CN201278162Y - Passive keyless gate inhibition system for automobile - Google Patents
Passive keyless gate inhibition system for automobile Download PDFInfo
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- CN201278162Y CN201278162Y CNU2008202129619U CN200820212961U CN201278162Y CN 201278162 Y CN201278162 Y CN 201278162Y CN U2008202129619 U CNU2008202129619 U CN U2008202129619U CN 200820212961 U CN200820212961 U CN 200820212961U CN 201278162 Y CN201278162 Y CN 201278162Y
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Abstract
The utility model discloses a passive type keyless door control system for an automobile, which comprises a mainframe arranged in the automobile, a portable responding card, a triggering source arranged on the automobile and connected with the mainframe and an executive component. The passive type keyless door control system is characterized in that the mainframe comprises a low-frequency transmitting module and a decoding module, wherein the low-frequency transmitting module comprises an LF controller and an LF transmitter, the LF controller is connected with the triggering source, and the decoding module comprises an RF receiver, a decoder and a driving amplifying circuit; the responding card comprises a card body, a coder arranged in the card body, an analog front end AFE part, an RF transmitter and keys arranged outside the card body, wherein the RF receiver of the mainframe is wirelessly connected with the RF transmitter of the responding card. The utility model has convenient use and high safety factor.
Description
Technical field
The utility model relates to a kind of entrance guard device of motor vehicle, a kind of passive keyless gate control system of more specifically saying so.
Background technology
Along with improving constantly of people's living standard, automobile more and more becomes an indispensable part in people's life.Automobile quantity increases, and the stolen quantity of vehicle also rises year by year, and this brings great factor leading to social instability to society, worries that vehicle is stolen, becomes the difficult problem of each user vehicle of puzzlement.There is following shortcoming in existing automobile gate control system:
(1) use inconvenience, a lot of gate control systems need be pinned transponder card (telepilot) and just can seek car, open the door, and startup also needs to cooperate key to use, and it is just relatively more difficult to open car door during as car owner's both hands belongings.
(2) number of password is few, duplicates sign indicating number easily, and the phenomenon of a telepilot control multi-section vehicle promptly takes place, poor stability, and password easily is copied or steals, thereby makes vehicle stolen.
(3) transponder card (remote controller key) directivity is poor, and existence can't be responded to when the shortcoming to host signal.
(4) existing automobile gate control system mostly is transponder card (telepilot) host machine part of being located in the automobile is controlled, and the function that the off part initiatively transmits control signal to transponder card, maloperation appears in this design easily, the situation that telepilot (transponder card) password repeats is appearring, this gate control system loses the burglar alarm effect, mechanical lock also plays effect only, and mechanical lock is easy to pry open for the lawless person.
The inventor is based on the above-mentioned defective of prior art automobile gate control system device, in conjunction with the professional knowledge of self with to the understanding of new technology, innovation and creation the automobile gate control system of control signal of a kind of transponder card passive type induction main frame (being located in the automobile).
The utility model content
The purpose of this utility model be for overcome the deficiencies in the prior art provide a kind of by transponder card (telepilot) passive type induction host signal, need not to insert can the unlock automobile gate control system of state of key.
Technology contents of the present utility model is: a kind of automobile passive type Keyless door access control system, comprise the transponder card of being located at the host machine part in the automobile and carrying, and be located on the automobile and triggering source and execution unit that connect with host machine part, it is characterized in that described host machine part comprises low frequencies module and decoder module, the low frequencies module comprises LF controller and LF transmitter, the LF controller connects with the triggering source, decoder module comprises the RF receiver, demoder and driving amplifying circuit, demoder is provided with input end and connects with the RF receiver, demoder is provided with output terminal and connects with the driving amplifying circuit, drives amplifying circuit and connects with execution unit; Described transponder card comprises the card body, and be located at scrambler, AFE (analog front end) AFE parts, the RF transmitter in the card body and be located at the button of external of card, described AFE (analog front end) AFE parts are provided with antenna and the resonant circuit that is used to receive the LF launcher signal, and scrambler is provided with input end and AFE (analog front end) AFE parts, by key connecting; Scrambler is provided with output terminal and connects with the RF transmitter; Be located at the RF receiver and the RF transmitter wireless connections of being located at transponder card of host machine part.
Further technology contents of the present utility model is: the input end of described demoder connects with the triggering source, and described triggering source comprises the button of being located at the door handle inboard, and described execution unit comprises car door lock.
Further technology contents of the present utility model is: described AFE (analog front end) AFE parts comprise three antennas and three resonant circuits, and described three antennas are orthogonal X-axis antenna, Y-axis antenna and Z axle antenna.
Further technology contents of the present utility model is: described button comprises setting key, removes key and luggage case key, and described execution unit comprises the door lock for luggage case of being located on the boot door, and described triggering source comprises the pressure switch of being located at the boot door place.
Further technology contents of the present utility model is: described triggering source also comprises engine ignition starting knob, Shock inductor, brake pedal, hood pressure switch and speed sensor, and described execution unit also comprises loudspeaker, car light, ignition lead threshold switch and pump switch.
Further technology contents of the present utility model is: described host machine part comprises a learning key that connects with demoder, and described learning key is mated triggering between source state and the transponder card button when pushing the back connection.
Further technology contents of the present utility model is: described LF controller is the PIC18F2680 chip, and the scrambler that is provided with in the transponder card body is the PIC16F639 chip, and described decoder module is the PIC16F636 chip; Described PIC16F636 is built-in with the KEELOQ demoder, and the transmission signals between RF transmitter and the RF receiver is the rolling code of the continual renovation after encrypting.
The utility model beneficial effect compared with prior art is: the utility model is by transponder card (telepilot) passive type induction host computer control signal, need not to use key, and the hopping code of utilization encryption, password extremely is difficult for repeating, and makes the high characteristics of coefficient easy to use, safe that the utlity model has.
Below in conjunction with the drawings and specific embodiments the utility model is further described.
Description of drawings
Fig. 1 is the structural representation of the utility model specific embodiment;
Fig. 2 is the transponder card synoptic diagram of the utility model specific embodiment;
Fig. 3 is the host machine part synoptic diagram of the utility model specific embodiment;
Fig. 4 is the triggering source synoptic diagram of the utility model specific embodiment;
Fig. 5 is the execution unit synoptic diagram of the utility model specific embodiment.
Embodiment
In order to more fully understand technology contents of the present utility model, the technical solution of the utility model is further introduced and explanation below in conjunction with specific embodiment.
Extremely shown in Figure 5 as Fig. 1, a kind of automobile passive type of the utility model Keyless door access control system, comprise host machine part of being located in the automobile 2 and the transponder card of carrying 1, and be located on the automobile and triggering source 3 that connect with host machine part and execution unit 4, host machine part 2 comprises low frequencies module 20 and decoder module 21, low frequencies module 20 comprises LF controller 202 and LF transmitter 201, LF controller 202 connects with triggering source 3, decoder module 21 comprises RF receiver 212, demoder 211 and driving amplifying circuit 213, demoder 211 is provided with input end and connects with RF receiver 212, demoder 211 is provided with output terminal and connects with driving amplifying circuit 213, drives amplifying circuit 213 and connects with execution unit 4.Transponder card 1 comprises card body 14, and be located at scrambler 10, AFE (analog front end) AFE parts 11, the RF transmitter 12 in the card body 14 and be located at the button 13 of card body 14 outsides, AFE (analog front end) AFE parts 11 are provided with antenna 110 and the resonant circuit 111 that is used to receive LF launcher signal (low frequency signal), and scrambler 10 is provided with input end and connects with AFE (analog front end) AFE parts 11, button 13; Scrambler 10 is provided with output terminal and connects with RF transmitter 12; Be located at the RF receiver 212 and RF transmitter 12 wireless connections (high-frequency signal) of being located at transponder card of host machine part 2.
The input end of demoder 211 connects with triggering source 3, triggering source 3 comprises the button 31 of being located at the door handle inboard, the pressure switch 32 of being located at the boot door place, engine ignition starting knob 33, Shock inductor 34, brake pedal 35, hood pressure switch 37 and speed sensor 36, described execution unit comprises car door lock 41, is located at door lock for luggage case 42, loudspeaker 43, car light 44, ignition lead threshold switch 45 and pump switch 46 on the boot door, also comprises headstock cover lock 47.Button 13 on the transponder card 1 comprises setting key 131, removes key 132 and luggage case key 133.
AFE (analog front end) AFE parts 11 comprise three antennas (for orthogonal X-axis antenna, Y-axis antenna and Z axle antenna) and three resonant circuits.
In the present embodiment, the LF controller is the PIC18F2680 chip, and the scrambler that is provided with in the transponder card body is the PIC16F639 chip, and described decoder module is the PIC16F636 chip; Described PIC16F636 is built-in with the KEELOQ demoder, and the transmission signals between RF transmitter and the RF receiver is the rolling code of the continual renovation after encrypting.
The chip structure that adopts during now in conjunction with concrete enforcement is described as follows:
Low frequencies and high frequency decode procedure:
When LF transmitter (low frequency) detects the input of triggering source, the 125KHZ message of a coding will be sent.Any transponder card in this range of signal all can receive this message, and the coded data field is verified.If the LF transmitter is identified, will send a RF (315MHZ) KEELOQ coding message.The RF receiver is decoded to this packet, if be identified, will operate accordingly.For reducing current drain, the LF transmitter can not continue the poll transponder card.The button of door handle wakes the LF transmitter up from park mode or power-down mode.
The LF controller is selected PIC18F2680, and this single-chip microcomputer has abundant peripheral hardware.The EAUSART of its also built-in CAN controller and compatible LIN makes things convenient for and the In-vehicle networking interface in addition.PWM output by single-chip microcomputer drives big current driver (TC4422), and then drives the resonant circuit of being made up of telefault and electric capacity.This output circuit can produce the magnetic field of a voltage peak-to-peak value up to 320V, thus the low frequency signal of emission 125KHZ.
Transponder card:
Transponder circuit has three outside LC resonant circuits, three pushbutton switches, a 315MHz resonator and a several element that is used for the backup battery pattern that is used for the transmission of UHF data.It is main control chip that transponder card partly adopts PIC16F639, and PIC16F639 comprises digital MCU part (PIC16F639 kernel) and AFE (analog front end) (AFE) part, can be used for multiple low frequency detection and intelligent both-way communication and uses.Host machine part is sent the command signal of a 125kHz, effective transponder card around searching.If the order that receives is effective, transponder card will return a response signal (the RF signal of high frequency).The analog input sensitivity of PIC16F639 device very high (up to the 1mV peak-to-peak value) has three antennas and connects pin.By connecting three antennas that point to X, Y and Z direction, transponder card can receive the signal from any direction at any time, thereby reduces the possibility that is caused dropout by the directivity of antenna.Each day detection of input signal of wire pin is separate, and addition subsequently.By configuration register is programmed, each input channel can be enabled separately or be forbidden.The passage that is enabled is few more, and the power consumption of device is just more little.
Be to realize the hand-free operation, input signal is waited for and detected to transponder card continuously, and this can reduce battery serviceable life.Therefore, for reducing working current, when AFE (analog front end) (AFE) was searched effective input signal, digital MCU part (encoder section) can be in low current mode (park mode).Have only when AFE detects effective input signal, digital MCU part (encoder section) just is waken up.Can realize this function by using an output enable wave filter (wake-up filter).PIC16F639 has 9 output enable options of filters.The user can utilize configuration register that wave filter is programmed.In a single day wave filter is programmed, and then only when input signal reaches the wave filter requirement, device just is sent to numerical portion (encoder section) with detected output.
By the control surface acoustic resonator transmitting RF signal of PIC16F639, the RF signal is through the safety of rolling code encryption technology with guarantee information.
RF receives and decoding:
It is main control chip that decoder module adopts PIC16F636, and PIC16F636 inside has the KEELOQ demoder.Receive the RF signal that transponder card sends by AMRRS3-433, then by the PIC16F636 decoding and operate accordingly.
PIC16F636 and flasher, loudspeaker link to each other, and play the sound and light alarm effect when antitheft; Link to each other with the service brake signal, after stepping on service brake, arrangements for automotive doors automatically locks; With the head lid, door contact interrupter links to each other, and reports to the police immediately when car door or head lid quilt sled; Link to each other with speed sensor, when the speed of a motor vehicle surpasses 15KM/ hour, arrangements for automotive doors automatically locks; Link to each other with central door lock, can conveniently realize opening the door automatically, close the door.Link to each other with trunk, can open, close with the convenient control of telepilot trunk.Link to each other with Shock inductor, sensor internal adds spring weight structure detection vibration signal with piezoelectric ceramic piece, and by amplification of amplifiers such as LM358 and output control signal, when detecting vibration greater than certain amplitude, action indicator is lighted, and the output of reporting to the police, and the sensitivity of vibration detection can be regulated by the sensitivity adjusting knob, sensitivity increases clockwise, and sensitivity reduces counterclockwise; By relay control oil pump, the ignition lead valve reaches antitheft purpose.
Setting key: click this key, automotive theft proof system enters the antitheft state of alert of acousto-optic, and car door shuts.
Remove key: click this key, automotive theft proof system enters the releasing state of alert, and car door is unblanked.
Luggage case key: click this key and just can open luggage case.
Automobile under the state of alert, oil, circuit all disconnects, and has only after anti theft host has been discerned transponder card, automobile can be connected the circuit of disconnection, has at this moment normally started vehicle.System has the outage memory function, can remember the preceding state of outage, and after restoring electricity, the reinstatement attitude prevents outage robber car.Built-in Shock inductor can be adjusted the susceptibility of shock sensor according to client's needs.This product adopts hopping code, and the each code signal of launching of transponder card is all inequality,
In sum, the utility model can be realized following function:
1. antitheft setting: the user comes out in car, the button that shuts car door and click the door knob inboard (also can be set at and need not this push action, can enter anti-theft state and detect when the automobile flameout tail gate is shut after opening once more by the demoder of host machine part), system enters antitheft set condition.Loudspeaker ring one, and indicator (it is execution unit that the utility model adopts indicator to be called steering indicating light again) dodges, and system start-up is to the detection of automobile side door, Shock inductor, automobile starting button ignition switch.
2. antitheft releasing: the user walks close to car door and clicks the door knob button and can open car door (the whole action of opening the door needs a few tens of milliseconds, the user can not feel touch door handle to any time-delay is arranged the car door opening from hand), automobile enters antitheft disarm state, and car light dodges twice.The user shuts car door into the car, steps on service brake, and arrangements for automotive doors is locked.
3. automatic antitheft: under antitheft disarm state, car door was not opened in 25 seconds, and system can automatically revert to antitheft set condition (finishing this function by the Single-chip Controlling program in the main frame).
4. the luggage case of driveing a car: click the luggage case button and just can open luggage case.
5. seek the car function: under antitheft set condition, press setting key, car horn meeting " ao-ao-ao-ao " four tones of standard Chinese pronunciation pipe (can realize this function) by the Single-chip Controlling program in the main frame.
6. transponder card backup functionality: when the lithium battery electric weight of transponder card had exhausted, the user can carry out antitheft releasing and setting near car door with transponder card.
7. the mode of operation of parking: press setting key simultaneously and remove key, but the All Alerts function of shutdown system, system only locks and following lock function.
8 car door lock intellectualities: into the car, shut car door after 10 seconds, step on service brake, car door automatically locks once, does not shut under the situation at car door, steps on service brake after 10 seconds, indicator quickflashing 3 times, call user's attention.When getting off, the ignition start that kills engine knob (key is screwed into OFF), car door auto-unlocking.
9. close the Shock inductor function: press key assignments, releasing, luggage case key simultaneously, system ao one, system will close Shock inductor and trigger.
10. transponder card learning functionality: automobile key is under engine ignition starting knob on-state (ON state), pressed learning key 2 seconds, indicator dodges 2 times, can press the button on the transponder card of wanting to mate this moment, PC Speaker pipes, expression learning success (setting successfully) can be realized function corresponding by this key combination.
11. under the antitheft set condition of system, trigger vibrations, side door, when engine ignition starting knob is in starting state (ON state), car horn piped 5 seconds, indicator quickflashing 5 seconds, when triggering once more in 30 seconds, automobile piped 30 seconds, indicator quickflashing 30 seconds.
12. under the antitheft set condition of system, when the engine ignition in triggering source starting knob is in starting state (ON state), system will cut off engine ignition and start that (power supply of ignition lead threshold switch 45 and pump switch 46 makes the automobile can't ignition trigger.
This shows, the utlity model has the high characteristics of coefficient easy to use, safe.Has the value of promoting the use of.
The above angle from specific embodiment discloses further to technology contents of the present utility model; its purpose is to allow everybody be easier to understand technology contents of the present utility model; but do not represent embodiment of the present utility model and rights protection to be confined to this, rights protection scope of the present utility model should be as the criterion in claims of the present utility model.
Claims (7)
1. automobile passive type Keyless door access control system, comprise the transponder card of being located at the host machine part in the automobile and carrying, and be located on the automobile and triggering source and execution unit that connect with host machine part, it is characterized in that described host machine part comprises low frequencies module and decoder module, the low frequencies module comprises LF controller and LF transmitter, the LF controller connects with the triggering source, decoder module comprises the RF receiver, demoder and driving amplifying circuit, demoder is provided with input end and connects with the RF receiver, demoder is provided with output terminal and connects with the driving amplifying circuit, drives amplifying circuit and connects with execution unit; Described transponder card comprises the card body, and be located at scrambler, AFE (analog front end) AFE parts, the RF transmitter in the card body and be located at the button of external of card, described AFE (analog front end) AFE parts are provided with antenna and the resonant circuit that is used to receive the LF launcher signal, and scrambler is provided with input end and AFE (analog front end) AFE parts, by key connecting; Scrambler is provided with output terminal and connects with the RF transmitter; Be located at the RF receiver and the RF transmitter wireless connections of being located at transponder card of host machine part.
2. a kind of automobile passive type Keyless door access control system according to claim 1 is characterized in that the input end of described demoder connects with the triggering source, and described triggering source comprises the button of being located at the door handle inboard, and described execution unit comprises car door lock.
3. a kind of automobile passive type Keyless door access control system according to claim 1 and 2, it is characterized in that described AFE (analog front end) AFE parts comprise three antennas and three resonant circuits, described three antennas are orthogonal X-axis antenna, Y-axis antenna and Z axle antenna.
4. a kind of automobile passive type Keyless door access control system according to claim 3, it is characterized in that described button comprises setting key, removes key and luggage case key, described execution unit comprises the door lock for luggage case of being located on the boot door, and described triggering source comprises the pressure switch of being located at the boot door place.
5. a kind of automobile passive type Keyless door access control system according to claim 4, it is characterized in that described triggering source also comprises engine ignition starting knob, Shock inductor, brake pedal, hood pressure switch and speed sensor, described execution unit also comprises loudspeaker, car light, ignition lead threshold switch and pump switch.
6. a kind of automobile passive type Keyless door access control system according to claim 5, it is characterized in that described host machine part comprises a learning key that connects with demoder, described learning key is mated triggering between source state and the transponder card button when pushing the back connection.
7. a kind of automobile passive type Keyless door access control system according to claim 5, it is characterized in that described LF controller is the PIC18F2680 chip, the scrambler that is provided with in the transponder card body is the PIC16F639 chip, and described decoder module is the PIC16F636 chip; Described PIC16F636 is built-in with the KEELOQ demoder, and the transmission signals between RF transmitter and the RF receiver is the rolling code of the continual renovation after encrypting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202129619U CN201278162Y (en) | 2008-10-10 | 2008-10-10 | Passive keyless gate inhibition system for automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202129619U CN201278162Y (en) | 2008-10-10 | 2008-10-10 | Passive keyless gate inhibition system for automobile |
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| CN201278162Y true CN201278162Y (en) | 2009-07-22 |
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| CNU2008202129619U Expired - Fee Related CN201278162Y (en) | 2008-10-10 | 2008-10-10 | Passive keyless gate inhibition system for automobile |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102081812A (en) * | 2010-12-03 | 2011-06-01 | 上海德科电子仪表有限公司 | Automobile entrance guard control system and equipment |
| CN102496197A (en) * | 2011-12-06 | 2012-06-13 | 健雄职业技术学院 | Digital radio frequency door lock |
| CN102890839A (en) * | 2012-10-12 | 2013-01-23 | 奇瑞汽车股份有限公司 | Control method for intelligent key device of automobile back door |
| CN103164893A (en) * | 2011-12-14 | 2013-06-19 | 株式会社东海理化电机制作所 | Lid lock controller |
| CN104281937A (en) * | 2013-07-10 | 2015-01-14 | 摩拓泰汽车部件有限公司 | System for controlling power trunk or power tailgate |
| CN104691501A (en) * | 2013-12-10 | 2015-06-10 | 镁骅科技有限公司 | Induction opening device for vehicle trunk door |
| CN105488876A (en) * | 2015-11-25 | 2016-04-13 | 北京经纬恒润科技有限公司 | RKE data signal processing method and device |
| CN105564370A (en) * | 2014-10-28 | 2016-05-11 | 宝马股份公司 | Stopping key-free access authority system of motor vehicle from malfunction due to induction charging station of alternating field |
| CN108001406A (en) * | 2017-12-25 | 2018-05-08 | 安徽天瑞电子科技有限公司 | Key system for electric vehicle |
| CN111386558A (en) * | 2017-09-14 | 2020-07-07 | 大陆汽车有限公司 | Contactless communication repeater remote feeding device for a door handle of a motor vehicle |
| CN114299640A (en) * | 2021-11-25 | 2022-04-08 | 合众新能源汽车有限公司 | Bluetooth intelligent key learning method and device |
| CN115506679A (en) * | 2022-09-14 | 2022-12-23 | 重庆长安汽车股份有限公司 | Method, system, vehicle and storage medium for realizing automatic conversion of vehicle door state |
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2008
- 2008-10-10 CN CNU2008202129619U patent/CN201278162Y/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102081812A (en) * | 2010-12-03 | 2011-06-01 | 上海德科电子仪表有限公司 | Automobile entrance guard control system and equipment |
| CN102496197A (en) * | 2011-12-06 | 2012-06-13 | 健雄职业技术学院 | Digital radio frequency door lock |
| CN103164893A (en) * | 2011-12-14 | 2013-06-19 | 株式会社东海理化电机制作所 | Lid lock controller |
| CN102890839A (en) * | 2012-10-12 | 2013-01-23 | 奇瑞汽车股份有限公司 | Control method for intelligent key device of automobile back door |
| CN104281937A (en) * | 2013-07-10 | 2015-01-14 | 摩拓泰汽车部件有限公司 | System for controlling power trunk or power tailgate |
| CN104691501A (en) * | 2013-12-10 | 2015-06-10 | 镁骅科技有限公司 | Induction opening device for vehicle trunk door |
| CN105564370B (en) * | 2014-10-28 | 2019-08-20 | 宝马股份公司 | Prevent method, induction charging station and the access entitlements system of malfunction |
| CN105564370A (en) * | 2014-10-28 | 2016-05-11 | 宝马股份公司 | Stopping key-free access authority system of motor vehicle from malfunction due to induction charging station of alternating field |
| CN105488876A (en) * | 2015-11-25 | 2016-04-13 | 北京经纬恒润科技有限公司 | RKE data signal processing method and device |
| CN105488876B (en) * | 2015-11-25 | 2018-08-07 | 北京经纬恒润科技有限公司 | A kind of processing method and processing device of RKE data-signals |
| US11336332B2 (en) | 2017-09-14 | 2022-05-17 | Continental Automotive France | Contactless communication repeater remote power device for a motor vehicle door handle |
| CN111386558A (en) * | 2017-09-14 | 2020-07-07 | 大陆汽车有限公司 | Contactless communication repeater remote feeding device for a door handle of a motor vehicle |
| CN111386558B (en) * | 2017-09-14 | 2022-09-13 | 大陆汽车有限公司 | Contactless communication repeater remote feeding device for a door handle of a motor vehicle |
| CN108001406A (en) * | 2017-12-25 | 2018-05-08 | 安徽天瑞电子科技有限公司 | Key system for electric vehicle |
| CN114299640A (en) * | 2021-11-25 | 2022-04-08 | 合众新能源汽车有限公司 | Bluetooth intelligent key learning method and device |
| CN114299640B (en) * | 2021-11-25 | 2024-01-02 | 合众新能源汽车股份有限公司 | Bluetooth intelligent key learning method and device |
| CN115506679A (en) * | 2022-09-14 | 2022-12-23 | 重庆长安汽车股份有限公司 | Method, system, vehicle and storage medium for realizing automatic conversion of vehicle door state |
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