WO2022135495A1

WO2022135495A1 - Vehicle door control system and method, and vehicle

Info

Publication number: WO2022135495A1
Application number: PCT/CN2021/140583
Authority: WO
Inventors: 陶鹏鹏
Original assignee: 奇瑞汽车股份有限公司
Priority date: 2020-12-23
Filing date: 2021-12-22
Publication date: 2022-06-30
Also published as: CN112572112A

Abstract

A vehicle door control system, comprising a central processing unit, a monitoring module and a vehicle door control module. The monitoring module is configured to acquire reference information according to monitoring data, and transmit the reference information to the central processing unit, the reference information including at least one of information about the environment outside a vehicle and information about a user in the vehicle. The central processing unit is configured to calculate, according to the reference information, an angle to open a vehicle door, and transmit the open angle to the vehicle door control module. The vehicle door control module is configured to control the vehicle door according to the open angle. Further disclosed are a vehicle door control method and a vehicle. The vehicle door control system automatically controls, by means of the vehicle door control module, the vehicle door according to the open angle, improving the accuracy of control of the vehicle door. The user does not need to manually control the open angle of the vehicle door, and the invention achieves intelligence. Furthermore, in the process of opening the vehicle door according to the open angle, it is possible to prevent the vehicle door from colliding with the user and/or the vehicle door from colliding with an obstacle in the environment, thereby improving safety and improving user experience.

Description

Door control system and method, vehicle

This application claims the priority of the Chinese patent application with the application number 202011533862.2 and the application title "An automobile door control system and method, automobile" filed on December 23, 2020, the entire contents of which are incorporated in this application by reference .

technical field

The present application belongs to the technical field of vehicle management, and relates to a vehicle door control system and method, and a vehicle.

Background technique

With the continuous development of society, vehicles are more and more widely used in people's lives. Vehicles include a variety of components, one of which is the door. Accurate control of the door is conducive to ensuring the safety of the user when entering and leaving the vehicle.

SUMMARY OF THE INVENTION

The present application proposes a vehicle door control system and method, and a vehicle, so as to improve the accuracy of vehicle door control and the safety of users entering and exiting the vehicle.

The embodiment of the present application provides a vehicle door control system, the system includes a central processing unit, a monitoring module and a vehicle door control module, and the central processing unit is respectively connected to the monitoring module and the vehicle door control module;

The monitoring module is used to obtain reference information according to the monitoring data, and transmit the reference information to the central processing unit, where the reference information includes at least one kind of information among environmental information outside the vehicle and user information inside the vehicle;

The central processor is used to calculate the opening angle of the door according to the reference information, and transmit the opening angle to the door control module;

The door control module is used to control the doors according to the opening angle.

In an exemplary embodiment, the central processing unit is configured to determine the opening authority of the vehicle door, and calculate the opening angle of the vehicle door according to the opening authority of the vehicle door and the reference information, wherein the opening authority of the vehicle door is used to indicate whether the vehicle door can be opened.

In an exemplary embodiment, the central processing unit is configured to determine that the opening authority of the vehicle door indicates that the vehicle door can be opened when the automatic opening function of the vehicle door is enabled and at least one of the following conditions is met, and the condition includes: determining, based on environmental information, that there is no vehicle within a reference distance outside the vehicle. Obstacle; based on user information, it is determined that a user inside the vehicle has a door opening requirement; it is determined that the opening and closing state of the vehicle door is an open state.

In an exemplary embodiment, the central processing unit is configured to determine that the opening authority of the vehicle door indicates that the vehicle door can be opened when the automatic door opening function is turned off and any one of the following conditions is met, and the condition includes: determining that the vehicle door is within a reference distance outside the vehicle based on environmental information No obstacles; make sure the door is open.

In an exemplary embodiment, the central processing unit is configured to determine that the opening authority of the vehicle door indicates that the vehicle door cannot be opened when the automatic door opening function is enabled and any of the following conditions are met, and the condition includes: determining that the vehicle door is within a reference distance outside the vehicle based on environmental information There is an obstacle; it is determined based on the user information that the user inside the vehicle does not have a door opening requirement.

In an exemplary embodiment, the central processing unit is configured to determine that the opening authority of the vehicle door indicates that the vehicle door cannot be opened when the automatic door opening function is turned off and any of the following conditions are met, and the condition includes: determining that the vehicle door is within a reference distance outside the vehicle based on environmental information There is an obstacle; make sure the door is closed.

In an exemplary embodiment, the user information includes at least one of user physical information and user unlocking seat belt information, and the user physical information includes at least one of user standing up information and user turning information; wherein, in response to satisfying the user At least one of the unlocking seat belt information indicates that the user has unlocked the seat belt, the user getting up information indicates that the user has gotten up, and the user turning information indicates that the user has turned, then the user inside the vehicle has a door opening requirement; or, in response to satisfying the user unlocking safety If the belt information indicates that the user has not unlocked the seat belt, the user getting up information indicates that the user has not gotten up, and the user turning information indicates that the user has not turned, the user inside the vehicle does not have a door opening requirement.

In an exemplary embodiment, the system further includes an interaction module, the interaction module is connected to the central processing unit, the interaction module is used for determining a first signal through interaction with a user, and transmitting the first signal to the central processing unit, where the first signal is used to indicate The automatic vehicle door opening function is enabled or the vehicle door automatic opening function is disabled; the central processing unit is further configured to determine whether the vehicle door automatic opening function is enabled based on the first signal.

In an exemplary embodiment, the system further includes a door lock module and a power module, which are respectively connected to the central processing unit; the power module is used for sensing the power status of the vehicle and transmitting the power status to the central processing unit; the central processing The controller is further configured to determine that the vehicle door can be unlocked in response to the power state meeting the reference condition, and transmit a second signal to the vehicle door lock module; the vehicle door lock module is used to unlock the vehicle door according to the second signal; the central processing unit is used to determine that the vehicle door can be unlocked under the condition , and then determine the opening authority of the vehicle door, and calculate the opening angle of the vehicle door according to the opening authority of the vehicle door and the reference information.

In an exemplary embodiment, the system further includes a prompting module, which is connected to the central processing unit; the monitoring module is further configured to transmit a third signal to the central processing unit when the monitoring data is not acquired; the central processing unit is also used Based on the third signal instructing the prompting module to send a prompting message, the prompting message is used to prompt that the vehicle door fails to open.

In an exemplary embodiment, the monitoring module includes a camera inside the vehicle, a pressure sensor located on a seat inside the vehicle, and a seatbelt unlocking component located in a seatbelt locking structure inside the vehicle, and the monitoring data includes camera shots inside the vehicle The vehicle interior image, the pressure data sensed by the pressure sensor, and the seatbelt unlocking data sensed by the seatbelt unlocking component; the user's body information is obtained based on at least one of the vehicle interior image and pressure data, and the user unlocking seatbelt information is based on the vehicle interior image and At least one of the seat belt unlocking data is acquired.

In an exemplary embodiment, the monitoring module includes a camera outside the vehicle and a radar sensor, the monitoring data includes an image outside the vehicle captured by the camera outside the vehicle and position data detected by the radar sensor, and the environmental information is based on at least one of the image outside the vehicle and the position data. an acquisition.

The embodiment of the present application provides a vehicle door control method. The method is applied to a vehicle door control system. The system includes a central processing unit, a monitoring module, and a vehicle door control module. The central processing unit is respectively connected to the monitoring module and the vehicle door control module. The method includes:

The monitoring module obtains reference information according to the monitoring data, and transmits the reference information to the central processing unit, where the reference information includes at least one of environmental information outside the vehicle and user information inside the vehicle;

The central processor calculates the opening angle of the door according to the reference information, and transmits the opening angle to the door control module;

The door control module controls the doors according to the opening angle.

In an exemplary embodiment, the central processor calculates the opening angle of the vehicle door according to the reference information, including: the central processor determines the opening authority of the vehicle door, and calculates the opening angle of the vehicle door according to the opening authority of the vehicle door and the reference information, wherein the opening authority of the vehicle door Used to indicate whether the door can be opened.

In an exemplary embodiment, the central processing unit determining the opening authority of the vehicle door includes: the central processing unit determining that the vehicle door opening authority indicates that the vehicle door can be opened when the automatic door opening function is enabled and at least one of the following conditions is met, the conditions including: It is determined based on the environmental information that there is no obstacle within the reference distance outside the vehicle; it is determined based on the user information that a user inside the vehicle has a door opening requirement; and the opening and closing state of the vehicle door is determined to be an open state.

In an exemplary embodiment, the central processing unit determining the opening authority of the vehicle door includes: when the automatic vehicle door opening function is turned off and at least one of the following conditions is satisfied, the central processing unit determines that the vehicle door opening authority indicates that the vehicle door can be opened, and the conditions include: Based on the environmental information, it is determined that there is no obstacle within the reference distance outside the vehicle; it is determined that the opening and closing state of the vehicle door is an open state.

In an exemplary embodiment, determining the opening authority of the vehicle door by the central processing unit includes: when the automatic door opening function of the vehicle is enabled and any of the following conditions are met, the central processing unit determines that the opening authority of the vehicle door indicates that the vehicle door cannot be opened, and the conditions include: Based on the environmental information, it is determined that there is an obstacle within the reference distance outside the vehicle; it is determined based on the user information that the user inside the vehicle does not have a door opening requirement.

In an exemplary embodiment, the central processing unit determining the opening authority of the vehicle door includes: the central processing unit determining that the vehicle door opening authority indicates that the vehicle door cannot be opened when the automatic door opening function is turned off and any of the following conditions are met, the conditions including: Based on the environmental information, it is determined that there is an obstacle within the reference distance outside the vehicle; it is determined that the opening and closing state of the vehicle door is the closed state.

In an exemplary embodiment, the system further includes an interaction module, the interaction module is connected to the central processing unit, and the method further includes: the interaction module determines a first signal through interaction with a user, and transmits the first signal to the central processing unit, and the first signal uses for instructing to open the automatic door opening function or to close the automatic opening function of the vehicle door; the central processing unit determines whether the automatic opening function of the vehicle door is enabled based on the first signal.

In an exemplary embodiment, the system further includes a door lock module and a power module, the door lock module and the power module are respectively connected to the central processing unit, and the method further includes: the power module senses the power state of the vehicle, and transmits the power state to the central processing unit; In response to the power state meeting the reference condition, the central processing unit determines that the vehicle door can be unlocked, and transmits a second signal to the door lock module; the vehicle door lock module unlocks the vehicle door according to the second signal; the central processing unit determines the opening authority of the vehicle door, according to the door opening authority and Calculating the opening angle of the vehicle door with reference information includes: when the central processor determines that the vehicle door can be unlocked, then determines the opening authority of the vehicle door, and calculates the opening angle of the vehicle door according to the opening authority of the vehicle door and the reference information.

In an exemplary embodiment, the system further includes a prompting module, the prompting module is connected to the central processing unit, and the method further includes: the monitoring module transmits a third signal to the central processing unit when the monitoring data is not obtained; the central processing unit is based on the The third signal instructs the prompting module to send a prompting message, and the prompting message is used to prompt that the vehicle door fails to open.

An embodiment of the present application provides a vehicle, and the vehicle includes the door control system provided by any of the exemplary embodiments of the present application.

In the technical solutions provided by the embodiments of the present application, the central processing unit calculates the opening angle of the vehicle door, and the vehicle door control module automatically controls the vehicle door according to the opening angle, thereby improving the accuracy of controlling the vehicle door. Therefore, there is no need for the user to manually control the opening angle of the door, which is more intelligent. Moreover, the opening angle is calculated and obtained by the central processing unit according to the reference information, and the reference information includes at least one of environmental information and user information. Therefore, in the process of controlling the vehicle door according to the opening angle, the collision between the vehicle door and the user and/or the collision between the user and an obstacle in the environment can be avoided, thereby improving safety and improving user experience.

The present application provides a vehicle door control system, the control system includes a central processing unit, a monitoring module and a vehicle door control module; the central processing unit is electrically connected to the monitoring module and the vehicle door control module, respectively;

The monitoring module is used to monitor the movement information of the people in the car and the environmental information outside the car, and transmit it to the central processing unit;

The central processing unit determines whether to activate the automatic door opening function according to the movement information of the people in the vehicle and the environmental information outside the vehicle monitored by the monitoring module; when the central processing unit determines that the automatic door opening function can be activated, the central processing unit monitors the vehicle according to the monitoring module. External environmental information, calculate the door opening angle of the vehicle, and open or not open the vehicle door through the door control module; when the central processor determines that the automatic door opening function cannot be activated, the door control module controls not to open the vehicle door;

The door control module is used to control the opening and closing of the door and the angle of the door opening.

Further, the control system further includes a door lock module, which is electrically connected to the central processing unit; the door lock module is used to control the locking and unlocking of the vehicle door according to the driving state of the vehicle and the opening state of the automatic door opening function; the central processing unit It is also electrically connected with the audio host of the vehicle, and the audio host is used to provide the central processing unit with a signal for the automatic door opening function of the vehicle.

Further, the door control module includes a door switch controller and a door opening angle controller; the door switch controller is used to control the opening and closing of the door according to the control signal of the central processing unit; the door opening angle controller is used according to the control of the central processing unit. signal to control the angle of the door; when the door is opened to an angle, the door lock module is also used to lock the door or lock the door; when the central processor receives the movement information of the people inside the car and the environment outside the car provided by the monitoring module When the information is not sufficient to open the door, the central processing unit displays the failure signal of the door opening in the vehicle's instrument pop-up window.

Further, the control system also includes a vehicle power supply module; the vehicle power supply module is electrically connected to the central processing unit, and provides the vehicle vehicle power supply signal to the central processing unit; the central processing unit is turned off according to the received vehicle power supply signal. , it will determine that the door meets the unlocking conditions, and control the vehicle to unlock the door through the door lock module.

Further, the monitoring module includes an in-vehicle monitoring camera and a radar sensor; the in-vehicle monitoring camera is used to detect the information of getting up, turning around and/or unfastening the seat belt of the person in the vehicle, and transmit it to the central processing unit; the radar sensor is used for Detects obstacle information within a preset distance around the vehicle, and transmits it to the central processing unit; the central processing unit calculates the opening angle of the door according to the obstacle information.

Further, the monitoring module also includes an outside monitoring camera, a pressure sensor and a seat belt unlocking component; the outside monitoring camera is used to detect obstacle information within a preset distance outside the vehicle and transmit it to the central processing unit; the pressure sensor is arranged on the vehicle. On the inner seat, it is used to detect the weight information of the occupants in the vehicle and transmit it to the central processing unit; the seat belt unlocking component is arranged in the seat belt locking structure to detect the unfastening information of the seat belt and transmit it to the central processing unit device.

Correspondingly, the present application also provides a vehicle door control method, which is applied to the above-mentioned vehicle door control system; the control method further includes the following processes:

S1: The user activates the automatic door opening function on the audio host of the vehicle, and the monitoring module of the vehicle detects the movement information of the people in the vehicle and the environmental information outside the vehicle, and transmits it to the central processing unit;

S2: The central processor determines whether to open the door according to the movement information of the people inside the vehicle and the environmental information outside the vehicle monitored by the monitoring module;

S3: When the central processing unit determines that the door can be opened, the central processing unit monitors the environmental information outside the vehicle according to the monitoring module, and calculates the door opening angle of the vehicle; when the central processing unit determines that the door cannot be opened, the central processing unit does not calculate the door opening angle. Or calculate the door opening angle to zero;

S4: The door control module controls the door to open the corresponding angle according to the door opening angle calculated by the central processor.

Further, the monitoring module includes an in-vehicle monitoring camera and a radar sensor; in step S2, the central processing unit detects, according to the in-vehicle monitoring camera, information about getting up, turning around and/or releasing the seat belt, and the radar sensor detects The information of obstacles within a preset distance around the outside of the car is determined to determine whether to open the door.

Further, in step S2, the central processor also determines that the door meets the unlocking condition according to the received power signal of the whole vehicle is off, and controls the vehicle to unlock the door through the door lock module.

Further, in step S4, when the vehicle door is opened at an angle, the vehicle door lock module is further used to lock the vehicle door or lock the vehicle door.

Further, in step S1, when the user turns off the automatic door opening function on the audio host of the vehicle, the user needs to manually open the vehicle door.

Further, in step S2, when the central processing unit receives the action information of the occupants in the vehicle and the environmental information outside the vehicle provided by the monitoring module and does not satisfy the door opening, the central processing unit displays the failure signal of the door opening in the instrument pop-up window of the vehicle. , the pop-up window of the instrument prompts "Failed to open the door automatically, please open the door manually", and the door lock module of the vehicle controls the door unlocking according to the driving state of the vehicle.

Further, in step S2, the central processor detects the safety according to the obstacle information within the preset distance outside the vehicle detected by the outside monitoring camera, the weight information of the occupants in the vehicle detected by the pressure sensor, and/or the seat belt unlocking component. The unlock message of the belt is used to determine whether to open the door.

Further, in step S3, before the central processing unit determines that the door can be opened, the central processing unit is also in an unlocked state through the door lock module of the vehicle.

Correspondingly, the present application also provides an automobile, including the above-mentioned automobile door control system; or, including the above-mentioned automobile door control method.

The solution provided by this application can reduce the accidental opening of the door and cause injury to the passing personnel and vehicles; reduce the excessive opening angle, which causes the vehicle to collide with the surrounding steps, etc., causing damage to the appearance of the vehicle; and bring convenience to passengers to get off the car , to improve the comfort and sense of luxury of vehicle use.

Description of drawings

The present application will be described in further detail below with reference to the accompanying drawings and specific embodiments.

The application will be further described below in conjunction with the accompanying drawings:

1 is a schematic diagram of an embodiment of a vehicle door control system of the application;

2 is a schematic diagram of an embodiment of a vehicle door control system of the application;

3 is a flowchart of a method for controlling a vehicle door of the application;

4 is a schematic structural diagram of a vehicle door control system of the application;

5 is a schematic structural diagram of a vehicle door control system of the application;

FIG. 6 is a flowchart of a vehicle door control method of the application;

FIG. 7 is a flowchart of a vehicle door control method of the application;

FIG. 8 is a flowchart of a vehicle door control method of the application;

FIG. 9 is a flowchart of a vehicle door control method of the application;

FIG. 10 is a schematic diagram of a vehicle of the application.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are only used to explain the present application, but not to limit the present application.

It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of this application, "plurality" means two or more, unless expressly defined otherwise. "Several" means one or more than one, unless expressly defined otherwise.

In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. are based on those shown in the accompanying drawings. The orientation or positional relationship is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present application.

In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; may be mechanical connection or electrical connection; may be direct connection or indirect connection through an intermediate medium, may be internal communication between two elements or an interaction relationship between the two elements. For those of ordinary skill in the art, the meanings of the above terms in the present application can be understood according to the situation.

As shown in FIG. 1 , the present application provides an automobile door control system, which can be used in automobiles; wherein, the control system includes a central processing unit, a monitoring module and a door control module; the central processing unit is respectively connected with the monitoring module and the door control module. An electrical connection, such as a communication connection, enables signal transmission; optionally,

The central processing unit determines whether to activate the automatic door opening function according to the movement information of the people in the vehicle and the environmental information outside the vehicle monitored by the monitoring module; and when the central processing unit determines that the automatic door opening function can be activated, the central processing unit monitors according to the monitoring module. Environmental information outside the car, calculate the door opening angle of the vehicle, and open or not open the door of the vehicle through the door control module; when the central processor determines that the automatic door opening function cannot be activated, the door control module controls not to open the vehicle door;

The vehicle door control module is used to control the opening and closing of the vehicle door and the opening angle of the vehicle door according to the control signal of the central processing unit; optionally, the control signal of the central processing unit includes an unlocking signal or a non-unlocking signal.

The present application provides a vehicle door control system, which can control the automatic opening of the vehicle door, automatically monitor the state of the vehicle and personnel after the vehicle is parked, and actively control the opening and closing angle of the vehicle door, thereby bringing safety and convenience to passengers and improving the comfort of vehicle use. Sex and luxury.

Optionally, in combination with the above solutions, as shown in FIG. 1 to FIG. 2 , the present application provides an automobile door control system further comprising a door lock module, which is electrically connected to the central processing unit; The driving state and the opening state of the automatic door opening function control the locking and unlocking of the door; the central processing unit is also electrically connected with the audio host of the vehicle, and the audio host is used to provide the central processing unit with a signal for the automatic door opening function, that is, the user It can be operated in the audio host to realize the opening and closing of the automatic door opening function.

Optionally, in combination with the above solutions, as shown in FIG. 1 to FIG. 2 , the door control module includes a door switch controller and a door opening angle controller; wherein, the door switch controller is used to control the door opening and closing according to the control signal of the central processing unit. Open and close; the door opening angle controller is used to control the angle of the door according to the control signal of the central processor; That is, the door lock module is used to maintain the opening angle of the door; when the central processor receives the action information of the people inside the car and the environmental information outside the car provided by the monitoring module, when the door is not enough to open the door, the central processor sends the door opening failure signal to the vehicle's door. It is displayed in the instrument pop-up window, and the instrument pop-up window prompts "Failed to open the door automatically, please open the door manually", and at the same time control the door lock module to keep the original state.

Optionally, in combination with the above solutions, as shown in FIG. 1 to FIG. 2 , the present application provides an automobile door control system further comprising a vehicle power module; the vehicle power module is electrically connected to the central processing unit, and reports to the central processing unit. Provide the vehicle power supply signal; optionally, when the central processor is turned off according to the received vehicle power supply signal (that is, the vehicle is in the OFF gear), it will determine that the door meets the unlocking condition, and control it through the door lock module The vehicle unlocks the doors for automatic opening.

Optionally, in combination with the above solutions, as shown in FIG. 1 to FIG. 2 , the monitoring module includes an in-vehicle monitoring camera and a radar sensor; Or unlock the seat belt information and transmit it to the central processing unit; the radar sensor is used to detect the obstacle information within a preset distance around the vehicle and transmit it to the central processing unit; the central processing unit calculates the opening angle of the door according to the obstacle information Size; using the above scheme, the realization of the entire automatic door opening is controlled through mutual communication between the radar around the vehicle body, the in-vehicle camera and the door opening angle controller.

Optionally, in combination with the above solutions, as shown in FIG. 1 to FIG. 2 , the monitoring module further includes an outside monitoring camera, a pressure sensor and a seat belt unlocking component; wherein, the outside monitoring camera is used to detect a vehicle within a preset distance outside the vehicle. The obstacle information is transmitted to the central processing unit; the pressure sensor is arranged on the seat in the car to detect the weight information of the occupant in the car and transmit it to the central processing unit, that is, the pressure sensor detects the pressure of the person on the seat by detecting the pressure of the occupant. To judge whether the person has got off the car; the seat belt unlocking component is arranged in the seat belt locking structure to detect the unlocking information of the seat belt and transmit it to the central processor; The internal camera and the door opening angle controller communicate with each other to control the realization of the entire automatic door opening.

Correspondingly, in combination with the above solutions, as shown in FIG. 1 to FIG. 3 , the present application further provides a vehicle door control method, which is applied to the above-mentioned vehicle door control system; wherein, the control method further includes the following processes:

The application also provides a vehicle door control method, which automatically monitors the behavior status of the vehicle and the user after the vehicle is parked, actively controls the switch and angle of the vehicle door, brings safety and convenience for the user to get out of the vehicle, and improves the comfort and sense of luxury in use of the vehicle.

Optionally, in combination with the above solutions, as shown in FIG. 1 to FIG. 3 , the monitoring module includes an in-vehicle monitoring camera and a radar sensor; in step S2, the central processing unit detects the getting-up information of the person in the vehicle according to the in-vehicle monitoring camera, and turns around. information and/or unlocking the seat belt information and the obstacle information within a preset distance around the vehicle detected by the radar sensor to determine whether to open the door.

Optionally, in combination with the above solutions, as shown in FIG. 1 to FIG. 3 , in step S2, the central processing unit will also judge that the door meets the unlocking condition according to the received power signal of the whole vehicle is turned off, and pass the door lock module. to control the vehicle to unlock the door; optionally, the central processing unit will first determine that the conditions for unlocking the door are met when the power state of the entire vehicle is OFF. At this time, the central processing unit will control the vehicle to unlock the door; when the radar sensor detects When there is no obstacle around the body, this signal is used by the central processor to receive and calculate the opening angle; at the same time, the personnel status monitoring camera detects that the person has unfastened the seat belt (not necessary, only the front seat belt is temporarily defined) and When getting up and getting off the car, the central controller receives the signal and then outputs the door opening angle and the door opening signal to the door opening angle controller to open the door at a specific angle.

Optionally, in combination with the above solutions, as shown in Figures 1 to 3, in this embodiment, when the car is parked, the automatic door opening function can be controlled by the soft switch in the audio host to turn on and off this function, and the whole vehicle can be automatically opened. The first time the power is turned on by default, the memory function needs to be maintained after the setting is turned on or off; if this function is turned off on the audio host side, the user can unlock the door through the traditional mechanical handle, and at the same time, the central processing unit continues to receive the corresponding radar sensor. Signal processing and judgment; when the radar sensor detects that there are no obstacles around the body, this signal is used by the central processor to receive and calculate the opening angle, and then control the door to open at a certain angle; at this time, if the passenger continues to apply the manual door opening force, the door can continue to increase the opening angle.

Optionally, in combination with the above solutions, as shown in FIG. 1 to FIG. 3 , in step S4, after the vehicle door is opened by an angle, the vehicle door lock module is also used to lock the vehicle door or lock the vehicle door; After opening an angle, the door lock module locks the door, and the passenger continues to apply the manual door opening force, and the door can continue to increase the opening angle.

Optionally, in combination with the above solutions, as shown in Figures 1 to 3, in step S1, when the user turns off the automatic door opening function on the audio host of the vehicle, the user needs to manually open the door; when the audio host side This function is enabled by default, and the central processing unit will receive and process all relevant controller signals, and the door opening function will work normally at this time.

Optionally, in combination with the above solutions, as shown in Figures 1 to 3, in step S2, when the central processing unit receives the movement information of the occupants in the vehicle and the environmental information outside the vehicle provided by the monitoring module and does not satisfy the door opening, the central processing unit Display the failure signal of door opening in the vehicle's instrument pop-up window, and the instrument pop-up window prompts "Failed to open the door automatically, please open the door manually", and the door lock module of the vehicle controls the door to unlock according to the driving state of the vehicle; for example, if Under the condition that the vehicle is unlocked, when the personnel status monitoring camera or radar sensor fails to recognize the work, it is necessary to send a failure signal to the central processing unit. "Automatic door opening failed, please open the door manually" is displayed,

Optionally, in combination with the above solutions, as shown in Figures 1 to 3, in step S2, the central processing unit is based on the obstacle information within the preset distance outside the vehicle detected by the outside monitoring camera, and the inside of the vehicle detected by the pressure sensor. The person's weight information and/or the seat belt unlocking component detects the unwinding information of the seat belt to determine whether to open the door.

Optionally, in combination with the above solutions, as shown in FIG. 1 to FIG. 3 , in step S3, before the central processing unit determines that the door can be opened, the central processing unit is also in an unlocked state through the door lock module of the vehicle.

Optionally, in combination with the above solutions, as shown in FIG. 1 to FIG. 3 , the implementation process of an embodiment of the solution provided by the present application includes: when the vehicle is parked, it is just parked next to obstacles such as flower beds and curbs near the roadside. Or when there are other vehicles in the parking space around the parking space; the radar sensor will send the signal based on the judged obstacle distance to the central processing unit, and the central processing unit will calculate the angle at which the door can be opened to control the angle of automatic opening of the door, so as not to manually open the door. The door opening angle is too large, causing damage to your own car door on flower beds or curbs, or the door opening angle is too large and smashing into surrounding vehicles, causing damage to the appearance of others or your own vehicle; Parts such as unlocking parts are tested.

Optionally, in combination with the above solutions, as shown in FIG. 1 to FIG. 3 , the implementation process of another embodiment of the solution provided by the present application includes: when an elderly person is loaded on the vehicle or the passenger has something on his hand that is inconvenient to open the door, When the in-car camera detects that the user has unfastened the seat belt and turned around, combined with the monitoring status of the radar, the door is opened at a certain angle, which is convenient for the user to get off the car; Parts such as unlocking parts are tested.

Correspondingly, in combination with the above solutions, as shown in FIG. 1 to FIG. 3 , the present application further provides an automobile, including the above-mentioned automobile door control system; or, including the above-mentioned automobile door control method.

Embodiments of the present application provide a vehicle door control system, which can be applied to a vehicle. As shown in Figure 4, the system includes a central processing unit, a monitoring module and a door control module, and the central processing unit is respectively connected with the monitoring module and the door control module. The monitoring module is configured to acquire reference information according to the monitoring data, and transmit the reference information to the central processing unit, where the reference information includes at least one of environmental information outside the vehicle and user information inside the vehicle. The central processing unit is used to calculate the opening angle of the vehicle door according to the reference information, and transmit the opening angle to the vehicle door control module. The door control module is used to control the door according to the opening angle.

Exemplarily, referring to FIG. 5 , the system further includes an interaction module, a door lock module, a power supply module and a prompt module connected with the central processing unit. The interaction module is used for interacting with the user inside the vehicle, so that the user can choose to enable the automatic door opening function or disable the automatic door opening function, and transmit a signal to the central processing unit according to the user's selection. The door lock module is used to control the locking and unlocking of the door according to the signal sent by the central processing unit. The power module is used to sense the power state of the vehicle and transmit the power state to the central processing unit. The prompt module is used for sending prompt messages according to the signals sent by the central processing unit. In some embodiments, the above-mentioned signals are all CAN (Controller Area Network, controller area network) signals.

For detailed functions of the central processing unit and other various modules included in FIG. 4 and FIG. 5, reference may be made to the descriptions in the method embodiments below, which will not be repeated here for the time being.

Based on the vehicle door control system shown in FIG. 4 and FIG. 5 , an embodiment of the present application provides a vehicle door control method. The method is applied to the vehicle door control system, and is executed by a monitoring module, a central processing unit, and a vehicle door control module in the vehicle door control system. Take this method as an example. Referring to Figure 6, the method includes the following steps.

Step 601 , the monitoring module obtains reference information according to the monitoring data, and transmits the reference information to the central processing unit, where the reference information includes at least one of environmental information outside the vehicle and user information inside the vehicle.

The reference information is used by the central processor to calculate the opening angle of the vehicle door. Since the central processing unit needs to use the reference information, the monitoring module transmits the reference information to the central processing unit after acquiring the monitoring data and obtaining the reference information according to the monitoring data. For ease of understanding, next, the environmental information and the user information will be described separately.

Environment information: The environment information includes, but is not limited to, obstacle information within a reference distance outside the vehicle, which is not limited in this embodiment. Wherein, the obstacle information refers to information of obstacles that appear outside the vehicle (for example, around the door), and the obstacles are, for example, buildings (such as flower beds, road shoulders, traffic cones, etc.), pedestrians, and other vehicles. Exemplarily, the obstacle information includes, but is not limited to, the size of the obstacle, the distance between the obstacle and the door, and the like. If the obstacle can move, the obstacle information may also include the movement rule of the obstacle. This implementation does not limit the reference distance, and the reference distance can be set according to experience.

Exemplarily, the monitoring module includes a camera outside the vehicle and a radar sensor, and the monitoring data includes an image outside the vehicle captured by the camera outside the vehicle, and position data detected by the radar sensor. The aforementioned environmental information is acquired based on at least one of an external image of the vehicle and position data.

User information: User information includes, but is not limited to, at least one of user physical information and user unlocking seat belt information. Exemplarily, the user's body information includes at least one of the user's getting up information and the user's turning information. The user getting up information is used to indicate whether the user gets up, the user turning information is used to indicate whether the user turns around, and the user unlocking seat belt information is used to indicate whether the user unlocks the seat belt.

Exemplarily, the monitoring module includes a camera inside the vehicle, a pressure sensor and a seatbelt unlocking component, the pressure sensor is located on a seat inside the vehicle, and the seatbelt unlocking component is located in a seatbelt locking structure inside the vehicle. The monitoring data includes the vehicle interior image captured by the camera inside the vehicle, the pressure data sensed by the pressure sensor, and the seatbelt unlocking data sensed by the seatbelt unlocking component (that is, whether the seatbelt is unlocked). Wherein, the user's body information is acquired based on at least one of the vehicle interior image and pressure data, and the user unlocking seat belt information is acquired based on at least one of the vehicle interior image and the seat belt unlocking data.

Step 602, the central processor calculates the opening angle of the vehicle door according to the reference information, and transmits the opening angle to the vehicle door control module.

In an exemplary embodiment, the central processor calculates the opening angle of the vehicle door according to the reference information, including: the central processor determines the opening authority of the vehicle door, calculates the opening angle of the vehicle door according to the opening authority of the vehicle door and the reference information, and the opening authority of the vehicle door is used for Indicates whether the door can be opened. Wherein, the central processing unit determines the opening authority of the vehicle door, including the following situations A1-A4.

Situation A1: When the automatic door opening function is enabled and at least one of the following conditions is met, the central processing unit determines that the door opening authority indicates that the vehicle door can be opened. The conditions include: determining that there is no obstacle within the reference distance outside the vehicle based on environmental information, and The user information determines that a user inside the vehicle has a door opening requirement, and determines that the opening and closing state of the vehicle door is an open state.

Wherein, in the case where it is determined based on the environmental information that there is no obstacle within the reference distance outside the vehicle, it means that opening the door will not collide with the obstacle, which has a certain degree of safety. In the case that the user has a demand for opening the vehicle door, it means that the user has the willingness to open the vehicle door.

Wherein, whether the user has a door opening requirement is determined based on user information. According to the above description, the user information includes at least one of the user's body information and the user's unlocking seat belt information, and the user's body information includes at least one of the user's getting up information and the user's turning information. Then, in response to satisfying at least one of the user unlocking seat belt information indicating that the user has unlocked the seat belt, the user getting up information indicating that the user has gotten up, and the user turning information indicating that the user has turned, it may be determined that the user inside the vehicle has a door opening requirement.

In some embodiments, when the user unlocking seat belt information indicates that the user has unlocked the seat belt, the user getting up information indicates that the user has gotten up, and the user turning information indicates that the user has turned, and the sequence satisfies the requirements, it is determined that the user inside the vehicle has the door open need. For example, the required sequence is: user turned around, user unlocked seat belt, user got up. Then, if it is first determined that the user has turned based on the user turning information, then it is determined that the user has unlocked the seat belt based on the user unlocking seat belt information, and then it is determined that the user has stood up based on the user getting up information, it is determined that the user inside the vehicle has a door opening requirement. Of course, based on the user information, this embodiment may also determine whether the user has a door opening requirement in other ways, which is not limited herein.

Additionally, in some embodiments, the opening and closing states of the doors may be controlled by a user inside the vehicle, or by other users outside the vehicle. Therefore, when the opening and closing state of the vehicle door is the open state, it means that the user has manually opened the vehicle door. Exemplarily, a mechanical switch is provided in the vehicle, and the user controls the opening and closing state of the vehicle door by controlling the mechanical switch. Of course, the user can also control the opening and closing state of the vehicle door through other means such as voice, gesture, etc., which is not limited in this embodiment. No matter how the user controls the opening and closing state of the vehicle door, the vehicle door control module can sense the opening and closing state of the vehicle door and transmit the opening and closing state to the central processing unit.

In some embodiments, referring to FIG. 7 , when the automatic door opening function is turned on, the central processing unit determines that there is no obstacle within a reference distance outside the vehicle based on the determination of environmental information by the monitoring module, and determines that there is no obstacle within the vehicle based on the determination of user information by the monitoring module. In the case that the user has a demand for opening the vehicle door, the central processor determines that the opening authority of the vehicle door indicates that the vehicle door can be opened.

Based on the description in Situation A1, it can be seen that when the automatic door opening function has been used, the embodiment of the present application can automatically open the vehicle door. This method is intelligent and convenient, and is suitable for the situation where it is inconvenient for the user to manually open the vehicle door, which is conducive to improving user experience. . For example, it is suitable for situations where it is difficult for a user to manually open a car door due to the item being held. Of course, in the case where the automatic door opening function is used, the user can still manually open the vehicle door, and is not limited to the above-mentioned method of automatically opening the vehicle door.

Situation A2: When the automatic door opening function is turned off and at least one of the following conditions is satisfied, the central processing unit determines that the opening authority of the vehicle door indicates that the vehicle door can be opened. The opening and closing state of the door is the open state.

Wherein, based on the environmental information, it is determined that there is no obstacle within the reference distance outside the vehicle, and that the opening and closing state of the vehicle door is determined to be the open state, both refer to the description in Case A1, and will not be repeated here. In some embodiments, referring to FIG. 8 , when the automatic door opening function is turned off, the central processing unit determines that there is no obstacle within a reference distance outside the vehicle based on the environmental information of the monitoring module, and determines that the opening and closing state of the vehicle door is open based on the door control module In the case of the state, the central processor determines that the opening authority of the vehicle door indicates that the vehicle door can be opened. After that, the central processor can also open the door based on the door control module.

Based on the description in Situation A2, it can be known that in the case where the automatic door opening function is not used, the user can manually open the vehicle door according to his actual needs.

In case A3, when the automatic door opening function is enabled and any of the following conditions are met, the central processing unit determines that the door opening authority indicates that the door cannot be opened. The conditions include: determining that there is an obstacle within the reference distance outside the vehicle based on environmental information It is determined based on the user information that the user inside the vehicle does not have a door opening requirement.

Among them, if there is an obstacle within the reference distance outside the vehicle based on the environmental information, it means that opening the door may collide with the obstacle and the safety is low, so as long as it is determined based on the environmental information that there is an obstacle within the reference distance outside the vehicle obstacles, the central processor determines that the door opening authority indicates that the door cannot be opened. In the case that the user inside the vehicle does not have the need to open the door, it means that the user does not have the will to get out of the vehicle, and opening the door may go against the user's will. Therefore, as long as the user does not have the door opening demand, the central processor determines that the opening authority of the vehicle door indicates that the vehicle door cannot be opened.

The door opening requirement is determined based on user information. According to the above description, the user information includes at least one of the user's body information and the user's unlocking seat belt information, and the user's body information includes at least one of the user's getting up information and the user's turning information. Then, in response to the user unlocking seat belt information indicating that the user does not unlock the seat belt, the user getting up information indicating that the user is not getting up, and the user turning information indicating that the user is not turning, the user inside the vehicle does not have a door opening requirement.

In case A4, the central processing unit is used to determine that the door opening authority indicates that the door cannot be opened when the automatic door opening function is turned off and any of the following conditions are met. The conditions include: determining that there is an obstacle within the reference distance outside the vehicle based on environmental information ; Make sure the door switch is closed.

Among them, in the case where it is determined that there is an obstacle within the reference distance outside the vehicle based on the environmental information, it means that opening the door may collide with the obstacle and the safety is low, so as long as the environmental information is that there is an obstacle within the reference distance outside the vehicle , the central processor determines that the door opening authority indicates that the door cannot be opened. Since the switch state is controlled by the user inside the vehicle, if the switch state is the off state, it means that the user does not manually open the door. Therefore, the central processing unit also determines that the opening authority of the vehicle door is not able to open the vehicle door.

In the above cases A1 and A3, the automatic door opening function is turned on. In the above cases A2 and A4, the automatic door opening function is turned off. Therefore, the central processing unit needs to determine whether the automatic door opening function is enabled, and the determination method includes the following cases B1 and B2.

Case B1: The central processing unit selects by default or randomly selects whether to enable the automatic door opening function, so as to determine whether to enable the automatic vehicle door opening function. For example, when the vehicle is used for the first time, the central processing unit selects to use the automatic door opening function by default, and determines that the automatic door opening function is enabled.

Case B2: The central processing unit determines whether to enable the automatic door opening function according to the user's selection. Exemplarily, after the user makes the selection, the central processor stores the user's selection. In the subsequent use of the vehicle, whether the automatic door opening function is enabled is determined according to the stored user selection.

Exemplarily, in the case B2, the system further includes an interaction module, and the interaction module is connected with the central processing unit. The method further includes: the interaction module determines a first signal through interaction with the user, and transmits the first signal to the central processing unit, where the first signal is used to instruct to enable the automatic door opening function or disable the automatic vehicle door opening function. The first signal also represents the user's selection, so the central processing unit determines whether the automatic door opening function is enabled based on the first signal.

Exemplarily, the interaction module includes, but is not limited to, an audio host, and this embodiment does not limit the interaction module. Exemplarily, the interaction module includes an open button and a close button, and the open button and the close button are physical buttons or virtual buttons. In response to sensing that the user selects the open button, the interaction module generates a first signal for instructing the opening of the automatic door opening function, and the central processor determines to enable the automatic opening function according to the first signal for instructing the opening of the automatic door opening function. In response to sensing that the user selects the close button, the interaction module generates a first signal for instructing closing the automatic door opening function, and the central processor determines to close the automatic door opening function according to the first signal indicating closing the automatic door opening function. In conclusion, referring to FIGS. 7 and 8 , the central processor determines whether the automatic door opening function is on or off based on the interaction module.

In addition, after the central processor determines the opening authority of the vehicle door, it needs to calculate the opening angle of the vehicle door according to the opening authority of the vehicle door and the reference information. Wherein, for the case where the opening authority of the vehicle door in the case A1 and the case A2 indicates that the vehicle door can be opened, the opening angle calculated by the central processing unit is a non-zero degree. For the case where the opening authority of the vehicle door in the case A3 and the case A4 indicates that the vehicle door cannot be opened, the opening angle calculated by the central processing unit is zero degrees.

Next, the case where the opening angle calculated by the central processing unit is non-zero degrees will be described, including the following three cases C1-C3.

Case C1: In response to the reference information including only environmental information, calculating the opening angle of the vehicle door according to the reference information includes: calculating the opening angle of the vehicle door according to the environmental information, so that during the process of opening the vehicle door to the opening angle, the distance between the vehicle door and the environment is different. The minimum distance between obstacles is not less than the first distance threshold. This embodiment does not limit the first distance threshold, and the first distance threshold is set according to experience.

For example, the obstacle in the environment is a road shoulder, the environmental information is the distance between the door and the road shoulder, and the calculated opening angle is 60 degrees. Then, during the process of opening the vehicle door from the closed state to 60 degrees, the minimum distance between the vehicle door and the road shoulder is not less than the first distance threshold, so that there will be no collision between the vehicle door and the road shoulder. Based on the opening angle calculated in the case C1, the door can be prevented from colliding with obstacles in the environment during the opening process. Therefore, it not only increases the safety, but also avoids the damage of the door due to the collision, and also avoids the impact on the obstacle. For example, if the obstacle is a pedestrian, it avoids affecting the safety of pedestrians. For another example, if the obstacle is another vehicle, the appearance of the other vehicle is avoided, that is, damage to the other vehicle is avoided. In addition, the user experience is also improved.

Case C2: In response to the reference information only including user information, calculating the opening angle of the vehicle door according to the reference information includes: calculating the opening angle of the vehicle door according to the user information, so that the vehicle door is opened to the opening angle in the process, and the subsequent user passes the vehicle door through the process of During the process, the minimum distance between the door and the user is not less than the second distance threshold. This embodiment does not limit the second distance threshold, and the second distance threshold is set according to experience.

For example, the user information includes user standing up information, user turning information, user unlocking seat belt information, and the like. Exemplarily, calculating the opening angle of the vehicle door according to the user information includes: determining at least one of a user body size and a user motion range according to the user information, and calculating the opening angle based on at least one of the user body size and the user motion range. Therefore, after the opening angle is calculated according to the user information, even if the user has a large movement range and/or a large body size, during the process of opening the door to the opening angle and the subsequent process of the user passing through the vehicle door, the vehicle door will not interact with the vehicle door. User collides. Therefore, based on the opening angle calculated in the case C2, the collision of the vehicle door with the user can be avoided. It ensures user security and improves user experience.

Case C3: In response to the reference information including both environmental information and user information, calculating the opening angle of the vehicle door according to the reference information includes: calculating the first opening angle of the vehicle door according to the environmental information, and updating the first opening angle according to the user information to obtain The opening angle of the door. Alternatively, the second opening angle of the vehicle door is calculated according to the user information, and the second opening angle is updated according to the environmental information to obtain the opening angle of the vehicle door. Wherein, the way of updating the first opening angle includes but not limited to increasing, decreasing or keeping the first opening angle unchanged, and the way of updating the second opening angle includes but not limited to increasing or decreasing the second opening angle small or remain the same. Based on the descriptions in the above cases C1 and C2, it can be seen that in case C3, the calculated opening angle can not only avoid the collision between the door and the obstacles in the environment, but also avoid the collision between the door and the user, which has high safety. sex and user experience.

In the above description, after the central processing unit determines the opening authority of the vehicle door, it calculates the opening angle of the vehicle door according to the reference information. In some embodiments, in response to determining that the door of the vehicle can be opened, the central processing unit calculates the opening angle of the vehicle door according to the reference information, including: when the central processing unit determines that the vehicle door can be unlocked, then determine the opening authority of the vehicle door, according to The opening authority of the door and the reference information calculate the opening angle of the door.

The central processing unit can determine whether the vehicle door can be unlocked in various ways, and this embodiment does not limit the unlocking method of the vehicle door. For example, the central processing unit controls the locking and unlocking of the doors according to the speed at which the vehicle is traveling. The door is controlled to lock in response to the travel speed of the vehicle being greater than the speed threshold. In response to the traveling speed of the vehicle being less than the speed threshold, the vehicle door is controlled to be unlocked, and the speed threshold is not limited in this embodiment. For another example, a vehicle is provided with a mechanical lock, and the user controls the locking and unlocking of the door by controlling the mechanical lock.

In an exemplary embodiment, the system further includes a door lock module and a power module, and the door lock module and the power module are respectively connected with the central processing unit. The method also includes: the power module senses the power state of the vehicle, and transmits the power state to the central processing unit. In response to the power state meeting the reference condition, the central processor determines that the vehicle door can be unlocked, and transmits a second signal to the vehicle door lock module. The vehicle door lock module is used for unlocking the vehicle door according to the second signal.

Referring to FIG. 7 , in response to determining that the power state meets the reference condition based on the power supply module, the central processor determines based on the monitoring module that there is no obstacle within the reference distance outside the vehicle and that a user inside the vehicle has a door opening demand, and determines that the vehicle door has been used based on the interaction module. If the automatic opening function is used, it is determined that the vehicle door can be unlocked, so that the vehicle door is unlocked based on the vehicle door lock module, and the vehicle door is opened according to the opening angle based on the vehicle door control module.

Exemplarily, the fact that the power state satisfies the reference condition means that the target component of the vehicle is powered off. Exemplarily, the target components of the vehicle include all the components of the vehicle, and the target components of the vehicle are powered off means that the entire vehicle is in a power-off state, which is also referred to as a power OFF state. Then, when the entire vehicle is in a power-off state, it is determined that the door can be unlocked. Alternatively, the target component of the vehicle refers to a part of the vehicle, such as the engine of the vehicle. Then, as long as the target part is in a power-off state, it is determined that the vehicle door can be unlocked regardless of whether other parts other than the target part are in a power-off state.

Step 603, the vehicle door control module controls the vehicle door according to the opening angle.

In step 602, the central processor calculates the opening angle of the vehicle door and transmits the opening angle to the vehicle door control module. Therefore, the door control module receives the opening angle and can control the door according to the opening angle. Wherein, if the opening angle is non-zero, the vehicle door control module controls the vehicle door according to the opening angle. Exemplarily, the vehicle door control module opens the vehicle door according to a reference rate, the reference rate is determined according to experience and set by the user, and the reference rate is not limited in this embodiment. Alternatively, if the opening angle is zero degrees, the door control module does not open the door.

In an exemplary embodiment, after the vehicle door control module controls the vehicle door according to the opening angle, the method further includes: in response to sensing the control force for the vehicle door, the vehicle door control module updates the opening angle of the vehicle door according to the control force. Wherein, after the vehicle door is opened to the opening angle, the user can also push the vehicle door or pull the vehicle door according to actual needs, and the vehicle door control module can sense the control force for the vehicle door. Therefore, the vehicle door control module updates the opening angle of the vehicle door according to the control force to meet the actual needs of the user. The user who pushes the door or pulls the door according to actual needs may be a user inside the vehicle or other users outside the vehicle.

In addition, the above steps 601-603 are aimed at the situation where the monitoring module can obtain monitoring data. In an exemplary embodiment, the system further includes a prompting module connected to the central processing unit. The method further includes: the monitoring module transmits a third signal to the central processing unit when the monitoring data is not acquired. The central processing unit instructs the prompting module to send a prompting message based on the third signal, where the prompting message is used to prompt that the vehicle door fails to open.

As can be seen from the above description, reference information can be obtained according to the monitoring data, and the reference information includes at least one of environmental information and user information. Therefore, referring to FIG. 9 , in the case where monitoring data is not acquired, at least one of environmental information and user information cannot be acquired. The central processor sends a prompt message in response to not acquiring the environmental information and/or the user information. For example, the central processing unit instructs the prompting module to send the prompting message according to the above description.

Among them, this embodiment does not limit the prompt module. According to the different prompt modules, the prompt message can include a variety of different message forms. For example, the prompt module is a dashboard, the prompt message is in the form of text or video, and the dashboard is displayed through a pop-up window. The prompt message in the form of text or video to prompt the user that the door fails to open. For another example, the prompt module is a speaker, the prompt message is in the form of audio, and the speaker plays the prompt message in the form of audio to prompt the user that the door fails to open.

In some embodiments, the central processing unit first determines whether the door can be unlocked. If the central processing unit determines that the door can be unlocked, but the monitoring module does not obtain monitoring data, the central processing unit instructs the prompting module to send a prompting message. If the central processing unit determines that the vehicle door cannot be unlocked, no matter whether the monitoring module acquires monitoring data, the central processing unit does not instruct the prompting module to send a prompting message. Thus, the processing resources of the central processing unit are saved.

To sum up, in the embodiment of the present application, the central processing unit calculates the opening angle of the vehicle door, and the vehicle door control module automatically controls the vehicle door according to the opening angle, which improves the accuracy of controlling the vehicle door. Therefore, there is no need for the user to manually control the opening angle of the door, which is more intelligent. Moreover, the opening angle is calculated and obtained by the central processing unit according to the reference information, and the reference information includes at least one of environmental information and user information. Therefore, in the process of controlling the vehicle door according to the opening angle, the collision between the vehicle door and the user and/or the collision between the vehicle door and the obstacles in the environment can be avoided, thereby improving safety and improving user experience.

Referring to FIG. 10 , an embodiment of the present application further provides a vehicle, where the vehicle includes the door control system provided by any of the exemplary embodiments of the present application. For the vehicle door control system, refer to the description corresponding to FIGS. 4-9 above, which will not be repeated here.

The above description is only an embodiment of the present application, and does not limit the present application in any form. Any person skilled in the art, without departing from the scope of the technical solution of the present application, can use the above-mentioned technical content to make many possible changes and modifications to the technical solution of the present application, or be modified to equivalent embodiments of equivalent changes. . Therefore, any modifications, equivalent changes and modifications made to the above embodiments according to the technology of the present application without departing from the content of the technical solution of the present application all belong to the protection scope of the present technical solution.

Claims

A vehicle door control system, characterized in that the system comprises a central processing unit, a monitoring module and a vehicle door control module, and the central processing unit is respectively connected to the monitoring module and the vehicle door control module;

The monitoring module is configured to acquire reference information according to the monitoring data, and transmit the reference information to the central processing unit, where the reference information includes at least one of environmental information outside the vehicle and user information inside the vehicle;

The central processing unit is configured to calculate the opening angle of the vehicle door according to the reference information, and transmit the opening angle to the vehicle door control module;

The vehicle door control module is used for controlling the vehicle door according to the opening angle.
The system according to claim 1, wherein the central processing unit is configured to determine the opening authority of the vehicle door, and calculate the opening angle of the vehicle door according to the opening authority of the vehicle door and the reference information, wherein the vehicle door is The open permission of is used to indicate whether the door can be opened.
The system according to claim 2, wherein the central processing unit is configured to determine that the opening authority of the vehicle door indicates that the vehicle door can be opened when the automatic opening function of the vehicle door is enabled and at least one of the following conditions is satisfied, and the conditions include: :

determining that there is no obstacle within a reference distance outside the vehicle based on the environmental information;

determining, based on the user information, that a user inside the vehicle has a door opening requirement;

It is determined that the opening and closing state of the vehicle door is an open state.
The system according to claim 2, wherein the central processing unit is configured to determine that the opening authority of the vehicle door indicates that the vehicle door can be opened when the automatic door opening function is turned off and any one of the following conditions is satisfied, and the condition include:

determining that there is no obstacle within a reference distance outside the vehicle based on the environmental information;

It is determined that the opening and closing state of the vehicle door is an open state.
The system according to claim 2, wherein the central processing unit is configured to determine that the opening authority of the vehicle door indicates that the vehicle door cannot be opened when the automatic door opening function is enabled and any one of the following conditions is satisfied, and the condition include:

determining that there is an obstacle within a reference distance outside the vehicle based on the environmental information;

It is determined based on the user information that a user inside the vehicle does not have a door opening requirement.
The system according to claim 2, wherein the central processing unit is configured to determine that the opening authority of the vehicle door indicates that the vehicle door cannot be opened when the automatic door opening function is turned off and any one of the following conditions is satisfied, and the condition include:

determining that there is an obstacle within a reference distance outside the vehicle based on the environmental information;

It is determined that the opening and closing state of the vehicle door is a closed state.
The system according to claim 3 or 5, wherein the user information includes at least one of user body information and user unlocking seat belt information, and the user body information includes the user standing up information and the user turning information. at least one kind of information;

Wherein, in response to satisfying at least one of the user unlocking the seat belt information indicating that the user has unlocked the seat belt, the user getting up information indicating that the user has gotten up, and the user turning information indicating that the user has turned, Then the user inside the vehicle has a door opening requirement;

Alternatively, in response to satisfying that the user unlocking seat belt information indicates that the user does not unlock the seat belt, the user getting up information indicates that the user is not getting up, and the user turning information indicates that the user is not turning, the vehicle interior of users do not have a door opening requirement.
The system according to any one of claims 3-6, wherein the system further comprises an interaction module, the interaction module is connected to the central processing unit, and the interaction module is configured to determine the first a signal, transmitting the first signal to the central processing unit, where the first signal is used to instruct to enable the automatic door opening function or disable the automatic vehicle door opening function;

The central processing unit is further configured to determine whether the automatic door opening function is enabled based on the first signal.
The system according to any one of claims 2-6, characterized in that, the system further comprises a door lock module and a power module, and the door lock module and the power module are respectively connected to the central processing unit;

The power module is used for sensing the power state of the vehicle, and transmitting the power state to the central processing unit;

The central processing unit is further configured to determine that the vehicle door can be unlocked in response to the power state meeting a reference condition, and transmit a second signal to the vehicle door lock module;

The vehicle door lock module is used for unlocking the vehicle door according to the second signal;

The central processing unit is configured to determine the opening authority of the vehicle door when it is determined that the vehicle door can be unlocked, and calculate the opening angle of the vehicle door according to the opening authority of the vehicle door and the reference information.
The system according to any one of claims 1-6, wherein the system further comprises a prompting module, the prompting module is connected to the central processing unit;

The monitoring module is further configured to transmit a third signal to the central processing unit when the monitoring data is not obtained;

The central processing unit is further configured to instruct the prompting module to send a prompting message based on the third signal, where the prompting message is used to prompt that the vehicle door fails to open.
8. The system of claim 7, wherein the monitoring module includes a camera inside the vehicle, a pressure sensor located on a seat inside the vehicle, and a safety device located in a seat belt locking structure inside the vehicle a belt unlocking component, the monitoring data includes an image of the vehicle interior captured by a camera inside the vehicle, pressure data sensed by the pressure sensor, and seatbelt unlocking data sensed by the seatbelt unlocking component;

The user body information is acquired based on at least one of the vehicle interior image and the pressure data, and the user unlocking seat belt information is acquired based on at least one of the vehicle interior image and the seat belt unlocking data.
The system according to any one of claims 1 to 6 and 11, wherein the monitoring module includes a camera and a radar sensor outside the vehicle, and the monitoring data includes an image outside the vehicle and all data captured by the camera outside the vehicle. The position data detected by the radar sensor is obtained, and the environment information is obtained based on at least one of the external image of the vehicle and the position data.
A vehicle door control method, characterized in that the method is applied to a vehicle door control system, the system comprising a central processing unit, a monitoring module and a vehicle door control module, the central processing unit being respectively connected with the monitoring module and the vehicle door control module Module connection, the method includes:

The monitoring module acquires reference information according to the monitoring data, and transmits the reference information to the central processing unit, where the reference information includes at least one of environmental information outside the vehicle and user information inside the vehicle;

The central processing unit calculates the opening angle of the vehicle door according to the reference information, and transmits the opening angle to the vehicle door control module;

The door control module controls the door according to the opening angle.
The method according to claim 13, wherein the central processing unit calculates the opening angle of the vehicle door according to the reference information, comprising:

The central processing unit determines the opening authority of the vehicle door, and calculates the opening angle of the vehicle door according to the opening authority of the vehicle door and the reference information, wherein the opening authority of the vehicle door is used to indicate whether the vehicle door can be opened.
The method according to claim 14, wherein determining the opening authority of the vehicle door by the central processing unit comprises:

The central processing unit determines that the vehicle door can be opened by the opening authority indication of the vehicle door when the automatic door opening function is enabled and at least one of the following conditions is satisfied, and the conditions include:

determining that there is no obstacle within a reference distance outside the vehicle based on the environmental information;

determining, based on the user information, that a user inside the vehicle has a door opening requirement;

It is determined that the opening and closing state of the vehicle door is an open state.
The method according to claim 14, wherein determining the opening authority of the vehicle door by the central processing unit comprises:

The central processing unit determines that the vehicle door can be opened by the opening authority indication of the vehicle door when the automatic vehicle door opening function is disabled and at least one of the following conditions is satisfied, and the conditions include:

determining that there is no obstacle within a reference distance outside the vehicle based on the environmental information;

It is determined that the opening and closing state of the vehicle door is an open state.
The method according to claim 14, wherein determining the opening authority of the vehicle door by the central processing unit comprises:

When the automatic door opening function is enabled and any of the following conditions are met, the central processing unit determines that the door opening authority indicates that the vehicle door cannot be opened, and the conditions include:

determining that there is an obstacle within a reference distance outside the vehicle based on the environmental information;

It is determined based on the user information that a user inside the vehicle does not have a door opening requirement.
The method according to claim 14, wherein the central processing unit determines the opening authority of the vehicle door, comprising:

The central processing unit determines that the door opening authority indicates that the vehicle door cannot be opened when the automatic door opening function is turned off and any of the following conditions are met, and the conditions include:

determining that there is an obstacle within a reference distance outside the vehicle based on the environmental information;

It is determined that the opening and closing state of the vehicle door is a closed state.
The method according to claim 15 or 17, wherein the user information includes at least one of user body information and user unlocking seat belt information, and the user body information includes user standing up information and user turning information. at least one kind of information;

Wherein, in response to satisfying at least one of the user unlocking the seat belt information indicating that the user has unlocked the seat belt, the user getting up information indicating that the user has gotten up, and the user turning information indicating that the user has turned, Then the user inside the vehicle has a door opening requirement;

Alternatively, in response to satisfying that the user unlocking seat belt information indicates that the user does not unlock the seat belt, the user getting up information indicates that the user is not getting up, and the user turning information indicates that the user is not turning, the vehicle interior of users do not have a door opening requirement.
The method according to any one of claims 15-18, wherein the system further comprises an interaction module, the interaction module is connected to the central processing unit, and the method further comprises:

The interaction module determines a first signal through interaction with the user, and transmits the first signal to the central processing unit, where the first signal is used to instruct to enable the automatic door opening function or disable the automatic vehicle door opening function ;

The central processing unit determines whether the automatic door opening function is enabled based on the first signal.
The method according to any one of claims 14-18, wherein the system further comprises a door lock module and a power module, the door lock module and the power module are respectively connected to the central processing unit, the Methods also include:

the power module senses the power state of the vehicle, and transmits the power state to the central processing unit;

The central processing unit determines that the vehicle door can be unlocked in response to the power state satisfying a reference condition, and transmits a second signal to the vehicle door lock module;

the vehicle door lock module unlocks the vehicle door according to the second signal;

The central processing unit determines the opening authority of the vehicle door, and calculates the opening angle of the vehicle door according to the opening authority of the vehicle door and the reference information, including:

When it is determined that the vehicle door can be unlocked, the central processing unit determines the opening authority of the vehicle door, and calculates the opening angle of the vehicle door according to the opening authority of the vehicle door and the reference information.
The method according to any one of claims 13-18, wherein the system further comprises a prompting module, the prompting module is connected to the central processing unit, and the method further comprises:

The monitoring module transmits a third signal to the central processing unit when the monitoring data is not obtained;

The central processing unit instructs the prompting module to send a prompting message based on the third signal, where the prompting message is used to prompt that the vehicle door fails to open.
20. The method of claim 19, wherein the monitoring module includes a camera inside the vehicle, a pressure sensor on a seat inside the vehicle, and a safety device within a seat belt locking structure inside the vehicle a belt unlocking component, the monitoring data includes an image of the vehicle interior captured by a camera inside the vehicle, pressure data sensed by the pressure sensor, and seatbelt unlocking data sensed by the seatbelt unlocking component;

The user body information is acquired based on at least one of the vehicle interior image and the pressure data, and the user unlocking seat belt information is acquired based on at least one of the vehicle interior image and the seat belt unlocking data.
The method according to any one of claims 13-18 and 23, wherein the monitoring module includes a camera and a radar sensor outside the vehicle, and the monitoring data includes images of the outside of the vehicle captured by the camera outside the vehicle and all The position data detected by the radar sensor is obtained, and the environment information is obtained based on at least one of the external image of the vehicle and the position data.
A vehicle, characterized in that the vehicle comprises the vehicle door control system according to any one of claims 1-12.