation coefficient corresponding to the reference distance is determined based on a first preset mapping relation for representing a mapping relation between the reference distance and the speed attenuation coefficient, the smaller the reference distance is, the smaller the speed attenuation coefficient corresponding to the reference distance is, the reference speed corresponding to the reference distance is determined based on a second preset mapping relation for representing a mapping relation between the reference distance and the reference speed, wherein the reference speed is an opening speed corresponding to different opening positions of the door under the condition that no obstacle exists outside the door, the target speed corresponding to the reference distance is determined based on the reference speed and the speed attenuation coefficient, and when the reference distance is smaller than a preset safety distance, the door is controlled to stop opening. According to the method, the reference distance between the vehicle door and the obstacle can be obtained in real time in the opening process of the vehicle door, so that the speed attenuation coefficient and the reference speed are obtained based on the first preset mapping relation and the second preset mapping relation respectively, the target speed corresponding to the reference distance is obtained, the vehicle door is controlled to be opened at the target speed corresponding to the reference distance under the reference distance, and the vehicle door is controlled to be opened under the condition that the vehicle door is at a lower speed due to the fact that the smaller speed attenuation coefficient is smaller when the reference distance is smaller, so that shake when the vehicle door is stopped can be reduced.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, one of ordinary skill in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A method of controlling a vehicle door, the method comprising:
controlling the opening of the vehicle door in response to receiving the vehicle door opening request;
in the process of opening a vehicle door, acquiring a reference distance between the vehicle door and an obstacle in real time, wherein the reference distance is the distance between the vehicle door and the obstacle closest to the vehicle door;
determining a speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relation, wherein the first preset mapping relation represents the mapping relation between the reference distance and the speed attenuation coefficient, and the smaller the reference distance is, the smaller the speed attenuation coefficient corresponding to the reference distance is;
Determining a reference speed corresponding to the reference distance based on a second preset mapping relation, wherein the second preset mapping relation represents a mapping relation between the reference distance and the reference speed, and the reference speed is an opening speed corresponding to different opening positions of the vehicle door under the condition that no obstacle exists outside the vehicle;
determining a target speed corresponding to the reference distance based on the reference speed and the speed attenuation coefficient, wherein the target speed is the opening speed of the vehicle door at the reference distance;
and when the reference distance is smaller than the preset safety distance, controlling the vehicle door to stop opening.
2. The method according to claim 1, wherein determining the velocity attenuation coefficient corresponding to the reference distance based on the first preset mapping relationship includes:
if the reference distance is greater than or equal to a safety threshold distance, determining that a speed attenuation coefficient corresponding to the reference distance is a first preset value, wherein the safety threshold distance is the maximum distance between the vehicle door and the vehicle body under the condition that no obstacle exists outside the vehicle;
if the reference distance is smaller than the safety threshold distance and larger than or equal to the preset safety distance, determining that a speed attenuation coefficient corresponding to the reference distance is a second preset value, wherein the preset safety distance is smaller than the safety threshold distance, and the second preset value is smaller than the first preset value;
And if the reference distance is smaller than the preset safety distance, determining that the speed attenuation coefficient corresponding to the reference distance is a third preset value, wherein the third preset value is smaller than the second preset value.
3. The method of claim 1, wherein controlling door opening in response to receiving a door opening request comprises:
in response to receiving the door opening request, determining whether a current vehicle state meets a target condition;
and if the vehicle state meets the target condition, controlling the opening of the vehicle door.
4. A method according to claim 3, wherein the target conditions include a vehicle power mode state of the vehicle being a standby state, the vehicle being stationary and the door being unlocked.
5. The method of claim 4, wherein controlling the opening of the vehicle door if the vehicle condition satisfies the target condition comprises:
if the vehicle state meets the target condition, acquiring an initial distance between the vehicle door and the obstacle;
and determining an initial speed based on the initial distance, and controlling the vehicle door to open at the initial speed.
6. The method of claim 5, wherein the initial speed comprises a first initial speed or a second initial speed, the first initial speed being greater than the second initial speed, the determining the initial speed based on the initial distance, and controlling the door to open at the initial speed, comprising:
if the initial distance is larger than the safety threshold distance, determining the initial speed as a first initial speed, and controlling the vehicle door to be opened at the first initial speed, wherein the safety threshold distance is the maximum distance between the vehicle door and the vehicle body under the condition that no obstacle exists outside the vehicle, and the first initial speed is the reference speed when the vehicle door is just opened under the condition that no obstacle exists outside the vehicle;
and if the initial distance is smaller than the safety threshold distance and larger than or equal to a preset safety distance, determining the initial speed as a second initial speed, and controlling the vehicle door to be opened at the second initial speed.
7. The method of claim 5, wherein the determining the initial speed based on the initial distance and controlling the door to open at the initial speed comprises:
If the initial distance is greater than or equal to the preset safety distance, determining the initial speed based on the initial distance, and controlling the vehicle door to be opened at the initial speed;
and if the initial distance is smaller than the preset safety distance, controlling the vehicle door to be in an unopened state, and sending prompt information to a user terminal, wherein the prompt information is used for prompting that the current position of the vehicle is not suitable for opening the vehicle door.
8. A vehicle door control apparatus, characterized by comprising:
the distance acquisition module is used for acquiring a reference distance between the vehicle door and the obstacle in real time in the opening process of the vehicle door, wherein the reference distance is the distance between the vehicle door and the obstacle closest to the vehicle door;
the speed acquisition module is used for determining a speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relation, wherein the first preset mapping relation represents the mapping relation between the reference distance and the speed attenuation coefficient, the smaller the reference distance is, the smaller the speed attenuation coefficient corresponding to the reference distance is, the second preset mapping relation is used for determining a reference speed corresponding to the reference distance, the second preset mapping relation represents the mapping relation between the reference distance and the reference speed, the reference speed is an opening speed corresponding to different opening positions of the vehicle door under the condition that no obstacle exists outside the vehicle, and the target speed corresponding to the reference distance is determined based on the reference speed and the speed attenuation coefficient;
The control module is used for controlling the opening of the vehicle door in response to the received opening request of the vehicle door; and controlling the vehicle door to be opened in a pause mode when the reference distance is smaller than a preset safety distance.
9. A vehicle comprising one or more processors, a door, and a memory;
one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the methods of any of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a program code, wherein the method of any of claims 1-7 is performed when the program code is run.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311399263.XA CN117513933A (en) | 2023-10-25 | 2023-10-25 | Vehicle door control method and device and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311399263.XA CN117513933A (en) | 2023-10-25 | 2023-10-25 | Vehicle door control method and device and vehicle |
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| Publication Number | Publication Date |
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| CN117513933A true CN117513933A (en) | 2024-02-06 |
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| CN202311399263.XA Pending CN117513933A (en) | 2023-10-25 | 2023-10-25 | Vehicle door control method and device and vehicle |
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| CN (1) | CN117513933A (en) |
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2023
- 2023-10-25 CN CN202311399263.XA patent/CN117513933A/en active Pending
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