WO2022227036A1

WO2022227036A1 - Vehicle door control method and apparatus, and vehicle door and vehicle

Info

Publication number: WO2022227036A1
Application number: PCT/CN2021/091614
Authority: WO
Inventors: 马涛; 陈瑶
Original assignee: 华为技术有限公司
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2022-11-03
Also published as: CN113412361B; CN113412361A

Abstract

A vehicle door control method and apparatus, and a vehicle door and a vehicle. The method comprises: acquiring sensing information, the sensing information being used for determining the state of an object around a vehicle door (102); and adjusting the maximum opening angle of the vehicle door (102) from a first angle to a second angle when the sensing information exceeds a preset range, wherein the second angle is greater than the first angle. When the sensing information exceeds the preset range, it indicates that the vehicle door (102) may cause damage to the object if the object collides with the vehicle door (102). The maximum opening angle of a vehicle door (102) is increased, such that the vehicle door (102) can be further opened along with the movement of an object, so as to bring about a larger movement space to the object, thereby reducing the impact on the object and the vehicle door (102) due to the vehicle door (102) blocking the movement of the object, protecting the object and also protecting the vehicle door (102).

Description

A vehicle door control method, device, vehicle door and vehicle

technical field

The present application relates to the field of smart cars or smart vehicles, more particularly to the field of vehicle safety, and provides a vehicle door control method, a vehicle door control device, a vehicle door and a vehicle.

Background technique

When the vehicle is stopped and the driver and occupant open the door, if the driver or occupant opens the door without paying attention to the object behind the door, a collision is likely to occur. An open door may injure an approaching cyclist of a bicycle, motorcycle or electric vehicle from behind.

In order to avoid accidents similar to the above, in the prior art, when the driver or passenger intends to open the door, the radar installed on the vehicle body is used to detect whether there is an object passing near the door. As the subject passes, the controller prevents the doors from opening and controls the alarm system to issue a security alert.

However, in reality, the traffic environment is complex, and the radar is prone to fail or miss detection under the interference of the environment. When the radar fails or misses detection, the opened car door may still cause damage to the cars coming from behind.

SUMMARY OF THE INVENTION

In order to solve the above problems and improve the safety performance of the vehicle, the present application provides a vehicle door control method, a vehicle door control device, a vehicle door and a vehicle, so that when an object hits or approaches the vehicle door, the maximum opening angle of the vehicle door can be increased, and the vehicle door can It is further opened under the influence of the object, thereby preventing the door from harming the object.

A first aspect of the present application provides a vehicle door control method, including: acquiring sensing information, where the sensing information is used to determine the state of objects around the vehicle door; when the sensing information exceeds a preset range, adjusting the maximum opening angle of the vehicle door The first angle is adjusted to the second angle, wherein the second angle is greater than the first angle.

Through the above settings, when the sensing information exceeds the preset range, it indicates that the object will be injured due to the collision with the open door; the increase of the maximum opening angle of the door enables the door to continue to open further with the movement of the object, In this way, it brings more space for the object to move, thereby reducing the impact on the object and the door due to the door blocking the movement of the object, reducing the damage to the object and the door caused by the collision between the door and the object, and protecting the object and the door. door to improve vehicle safety.

In a possible implementation, the second angle is greater than 90 degrees and less than 180 degrees.

In a possible implementation manner, when other doors located on the same side of the vehicle door are in an open state, the maximum opening angle of the controlled vehicle door is the first angle, and when the vehicle door is in an open state, the angle of the vehicle door relative to the vehicle body is greater than a preset angle angle.

Through the above settings, the door with the maximum opening angle of the first angle will prevent the movement of the object to a certain extent, and will not hit the passengers who get off from other doors on the same side of the door due to the large opening angle of the door, thus avoiding the impact of Injury to occupants exiting the vehicle with other doors located on the same side of the door.

In a possible implementation manner, when the vehicle door is in the closed state, the maximum opening angle of the vehicle door is controlled to be the first angle, and when the vehicle door is in the closed state, the angle of the vehicle door relative to the vehicle body is less than or equal to a preset angle.

With the above arrangement, since the door in the closed state does not prevent the movement of the object, the maximum opening angle of the door is controlled to be the first angle, which can prevent the opening of other doors on the same side from being affected by the large opening angle.

In a possible implementation manner, after the maximum opening angle of the vehicle door is adjusted from the first angle to the second angle, the method further includes: when the vehicle door is in a closed state, controlling the maximum opening angle of the vehicle door to be the first angle.

Through the above arrangement, the maximum opening angle of the vehicle door is restored to the first angle. When the vehicle door is not hit by an object, the opening of other vehicle doors on the same side will not be affected due to the large maximum opening angle.

In a possible implementation manner, when other vehicle doors located on the same side of the vehicle door are in a closed state, the other vehicle doors are controlled to be in a closed state.

Through the above arrangement, when the vehicle door is impacted, by controlling the closing of other vehicle doors located on the same side of the impacted vehicle door, passengers can be prevented from getting off the vehicle from other vehicle doors, thereby preventing passengers from being injured.

In a possible implementation manner, the sensing information includes: one or more of the collision force of the object hitting the vehicle door, the collision acceleration and the deformation of the collision area of the vehicle door. The sensing information may include: collision force; the sensing information may include: collision acceleration; the sensing information may include: deformation of the collision area of the vehicle door; the sensing information may include: collision force and collision acceleration; the sensing information may include: Collision force, collision acceleration and deformation of the collision area of the door; the sensing information may include: collision force and deformation of the collision area of the door.

In a possible implementation manner, the sensing information may further include a plurality of the above-mentioned collision force, collision acceleration, deformation of the collision area of the vehicle door, distance between the vehicle door and the object, the speed of the object, and the acceleration of the object Combinations, for example, include: the deformation of the collision area of the door and the distance between the door and the object, etc.

Through the above settings, it can be determined whether the door will cause damage to the object when the object collides with the opened door according to different sensing information, adapt to various complex traffic environments, and reduce sensor failure or leakage caused by complex environments. When the collision between the door and the object is unavoidable, adjust the maximum opening angle of the door to reduce the damage caused by the door to the object.

In a possible implementation manner, the sensing information includes one or more of: the distance between the object and the door, the speed of the object, and the acceleration of the object. Wherein, the sensing information may include: the distance between the vehicle door and the object; the sensing information may include: the speed of the object; the sensing information may include: the acceleration of the object; the sensing information may include: the distance between the vehicle door and the object and The speed of the object; the sensing information may include: the distance between the vehicle door and the object and the acceleration of the object; the sensing information may include: the distance between the vehicle door and the object, the speed of the object and the acceleration of the object.

Through the above settings, it is possible to determine whether the door will cause damage to the object before the object collides with the door according to different sensing information, adapt to various complex traffic environments, and reduce sensor failure or missed detection caused by complex environments. And the damage to the object; before the door collides with the object, adjust the maximum opening angle of the door to reduce the damage caused by the door to the object.

In a possible implementation manner, when the sensing information exceeds the preset range, the door is controlled to switch from the normal mode to the collision protection mode. In the normal mode, the maximum opening angle of the door is the first angle, and in the collision protection mode , the maximum opening angle of the door is the second angle, and the second angle is greater than the first angle.

A second aspect of the present application provides a vehicle door control device, comprising: an acquisition module for acquiring sensing information, and the sensing information is used to determine the state of objects around the vehicle door; a control module for acquiring sensing information When the preset range is exceeded, the maximum opening angle of the vehicle door is adjusted from the first angle to the second angle, wherein the second angle is greater than the first angle. When the sensing information exceeds the preset range, it indicates that the door will cause harm to the object when the object collides with the open door.

In a possible implementation manner, after the maximum opening angle of the vehicle door is adjusted from the first angle to the second angle, the method further includes:

When the vehicle door is in a closed state, the maximum opening angle of the vehicle door is controlled to be the first angle.

In a possible implementation manner, the sensing information includes: one or more of the collision force of the object hitting the vehicle door, the collision acceleration and the deformation of the collision area of the vehicle door.

In a possible implementation manner, the sensing information includes one or more of: the distance between the object and the door, the speed of the object, and the acceleration of the object.

The technical effects brought by the vehicle door control device provided in the second aspect of the present application and any possible implementation manner thereof are brought about by the vehicle door control method provided by the first aspect of the present application and any possible implementation manner thereof. The technical effect is the same, and for the sake of brevity, it is not repeated here.

A third aspect of the present application provides a vehicle door opening adjustment device, comprising: a support, which is used to be fixed on a vehicle body; a connecting arm, which is pivotally connected to the support; a limit box, which is used for For being fixed on the door, the limit box can move along the connecting arm; the stopper is located in the door and used to limit the movement of the limit box; and the driving device is connected with the stopper and used to drive the stopper in Moving between the first position and the second position, when the stopper is in the first position, the door opening adjustment device is in the normal mode, and the maximum opening angle of the door is the first angle; when the stopper is in the second position, The vehicle door opening adjustment device is in a collision protection mode, and the maximum opening angle of the vehicle door is a second angle, and the second angle is greater than the first angle.

Through the above setting, the mode of the door opening adjustment device is changed, so that the maximum opening angle of the door increases, and the door can continue to be further opened with the movement of the object, bringing more space for the object to move, thereby reducing the impact of the door. The impact on the object and the door is prevented by preventing the movement of the object, and the damage caused by the collision to the object and the door is reduced, which not only protects the object but also the door.

Through the above settings, the door with the maximum opening angle greater than 90 degrees and less than 180 degrees brings more space for the object to move, and will not prevent the movement of the object, thereby avoiding the impact on the object and the door due to the door preventing the movement of the object. Reduce the damage to the object and the door caused by the collision, and protect both the object and the door.

A fourth aspect of the present application provides a vehicle door opening adjustment device, comprising: a support, which is used to be fixed on a vehicle body; a connecting arm, one end of which is pivotally connected to the support; a limit box, which is It is used to be fixed on the door, and the limit box is fixedly connected with the other end of the connecting arm; the electromagnetic device is located in the door and used for magnetic connection with the limit box, so that the limit box and the electromagnetic device can be switched between connection and separation , when the limit box is connected with the electromagnetic device, the door opening adjustment device is in the normal mode, and the maximum opening angle of the door is the first angle; when the limit box is separated from the electromagnetic device, the door opening adjustment device is in the collision protection mode, The maximum opening angle of the vehicle door is the second angle, and the second angle is greater than the first angle.

A fifth aspect of the present application provides a vehicle door, comprising: a vehicle door control device provided by the second aspect of the present application and its possible implementations, and a vehicle door opening adjustment device provided by the third aspect of the present application and its possible implementations and one or more of the vehicle door opening adjustment devices provided by the fourth aspect of the present application and possible implementations thereof.

A sixth aspect of the present application provides a vehicle, comprising: one or more of the vehicle door control device provided by the second aspect of the present application and its possible implementations, and the vehicle door provided by the fifth aspect of the present application.

Description of drawings

The various features of the present invention and the relationships between the various features are further explained below with reference to the accompanying drawings. The drawings are exemplary, some features are not shown to scale, and some of the drawings may omit features that are customary in the field to which the application relates and not essential to the application, or additionally show The non-essential features of the present application, and the combination of individual features shown in the drawings are not intended to limit the present application. In addition, the same reference numerals refer to the same contents throughout the present specification. The specific drawings are described as follows:

1a-1b are schematic diagrams of application scenarios of a vehicle door control method provided by an embodiment of the present application;

2a is a schematic structural diagram of a vehicle door control system provided by an embodiment of the present application;

2b is a flowchart of a vehicle door control method provided by an embodiment of the present application;

3 is a flowchart of a vehicle door control method provided by another embodiment of the present application;

4a is a schematic structural diagram of a vehicle door opening adjustment device provided by an embodiment of the present application;

Fig. 4b is a schematic structural diagram of a vehicle door provided with the door opening adjustment device shown in Fig. 4a according to an embodiment of the present application, wherein the vehicle door opening adjustment device is in a normal mode;

Fig. 4c is a schematic structural diagram of a vehicle door provided with the vehicle door opening degree adjusting device shown in Fig. 4a according to an embodiment of the present application, wherein the vehicle door opening degree adjusting device is in a collision protection mode;

5a is a schematic structural diagram of another vehicle door opening degree adjustment device provided by an embodiment of the present application, wherein the vehicle door opening degree adjustment device is in a normal mode;

5b is a schematic structural diagram of another vehicle door opening degree adjusting device provided by an embodiment of the present application, wherein the vehicle door opening degree adjusting device is in a collision protection mode;

FIG. 6 is a flowchart of a specific implementation manner of a vehicle door control method provided by an embodiment of the present application;

7 is a schematic diagram of a module of a vehicle door control device provided by an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a computing device provided by an embodiment of the present application.

Detailed ways

First, the deficiencies in the prior art found by the inventors are explained:

In order to avoid accidents such as opening the door and hurting people, a possible solution is to detect whether there are objects such as vehicles and/or obstacles near the vehicle or the door through blind-spot radar installed in the car. When blind-spot radar detects an approaching vehicle behind the vehicle and an occupant attempts to open the door, a warning sign is displayed in the dashboard of the vehicle, an alarm sounds, and the door is kept locked. The driver and occupant will not be allowed to open the door to get off the vehicle until the vehicle from behind has passed and the environment around the vehicle is safe.

Another solution is to detect the presence of objects such as oncoming vehicles and/or obstacles in the vicinity of the vehicle by means of lateral auxiliary radar sensors provided on the vehicle. When an oncoming vehicle is detected behind the vehicle and the driver tries to open the door, a red warning sign will light up on the door handle of the vehicle to warn the driver that there is an approaching object behind the door. If the driver insists on opening the door, at the moment when the driver pulls the door handle (the door has not been unlocked at this time), there will be a more dazzling red light on the door handle, at this time, the driver's hand will suddenly Retract it to avoid accidents such as opening the door and hurting people.

The above two solutions to avoid injury by opening the door are to detect in advance whether there is an object near the door (coming car) through sensors such as radar before the door is opened; Bright light warnings and ways to limit the opening of doors to avoid collisions with objects. This type of solution is a kind of "active safety" prevention scheme, which relies on the detection ability of sensors and has the following disadvantages: 1. The detection range of sensors similar to blind spot detection radar and side assist radar is limited, and in actual traffic In the scene, the moving directions of objects near the door are complex, and the blind spot detection radar and the side assist radar are prone to objects near the door. 2. In reality, the traffic environment is complex and there are many kinds of interference. Simply relying on sensors to detect objects near the door has the possibility of misjudgment. When the sensor does not detect the object and/or the data detected by the sensor is wrong, the accident of opening the door and hurting people may still occur.

In order to avoid the damage caused by the open vehicle door to the vehicle coming from behind even when the prevention scheme of "active safety" fails, the embodiments of the present application provide a vehicle door control method, a vehicle door control device, a vehicle door and a vehicle, which can be used for vehicles coming from the rear. When the car is about to hit the open door or has hit the open door, avoid the door from causing injury to the car coming from behind.

It should be noted that, in the description of the present application, the door can pivot relative to the body around a pivot axis, and when the door pivots relative to the body and the angle relative to the body is greater than a preset angle, the door is opened, and the preset angle can be greater than 0 degrees; the rear of the door is on the side of the cabin exit that the door closes; an incoming vehicle may refer to one or more of a person, a motor vehicle, a non-motor vehicle, and an obstacle moving towards the door.

1a-1b illustrate an application scenario of the vehicle door control method provided by the embodiment of the present application. In the scene shown in FIG. 1a, the door 102 has been opened in the direction of arrow E, and the vehicle 200 behind the door is about to hit the opened door 102, and at the next moment, as shown in FIG. On the vehicle door 102, the maximum opening angle of the vehicle door 102 is switched from the first angle to the second angle. The second angle (as shown in Figure 1b) is greater than the first angle (as shown in Figure 1a). The door 102 can reach a larger opening angle under the action of the force of the oncoming vehicle 200 from behind, and will not prevent the driving of the oncoming vehicle 200 from behind, thereby preventing the collision of the vehicle door 102 with the oncoming vehicle 200 from behind. harm.

Hereinafter, the vehicle door control method provided by the embodiments of the present application will be described with reference to FIGS. 2 b to 3 . The vehicle door control method in the embodiments of the present application may be executed by a terminal, such as a terminal such as a vehicle, or may be performed by an electronic device applied in the vehicle, such as an electronic control unit (Electronic Control Unit, ECU), a system chip, and a general-purpose chips, etc. The ECU can acquire and process the data obtained by the sensors arranged on the car or the door, and output the corresponding control signal to the door opening adjustment device, thereby controlling the maximum opening angle of the door. The system chip is also called the system on chip, or the SoC chip, which can obtain the information collected by the sensor through the interface and process it, and finally output the control signal to the door opening adjustment device, and then control the maximum opening angle of the door. Figure 2b shows A flowchart of a vehicle door control method provided by an embodiment of the present application is shown. As shown in FIG. 2b, the vehicle door control method may include the following steps:

Step S100: Acquire sensing information.

The sensing information is used to determine the state of objects around the vehicle door. The sensing information can be the information collected by the sensor, or the information obtained after being collected by the sensor. For example, the sensing information can be one or more of the following information: the collision force of the object hitting the door, the collision acceleration, the image Data, the distance between objects in a certain area around the door and the door, the speed of the object, the acceleration of the object, etc. The sensors may include one or more of a camera sensor, a radar sensor, and a collision sensor. Among them, the camera sensor is used to obtain and monitor the image data of the surrounding environment of the vehicle; the radar sensor is used to obtain and monitor the electromagnetic wave data of the surrounding environment of the vehicle. Various data such as distance and moving speed of surrounding objects; collision sensors may include, for example, resistance strain gauge type collision sensors and piezoelectric effect type collision sensors, among which resistance strain gauge type collision sensors are used for deformation according to their strain resistance. to determine the amount of voltage change; the piezoelectric effect type impact sensor is used to determine the amount of voltage change according to the deformation of its piezoelectric crystal under the action of pressure.

The sensing information can also be information obtained after processing the information collected by the sensor. For example, the image information of the surrounding environment of the vehicle collected by the camera sensor can be processed and calculated to obtain the size, position and relationship with the door of the object in the image. It can also process and calculate the voltage change collected by the collision sensor to obtain the deformation amount or degree of deformation of the collision area of the door, the collision force and collision acceleration of the object hitting the door when the object collides with the door.

It should be noted that the object around the door may be an object located within the detection range of a sensor on the door and/or the vehicle, for example, it may be an object within the detection range of a camera sensor, a radar sensor and a collision sensor. It can also be an object within a preset distance from any point on the door. In some embodiments, the object may be one or more of a person, a motor vehicle, a non-motor vehicle, and other obstacles.

In some embodiments, the sensory information includes one or more of the aforementioned collision force, collision acceleration, deformation of the collision area of the door, distance between the door and the object, the velocity of the object, and the acceleration of the object, such as transmission The sensory information may include the collision force and the distance between the door and the object; or the sensory information may only include: the deformation of the door collision area; or the sensory information may include the deformation of the door collision area and the distance between the door and the object.

Step S200: when the sensing information exceeds the preset range, adjust the maximum opening angle of the vehicle door from the first angle to the second angle.

Wherein, the second angle is greater than the first angle. When the sensing information exceeds the preset range, it indicates that when the object collides with the opened door, if the maximum opening angle of the door is not changed, the door will cause damage to the object.

The door can be pivoted relative to the body around a pivot axis, the door is opened when the door is pivoted relative to the body and the angle relative to the body is greater than the preset angle, and the door is closed when the angle relative to the body is smaller than the preset angle.

In some embodiments, the maximum opening angle of the vehicle door can be adjusted by the door opening

adjustment devices

111 , 112 , 113 , 114 (shown in FIG. 4 a - FIG. 4 c ) installed on the vehicle door and the vehicle body. For a detailed description, refer to the description of the door control system part provided in the embodiments of the present application. Of course, the adjustment of the maximum opening angle of the vehicle door from the first angle to the second angle can also be realized by any other device, which is not limited in this application.

In some embodiments, the second angle is greater than 90 degrees and less than 180 degrees.

In some embodiments, when other vehicle doors located on the same side of the vehicle door are in an open state, the maximum opening angle of the vehicle door is controlled to be a first angle, and when the vehicle door is in an open state, the angle of the vehicle door relative to the vehicle body greater than the preset angle.

In some embodiments, when the vehicle door is in the closed state, the maximum opening angle of the vehicle door is controlled to be the first angle, and when the vehicle door is in the closed state, the angle of the vehicle door relative to the vehicle body is less than or equal to a preset angle.

In some embodiments, after the maximum opening angle of the vehicle door is adjusted from the first angle to the second angle, the method further includes: when the vehicle door is in a closed state, controlling the maximum opening angle of the vehicle door to be the first angle.

In some embodiments, the other vehicle doors are controlled to be in the closed state when the other vehicle doors located on the same side of the vehicle door are in the closed state.

In some embodiments, when the sensing information exceeds a preset range, the vehicle door is controlled to switch from a normal mode to a collision protection mode, and in the normal mode, the maximum opening angle of the vehicle door is a first angle, In the collision protection mode, the maximum opening angle of the vehicle door is that the second angle is greater than the first angle.

FIG. 3 shows a flowchart of a vehicle door control method provided by another embodiment of the present application. As shown in FIG. 3 , the vehicle door control method may include:

Step S10: Acquire sensing information of an object behind the opened door.

Wherein, the vehicle door can pivot relative to the vehicle body around a pivot axis, and when the vehicle door is pivoted relative to the vehicle body and the angle relative to the vehicle body is greater than a preset angle, the vehicle door is opened; the rear of the vehicle door is located at the closed side of the vehicle door. One side of the cabin exit; the sensory information can be used to determine the status of objects behind the door.

In some embodiments, the objects located behind the door may include, for example: objects moving toward the inner side of the opened door or objects that have hit the inner side of the door, the objects may be bicycles, motorcycles, cars, pedestrians, etc., wherein, The inside of the door is the side of the door that faces the cabin when closed.

In some embodiments, the sensory information may include one or more of a collision force of the object hitting a door, a collision acceleration, and a deformation of the door collision area.

In some embodiments, the sensory information may include one or more of a distance between the vehicle door and the object, a speed of the object, and an acceleration of the object.

In some embodiments, the sensing information may be information collected by a collision sensor installed on the door and/or the body, and the sensing information may be transmitted based on information collected by radar sensors installed on one or both of the door and the body. The sensory information may also be information obtained after processing the information collected by the sensor.

In some embodiments, crash sensors, such as crash force sensors, crash acceleration sensors, and crash deformation sensors, may be located anywhere on the door, for example, may be located on the side of the door away from the hinge.

Step S20: Determine whether the sensing information exceeds a preset range.

When the sensing information exceeds the preset range, it indicates that when the object collides with the opened door, the vehicle door will cause damage to the object, and when the sensing information does not exceed the preset range, when the object collides with the vehicle door , the door will not cause damage to the object.

When the sensing information does not exceed the preset range, step S70 is executed: the maximum opening angle of the vehicle door is controlled to be the first angle.

In some embodiments, the first angle may be less than 90 degrees.

When the sensing information does not exceed the preset range, when the object behind the door collides with the door, even if the maximum opening angle of the door is controlled to be the first angle, the collision between the door and the object behind will not cause the door and the object behind. harm.

When the sensing information exceeds the preset range, step S30 is executed: it is determined whether other vehicle doors located on the same side of the vehicle door are open.

When other vehicle doors located on the same side of the vehicle door are opened, step S70 is executed: the maximum opening angle of the vehicle door is controlled to be the first angle.

When other doors on the same side of the door are opened, if the maximum opening angle of the door is adjusted so that the maximum opening angle is the second angle, the vehicles coming from behind will cause injury to the drivers and passengers who get off from the other doors. Therefore, when other vehicle doors located on the same side of the vehicle door are opened, the maximum opening angle of the vehicle door is controlled to be the first angle.

When other vehicle doors located on the same side of the vehicle door are not opened, step S40 is executed: controlling the maximum opening angle of the vehicle door to be adjusted from the first angle to the second angle.

Wherein, the second angle is greater than the first angle. In some embodiments, the second angle is greater than 90 degrees and less than 180 degrees.

When the sensing information exceeds the preset range and other doors on the same side of the door are not opened, if the maximum opening angle of the door is not adjusted, the collision between the object behind the door and the door will cause damage to the door and the vehicles behind .

After the maximum opening angle of the controlled vehicle door is adjusted from the first angle to the second angle, when the vehicle door collides with an oncoming vehicle from behind, the vehicle door can continue to be further opened to a larger angle as the oncoming vehicle moves forward, for example Open to an angle of close to 180 degrees. At this time, the door will not prevent the forward movement of the car from behind, which greatly reduces the impact on the car from behind because the door prevents the movement of the car from behind. The oncoming car brings more space for movement and reduces the damage to the oncoming car from the collision.

Step S50: closing the vehicle door.

The door can be brought back closed after the risk of a collision with the door by an object behind has been eliminated.

Step S60: Control the maximum opening angle of the vehicle door to be the first angle.

After the door is closed, the maximum opening angle of the door that controls the door is the first angle, so that when there is no object behind the door or the object behind the door will not cause danger to the door, the maximum opening angle of the door will not be too large. Affects the opening of other doors on the same side of the door.

In some embodiments, when the sensing information exceeds the preset range and the door is not opened, a warning sign can also be displayed on the instrument panel in the vehicle, an alarm sound can be sounded at the same time, and the door is kept locked, or it is illuminated at the door handle. A red warning sign warns the driver of an approaching object behind the door. This in turn prevents rear objects from injuring occupants who exit the vehicle through the door.

In step S40, step S60 and step S70, the maximum opening angle of the vehicle door may be adjusted by the door opening

degree adjusting devices

111, 112, 113, 114 (shown in Figures 4a-4c) installed on the vehicle door and the vehicle body. For a detailed description of the vehicle door opening adjustment device, reference may be made to the description of the vehicle door control system part provided in the embodiments of the present application. Of course, the adjustment of the maximum opening angle of the vehicle door from the first angle to the second angle can also be realized by any other device, which is not limited in this application.

Hereinafter, the vehicle door control system provided by the embodiments of the present application will be described with reference to the accompanying drawings.

FIG. 2a shows a schematic diagram of a vehicle door control system 1000 provided by an embodiment of the present application. The door control system 1000 includes: a body 100;

doors

101, 102, 103, 104 pivotally connected to the body 100 by hinges (not shown in FIG. 2, see FIGS. 4b and 4c); mounted on the door 101

Sensors

121, 122, 123, 124 on , 102, 103, 104; door opening

adjustment devices

111, 112, 113, 114, one end of which is fixed on the door, and the other end is fixed on the body; located in one of the door and the body and a bus 130 for signal transmission for the

sensors

121 , 122 , 123 , 124 , the door opening

adjustment devices

111 , 112 , 113 , 114 and the controller 140 . It should be noted that the

sensors

121 , 122 , 123 , and 124 , the door opening

adjustment devices

111 , 112 , 113 , and 114 and the controller 140 can also transmit signals wirelessly, which is not limited in this application.

In some embodiments,

sensors

121, 122, 123, 124 may be provided at one or more of the distal end of the door away from the hinge, near the proximal end of the hinge, and between the distal and proximal ends; the sensors may be provided The side of the door facing the cockpit can be arranged inside the door (not visible outside the door), the side of the door facing the outside of the vehicle, and can also be arranged at a position near the door of the vehicle body, which is not limited in this application. The sensor may be used to acquire data of an object (eg, an oncoming vehicle) and transmit the data to the controller 140 in a wired or wireless manner. The

sensors

121 , 122 , 123 , and 124 may include, for example, one or more of a radar sensor, a camera sensor, a collision force sensor, a collision acceleration sensor, and a collision deformation sensor. Radar sensors can be used to obtain data on the speed, distance and direction of movement of objects relative to the door. The collision force sensor is used to obtain the collision force when the object hits the door. The collision acceleration sensor is used to obtain the collision acceleration when the object hits the door. The collision deformation sensor is used to obtain deformation data of the collision area of the vehicle door.

In some embodiments, as shown in FIGS. 4a-4c , the door 102 is pivotally mounted on the vehicle body via a hinge 132 . The door

opening adjustment devices

111 , 112 , 113 , and 114 are used to control the opening angle of the vehicle door. The vehicle door opening adjustment device may include, for example, a limiter 1120 and a stopper 1127 installed on the limiter 1120 . The limiter 1120 may include: a support 1121 fixed on the vehicle body, a main arm 1124 pivotally connected to the support 1121 at one end, a limit box 1122 fixed on the door and capable of sliding along the main arm 1124, It is used to limit the limit box 1122 and the limit block 1125 fixed on the other end of the main arm 1124 .

The stopper 1127 may include a stopper 1123 engaged with the main arm 1124 and a motor 1126 for controlling the movement of the stopper 1123 between a position engaged with the main arm 1124 and a position disengaged from the main arm 1124 . When the stopper 1123 is engaged with the main arm 1124, the stopper 1123 is fixed relative to the main arm 1124, the door opening adjustment device is in the normal mode, in the normal mode, the maximum opening angle of the door is not the first angle, the limit box 1122 can move between position A and position B. When the limit box 1122 is in position A, the door is closed; when the limit box 1122 is in position B, it abuts on the stopper 1123, and the door is at the maximum opening angle in the normal mode. When the stopper 1123 is separated from the main arm 1124, the stopper 1123 is separated from the main arm 1124, and the door opening adjustment device is in the collision protection mode. Bit box 1122 can move between position A and position C. When the limit box 1122 is located at the position C, the vehicle door is in the maximum opening angle in the collision protection mode, and the maximum opening angle is greater than 90 degrees and less than 180 degrees.

In some embodiments, the detent device 1127 may be an electronic latch capable of engaging with the main arm, and a controller is used to control the engagement and disengagement of the electronic latch and the main arm 1124, thereby enabling the door opening adjustment device in the normal mode and Toggle between crash protection modes.

In some embodiments, the controller 140 may be located on the vehicle door or on the vehicle body, and is used to control the opening mode of the vehicle door according to the acquired sensing information. As shown in FIG. 4b, when the sensing information does not exceed the preset range or when other doors on the same side of the door are opened, the controller 140 sends a control signal to the motor 1126 to make the door opening adjustment device in a normal state At this time, the stopper 1123 remains engaged with the main arm 1124, the limit box 1122 cannot move further toward the limit block 1125, and the maximum opening angle of the door is less than 90 degrees. As shown in FIG. 4c, when the sensing information exceeds the preset range and other doors located on the same side of the door are closed, the controller 140 sends a control signal to the motor 1126 to switch the door opening adjustment device from the normal mode to In the collision protection mode, the motor 1126 controls the stopper 1123 to move until it is separated from the main arm 1124, and the limit box 1122 can drive the door to move further toward the limit block 1125. The maximum opening angle of the door is greater than 90 degrees and less than 180 degrees.

In some embodiments, the stopper 1123 may also be engaged in the first and second positions of the main arm 1124. When the stopper 1123 is engaged in the first position of the main arm (as shown in FIG. 4a), the door The opening adjustment device is in normal mode, and the maximum opening angle of the door is less than 90 degrees. When the stopper 1123 is engaged in the second position of the main arm, for example, the stopper is located at the end of the main arm away from the support, the door opening adjustment device is in the collision protection mode, and the maximum opening angle of the door is greater than 90 degrees and less than 180 degree.

In some embodiments, as shown in FIG. 4b, when the vehicle door is closed again, the controller 140 sends a control signal to the motor 1126, and the motor 1126 controls the stopper 1123 to move from the position separated from the main arm 1124 to the position with the main arm 1124 is engaged, which in turn controls the door to switch from crash protection mode back to normal mode.

In some embodiments, when the other doors on the same side of the door are closed, the controller 140 can also issue control commands to the electronic latches of the other doors, thereby preventing the other doors from opening.

5a-5b show schematic diagrams of a vehicle door opening adjustment device provided by another embodiment of the present application.

As shown in Figures 5a-5b, the door opening adjustment device 111 includes: a support 1111 fixed on the vehicle body; a telescopic link 1114 pivotally connected to the support 1111 at one end; The connecting plate 1112 at the other end of the rod 1114; the electromagnet 1113 fixed on the door for connecting with the connecting plate 1112. In the normal mode, the controller 140 controls the electromagnet 1113 to be energized, the connecting plate 1112 is magnetically connected to the electromagnet 1113, and the maximum opening angle of the door is less than 90 degrees. In the collision protection mode, the controller controls the electromagnet 1113 to be powered off, the connecting plate 1112 is disconnected from the electromagnet 1113, and the maximum opening angle of the door is greater than 90 degrees and less than 180 degrees.

A specific implementation manner of the vehicle door control method provided by the embodiment of the present application will be described below with reference to FIG. 1 b and FIG. 6 .

In the scenario shown in FIG. 1b, the oncoming vehicle 200 behind the vehicle door 102 has hit the opened vehicle door 102. In this case, as shown in FIG. 6, the vehicle door control method provided by the embodiment of the present application includes the following steps:

Step S1 : acquiring sensing information of an object located behind the vehicle door hitting the opened vehicle door.

The sensing information is used to determine the state of the object behind the door. When the sensing information exceeds a preset range, it indicates that when the object collides with the door, the door will cause damage to the object. When the information does not exceed the preset range, when the object collides with the door, the door will not cause damage to the object. In some embodiments, the sensory information may include: the impact force experienced by the door from the object behind the door, the impact acceleration when the object behind the door hits the door, and the impact area of the door when the object behind the door hits the door. one or more of the deformations.

In some embodiments, the impact force on the door from the object behind the door, the impact acceleration when the object behind the door hits the door, and the deformation of the impact area of the door when the object behind the door hits the door can be determined by installing the door. The collision force sensor, collision acceleration sensor and collision deformation sensor are obtained respectively.

Step S2: Determine whether the sensing information exceeds a preset range.

When the sensing information exceeds the preset range, step S3 is performed: it is determined whether other doors located on the same side of the impacted door are open.

When the other doors on the same side of the hit door are not opened, step S4 is executed: controlling the maximum opening angle of the door to be adjusted from the first angle to the second angle.

Wherein, the second angle is greater than the first angle, and the second angle is greater than 90 degrees and less than 180 degrees. As shown in FIG. 1b , the door 102 can continue to be further opened with the forward movement of the oncoming vehicle 200 from behind, without preventing the movement of the oncoming vehicle 200 from behind, and greatly reducing the amount of traffic caused by the door 102 preventing the movement of the oncoming vehicle 200 from behind. The impact brought by the vehicle and the further opening of the door 102 allows the rear oncoming vehicle 200 to have a larger moving space in the forward direction, thereby reducing the damage to the rear oncoming vehicle 200 caused by the collision.

When the sensing information does not exceed the preset range or other doors located on the same side of the impacted door are opened, step S7 is executed: the maximum opening angle of the vehicle door is controlled to be the first angle.

When the sensing information does not exceed the preset range, the object behind the door will not pose a collision risk to the door. Even if the maximum opening angle of the door is the first angle, the collision between the door and the object behind will not cause damage to the door and the object behind. .

When other doors located on the same side of the impacted door are opened, in order to avoid further opening of the impacted door under the action of a vehicle from behind, which may cause injury to the driver and occupants who get off from the other doors, even if the sensor information Beyond the preset range, the maximum opening angle of the hit vehicle door is also controlled to be the first angle.

Step S5: closing the vehicle door.

After an oncoming vehicle passed by, the risk of collision was eliminated, and the driver and occupant restored the door to the closed state.

Step S6: controlling the maximum opening angle of the vehicle door to be the first angle.

After the door is closed, the maximum opening angle of the control is the first angle, so that if there is no object behind the door or the object behind the door will not cause danger to the door, the maximum opening angle of the door will not be affected. Opening of other doors on the side.

FIG. 7 is a schematic block diagram of a vehicle door control device 2000 provided by an embodiment of the present application. As shown in FIG. 7 , the vehicle door control device includes: an acquisition module 2001 and a control module 2002 .

Wherein, the acquisition module 2001 is used to acquire sensing information, the sensing information is used to determine the state of objects around the door; the control module 2002 is used to open the maximum opening of the door when the sensing information exceeds a preset range The angle is adjusted from a first angle to a second angle, wherein the second angle is greater than the first angle. When the sensing information exceeds the preset range, it indicates that the collision of the object with the open door will cause harm to the object.

In some embodiments, the control module 2002 is further configured to control the maximum opening angle of the vehicle door to be the first angle when other vehicle doors located on the same side of the vehicle door are in an open state, and when the vehicle door is in an open state, The angle of the door relative to the vehicle body is greater than a preset angle.

In some embodiments, the control module 2002 is further configured to control the maximum opening angle of the vehicle door to be the first angle when the vehicle door is in a closed state, and when the vehicle door is in a closed state, the relative angle of the vehicle door relative to the vehicle body The angle is less than or equal to the preset angle.

In some embodiments, after the maximum opening angle of the vehicle door is adjusted from the first angle to the second angle, the control module 2002 is further configured to control the maximum opening angle of the vehicle door when the vehicle door is in a closed state for the first angle.

In some embodiments, the control module 2002 is further configured to control the other vehicle doors to be in a closed state when the other vehicle doors located on the same side of the vehicle door are in a closed state.

In some embodiments, the sensory information includes one or more of a collision force of the object hitting the door, a collision acceleration, and a deformation of the door collision area.

In some embodiments, the sensory information includes one or more of a distance between the vehicle door and the object, a speed of the object, and an acceleration of the object.

In some embodiments, when the sensing information exceeds a preset range, the control module 2002 is further configured to control the door to switch from a normal mode to a collision protection mode. The maximum opening angle is a first angle, and in the collision protection mode, the maximum opening angle of the vehicle door is a second angle, and the second angle is greater than the first angle.

It should be noted that each of the above modules, that is, the acquisition module 2001 and the control module 2002 are used to execute the relevant steps of the above method. For example, the acquisition module 2001 is used to execute the relevant content of step S1, step S10 and step S100, etc., and the control module 2002 is used to execute the relevant content of step S40, step S60, step S70, step S4, step S6, step S7 and step S200 and so on.

In this embodiment, the vehicle door control device 2000 is presented in the form of a module. "Module" herein may refer to an application-specific integrated circuit (ASIC), a processor and memory executing one or more software or firmware programs, integrated logic circuits, and/or other devices that can provide the above-described functions . In addition, the above acquisition module 2001 and control module 2002 may be implemented by the processor 801 of the in-vehicle device shown in FIG. 8 .

Referring to FIG. 8, FIG. 8 is a schematic structural diagram of a vehicle-mounted device provided by an embodiment of the present application; the vehicle-mounted device 800 shown in FIG. 8 (the device 800 may specifically be a computer device) includes a memory 802, a processor 801, and Communication interface 803. Wherein, the memory 802 , the processor 801 and the communication interface 803 can realize the communication connection with each other through the bus 804 .

The memory 802 may be a read only memory (Read Only Memory, ROM), a static storage device, a dynamic storage device, or a random access memory (Random Access Memory, RAM). The memory 802 may store a program. When the program stored in the memory 802 is executed by the processor 801, the processor 801 and the communication interface 803 are used to execute each step of the vehicle door control method of the embodiment of the present application.

The processor 801 may adopt a general-purpose central processing unit (Central Processing Unit, CPU), a microprocessor, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a graphics processing unit (graphics processing unit, GPU) or one or more The integrated circuit is used to execute the relevant program to realize the function required to be performed by the unit in the vehicle-mounted device of the embodiment of the present application, or to execute the communication method for the hearing-impaired passenger of the method embodiment of the present application.

The processor 801 may also be an integrated circuit chip, which has signal processing capability. In the implementation process, each step of the vehicle door control method of the present application may be completed by an integrated logic circuit of hardware in the processor 801 or instructions in the form of software. The above-mentioned processor 801 can also be a general-purpose processor, a digital signal processor (Digital Signal Processing, DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices. , discrete gate or transistor logic devices, discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the methods disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory 802, and the processor 801 reads the information in the memory 802, and in combination with its hardware, completes the functions required to be performed by the units included in the vehicle-mounted device of the embodiments of the present application, or executes the vehicle door control method of the method embodiments of the present application. .

The communication interface 803 uses a transceiving device such as, but not limited to, a transceiver to implement communication between the sensor and other devices or a communication network. For example, the sensory information can be acquired through the communication interface 803 .

Bus 804 may include a pathway for communicating information between various components of device 800 (eg, memory 802, processor 801, communication interface 803).

It should be understood that the acquisition module 2001 and the control module 2002 in the vehicle-mounted device for door control may be equivalent to the processor 801 .

It should be noted that although the in-vehicle device 800 shown in FIG. 8 only shows a memory, a processor, and a communication interface, in the specific implementation process, those skilled in the art should understand that the device 800 also includes other necessary components for normal operation. device. Meanwhile, according to specific needs, those skilled in the art should understand that the apparatus 800 may further include hardware devices that implement other additional functions. In addition, those skilled in the art should understand that the apparatus 800 may only include the necessary devices for implementing the embodiments of the present application, and does not necessarily include all the devices shown in FIG. 8 .

It can be understood that the in-vehicle device 800 is equivalent to the controller 140 in FIG. 2a. Those of ordinary skill in the art can realize that the modules and steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

Embodiments of the present application further provide a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, is used to execute a method for generating diverse problems, and the method includes the methods described in the foregoing embodiments. at least one of the options.

The computer storage medium of the embodiments of the present application may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination of the above. More specific examples (a non-exhaustive list) of computer readable storage media include: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

A computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .

Program code embodied on a computer readable medium may be transmitted using any suitable medium including, but not limited to, wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for performing the operations of the present application may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional Procedural programming language - such as the "C" language or similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or wide area network (WAN), or may be connected to an external computer (eg, through the Internet using an Internet service provider) connect).

The words "first, second, third, etc." in the description and claims, or similar terms such as module A, module B, module C, etc., are only used to distinguish similar objects, and do not represent a specific ordering of objects, which can be understood Indeed, where permitted, the specific order or sequence may be interchanged to enable the embodiments of the application described herein to be practiced in sequences other than those illustrated or described herein.

In the above description, the reference numerals representing steps, such as S110, S120, etc., do not necessarily mean that this step will be performed, and the sequence of the preceding and following steps may be interchanged or performed simultaneously if permitted.

The term "comprising" used in the description and claims should not be construed as being limited to what is listed thereafter; it does not exclude other elements or steps. Accordingly, it should be interpreted as specifying the presence of said features, integers, steps or components mentioned, but not excluding the presence or addition of one or more other features, integers, steps or components and groups thereof. Therefore, the expression "apparatus comprising means A and B" should not be limited to apparatuses consisting of parts A and B only.

Reference in this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the terms "in one embodiment" or "in an embodiment" in various places in this specification are not necessarily all referring to the same embodiment, but can refer to the same embodiment. Furthermore, the particular features, structures or characteristics can be combined in any suitable manner, as would be apparent to one of ordinary skill in the art from this disclosure, in one or more embodiments.

Note that the above are only the preferred embodiments of the present application and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present application has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, all of which belong to protection scope of the present invention.

Claims

A vehicle door control method, comprising:

acquiring sensing information, where the sensing information is used to determine the state of objects around the vehicle door;

When the sensing information exceeds a preset range, the maximum opening angle of the vehicle door is adjusted from a first angle to a second angle, wherein the second angle is greater than the first angle.
The method of claim 1, wherein the second angle is greater than 90 degrees and less than 180 degrees.
The method according to claim 1 or 2, wherein when other doors located on the same side of the vehicle door are in an open state, the maximum opening angle of the vehicle door is controlled to be the first angle, and when the vehicle door is in the open state , the angle of the door relative to the vehicle body is greater than a preset angle.
The method according to any one of claims 1-3, wherein when the vehicle door is in a closed state, the maximum opening angle of the vehicle door is controlled to be a first angle, and when the vehicle door is in a closed state, the The angle of the door relative to the body is less than or equal to the preset angle.
The method according to any one of claims 1-4, wherein after the maximum opening angle of the vehicle door is adjusted from the first angle to the second angle, further comprising:

When the vehicle door is in a closed state, the maximum opening angle of the vehicle door is controlled to be the first angle.
The method according to any one of claims 1-5, characterized in that, when other vehicle doors located on the same side of the vehicle door are in a closed state, the other vehicle doors are controlled to be in a closed state.
The method according to any one of claims 1-6, wherein the sensing information comprises: one or more of a collision force, a collision acceleration and a deformation of a collision area of the vehicle door with which the object hits the door indivual.
The method according to any one of claims 1-7, wherein the sensing information includes a distance between the object and the vehicle door, a speed of the object, and an acceleration of the object. one or more.
The method according to any one of claims 1-8, wherein when the sensing information exceeds a preset range, the vehicle door is controlled to switch from a normal mode to a collision protection mode, and in the normal mode , the maximum opening angle of the vehicle door is a first angle, and in the collision protection mode, the maximum opening angle of the vehicle door is a second angle, and the second angle is greater than the first angle.
A vehicle door control device, comprising:

an acquisition module, which is used for acquiring sensing information, where the sensing information is used to determine the state of objects around the vehicle door;

The control module is configured to adjust the maximum opening angle of the vehicle door from a first angle to a second angle when the sensing information exceeds a preset range, wherein the second angle is greater than the first angle.
The device of claim 10, wherein the second angle is greater than 90 degrees and less than 180 degrees.
The device according to claim 10 or 11, characterized in that when other doors located on the same side of the vehicle door are in an open state, the maximum opening angle of the vehicle door is controlled to be the first angle, and when the vehicle door is in an open state , the angle of the door relative to the vehicle body is greater than a preset angle.
The device according to any one of claims 10-12, wherein when the vehicle door is in a closed state, the maximum opening angle of the vehicle door is controlled to be a first angle, and when the vehicle door is in a closed state, the The angle of the door relative to the body is less than or equal to the preset angle.
The device according to any one of claims 10-13, wherein after the maximum opening angle of the vehicle door is adjusted from the first angle to the second angle, further comprising:

When the vehicle door is in a closed state, the maximum opening angle of the vehicle door is controlled to be the first angle.
The device according to any one of claims 10-14, characterized in that, when the other vehicle doors located on the same side of the vehicle door are in a closed state, the other vehicle doors are controlled to be in a closed state.
The device according to any one of claims 10-15, wherein the sensing information comprises: one or more of a collision force, a collision acceleration and a deformation of the collision area of the vehicle door with which the object hits the door indivual.
The device according to any one of claims 10-16, wherein the sensing information comprises: the distance between the object and the vehicle door, the speed of the object, and the acceleration of the object. one or more of.
The device according to any one of claims 10-17, wherein when the sensing information exceeds a preset range and exceeds a preset range, the vehicle door is controlled to switch from a normal mode to a collision protection mode, and in all In the normal mode, the maximum opening angle of the vehicle door is a first angle, and in the collision protection mode, the maximum opening angle of the vehicle door is a second angle, and the second angle is greater than the first angle.
A vehicle door, characterized by comprising: the vehicle door control device according to any one of claims 10-18.
A vehicle, characterized by comprising: the vehicle door control device according to any one of claims 10-18.