WO2022121001A1

WO2022121001A1 - Vehicle door control method, device and system of vehicle

Info

Publication number: WO2022121001A1
Application number: PCT/CN2020/139864
Authority: WO
Inventors: 王艳荣; 杲晓锋; 柳士强; 李颖; 吴群芳; 孙启超
Original assignee: 中车唐山机车车辆有限公司
Priority date: 2020-12-11
Filing date: 2020-12-28
Publication date: 2022-06-16
Also published as: CN112593804B; CN112593804A

Abstract

A vehicle door control method, device and system of a vehicle, relating to the technical field of traffic. Said method comprises: determining a departure position where a vehicle is parked on a platform, wherein the platform comprises a plurality of parking spaces arranged in a preset sequence, and the most front parking space is the departure position; and according to a passenger carrying state and a riding instruction, generating and sending a vehicle door control instruction of the vehicle at the departure position, so as to control the opening and closing of a vehicle door of the vehicle at the departure position. The present application makes a comprehensive determination on whether a vehicle is at a zero speed, whether the parking position is at a platform, whether a passenger is carried, and whether there is a riding demand, so as to safely, precisely, conveniently and efficiently control the opening and closing of a vehicle door, thereby ensuring that a passenger uses a vehicle safely, and satisfying personalized travel requirements of people.

Description

A vehicle door control method, device and system

technical field

The present application relates to the technical field of traffic dispatch control, and in particular, to a vehicle door control method, device and system. The vehicle in the present application refers to a PRT vehicle; wherein, Personal Rapid Transit (English: Personal Rapid Transit, PRT for short) , Personal Rapid Transportation System is a suspended transportation system with a track width of less than 600mm.

Background technique

Personal rapid transit systems, due to their unique structure of overhead rails and suspended small vehicles, have formed a new form of personal travel transportation. Different from the existing rail transit stations, the personal rapid transit system emphasizes special vehicles, one-stop direct access to the destination, adopts fully automatic driverless mode, unattended platforms, and realizes 24-hour operation, which is a useful supplement to other public transportation methods. It has outstanding advantages in humanization, environment matching, construction period and cost.

The special functional positioning and operation scenarios of the personal rapid transit system will inevitably make its door control method different from the existing rail transit system. At present, the semi-automatic and automatic control methods of the existing rail transit vehicle door control methods cannot be directly transplanted to such a new in the personal rapid transit system.

Therefore, the above-mentioned solution has the disadvantage that it cannot realize a door control mode that matches its operational needs based on the characteristics of the personal rapid transit system.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a vehicle door control method, device and system to solve the technical problem that the traditional solution cannot realize a vehicle door control mode matching its operational requirements based on the characteristics of the personal rapid transportation system.

An embodiment of the present application provides a vehicle door control method, the method comprising:

Determine the departure space where the vehicle is parked on the platform, wherein the platform includes a plurality of parking spaces arranged in a preset order, and the most front of the parking spaces is the departure space;

According to the passenger-carrying state and the boarding instruction, a door control instruction of the vehicle at the departure position is generated and sent, so as to control the opening and closing of the door of the vehicle at the departure position.

Embodiments of the present application further provide a vehicle door control device, the device comprising:

a departure space determination module, configured to determine the departure space where the vehicle is parked on a platform, wherein the platform includes a plurality of parking spaces arranged in a preset order, and the most front parking space is the departure space;

The control module is used for generating and sending the door control instruction of the vehicle at the departure position according to the passenger loading state and the ride instruction, so as to control the opening and closing of the door of the vehicle at the departure position.

Embodiments of the present application also provide a vehicle door control system, characterized in that it includes:

one or more processors;

a storage device for storing one or more programs;

The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle door control method of the vehicle as described above.

Due to the adoption of the above technical solutions, the embodiments of the present application have the following technical effects:

A vehicle door control method, device, and system provided by the embodiments of the present application determine, based on unique system characteristics and operational scenarios of traffic, the departure space where the vehicle is parked on a platform, wherein the platform includes a plurality of The parking space, the most front of the parking space is the departure space. After determining that there is a vehicle parked in the departure space, according to the passenger status and the ride instruction, the door control command of the vehicle in the departure space is generated and sent to control the opening of the door of the vehicle in the departure space. and off. It can be seen that by comprehensively judging whether the vehicle is at zero speed, whether the parking position is on the platform, whether it is carrying passengers, and whether there is a need for a ride (corresponding to the ride command), the door switch can be controlled safely, accurately, conveniently and efficiently to ensure the safety of passengers. Use cars and meet people's personalized travel needs.

Description of drawings

The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the attached image:

FIG. 1 is a schematic flowchart of a vehicle door control method according to an embodiment of the application;

FIG. 2 is a schematic structural diagram of a vehicle door control method in an embodiment of the application;

3 is a schematic diagram of a scene of a vehicle door control method in an embodiment of the application;

4 is a schematic diagram of the functional area division of the platform and the direction of passenger flow organization of the vehicle door control method in the embodiment of the application;

5 is a schematic flowchart of a vehicle door control method in an embodiment of the application;

6 is a schematic structural diagram of a door control device of a vehicle in an embodiment of the application;

Description of reference numbers:

601 Departure position determination module, 602 control module.

Detailed ways

In order to make the technical solutions and advantages of the embodiments of the present application more clear, the exemplary embodiments of the present application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and Not all embodiments are exhaustive. It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict.

Example 1

1 is a schematic flowchart of a vehicle door control method according to an embodiment of the application, FIG. 2 is a schematic structural diagram of a vehicle door control method according to an embodiment of the application, and FIG. 3 is a scene schematic diagram of the vehicle door control method according to an embodiment of the application. .

As shown in FIG. 1 , FIG. 2 and FIG. 3 , the vehicle door control method of the embodiment of the present application includes:

Step S101 , determining a departure space where the vehicle is parked on a platform, wherein the platform includes a plurality of parking spaces arranged in a preset order, and the most front parking space is the departure space.

In a specific implementation, the on-board host of the vehicle determines whether the vehicle is parked at the departure space of the platform according to the beacon reader identifier from the beacon reader and the vehicle speed information from the speed sensor, wherein the beacon reader identifier (track beacon identifier) ) corresponds to the parking space information, that is, each parking space is composed of two track beacon intervals, so as to determine the position information of the vehicle according to the beacon reader identification, that is, the parking space information; if the vehicle speed information from the speed sensor is zero speed , the vehicle is determined to be parked.

In this way, when the speed of the vehicle is not zero and the position of the vehicle is not in the parking space area in the platform, the vehicle door is kept in a closed state, so as to ensure the safety of the passenger's use of the vehicle.

Step S102: Generate and send a door control instruction of the vehicle at the departure position according to the passenger-carrying state and the ride instruction, so as to control the opening and closing of the door of the vehicle at the departure position.

During the implementation, it is determined that the vehicle parked at the starting position is in an empty state;

Receive a ride instruction;

Generate and send the door opening control command of the vehicle in the departure position to control the door opening of the vehicle in the departure position.

In the specific implementation, according to the received weight information from the weight sensor, it is determined whether the vehicle at the departure position is in a loaded state. It is sent to the vehicle host through the QR code reader. After receiving a valid ride instruction, a door opening control instruction of the vehicle at the starting position is generated and sent to the vehicle door controller, so that the vehicle door controller controls the door opening according to the vehicle door opening control instruction.

The implementation also includes:

When it is determined that the vehicle parked at the departure position is in an unloaded state and no ride instruction is received, a control instruction for keeping the door of the vehicle at the departure position closed is generated and sent. Alternatively, the corresponding door control command is not triggered.

In this way, the fully automatic control of vehicle doors can be realized. By integrating the functions of ticket gates and exit gates in the traditional rail transit system, passengers can scan the valid QR code ticket (corresponding to the ride instruction) to trigger the trigger. The doors are automatically opened to complete intelligent ticket checking and door opening operations. The whole process of ticket checking and door opening is simple and easy to operate. The driver and platform personnel are not required to participate in the whole process, and the platform does not need to set up ticket checking facilities, which can effectively reduce operating costs while covering and controlling the door switch function.

The implementation also includes:

When the vehicle at the departure position is in an overweight state, a control command for keeping the door of the vehicle at the departure position is generated and sent.

The implementation also includes:

When the vehicle at the departure position is within the load-bearing range, and the departure command for boarding is received and/or after the door is opened for a preset time, a door closing control command for the vehicle at the departure position is generated and sent.

In the specific implementation, when the door of the vehicle at the departure position is opened, the passenger gets on the vehicle, receives the weight information from the weight sensor, and compares the received weight information with the preset weight threshold. If the received weight information exceeds the preset weight information If the weight threshold is set, it is determined that the vehicle at the departure position is in an overweight state; otherwise, it is determined that the vehicle at the departure position is within the load-bearing range.

Further, when the vehicle at the departure position is in an overweight state, a control command for keeping the door of the vehicle at the departure position is generated and sent to the door control, so that the door controller keeps the door in an open state according to the control command for keeping the door open, and at the same time real-time. The weight information from the weight sensor is received, and until the received weight information is less than the preset weight threshold, the control command for keeping the door of the vehicle at the starting position open is no longer generated to the door controller.

Further, when the vehicle at the departure position is within the load-bearing range, if a departure instruction from the passenger is received, or the door opening time reaches a preset time, a door closing control instruction of the vehicle at the departure position is generated and sent to the door controller, so that The door controller controls the door to close. Among them, the departure command is input through the on-board human-machine interface (vehicle HMI) in the vehicle at the departure position, that is, a confirmation button for clicking is displayed on the vehicle HMI screen. In addition, the vehicle HMI screen is also used to display the passenger's destination station information. The destination station information can be carried in the passenger's ticket information, or it can be the destination station selected by the passenger after getting on the bus. After the destination station is determined, the departure instruction is generated by clicking the confirm button, and the departure instruction includes the destination station confirmation information.

In this way, when the passenger gets on the bus, by judging whether the vehicle at the starting position is currently within the acceptable weight range, the safety of the vehicle in operation is ensured. In addition, the passenger can confirm through the vehicle HMI screen after getting on the bus, as the confirmation method of the HMI screen. In addition, after the passenger scans the ticket and gets on the bus, the door can be automatically controlled to close after the set door opening time is reached. It can be seen that by scanning the code - opening the door - boarding, and confirming through the vehicle HMI screen, it can accurately meet the arrival needs of passengers and achieve accurate one-stop direct access.

The implementation also includes:

Receive another ride instruction, keep the door of the vehicle parked in the starting position closed.

In the specific implementation, according to the weight information from the weight sensor, when it is determined that there are passengers in the vehicle at the departure position, if the door of the vehicle is closed at this time, the door of the vehicle is kept closed and does not respond to the ride instructions of other passengers .

In this way, in order to ensure one ticket for one vehicle, each ticket corresponds to one operation task, and one vehicle only receives and executes one operation task in the same period of time, and one station goes directly to the destination station.

The implementation also includes:

Determining that the vehicle is parked at the drop-off parking space of the platform, wherein the parking spaces other than the departure parking space among the parking spaces of the platform are the drop-off parking spaces;

According to the passenger loading state, generate and send the door control command of the vehicle getting off the parking space.

In the implementation, the step of generating and sending the door control instruction of the vehicle getting off the parking space according to the passenger loading state includes the following steps:

When the vehicle in the parking space is in a state of carrying passengers, a door opening control instruction of the vehicle in the parking space is generated and sent, so as to control the opening of the door of the vehicle in the parking space.

The implementation also includes:

Make sure that the vehicle in the parking space is empty;

Generate and send the door closing control command for the empty vehicle in the parking space.

In a specific implementation, the on-board host of the vehicle determines whether the vehicle is parked at the get-off space of the platform according to the beacon reader identifier from the beacon reader and the vehicle speed information from the speed sensor. The received weight information from the weight sensor determines whether the vehicle in the parking space is in a loaded state, thereby generating a corresponding door control command of the vehicle in the parking space and sending it to the door controller.

Further, if it is determined that the vehicle in the parking space is in a state of being loaded with passengers, a door opening control instruction of the vehicle in the parking space is generated and sent to the door controller, so that the door controller controls the opening of the door of the vehicle in the parking space, and simultaneously receives real-time data from the weight sensor. until it is determined according to the received weight information that all passengers have gotten off the vehicle (unladen state), and then generate a control command for closing the door of the vehicle in the alighting space to the door controller, so that the door controller can control the door according to the control command for closing the door. The door is closed.

In this way, intelligently control the opening and closing of doors for incoming vehicles carrying passengers. In addition, by realizing automatic control of doors, it can ensure that passengers can use the vehicle on demand 24 hours a day, achieving convenient and efficient use of vehicles 24 hours a day. the goal of.

In the implementation, the step of generating and sending the door control instruction of the vehicle getting off the parking space according to the passenger-carrying state further includes the following steps:

Keep the doors closed when the vehicle is empty in the exit space.

In the specific implementation, when the vehicle is parked in the parking space of the platform, according to the weight information received from the weight sensor, it is determined whether the vehicle in the parking space is in a loaded state. If the vehicle in the parking space is in an empty state, that is, the vehicle does not carry passengers. , it is a no-load entry, no command is generated, the door is kept closed until it reaches the starting position, and after receiving the ride command, the door is opened, or a control command to keep the door closed is generated to the door controller. Additionally, the doors are controlled to remain closed when the vehicle is determined to be in a running state and/or a non-platform area.

In this way, it is not necessary to open the door for an empty vehicle entering the station, avoiding unnecessary door switch operations, and reducing energy consumption and operating costs.

In implementation, the steps of determining the departure space where the vehicle is parked on the platform and determining the disembarking space where the vehicle is parked on the platform include the following steps:

determining that the vehicle is in a parked state according to the vehicle speed information from the speed sensor;

Determine the parking space information of the vehicle according to the beacon identification information from the beacon reader;

According to the parking space information, it is determined that the vehicle is located at the departure space or the parking space of the platform.

In a specific implementation, the waiting/boarding area of the platform includes a plurality of parking spaces, usually including a plurality of alighting spaces and a departure space. If the vehicle speed information from the speed sensor is zero, the vehicle's on-board host determines that the vehicle is in a parked state; the vehicle's position information, that is, the parking space information, is determined according to the beacon reader identification from the beacon reader. According to the needs of the actual application scenario, the received location information is compared with the parking space information of the platform to determine whether the vehicle is in the departure or alighting space, or according to the parking space identifier in the received location information, determine that the vehicle is in the departure space or To get off the parking space, the determination of the parking space information is not specifically limited here.

In this way, by collecting the identification information of the beacon readers set at the trackside, the parking space information of the vehicle is accurately determined.

The implementation also includes:

When receiving a vehicle door control command from the remote control center, the vehicle door switch state is controlled according to the vehicle door control command.

In a specific implementation, when the vehicle door cannot be automatically controlled in time, the door control command can be received from the remote control center to the door controller, so that the door controller can open or close the door according to the door control command. The remote controller generates and sends a door control command when it is determined that the vehicle has the conditions to open the door. If it is determined that the vehicle does not have the conditions to open the door, it can notify the platform staff to open the door externally using the mechanical key.

In this way, even if the vehicle cannot be automatically controlled in time, the remote control center can monitor the fault information from the vehicle in real time, and remotely control the door switch in time, or notify the relevant staff in time to ensure the control safety of the vehicle.

The implementation also includes:

Make sure that the vehicle is parked at the drop-off space of the platform and is in an empty state, keep the door open or closed, and the door of the vehicle corresponds to the drop-off area;

Determine the departure space where the vehicle is parked on the platform, and the door of the vehicle corresponds to the waiting area;

FIG. 4 is a schematic diagram of a functional area division of a platform and a direction of passenger flow organization of a vehicle door control method in an embodiment of the present application. As shown in FIG. 4 , the drop-off area and the waiting area are not connected, but are separated from each other.

In the specific implementation, the platform includes several alighting spaces for passengers to enter the station and park, and a departure space for passengers to scan the code to get on the bus. Different from the existing rail transit and bus equivalent platform transfer, the platform area of the vehicle is divided into waiting areas. Corresponding to the drop-off area, the departure space on the suspension rail beam and the drop-off space label area, to prevent the intersection of waiting and alighting passenger flow, and to ensure the safety and orderly ride of passengers.

In this way, the platform is divided into areas by integrating the ticket-buying method or the method of inbound parking, that is, the trains parked in the non-departure space (eg, the alighting space, the inbound line) in the platform cannot respond to the two-dimensional data from passengers. The ride instruction corresponding to the coded ticket can further realize the guidance of passenger flow.

The present application takes a specific scenario as an example to describe in detail the first embodiment of the present application.

FIG. 5 is a schematic flowchart of a vehicle door control method in an embodiment of the application. As shown in FIG. 5 , the vehicle door control method includes:

Step S501, start.

Step S502, it is determined whether the vehicle speed is zero. The on-board host of the vehicle receives the vehicle speed information from the speed sensor, and judges whether it is zero according to the speed value in the vehicle speed information.

Step S503, it is determined whether the vehicle is in the platform. The on-board host of the vehicle receives the beacon reader identification from the beacon reader, and judges whether the vehicle is in the platform according to the received beacon reader identification, if so, execute step S504 or step S508, otherwise, execute step S514 .

Step S504, it is determined that the vehicle gets off the parking space at the platform. According to the received beacon reader identification, determine the parking space information in the platform corresponding to the beacon reader identification, and determine the corresponding beacon reader identification by comparing with the preset parking space information (including parking spaces and departure spaces) in the platform The parking space information is the parking space.

Step S505, it is determined whether the vehicle is in an unloaded state. According to the received weight information from the weight sensor, it is determined whether the vehicle is in an empty state. If it is in the no-load state, go to step S514, and if it is in the passenger-carrying state, go to step S506.

Step S506, the vehicle is opened. When it is determined that the vehicle is in a passenger-carrying state, the vehicle-mounted host sends a door opening control command to the vehicle door controller, so that the vehicle door controller opens the vehicle door.

Step S507, the passenger gets off the bus. The vehicle acquires the weight information from the weight sensor in real time, and when it is detected that the vehicle is in a state of unloading passengers, step S514 is performed.

Step S508, it is determined that the vehicle is at the departure position of the platform. According to the received beacon reader identification, determine the parking space information in the platform corresponding to the beacon reader identification, and determine the beacon reader identification by comparing with the preset parking space information (including parking spaces and departure spaces) in the platform area. The corresponding parking space information is the departure space.

In step S509, it is determined whether the vehicle is in an unloaded state. According to the received weight information from the weight sensor, it is determined whether the vehicle is in an empty state. If it is in the no-load state, go to step S510, if it is in the passenger-carrying state, go to step S514.

In step S510, it is determined whether the vehicle has a demand for a ride. Determine whether the vehicle's on-board host has received a ride request (corresponding to a ride command) from the QR code reader on the door side. If a ride request is received, step S511 is performed; otherwise, step S514 is performed.

Step S511, the vehicle is opened. When receiving a ride request, the vehicle-mounted host sends a door opening control command to the vehicle door controller, so that the vehicle door controller opens the vehicle door.

Step S512, it is determined whether the vehicle is overweight. According to the received weight information from the weight sensor, it is judged whether the weight information exceeds the weight threshold.

Step S513, receiving the HMI confirmation from the passenger. The on-board host of the vehicle receives the ride confirmation information (corresponding to the departure command) from the on-board HMI.

Step S514, close the door/keep the door closed. When the vehicle-mounted host receives the confirmation information from the vehicle-mounted HMI, it sends a door closing control command to the vehicle door controller, so that the vehicle door controller closes the vehicle door.

Based on the same application concept, the embodiments of the present application also provide a vehicle door control device. Since the principle of these devices for solving problems is similar to a vehicle door control method, the implementation of these devices can refer to the implementation of the method. Repeat will not be repeated here.

As shown in FIG. 6 , the vehicle door control device of the embodiment of the present application includes:

The departure space determination module 601 is configured to determine the departure space where the vehicle is parked on a platform, wherein the platform includes a plurality of parking spaces arranged in a preset order, and the most front parking space is the departure space.

The control module 602 is configured to generate and send a door control instruction of the vehicle at the departure position according to the passenger loading state and the ride instruction, so as to control the opening and closing of the door of the vehicle at the departure position.

In implementation, the control module 602 includes:

a first no-load unit, configured to determine that the vehicle parked at the departure position is in an no-load state;

a receiving unit, used for receiving a ride instruction;

The first vehicle door opening unit is used for generating and sending a door opening control command of the vehicle at the departure position, so as to control the opening of the vehicle door of the vehicle at the departure position.

In implementation, the control module 602 further includes:

The overweight unit is used to generate and send a control command for keeping the door of the vehicle at the departure position open when the vehicle at the departure position is in an overweight state.

In implementation, the control module 602 further includes:

The first door closing unit is configured to generate and send a door closing control instruction of the vehicle at the departure position when the vehicle at the departure position is within the load-bearing range and receives a departure instruction for boarding and/or after the vehicle door is opened for a preset time.

In implementation, the control module 602 further includes:

The first holding unit is configured to receive another ride-on instruction and keep the door of the vehicle parked at the departure space closed.

The implementation also includes:

a departure space determination module, configured to determine the alighting space where the vehicle is parked on the platform, wherein the parking spaces other than the departure parking space among the parking spaces on the platform are the alighting spaces;

The generating module is used for generating and sending the door control instruction of the vehicle getting off the parking space according to the passenger loading state.

In implementation, the generation module includes:

The second vehicle door opening unit is configured to generate and send a door opening control command of the vehicle in the parking space when the vehicle in the parking space is in a state of carrying passengers, so as to control the opening of the door of the vehicle in the parking space.

In implementation, the generation module further includes:

a second no-load unit, configured to determine that the vehicle in the parking space is in an no-load state;

The second vehicle door closing unit is used for generating and sending a door closing control command of the empty vehicle in the parking space.

In implementation, the generation module further includes:

The second holding unit is used for keeping the vehicle door in a closed state when the vehicle in the exiting parking space is in an unloaded state.

The implementation also includes:

The remote module is used to control the door switch state according to the vehicle door control instruction when receiving the vehicle door control instruction from the remote control center.

The implementation also includes:

a zoning module for determining that the vehicle is parked at the drop-off space of the platform and is in an unloaded state, keeping the door of the vehicle open or closed, the door of the vehicle corresponding to the drop-off area; and,

determining that the vehicle is parked at the departure space of the platform, and the door of the vehicle corresponds to the waiting area; and,

The drop-off area and the waiting area are not communicated with each other and are separated from each other.

Based on the same inventive concept, the embodiments of the present application also provide a vehicle door control system. Since the principle of these devices for solving problems is similar to a vehicle door control method and a vehicle door control device, the For the implementation, refer to the implementation of the method, and the repetition will not be repeated.

The door control system of the vehicle may include:

one or more processors;

a storage device for storing one or more programs;

In the implementation, in the door control system of the vehicle, the on-board host of the vehicle is connected with the vehicle HMI to obtain the passenger's departure instruction; the on-board host is connected with the QR code reader to obtain the passenger's ride instruction; the on-board host and the speed sensor are connected. It is connected to obtain vehicle speed information; the on-board host is connected to the weight sensor to obtain vehicle on-load information (ie weight information); the on-board host is connected to the beacon reader to obtain track beacon identification information so as to calculate the vehicle location information.

For the convenience of description, each part of the device described above is divided into various modules or units by function and described respectively. Of course, when implementing the present application, the functions of each module or unit may be implemented in one or more software or hardware.

As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

Claims

A vehicle door control method, comprising:

determining the departure space where the vehicle is parked on the platform, wherein the platform includes a plurality of parking spaces arranged in a preset order, and the most front parking space is the departure space;

According to the passenger-carrying state and the riding instruction, a door control instruction of the vehicle at the departure position is generated and sent, so as to control the opening and closing of the door of the vehicle at the departure position.
The method of claim 1, wherein the step of generating and sending a door control instruction of the vehicle at the departure position according to the passenger-carrying state and the ride instruction to control the opening and closing of the door of the vehicle at the departure position comprises the following steps :

Make sure that the vehicle parked at the starting position is in an empty state;

Receive a ride instruction;

Generate and send the door opening control command of the vehicle in the departure position to control the door opening of the vehicle in the departure position.
The method according to claim 2, wherein after the step of generating and sending a door opening control instruction of the vehicle at the departure position to control the opening of the door of the vehicle at the departure position, the method further comprises the following steps:

When the vehicle at the departure position is in an overweight state, a control command for keeping the door of the vehicle at the departure position is generated and sent.
The method according to claim 2, wherein after the step of generating and sending a door opening control instruction of the vehicle at the departure position to control the opening of the door of the vehicle at the departure position, the method further comprises the following steps:

When the vehicle at the departure position is within the load-bearing range, and a departure instruction for boarding is received and/or after the door is opened for a preset time, a door closing control instruction of the vehicle at the departure position is generated and sent.
The method according to claim 4, characterized in that, when the vehicle at the departure position is within the load-bearing range, and a departure instruction for taking the car is received and/or after the door is opened for a preset time, the door of the vehicle at the departure position is generated and sent. After the step of closing the control instruction, it also includes the following steps:

Receive another ride instruction, keep the door of the vehicle parked in the starting position closed.
The method of claim 1, further comprising the steps of:

Determining that the vehicle is parked at the drop-off parking space of the platform, wherein the parking spaces other than the departure parking space among the parking spaces of the platform are the drop-off parking spaces;

According to the passenger loading state, generate and send the door control command of the vehicle getting off the parking space.
The method according to claim 6, wherein the step of generating and sending the door control instruction of the vehicle getting off the parking space according to the passenger-carrying state comprises the following steps:

When the vehicle in the parking space is in a state of carrying passengers, a door opening control command of the vehicle in the parking space is generated and sent, so as to control the opening of the door of the vehicle in the parking space.
The method according to claim 7, characterized in that, after the step of generating and sending a door opening control instruction of the vehicle in the parking space to control the opening of the door of the vehicle in the parking space when the vehicle in the parking space is in a state of carrying passengers, the method further comprises the following steps: step:

Make sure that the vehicle in the parking space is empty;

Generate and send the door closing control command of the empty vehicle in the parking space.
The method according to claim 6, wherein the step of generating and sending the door control instruction of the vehicle getting off the parking space according to the passenger-carrying state, further comprises the following steps:

Keep the doors closed when the vehicle is empty in the exit space.
The method according to claim 6, wherein the steps of determining the departure space where the vehicle is parked on the platform and determining the disembarking space where the vehicle is parked on the platform include the following steps:

determining that the vehicle is in a parked state according to the vehicle speed information from the speed sensor;

Determine the parking space information of the vehicle according to the beacon identification information from the beacon reader;

According to the parking space information, it is determined that the vehicle is located at the departure space or the parking space of the platform.
The method of claim 1, further comprising the steps of:

When receiving a vehicle door control command from the remote control center, the vehicle door switch state is controlled according to the vehicle door control command.
The method of claim 1, further comprising the steps of:

Make sure that the vehicle is parked at the drop-off space of the platform and is in an empty state, keep the door open or closed, and the door of the vehicle corresponds to the drop-off area;

Determine the departure space where the vehicle is parked on the platform, and the door of the vehicle corresponds to the waiting area;

The drop-off area and the waiting area are separated from each other.
A door control device for a vehicle, comprising:

a departure space determination module, configured to determine the departure space where the vehicle is parked on a platform, wherein the platform includes a plurality of parking spaces arranged in a preset order, and the most front of the parking spaces is the departure space;

The control module is used for generating and sending the door control instruction of the vehicle at the departure position according to the passenger loading state and the ride instruction, so as to control the opening and closing of the door of the vehicle at the departure position.
A door control system for a vehicle, further comprising:

one or more processors;

a storage device for storing one or more programs;

When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the vehicle door control method of any one of claims 1 to 12.