WO2023098610A1 - 车门开启的控制方法及控制装置、车辆控制器 - Google Patents

车门开启的控制方法及控制装置、车辆控制器 Download PDF

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Publication number
WO2023098610A1
WO2023098610A1 PCT/CN2022/134625 CN2022134625W WO2023098610A1 WO 2023098610 A1 WO2023098610 A1 WO 2023098610A1 CN 2022134625 W CN2022134625 W CN 2022134625W WO 2023098610 A1 WO2023098610 A1 WO 2023098610A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
door
opening
signal
tapping
Prior art date
Application number
PCT/CN2022/134625
Other languages
English (en)
French (fr)
Inventor
邱寿发
袁贤松
刘健平
李方成
刘腾涌
Original Assignee
比亚迪股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 比亚迪股份有限公司 filed Critical 比亚迪股份有限公司
Priority to AU2022402802A priority Critical patent/AU2022402802A1/en
Priority to KR1020247006084A priority patent/KR20240035605A/ko
Publication of WO2023098610A1 publication Critical patent/WO2023098610A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
    • B60J5/00—Doors
    • B60J5/04—Doors arranged at the vehicle sides
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F15/75—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects responsive to the weight or other physical contact of a person or object
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/44—Sensors therefore
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E05Y2400/456—Control modes for programming
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Application of doors, windows, wings or fittings thereof for vehicles characterised by the type of wing
    • E05Y2900/531—Doors

Definitions

  • the present disclosure relates to the technical field of vehicles, and in particular to a method for controlling the opening of a vehicle door, a device for controlling the opening of a vehicle door, a vehicle controller and a computer-readable storage medium.
  • the side door of the car is used as a mechanism for passengers to get on and off the car, and the voice of automatic and intelligent electric side door opening is becoming higher and higher day by day.
  • the traditional side door requires people to pull the handle outside the door and unlock the door lock through mechanical structure connection. After unlocking, the side door needs to be pushed open to get on and off the car. The process is cumbersome, especially when the passenger's hands are occupied and it is inconvenient to operate the side door handle. Cars will be more difficult.
  • a vehicle with a handleless door is proposed, that is, the door of this type of vehicle is not provided with a handle, but the door is unlocked through the button device of the B-pillar or C-pillar of the vehicle. , to replace the traditional handle.
  • Aiming at the electric door opening function of the automatic door system by adopting different control strategies, the precise control method of automatic induction door opening without manual operation is studied.
  • the present disclosure aims to solve one of the technical problems in the related art at least to a certain extent. For this reason, the present disclosure proposes a control method for opening the car door.
  • the door is opened by knocking, which is simple in action and more interesting in the process of human-computer interaction.
  • the knock control method is judged based on principles such as mechanics , the algorithm is simpler, the original vehicle appearance can be maintained, and the cost is lower.
  • the present disclosure proposes a control device for opening a vehicle door.
  • the present disclosure proposes a vehicle controller.
  • the present disclosure proposes a vehicle.
  • the present disclosure proposes a computer-readable storage medium.
  • the embodiment of the first aspect of the present disclosure proposes a control method for opening a car door, including: collecting a knocking signal; and acquiring status information of the vehicle when the knocking signal is determined to be valid according to the knocking signal, wherein the status information includes: the status of the door, Vehicle speed and vehicle insurance status; when the status information of the vehicle is determined to meet the preset conditions, it responds to the knock signal and controls the door to open.
  • the knocking signal is collected first, and then, when the knocking signal is determined to be valid according to the knocking signal, the state information of the vehicle is obtained, wherein the state information includes: the state of the door, the speed of the vehicle and the vehicle insurance Finally, when it is determined that the status information of the vehicle meets the preset conditions, it responds to the knock signal and controls the door to open.
  • the control method opens the door by knocking, which is simple in action and more interesting in the process of human-computer interaction.
  • the knocking opening method the original appearance of the whole vehicle can be maintained and the transformation cost can be saved.
  • the method for controlling the opening of the vehicle door may also have the following additional technical features:
  • determining that the tapping signal is valid according to the tapping signal includes: determining that the tapping signal is valid when a tapping force value corresponding to the tapping signal is greater than a preset tapping force value.
  • determining that the tap signal is valid according to the tap signal includes: the number of tap signals collected within the first preset time reaches a set number of times, and each tap signal collected corresponds to When the knocking force values are greater than the preset knocking force value, it is determined that the knocking signal is valid.
  • determining that the tap signal is valid according to the tap signal includes: the number of tap signals collected within the first preset time reaches a set number of times, and each tap signal collected corresponds to When the knocking force values are greater than the preset knocking force value and the knocking action does not occur within the second preset time after the door is opened to closed, it is determined that the knocking signal is valid.
  • the vehicle door when the vehicle door is in the closed state, the vehicle is in the disarmed state, and the vehicle speed is lower than the preset speed, it is determined that the state information of the vehicle satisfies the preset condition.
  • the method before controlling the opening of the vehicle door, the method further includes: acquiring road condition information around the vehicle; and judging whether there is an obstacle outside the vehicle door according to the road condition information around the vehicle.
  • the door when there is no obstacle outside the door, the door is controlled to be unlocked and started to open.
  • the method further includes: when it is determined that there is an obstacle outside the vehicle door, controlling the vehicle door to hover.
  • the above-mentioned control method for opening the vehicle door further includes: when it is determined that there is no obstacle outside the vehicle door, controlling the vehicle door to open to a preset maximum angle.
  • the embodiment of the second aspect of the present disclosure proposes a control device for opening a car door, including: a collection module, used to collect a knock signal; a determination module, used to acquire the state of the vehicle when the knock signal is determined to be valid according to the knock signal information, wherein the status information includes: the status of the vehicle door, vehicle speed and vehicle insurance status; the control module is used to respond to the knock signal and control the opening of the vehicle door when it is determined that the status information of the vehicle meets the preset conditions.
  • the knocking signal is collected by the acquisition module, and when the knocking signal is determined to be valid by the determination module according to the knocking signal, the state information of the vehicle is obtained, wherein the state information includes: the state of the car door, Vehicle speed and vehicle insurance state, when it is determined that the state information of the vehicle meets the preset conditions, the control module responds to the knock signal and controls the door to open.
  • the device opens the door by knocking, which is simple in action and more interesting in the process of human-computer interaction.
  • the opening method of knocking can maintain the original appearance of the whole vehicle and save the transformation cost.
  • a vehicle controller proposed in an embodiment of the third aspect of the present disclosure includes: a memory, a processor, and a door opening control program stored in the memory and operable on the processor.
  • the processor executes the door opening control program, The above-mentioned control method for opening the car door is realized.
  • the processor executes the control program for opening the door to realize the above-mentioned control method for opening the door.
  • the opening method can maintain the original appearance of the whole vehicle and save the transformation cost.
  • the embodiment of the fifth aspect of the present disclosure provides a vehicle, including the above-mentioned vehicle controller.
  • the vehicles of the embodiments of the present disclosure through the above-mentioned vehicle controller, can increase the interest in the process of human-computer interaction, and maintain the original appearance of the whole vehicle, saving the transformation cost.
  • the embodiment of the fifth aspect of the present disclosure proposes a computer-readable storage medium, on which a control program for opening a car door is stored.
  • the control program for opening a car door is executed by a processor, the above-mentioned control method for opening a car door is implemented.
  • the processor executes the control program for opening the car door stored thereon, the above-mentioned method for controlling the opening of the car door is realized, the action is simple, and the process of human-computer interaction is more interesting.
  • the use of knocking to open can maintain the original appearance of the whole vehicle and save the transformation cost.
  • FIG. 1 is a flow chart of a control method for opening a car door according to an embodiment of the present disclosure
  • FIG. 2 is a flow chart of a control method for opening a car door according to a specific embodiment of the present disclosure
  • FIG. 3 is a schematic block diagram of a control device for opening a vehicle door according to an embodiment of the present disclosure
  • FIG. 4 is a block schematic diagram of a vehicle controller according to an embodiment of the present disclosure.
  • FIG. 5 is a block schematic diagram of a vehicle according to an embodiment of the disclosure.
  • FIG. 1 is a flowchart of a control method for opening a vehicle door according to an embodiment of the disclosure.
  • control method for opening a car door includes:
  • the sensing surface of the tap sensor receives the tap force, and transmits the tap signal to the vehicle controller through the wiring harness.
  • the knocking sensor may be a force value detection sensor, which distinguishes effective knocking signals by detecting the force value of the knocking.
  • the knock sensor can be installed between the outer door panel and the inner door panel, on the inner side of the door outer panel, the sensing surface is attached to the inner side of the door outer panel, and can be fixed with a corresponding bracket , the bracket is connected and fixed with the sheet metal through glue-type connecting substances, so as to achieve the purpose of fastening.
  • the knocking sensor on the inner side of the sheet metal of the door outer panel, the outer door panel does not need to be drilled, eliminating a series of problems such as sheet metal or decorative panel hole sealing, simple layout, cost-saving, and
  • the inside of the board provides the sensing surface of the knock sensor and the mounting surface to form a knock sensing area. Users can tap the sensing area on the outside of the door outer panel according to their individual needs, and use different stickers to remind them.
  • the state information of the vehicle is acquired, wherein the state information includes: the state of the door, the speed of the vehicle, and the state of the vehicle insurance.
  • determining that the tapping signal is valid according to the tapping signal may include: determining that the tapping signal is valid when a tapping force value corresponding to the tapping signal is greater than a preset tapping force value.
  • the knocking force value of a single knocking signal is used as a valid judgment condition.
  • the preset knocking force value is set to be F
  • the knocking force value of the knocking signal acquired by the knocking sensor in real time is f
  • the knocking force value f is compared with the pre-stored F (preset knocking force value) In comparison, if f is greater than F, the tap signal is valid; if f is less than or equal to F, it is considered an invalid signal.
  • determining that the tap signal is valid according to the tap signal may include: the number of tap signals collected within the first preset time reaches the set number of times and every When the knocking force values corresponding to the knocking signals collected for the second time are greater than the preset knocking force values, it is determined that the knocking signal is valid.
  • the first preset time can be calibrated according to the actual situation, for example, the first preset time can be 1 second, and the set times can be 2 times.
  • the number of effective tapping signals and the magnitude of the tapping force within the first preset time period are used as valid judgment conditions. For example, when two tapping signals are collected within the first preset time, and the tapping force value of each collected tapping signal is greater than the preset tapping force value, the tapping signal is considered valid. If two tapping signals are not collected within the first preset time, or the tapping force value of the collected tapping signal does not reach the preset tapping force value, the tapping signal is considered invalid.
  • determining that the tap signal is valid according to the tap signal may include: the number of tap signals collected within the first preset time reaches a set number of times and When the knocking force value corresponding to the knocking signal collected each time is greater than the preset knocking force value, and the knocking action does not occur within the second preset time after the door is opened to closed, it is determined that the knocking signal is valid .
  • the above-mentioned preset tapping force value, first preset time and second preset time can be preset and stored according to actual application, for example, the first preset time can be 1s, and the second preset time can be 500ms.
  • the number of times of tapping, the value of tapping force, and the time of the first tapping action within the first preset time period are used as valid judgment conditions. For example, according to the above-mentioned judgment on the number of tapping signals within the first preset time, when the number of tapping signals within the first preset time reaches the set number of times, and the tapping force value corresponding to each tapping signal is greater than the preset
  • the knocking force value in order to improve the accuracy of whether the knocking signal is valid, it also obtains the time of the first knocking signal, and judges whether the time is within a period of time after the door is opened and closed. If not, it means the current knocking signal The signal is caused by the vibration after the door is closed. If it is, it means that the knock signal is valid. In this way, the vibration caused by the closing of the car door can be avoided to be interpreted as a knock signal.
  • the timing operation started by the system when the door is opened to closed can be automatically stopped when the timing is greater than the second set time and the first knocking signal does not occur, that is, the subsequent knocking operations all satisfy the knocking action.
  • the validity of the knock signal is carried out according to the effective judgment method of the number of knock signals and the knock force value in the first preset time as the effective judgment condition. judge.
  • the above-mentioned timing operation is automatically opened after the door is operated from opening to closing, and then the validity of the knocking signal is re-identified according to the above-mentioned determination method. It can be understood that, the above-mentioned timing operation will be reset to zero or restarted when the next operation of the door from opening to closing occurs.
  • the judging methods of the above three embodiments can all realize the door control method of the present application, and different judging methods can be selected according to the actual working conditions of the vehicle, and the accuracy of judging whether the knocking signal is valid in the above embodiments gradually increases.
  • the vehicle door when the vehicle door is in the closed state, the vehicle is in the disarmed state, and the vehicle speed is lower than the preset speed, it is determined that the state information of the vehicle satisfies the preset condition.
  • the preset vehicle speed can be preset according to the actual situation, for example, the preset vehicle speed can be 3km/h.
  • the knock signal is a valid signal
  • the state of the door, the speed of the vehicle, and the insurance state of the vehicle are acquired respectively.
  • the vehicle is in an unlocked state and the current speed is lower than the preset speed, the status information of the vehicle satisfies the preset condition.
  • the state signal of the vehicle satisfies the preset conditions, it responds to the knock signal, controls the door to be unlocked, controls the corresponding drive mechanism (side door drive mechanism) to drive the motor, and drives the door to move away from the body. , to realize the door opening action.
  • the method before controlling the opening of the vehicle door, the method further includes: acquiring road condition information around the vehicle; and judging whether there is an obstacle outside the vehicle door according to the road condition information around the vehicle.
  • the left and right cameras installed on the rearview mirror of the vehicle can capture image information within the same angle as the rearview mirror, and process the image information to determine whether there are obstacles or pedestrians within the range. Or collect rear image information through the millimeter-wave radar arranged behind the vehicle, so as to judge whether there is an incoming vehicle behind the vehicle according to the rear image information. In addition, the image information on both sides of the vehicle is also collected through the ultrasonic radar installed on the vehicle body.
  • the millimeter-wave radar can detect people and objects 20 meters away, and the ultrasonic radar can detect people and objects within 2 meters, falling objects, and small obstacles nearby.
  • the camera installed on the rearview mirror of the vehicle the ultrasonic radar on the vehicle body, and the millimeter-wave radar behind the vehicle, all-round detection of road condition information around the vehicle can be realized.
  • the vehicle door when there is an obstacle outside the vehicle door, the vehicle door is controlled to be unlocked. That is to say, when it is judged that there is an obstacle outside the car door, the door is first controlled to be unlocked, but not opened, and then by judging whether the distance between the obstacle and the vehicle is greater than a preset distance, for example, the door can be opened at a certain angle, so that People can get on and off the car. If it is larger than the threshold, it is considered that the door can be opened, and then the opening angle of the door is controlled according to the distance between the obstacle and the vehicle.
  • the door when there is no obstacle outside the door, the door is controlled to be unlocked and started to open.
  • the side door detection radar installed on the corresponding door is first awakened, and the side door detection radar is activated.
  • the obstacle outside the door is judged, and the obstacle signal and the distance of the obstacle are fed back to the domain controller, and then the road condition information around the vehicle is obtained according to the feedback information, and whether there is an obstacle outside the door is judged.
  • the system can store a safety distance in advance according to the area required for door opening.
  • the side door driving mechanism is provided with a speed sensor or an acceleration sensor, and the speed sensor or acceleration sensor is connected to the vehicle controller to feed back the opening of the door to the vehicle controller in real time.
  • the structure for unlocking the vehicle door in the embodiments of the present disclosure is an electric unlocking structure.
  • the above-mentioned safety distance can be set according to the opening direction of the door and the size of the door in actual application, so as to meet the normal opening of the door as the setting premise.
  • the method further includes: when it is determined that there is an obstacle outside the vehicle door, controlling the vehicle door to hover.
  • the method further includes: when it is determined that there is no obstacle outside the vehicle door, controlling the vehicle door to open to a preset maximum angle.
  • the side door detection radar detects the obstacle outside the door in real time, and feeds back the signal and distance of the obstacle to the vehicle controller in real time, and then the vehicle controller Judging the surrounding road conditions based on object information, if it is determined that there are no obstacles outside the door, the door will be controlled to open to a preset maximum angle.
  • the control method for opening a car door includes:
  • step S202 whether a knock signal is collected. If yes, execute step S03; if not, execute step S201.
  • step S203 judging whether the tapping force value f of the tapping signal is greater than a preset tapping force value F. If yes, execute step S204; if not, execute step S201.
  • step S204 judging whether to collect two effective tapping signals within the first preset time period of 1s. If yes, execute step S205; if not, execute step S201.
  • step S205 judging whether the first knock signal is collected within 500 ms after the door is opened to closed. If yes, execute step S206; if not, execute step S201.
  • step S206 judging whether the vehicle door is in a closed state. If yes, execute step S207; if not, execute step S208.
  • step S207 judging whether the whole vehicle is in the unlocked state. If yes, execute step S209; if not, execute step S208.
  • step S209 judging whether the current vehicle speed v is less than the set vehicle speed 3km/h. If yes, execute step S210; if not, execute step S208.
  • step S210 judging whether there is an obstacle outside the vehicle door. If yes, execute step S211; if not, execute step S212.
  • step S213 judging whether there is an obstacle outside the door during the door opening process. If yes, execute step S214; if no, execute step S215.
  • step S215 judging whether the opening angle of the vehicle door reaches the maximum opening angle. If yes, execute step S216; if no, execute step S212.
  • the knocking opening method compared with the traditional car opening method, the knocking opening method has simple actions, and at the same time, it is more interesting in the process of human-computer interaction.
  • the existing opening methods using external handles or buttons often need to open holes in the sheet metal or decorative panels during the layout process for the installation of the opening device. Waterproof and dustproof requirements, high cost, will affect the overall appearance at the same time, inconvenient modeling, and the layout of this application does not need to open holes, directly hidden inside the sheet metal or decorative panels, eliminating the need for a series of openings and sealing Difficulties, save costs, do not damage the appearance of the vehicle, and are convenient for styling.
  • the knocking signal is collected first, and then, when the knocking signal is determined to be valid according to the knocking signal, the state information of the vehicle is obtained, wherein the state information includes: the state of the door, the speed of the vehicle and the vehicle insurance Finally, when it is determined that the status information of the vehicle meets the preset conditions, it responds to the knock signal and controls the door to open.
  • this method opens the car door by knocking, which is simple and more interesting in the process of human-computer interaction.
  • the original appearance of the whole vehicle can be maintained by using the knocking opening method. Save retrofit costs.
  • the present disclosure also proposes a control device for opening a vehicle door.
  • the control device for opening a vehicle door in the embodiment of the present disclosure may include: a collection module 10 , a determination module 20 and a control module 30 .
  • the collection module 10 is used for collecting the knocking signal.
  • the determination module 20 is configured to obtain the status information of the vehicle when it is determined that the knock signal is valid according to the knock signal, wherein the status information includes: the status of the vehicle door, the vehicle speed and the vehicle insurance status.
  • the control module 30 is configured to respond to the knock signal and control the opening of the vehicle door when it is determined that the state information of the vehicle meets the preset condition.
  • the determining module 20 determines that the tapping signal is valid according to the tapping signal, and is specifically configured to: determine that the tapping signal is valid when the tapping force value corresponding to the tapping signal is greater than a preset tapping force value.
  • the determination module 20 determines that the tapping signal is valid according to the tapping signal, specifically: the number of tapping signals collected within the first preset time reaches the set number of times and each time the tapping signal is collected When the tapping force values corresponding to the tapping signals are greater than the preset tapping force values, it is determined that the tapping signal is valid.
  • the determining module 20 determines that the tapping signal is valid according to the tapping signal, and is specifically used for: the number of tapping signals collected within the first preset time reaches the set number of times and each time the tapping signal is collected When the knocking force values corresponding to the knocking signals are greater than the preset knocking force values, and the knocking action does not occur within the second preset time after the door is opened to closed, it is determined that the knocking signal is valid.
  • the control module 30 determines that the state information of the vehicle satisfies a preset condition.
  • control module 30 before controlling the opening of the vehicle door, is specifically further configured to: acquire road condition information around the vehicle; judge whether there is an obstacle outside the vehicle door according to the road condition information around the vehicle.
  • control module 30 controls the door to be unlocked and starts to open.
  • control module 30 is specifically further configured to: control the vehicle door to hover when it is determined that there is an obstacle outside the vehicle door.
  • control module 30 is specifically further configured to: control the opening of the vehicle door to a preset maximum angle when it is determined that there is no obstacle outside the vehicle door.
  • the knocking signal is collected by the acquisition module, and when the knocking signal is determined to be valid by the determination module according to the knocking signal, the state information of the vehicle is obtained, wherein the state information includes: The door state, vehicle speed and vehicle insurance state, when it is determined that the state information of the vehicle meets the preset conditions, the control module responds to the knock signal and controls the door to open.
  • the device opens the door by knocking, which is simple in action and more interesting in the process of human-computer interaction.
  • the opening method of knocking can maintain the original appearance of the whole vehicle and save the transformation cost.
  • the present disclosure also proposes a vehicle controller.
  • the vehicle controller 300 of the disclosed embodiment includes: a memory 310, a processor 320, and a control program for opening the door stored on the memory 310 and operable on the processor.
  • the processor 320 executes the door opening process.
  • the control program realize the control method of above-mentioned car door opening.
  • the processor executes the control program for opening the door to realize the above-mentioned control method for opening the door.
  • the opening method can maintain the original appearance of the whole vehicle and save the transformation cost.
  • the present disclosure also proposes a vehicle.
  • a vehicle 400 includes: the above-mentioned vehicle controller 300 .
  • the vehicles of the embodiments of the present disclosure through the above-mentioned vehicle controller, can increase the interest in the process of human-computer interaction, and maintain the original appearance of the whole vehicle, saving the transformation cost.
  • the present disclosure further proposes a computer-readable storage medium.
  • the computer-readable storage medium of the embodiment of the present disclosure stores thereon a control program for opening a car door, and when the control program for opening a car door is executed by a processor, the above-mentioned control method for opening a car door is realized.
  • the processor executes the control program for opening the car door stored thereon, the above-mentioned control method for opening the car door is realized, and the original appearance of the whole vehicle can be maintained by adopting the knocking and opening method. Save retrofit costs.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate or transmit a program for use in or in conjunction with an instruction execution system, device, or device.
  • computer-readable media include the following: electrical connection with one or more wires (electronic device), portable computer disk case (magnetic device), random access memory (RAM), Read Only Memory (ROM), Erasable and Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, as it may be possible, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable processing if necessary. processing to obtain the program electronically and store it in computer memory.
  • various parts of the present disclosure may be implemented in hardware, software, firmware or a combination thereof.
  • various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques known in the art: Discrete logic circuits, ASICs with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.

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Abstract

一种车门开启的控制方法及控制装置、车辆控制器，所述控制方法包括：采集敲击信号；根据敲击信号确定敲击信号有效时，获取车辆的状态信息，其中，状态信息包括：车门状态、车速和车辆保险状态；确定车辆的状态信息满足预设条件时，响应敲击信号，并控制车门开启。

Description

车门开启的控制方法及控制装置、车辆控制器
相关申请的交叉引用
本公开基于申请号为202111443403.X，申请日为2021年11月30日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本公开作为参考。
技术领域
本公开涉及车辆技术领域，尤其涉及一种车门开启的控制方法、一种车门开启的控制装置、一种车辆控制器和一种计算机可读存储介质。
背景技术
随着人们对汽车的需求提高，汽车侧门作为乘客上下车的机构，对自动化和智能化的电动侧开门呼声日益变高。传统侧门，需要人拉门外把手，通过机械结构连接解锁车门锁，进行解锁之后，还需要推开侧门，进行上下车，过程繁琐，特别是在乘客双手占用，不方便操作侧门把手时，上下车将更加困难。
相关技术中，针对无把手造型的自动车门系统，提出了一种无把手车门的车辆，即该种车辆的车门上不设有把手，而是通过车辆B柱或C柱的按键装置来解锁车门，替代传统把手。针对自动车门系统的电动开门功能，通过采用不同的控制策略，研究无须手动操作的自动感应式开门的精确的控制方法。
但是，上述控制策略中存在钣金或饰板开孔密封等一系列问题，布置较困难。并且为了准确识别用户的开门意图，一般需要较复杂的算法，同时硬件成本也较高。
公开内容
本公开旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本公开提出了一种车门开启的控制方法，通过敲击方式开启车门，动作简单，在人机交互过程中，趣味性更强，此外，该敲击控制方法基于力学等原理进行判断，算法更简单，可以保持原有的整车外观，成本更低。
本公开提出了一种车门开启的控制装置。
本公开提出了一种车辆控制器。
本公开提出了一种车辆。
本公开提出了一种计算机可读存储介质。
本公开第一方面实施例提出了一种车门开启的控制方法，包括：采集敲击信号；根据敲击信号确定敲击信号有效时，获取车辆的状态信息，其中，状态信息包括：车门状态、车速和车辆保险状态；确定车辆的状态信息满足预设条件时，响应敲击信号，并控制车门开启。
根据本公开实施例的车门开启的控制方法，首先采集敲击信号，然后，根据敲击信号确定敲击信号有效时，获取车辆的状态信息，其中，状态信息包括：车门状态、车速和车辆保险状态，最后，确定车辆的状态信息满足预设条件时，响应敲击信号，并控制车门开启。该控制方法通过敲击方式开启车门，动作简单，在人机交互过程中，趣味性更强，此外，采用敲击开启方式，可以保持原有的整车外观，节省改造成本。
另外，根据本公开上述实施例的车门开启的控制方法还可以具有如下的附加技术特征：
根据本公开的一个实施例，根据敲击信号确定敲击信号有效，包括：在敲击信号对应的敲击力值大于预设敲击力值时，确定敲击信号有效。
根据本公开的另一个实施例，根据敲击信号确定敲击信号有效，包括：在第一预设时间内采集到的敲击信号的次数达到设定次数且每次采集到的敲击信号对应的敲击力值均大于预设敲击力值时，确定敲击信号有效。
根据本公开的又一个实施例，根据敲击信号确定敲击信号有效，包括：在第一预设时间内采集到的敲击信号的次数达到设定次数且每次采集到的敲击信号对应的敲击力值均大于预设敲击力值、且敲击动作未发生在车门由开启到关闭后的第二预设时间内时，确定敲击信号有效。
根据本公开的一个实施例，在车门处于关闭状态、车辆处于解保险状态、且车辆的车速小于预设车速时，确定车辆的状态信息满足预设条件。
根据本公开的一个实施例，在控制车门开启之前，方法还包括：获取车辆周围的路况信息；根据车辆周围的路况信息判断车门外是否存在障碍物。
根据本公开的一个实施例，在车门外无障碍物时，控制车门解锁并开始打开。
根据本公开的一个实施例，在车门打开的过程中，方法还包括：确定车门外存在障碍物时，控制车门悬停。
根据本公开的一个实施例，在车门打开的过程中，上述的车门开启的控制方法还包括：确定车门外无障碍物时，控制车门开启到预设的最大角度。
本公开第二方面实施例提出了一种车门开启的控制装置，包括：采集模块，用于采集敲击信号；确定模块，用于在根据敲击信号确定敲击信号有效时，获取车辆的状态信息，其中，状态信息包括：车门状态、车速和车辆保险状态；控制模块，用于在确定车辆的状 态信息满足预设条件时，响应敲击信号，并控制车门开启。
根据本公开实施例的车门开启的控制装置，通过采集模块采集敲击信号，在通过确定模块根据敲击信号确定敲击信号有效时，获取车辆的状态信息，其中，状态信息包括：车门状态、车速和车辆保险状态，在确定车辆的状态信息满足预设条件时，控制模块响应敲击信号，并控制车门开启。该装置通过敲击开启车门的方式，动作简单，同时在人机交互过程中，趣味性更强，此外，采用敲击开启方式，可以保持原有的整车外观，节省改造成本。
本公开第三方面实施例提出的一种车辆控制器，包括：存储器、处理器及存储在存储器上并可在处理器上运行的车门开启的控制程序，处理器执行车门开启的控制程序时，实现上述的车门开启的控制方法。
根据本公开实施例的车辆控制器，通过处理器执行车门开启的控制程序，实现上述的车门开启的控制方法，动作简单，同时在人机交互过程中，趣味性更强，此外，采用敲击开启方式，可以保持原有的整车外观，节省改造成本。
本公开第五方面实施例提出了一种车辆，包括上述的车辆控制器。
本公开实施例的车辆，通过上述的车辆控制器，可以在人机交互的过程中，增加趣味性，并且保持原有的整车外观，节约了改造成本。
本公开第五方面实施例提出的一种计算机可读存储介质，其上存储有车门开启的控制程序，该车门开启的控制程序被处理器执行时实现上述的车门开启的控制方法。
根据本公开实施例的计算机可读存储介质，通过处理器执行其上存储的车门开启的控制程序时，实现上述的车门开启的控制方法，动作简单，在人机交互过程中，趣味性更强，此外，采用敲击开启方式，可以保持原有的整车外观，节省改造成本。
本公开附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本公开的实践了解到。
附图说明
图1为根据本公开实施例的车门开启的控制方法的流程图；
图2为根据本公开一个具体实施例的车门开启的控制方法的流程图；
图3为根据本公开实施例的车门开启的控制装置的方框示意图；
图4为根据本公开实施例的车辆控制器的方框示意图；
图5为根据本公开实施例的车辆的方框示意图。
具体实施方式
下面详细描述本公开的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本公开，而不能理解为对本公开的限制。
下面参考附图描述本公开实施例提出的车门开启的控制方法、车门开启的控制装置、车辆控制器和计算机可读存储介质。
图1为根据本公开实施例的车门开启的控制方法的流程图。
如图1所示，本公开实施例的车门开启的控制方法，包括：
S1，采集敲击信号。
具体而言，当用户敲击感应区时，敲击传感器的感应面接收到敲击作用力，并将敲击信号通过线束传递给车辆控制器。其中，敲击传感器可以为一种力值检测传感器，通过检测敲击作用力值，来区分有效敲击信号。
在本公开的一个实施例中，敲击传感器可以安装在车门外板和车门内板之间，在车门外板的钣金内侧，感应面与车门外板的内侧贴合，可以用相应支架固定，支架通过胶类连接物质与钣金连接固定，从而到达紧固的目的。另外，通过将敲击传感器隐藏在车门外板的钣金内侧，车门外板不需要进行开孔，省去了钣金或饰板开孔密封等一系列问题，布置简单，节省成本，车门外板内侧提供敲击传感器的感应面安装面形成敲击感应区域。用户可以根据个性需求在车门外板外侧在敲击感应区域，采用不同的贴纸进行提醒。
S2，根据敲击信号确定敲击信号有效时，获取车辆的状态信息，其中，状态信息包括：车门状态、车速和车辆保险状态。
根据本公开的一个实施例，根据敲击信号确定敲击信号有效，可包括：在敲击信号对应的敲击力值大于预设敲击力值时，确定敲击信号有效。
具体而言，以单次敲击信号的敲击力值作为有效判断条件。例如，设定预设敲击力值为F，敲击传感器实时获取的敲击信号的敲击力值为f，将敲击力值f与预先存储的F(预设敲击力值)相比较，若f大于F，则该敲击信号有效；若f小于等于F，则认定为无效信号。
为了提高判断的精确度，根据本公开的另一个实施例，根据敲击信号确定敲击信号有效，可包括：在第一预设时间内采集到的敲击信号的次数达到设定次数且每次采集到的敲击信号对应的敲击力值均大于预设敲击力值时，确定敲击信号有效。其中，第一预设时间可根据实际情况进行标定，例如，第一预设时间可以为1s，设定次数可以为2次。
具体而言，以第一预设时间内的有效敲击信号次数和敲击力值大小作为有效判断条件。 例如，当第一预设时间内采集到两次敲击信号，并且每次采集到的敲击信号的敲击力值均大于预设敲击力值时，认为该敲击信号有效。如果第一预设时间内未采集到两次敲击信号，或者采集到的敲击信号的敲击力值未达到预设敲击力值，则认为本次敲击信号无效。
为了进一步提高判断的精确度，根据本公开的又一个实施例，根据敲击信号确定敲击信号有效，可包括：在第一预设时间内采集到的敲击信号的次数达到设定次数且每次采集到的敲击信号对应的敲击力值均大于预设敲击力值、且敲击动作未发生在车门由开启到关闭后的第二预设时间内时，确定敲击信号有效。其中，上述预设敲击力值、第一预设时间以及第二预设时间可根据实际应用进行预先设定和存储，例如，第一预设时间可以为1s，第二预设时间可以为500ms。
具体而言，以第一预设时间内的敲击次数、敲击力值以及首次敲击动作时间作为有效判断条件。例如，根据上述对第一预设时间的敲击信号的次数进行判断，当第一预设时间内的敲击次数达到设定次数，并且每次敲击信号对应的敲击力值均大于预设敲击力值时，为了提高敲击信号是否有效的准确性，还获取首次敲击信号的时间，判断该时间是否在车门由开启到关闭后的一段时间内，如果不在，说明当前敲击信号为车门关闭后震动引起的，如果在，则说明本次敲击信号有效。这种方式可以避免车门关上时引起的震动被认为是敲击信号的情况。
此外，上述方式下系统在车门由开启到关闭时开始的计时操作可在计时大于第二设定时间且未发生首次敲击信号时自动停止，即之后的敲击操作均满足敲击动作为发生在车门由开启到关闭后的第二预设时间内，然后根据第一预设时间内的有效敲击信号次数和敲击力值大小作为有效判断条件的判定方法对敲击信号的有效性进行判断。上述计时操作在车门由开启到关闭操作后自动开启，然后根据上述判定方法进行敲击信号有效性的重新认定。可以理解的是，上述计时操作在下次车门由开启到关闭操作发生时均进行归零或重启操作。
需要说明的是，上述三个实施例的判断方式均可以实现本申请的车门的控制方法，可根据车辆实际工况选取不同判断方法，上述实施例的判断敲击信号是否有效的精度逐渐递增。
根据本公开的一个实施例，在车门处于关闭状态、车辆处于解保险状态、且车辆的车速小于预设车速时，确定车辆的状态信息满足预设条件。其中，预设车速可根据实际情况进行预先设定，例如，预设车速可以为3km/h。
具体而言，当判断敲击信号为有效信号时，分别获取车门状态、车速以及车辆保险状态。当车门为关闭状态、车辆处于解锁即解保险状态且当前车速小于预设车速时，车辆的状态信息满足预设条件。
S3，确定车辆的状态信息满足预设条件时，响应敲击信号，并控制车门开启。
具体而言，当判断车辆的状态信号满足预设条件时，对敲击信号做出反应，并控制车门解锁，控制相应的驱动机构(侧门驱动机构)驱动电机运行，带动车门做远离车身的动作，实现开门动作。
根据本公开的一个实施例，在控制车门开启之前，方法还包括：获取车辆周围的路况信息；根据车辆周围的路况信息判断车门外是否存在障碍物。
具体而言，可通过分别设置在车辆后视镜上的左右摄像头拍摄与后视镜相同角度内的图像信息，并对图像信息进行处理，以判断该范围内是否有障碍物或者行人。或者通过设置在车辆后方的毫米波雷达采集后方图像信息，以根据后方图像信息判断车辆后方是否有来车。另外，还通过设置在车身上的超声波雷达采集车辆两侧的图像信息。
其中，毫米波雷达可以检测20米以外的人与物，超声波雷达可以检测2米以内的人与物，坠物，近处小型障碍物。通过设置在车辆后视镜上的摄像头，车身上的超声波雷达，车辆后方的毫米波雷达，可以实现对车辆周围的路况信息的全方位检测。
根据本公开的一个实施例，在车门外存在障碍物时，控制车门解锁。也就是说，在判断车门外存在障碍物时，先控制车门解锁，但是不打开，然后通过判断障碍物与车辆之间的距离是否大于预设的距离，如，车门可以开启一定的角度，使得人可以上下车，如果大于，认为可以开启车门，再根据障碍物与车辆之间的距离，控制车门开启的角度。
根据本公开的一个实施例，在车门外无障碍物时，控制车门解锁并开始打开。
具体而言，当敲击信号为有效信号、车辆的状态信息满足预设条件时，在控制对应的车门总成开启之前，首先对安装在对应车门上的侧门检测雷达进行唤醒，侧门检测雷达对车门外的障碍进行判断，并将障碍物信号及障碍物的距离反馈回域控，然后根据反馈信息对车辆周围的路况信息进行获取，并判断车门外是否存在障碍物。例如，系统可根据车门开启所需区域面积预先存储有安全距离，若侧门检测雷达获取的障碍物距离小于等于安全距离，即障碍物处于车门开启区域内，开启车门容易与障碍物发生碰撞，认定车门外存在障碍物，控制车门解锁，但不输出驱动信号至侧门驱动机构，保持车门关闭状态。若侧门检测雷达获取的距离大于安全距离，即障碍物处于车门开启区域外，开启车门过程中不会与障碍物发生碰撞，认定车门外不存在障碍物，控制车门解锁、侧门驱动机构进行开门动作。在一实施例中，侧门驱动机构上设置有速度传感器或加速度传感器，该速度传感器或加速度传感器与车辆控制器连接，以将车门开启情况实时反馈给车辆控制器。
可以理解的是，本公开的实施例的用于车门解锁的结构为电解锁结构。
需要说明的是，上述安全距离可根据实际应用的车门的开启方向以及车门的大小自行 设定，以满足车门正常开启为设定前提。
为了防止突发事件发生，根据本公开的一个实施例，在车门打开的过程中，方法还包括：确定车门外存在障碍物时，控制车门悬停。
也就是说，在车门打开的过程中，检测到车门外有障碍物时，例如，障碍物为行人，行人在车门自动开启的过程中靠近车辆，又如，有坠物，或者小型障碍物，控制车门立即停止动作，即控制车门悬停。这样就可以避免在突发情况下撞击行人，或者造成磕碰的风险。
根据本公开的一个实施例，在车门打开的过程中，方法还包括：确定车门外无障碍物时，控制车门开启到预设的最大角度。
具体而言，在侧门驱动机构对车门进行打开过程中，侧门检测雷达实时检测车门外障碍物情况，并将障碍物的信号以及距离实时反馈给车辆控制器，然后车辆控制器根据实时反馈的障碍物信息对周边路况进行判定，如果确定车门外没有障碍物，则控制车门开启到预设的最大角度。作为本公开的一个车门开启的控制方法的具体示例，如图2所示，该车门开启的控制方法包括：
S201，开始信号检测。
S202，是否采集到敲击信号。若是，则执行步骤S03；若否，则执行步骤S201。
S203，判断敲击信号的敲击力值f是否大于预设敲击力值F。若是，则执行步骤S204；若否，执行步骤S201。
S204，判断第一预设时间1s内是否采集两次有效敲击信号。若是，执行步骤S205；若否，执行步骤S201。
S205，判断首次敲击信号是否在车门由开启到关闭后的500ms内采集得到。若是，则执行步骤S206；若否，执行步骤S201。
S206，判断车门是否处于关闭状态。若是，执行步骤S207；若否，执行步骤S208。
S207，判断整车是否处于解保险状态。若是，执行步骤S209；若否，执行步骤S208。
S208，不响应此次敲击开门请求信号。
S209，判断当前车速v是否小于设定车速3km/h。若是，执行步骤S210；若否，执行步骤S208。
S210，判断车门外是否有障碍物。若是，执行步骤S211；若否，执行步骤S212。
S211，车门解锁，不执行开门动作。
S212，车门解锁，侧门驱动机构执行开门动作。
S213，判断开门过程中车门外是否有障碍物。若是，执行步骤S214；若否，执行步骤 S215。
S214，侧门驱动机构停止驱动，车门悬停。
S215，判断车门开启角度是否达到最大开启角度。若是，执行步骤S216；若否，执行步骤S212。
S216，侧门驱动机构停止驱动，开门操作完成。
综上，本申请的控制方法，相比较传统汽车开启方式，敲击开启方式，动作简单，同时在人机交互过程中，趣味性更强。并且，现有的采用外把手或者按键的开启方式，在布置过程中，往往需要在钣金或饰板上开孔，用于开启装置的安装，同时开孔位置需要特殊密封，以满足整车防水防尘的要求，成本较高，同时会影响整体外观，不方便造型，而本申请布置方式不需开孔，直接隐藏在钣金或饰板内侧，省去了开孔和密封等一系列难题，节省成本，不破坏整车外观，方便造型。
根据本公开实施例的车门开启的控制方法，首先采集敲击信号，然后，根据敲击信号确定敲击信号有效时，获取车辆的状态信息，其中，状态信息包括：车门状态、车速和车辆保险状态，最后，确定车辆的状态信息满足预设条件时，响应敲击信号，并控制车门开启。相对于传统汽车开启方式，该方法通过敲击开启车门的方式，动作简单，同时在人机交互过程中，趣味性更强，此外，采用敲击开启方式，可以保持原有的整车外观，节省改造成本。对应上述实施例，本公开还提出了一种车门开启的控制装置。
如图3所示，本公开实施例的车门开启的控制装置，可包括：采集模块10、确定模块20和控制模块30。
其中，采集模块10用于采集敲击信号。确定模块20用于在根据敲击信号确定敲击信号有效时，获取车辆的状态信息，其中，状态信息包括：车门状态、车速和车辆保险状态。控制模块30用于在确定车辆的状态信息满足预设条件时，响应敲击信号，并控制车门开启。
根据本公开的一个实施例，确定模块20根据敲击信号确定敲击信号有效，具体用于：在敲击信号对应的敲击力值大于预设敲击力值时，确定敲击信号有效。
根据本公开的另一个实施例，确定模块20根据敲击信号确定敲击信号有效，具体用于：在第一预设时间内采集到的敲击信号的次数达到设定次数且每次采集到的敲击信号对应的敲击力值均大于预设敲击力值时，确定敲击信号有效。
根据本公开的又一个实施例，确定模块20根据敲击信号确定敲击信号有效，具体用于：在第一预设时间内采集到的敲击信号的次数达到设定次数且每次采集到的敲击信号对应的敲击力值均大于预设敲击力值、且敲击动作未发生在车门由开启到关闭后的第二预设时间内时，确定敲击信号有效。
根据本公开的一个实施例，在车门处于关闭状态、车辆处于解保险状态、且车辆的车速小于预设车速时，控制模块30确定车辆的状态信息满足预设条件。
根据本公开的一个实施例，控制模块30在控制车门开启之前，具体还用于：获取车辆周围的路况信息；根据车辆周围的路况信息判断车门外是否存在障碍物。
根据本公开的一个实施例，在车门外无障碍物时，控制模块30控制车门解锁并开始打开。
根据本公开的一个实施例，在车门打开的过程中，控制模块30具体还用于：确定车门外存在障碍物时，控制车门悬停。
根据本公开的一个实施例，在车门打开的过程中，控制模块30具体还用于：确定车门外无障碍物时，控制车门开启到预设的最大角度。
需要说明的是，本公开实施例的车门开启的控制装置中未披露的细节，请参照本公开上述实施例的车门开启的控制方法中所披露的细节，具体这里不再赘述。
综上，根据本公开实施例的车门开启的控制装置，通过采集模块采集敲击信号，在通过确定模块根据敲击信号确定敲击信号有效时，获取车辆的状态信息，其中，状态信息包括：车门状态、车速和车辆保险状态，在确定车辆的状态信息满足预设条件时，控制模块响应敲击信号，并控制车门开启。该装置通过敲击开启车门的方式，动作简单，同时在人机交互过程中，趣味性更强，此外，采用敲击开启方式，可以保持原有的整车外观，节省改造成本。
对应上述实施例，本公开还提出了一种车辆控制器。
如图4所示，本公开实施例的车辆控制器300，包括：存储器310、处理器320及存储在存储器310上并可在处理器上运行的车门开启的控制程序，处理器320执行车门开启的控制程序时，实现上述的车门开启的控制方法。
根据本公开实施例的车辆控制器，通过处理器执行车门开启的控制程序，实现上述的车门开启的控制方法，动作简单，同时在人机交互过程中，趣味性更强，此外，采用敲击开启方式，可以保持原有的整车外观，节省改造成本。
对应上述实施例，本公开还提出了一种车辆。
如图5所示，本公开实施例的车辆400包括：上述的车辆控制器300。
本公开实施例的车辆，通过上述的车辆控制器，可以在人机交互的过程中，增加趣味性，并且保持原有的整车外观，节约了改造成本。
对应上述实施例，本公开还提出一种计算机可读存储介质。
本公开实施例的计算机可读存储介质，其上存储有车门开启的控制程序，该车门开启 的控制程序被处理器执行时实现上述的车门开启的控制方法。
根据本公开实施例的计算机可读存储介质，通过处理器执行其上存储的车门开启的控制程序时实现上述的车门开启的控制方法，采用敲击开启方式，可以保持原有的整车外观，节省改造成本。
需要说明的是，在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本公开的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本公开的描述中，“多个”的含义是至少两个， 例如两个，三个等，除非另有明确具体的限定。
在本公开中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。
尽管上面已经示出和描述了本公开的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本公开的限制，本领域的普通技术人员在本公开的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (13)

  1. 一种车门开启的控制方法，其特征在于，包括：
    采集敲击信号；
    根据所述敲击信号确定所述敲击信号有效时，获取车辆的状态信息，其中，所述状态信息包括：车门状态、车速和车辆保险状态；
    确定所述车辆的状态信息满足预设条件时，响应所述敲击信号，并控制所述车门开启。
  2. 根据权利要求1所述的车门开启的控制方法，其特征在于，根据所述敲击信号确定所述敲击信号有效，包括：
    在所述敲击信号对应的敲击力值大于预设敲击力值时，确定所述敲击信号有效。
  3. 根据权利要求1或2所述的车门开启的控制方法，其特征在于，根据所述敲击信号确定所述敲击信号有效，包括：
    在第一预设时间内采集到的敲击信号的次数达到设定次数且每次采集到的敲击信号对应的敲击力值均大于预设敲击力值时，确定所述敲击信号有效。
  4. 根据权利要求1-3中任一项所述的车门开启的控制方法，其特征在于，根据所述敲击信号确定所述敲击信号有效，包括：
    在第一预设时间内采集到的敲击信号的次数达到设定次数且每次采集到的敲击信号对应的敲击力值均大于预设敲击力值、且敲击动作未发生在车门由开启到关闭后的第二预设时间内时，确定所述敲击信号有效。
  5. 根据权利要求1-4中任一项所述的车门开启的控制方法，其特征在于，在所述车门处于关闭状态、所述车辆处于解保险状态、且所述车辆的车速小于预设车速时，确定所述车辆的状态信息满足所述预设条件。
  6. 根据权利要求1-5中任一项所述的车门开启的控制方法，其特征在于，在控制所述车门开启之前，所述方法还包括：
    获取所述车辆周围的路况信息；
    根据所述车辆周围的路况信息判断所述车门外是否存在障碍物。
  7. 根据权利要求6所述的车门开启的控制方法，其特征在于，在所述车门外无障碍物时，控制所述车门解锁并开始打开。
  8. 根据权利要求7所述的车门开启的控制方法，其特征在于，在所述车门打开的过程中，所述方法还包括：
    确定所述车门外存在障碍物时，控制所述车门悬停。
  9. 根据权利要求7或8所述的车门开启的控制方法，其特征在于，在所述车门打开的过程中，所述方法还包括：
    确定所述车门外无障碍物时，控制所述车门开启到预设的最大角度。
  10. 一种车门开启的控制装置，其特征在于，包括：
    采集模块，用于采集敲击信号；
    确定模块，用于在根据所述敲击信号确定所述敲击信号有效时，获取车辆的状态信息，其中，所述状态信息包括：车门状态、车速和车辆保险状态；
    控制模块，用于在确定所述车辆的状态信息满足预设条件时，响应所述敲击信号，并控制所述车门开启。
  11. 一种车辆控制器，其特征在于，包括：存储器、处理器及存储在存储器上并可在处理器上运行的车门开启的控制程序，所述处理器执行所述车门开启的控制程序时，实现根据权利要求1-9中任一项所述的车门开启的控制方法。
  12. 一种车辆，其特征在于，包括如权利要求11所述的车辆控制器。
  13. 一种计算机可读存储介质，其特征在于，其上存储有车门开启的控制程序，该车门开启的控制程序被处理器执行时实现根据权利要求1-9中任一项所述的车门开启的控制方法。
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