CN116065918A - Vehicle door control method, control system and vehicle - Google Patents
Vehicle door control method, control system and vehicle Download PDFInfo
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- CN116065918A CN116065918A CN202111272122.2A CN202111272122A CN116065918A CN 116065918 A CN116065918 A CN 116065918A CN 202111272122 A CN202111272122 A CN 202111272122A CN 116065918 A CN116065918 A CN 116065918A
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- 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
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- 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
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- 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
- E05F2015/765—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using optical sensors
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- 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
- E05F2015/767—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using cameras
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Abstract
The invention discloses a vehicle door control method, a control system and a vehicle, wherein the method comprises the following steps: when a door opening instruction is received, acquiring road condition information around the vehicle; when the condition that the automatic opening condition of the vehicle door is met is determined according to the road condition information around the vehicle, determining the opening angle of the vehicle door; and controlling the automatic opening of the vehicle door according to the opening angle. The control method provided by the invention can monitor the surrounding environment in real time, judge the door opening condition and the emergency, prevent collision with roadside obstacles or pedestrians during automatic door opening, improve the safety of vehicles, omit the process of manually opening the door by a user and improve the user experience.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle door control method, a vehicle door control system and a vehicle.
Background
The intelligent car door project refers to electric opening and closing of a side door and relevant motorized and intelligent configuration such as electric power-on unlocking, obstacle avoidance radar and the like. Smart doors may provide passengers with a variety of means of ingress and egress to the vehicle, such as: the vehicle door is opened in a contactless mode, the face is identified, the mobile phone is remotely controlled, the gesture is identified, and the like, so that convenience and experience of passengers entering and exiting the vehicle are greatly improved, and development trends of intelligent, electric and internet of vehicles of the whole vehicle are met.
The current automatic opening mode of the vehicle door is that when an automatic opening instruction is received, surrounding environment information is acquired, after judging that the door opening condition is met, a person in the vehicle can manually open the vehicle door, and in the process of opening the vehicle door, the vehicle door possibly touches an obstacle of a vehicle door accessory, so that the vehicle door is damaged. The existing car door opening mode lacks of intelligence and practicality, and influences user experience.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, a first object of the present invention is to provide a vehicle door control method, which can monitor the surrounding environment in real time, judge the door opening condition and emergency, prevent the collision with roadside obstacles or pedestrians during automatic door opening, improve the safety of the vehicle, omit the manual door opening process of the user, and improve the user experience.
A second object of the present invention is to propose a door control system.
A third object of the present invention is to propose a vehicle.
To achieve the above object, an embodiment of a first aspect of the present invention provides a vehicle door control method, including: when a door opening instruction is received, acquiring road condition information around the vehicle; when the condition that the automatic opening condition of the vehicle door is met is determined according to the road condition information around the vehicle, determining the opening angle of the vehicle door; and controlling the automatic opening of the vehicle door according to the opening angle.
According to the vehicle door control method provided by the embodiment of the invention, when the door opening command is received, road condition information around the vehicle is obtained, when the automatic door opening condition is determined to be met according to the road condition information around the vehicle, the opening angle of the vehicle door is determined, and the vehicle door is controlled to be automatically opened according to the opening angle. Therefore, the method can monitor the surrounding environment in real time, judge the door opening condition and the emergency, prevent the collision with roadside obstacles or pedestrians during automatic door opening, improve the safety of vehicles, omit the manual door opening process of users and improve the user experience.
In addition, the door control method according to the above embodiment of the invention may further have the following additional technical features:
according to one embodiment of the present invention, road condition information around a vehicle includes: whether barriers exist at two sides of a vehicle and at the rear of the vehicle or not, determining that the automatic opening condition of the vehicle door is met according to the road condition information around the vehicle, and comprising the following steps: judging whether an obstacle exists outside the vehicle door according to the road condition information around the vehicle; when barriers exist on two sides of a vehicle, acquiring the distance between the barriers and the vehicle;
and when the distance is greater than a preset distance threshold value and no obstacle exists behind the vehicle, determining that the automatic opening condition of the vehicle door is met.
According to one embodiment of the invention, determining an opening angle of a vehicle door includes: acquiring position information of barriers at two sides of a vehicle; and determining the opening angle of the vehicle door according to the position information.
According to one embodiment of the present invention, determining an opening angle of a vehicle door according to position information includes: determining a relative position to a preset position on the vehicle according to the position information of the obstacle; and determining the opening angle of the vehicle door according to the relative position.
According to one embodiment of the invention, in the process of controlling the automatic opening of the vehicle door, the method further comprises: when the distance between the obstacle and the vehicle is less than or equal to a preset distance threshold value, the hovering of the vehicle door is controlled.
According to one embodiment of the invention, in the process of controlling the automatic opening of the vehicle door, the method further comprises: when it is determined that an obstacle exists behind the vehicle, the door is controlled to hover.
According to an embodiment of the present invention, the above-mentioned vehicle door control method further includes: when barriers exist on two sides of the vehicle, reminding a user.
According to one embodiment of the invention, after controlling the automatic opening of the vehicle door, the method further comprises: and when a door closing command is received, controlling the vehicle door to be automatically closed.
To achieve the above object, a second aspect of the present invention provides a door control system, comprising: the receiving module is used for receiving a door opening instruction; the image acquisition module is used for acquiring road condition information around the vehicle; and the controller is used for determining the opening angle of the vehicle door when the automatic opening condition of the vehicle door is met according to the road condition information around the vehicle, and controlling the motor driving module to work according to the opening angle so as to drive the vehicle door to be opened automatically.
According to the vehicle door control system provided by the embodiment of the invention, the receiving module receives the door opening command, the image acquisition module acquires the road condition information around the vehicle, and the controller determines the opening angle of the vehicle door when determining that the automatic opening condition of the vehicle door is met according to the road condition information around the vehicle, and controls the motor driving module to work according to the opening angle so as to drive the vehicle door to be opened automatically. Therefore, the system can monitor the surrounding environment in real time, judge the door opening condition and the emergency, prevent the automatic door opening from colliding with roadside obstacles or pedestrians, improve the safety of vehicles, save the manual door opening process of users and improve the user experience.
In addition, the door control system according to the above-described embodiment of the invention may have the following additional technical features:
according to one embodiment of the invention, an image acquisition module comprises: the first camera is arranged on the left rearview mirror of the vehicle and is used for collecting images on the left side of the vehicle; the second camera is arranged on the right rearview mirror of the vehicle and is used for collecting images on the right side of the vehicle; the ultrasonic radar is arranged on the vehicle and is used for collecting images on two sides of the vehicle in the process of automatically opening the vehicle door; and the millimeter wave radar is arranged at the rear of the vehicle and is used for acquiring images at the rear of the vehicle.
According to one embodiment of the present invention, road condition information around a vehicle includes: whether barriers exist on two sides of the vehicle and behind the vehicle or not, and the controller is further used for judging whether the barriers exist outside the vehicle door or not according to road condition information around the vehicle; when barriers exist on two sides of a vehicle, acquiring the distance between the barriers and the vehicle; and when the distance is greater than a preset distance threshold value and no obstacle exists behind the vehicle, determining that the automatic opening condition of the vehicle door is met.
According to one embodiment of the invention, the controller is further configured to acquire position information of obstacles on both sides of the vehicle; and determining the opening angle of the vehicle door according to the position information.
According to one embodiment of the invention, the controller is further configured to determine a relative position to a preset position on the vehicle based on the position information of the obstacle; and determining the opening angle of the vehicle door according to the relative position.
According to one embodiment of the invention, the controller is further configured to control the door to hover when it is determined that the distance between the obstacle and the vehicle is equal to or less than a preset distance threshold in the process of controlling the door to automatically open.
According to an embodiment of the present invention, the above-described door control system further includes: and the reminding module is used for reminding a user when barriers exist on two sides of the vehicle.
According to one embodiment of the invention, the controller is further configured to control the door to close automatically when the receiving module receives a door closing command.
In order to achieve the above object, a vehicle according to an embodiment of a third aspect of the present invention includes the above-described door control system.
According to the vehicle disclosed by the embodiment of the invention, through the vehicle door control system, the surrounding environment can be monitored in real time, the door opening condition and the emergency can be judged, the collision of roadside obstacles or pedestrians during automatic door opening can be prevented, the safety of the vehicle can be improved, the process of manually opening the door by a user can be omitted, and the user experience can be improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a method of controlling a vehicle door according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the installation of an image acquisition module according to one specific example of the invention;
FIG. 3 is a schematic diagram of a calculation of door opening and closing according to a specific example of the present invention;
FIG. 4 is a flow chart of a method of controlling a vehicle door according to one specific example of the invention;
FIG. 5 is a block schematic diagram of a door control system according to an embodiment of the invention;
FIG. 6 is a block schematic diagram of a door control system according to one embodiment of the invention;
fig. 7 is a block schematic diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The following describes a door control method and a control system and a vehicle according to an embodiment of the present invention with reference to the accompanying drawings.
In the existing door opening control method, under the automatic door opening mode, when the conditions that a manual door opening button does not act, the door is automatically released, the output state of an operation control system is effective and an automatic door opening instruction is output are met, automatic door opening is realized; or the manual door opening button is used for realizing manual door opening by acting in an automatic door opening mode, a manual door opening mode or when the vehicle door is released manually. The method ensures that the door release can be carried out under the condition of meeting the arrangement by interlocking the automatic door release and the manual door release; the automatic door opening can be realized under the condition of ensuring the safety by releasing the interlocking of the door and the door opening process; the integrity and the safety of the automatic door opening process can be ensured, false triggering and false actions are avoided, and the principle of human control priority is embodied. However, the method only discloses an automatic development mode, does not judge the surrounding environment and sudden accidents in the door opening process, is easy to cause risks of collision, collision and the like when the door is opened, and cannot effectively improve user experience. In order to solve the problem, the application provides a vehicle door control method, which is used for determining the opening angle of a vehicle door when the automatic opening condition of the vehicle door is met according to the road condition information around the vehicle, and controlling the vehicle door to be automatically opened according to the opening angle, so that the surrounding environment can be monitored in real time, the opening condition and the emergency can be judged, the roadside obstacle or the pedestrian can be prevented from being collided when the vehicle door is automatically opened, the safety of the vehicle is improved, the manual opening process of the user is omitted, and the user experience is improved.
Fig. 1 is a flowchart of a door control method according to an embodiment of the present invention.
As shown in fig. 1, the vehicle door control method according to the embodiment of the invention may include the steps of:
s1, acquiring road condition information around a vehicle when a door opening instruction is received. Wherein, the road condition information around includes: whether there is an obstacle on both sides of the vehicle and behind the vehicle.
Specifically, the user may send a door opening or closing command through a door opening key or a door opening and closing key on the vehicle multimedia, for example, when the user is not in the vehicle, if the user needs to open the door, the user may send the door opening or closing command through a key on the vehicle key; for another example, when the user is in the car, if the user needs to open the door, the opening or closing instruction can be sent through a key on the car multimedia. In addition, in order to improve user experience, hands are liberated, voice control instructions of the user can be recognized through a voice recognition technology, namely, the user recognizes voice information through sending the voice information, and the vehicle-mounted multimedia is used for recognizing the voice information.
When an instruction to open or close a door is received, as shown in fig. 2, image information in the same angle as the rearview mirror is photographed by left and right cameras respectively provided on the rearview mirror of the vehicle, and the image information is processed to determine whether an obstacle or a pedestrian exists in the range. And meanwhile, the millimeter wave radar arranged at the rear of the vehicle is used for collecting rear image information so as to judge whether an oncoming vehicle exists at the rear of the vehicle according to the rear image information. In addition, image information on both sides of the vehicle is acquired by ultrasonic radars provided on the vehicle body.
The millimeter wave radar can detect people and objects beyond 20 meters, and the ultrasonic radar can detect people and objects within 2 meters, falling objects and small obstacles nearby. Through the camera on the vehicle rearview mirror, the ultrasonic radar on the vehicle body, the millimeter wave radar at the rear of the vehicle can realize the omnidirectional detection of the road condition information around the vehicle.
S2, determining the opening angle of the vehicle door when the automatic opening condition of the vehicle door is met according to the road condition information around the vehicle.
And S3, controlling the automatic opening of the vehicle door according to the opening angle.
According to one embodiment of the present invention, determining that an automatic door opening condition is satisfied according to road condition information around a vehicle includes: judging whether an obstacle exists outside the vehicle door according to the road condition information around the vehicle; when barriers exist on two sides of a vehicle, acquiring the distance between the barriers and the vehicle; and when the distance is greater than a preset distance threshold value and no obstacle exists behind the vehicle, determining that the automatic opening condition of the vehicle door is met. The preset distance threshold can be calibrated according to actual conditions, for example, the preset threshold is an angle at which a vehicle door is opened, and at least an adult can easily enter and exit the vehicle.
That is, after the road condition information around the vehicle is collected according to step S1, the method includes: and determining whether the automatic opening condition of the vehicle door is met according to the image information of the two sides of the vehicle and the image information of the rear of the vehicle. For example, when obstacles exist on two sides of the vehicle, the distance between the obstacles and the vehicle is further judged, if the distance is smaller, the door can be opened at an angle which can not enable a person to get on or off the vehicle, and at the moment, the automatic opening condition of the door is not met, and the door is kept in a closed state; if the distance is large, the door can be opened at an angle which enables people to get on or off the vehicle, and no obstacle (such as a rear coming vehicle) exists behind the vehicle, at the moment, the automatic opening condition of the door is considered to be met, and the door is automatically opened. In addition, although the door can be opened at an angle that enables a person to get on or off the vehicle normally, there is an obstacle behind the vehicle, such as a vehicle coming from the rear, at which time the door is considered to be kept closed without satisfying the door automatic opening condition.
According to one embodiment of the invention, determining an opening angle of a vehicle door includes: acquiring position information of barriers at two sides of a vehicle; and determining the opening angle of the vehicle door according to the position information.
Wherein, according to an embodiment of the invention, confirm the opening angle of the door according to the position information, include: determining a relative position to a preset position on the vehicle according to the position information of the obstacle; and determining the opening angle of the vehicle door according to the relative position. The preset position may be a left rear view mirror or a right rear view mirror of the vehicle, for example, when the obstacle is on the left side of the vehicle; when the obstacle is on the right side of the vehicle, the preset position may be a right rear view mirror.
Specifically, after the vehicle is determined to meet the automatic opening condition, the opening angle of the vehicle door is determined according to the image information on both sides of the vehicle, and if the obstacles exist on both sides of the vehicle, the opening angle of the vehicle is determined according to the position information of the obstacles, namely the vehicle door does not touch the obstacles after being opened. If no obstacle exists on the two sides of the vehicle, the opening of the vehicle door is controlled according to a preset opening angle, and the preset opening angle can be the maximum allowable opening angle of the vehicle door.
For example, taking an obstacle on the left side of the vehicle as an example, the preset position may be on a camera installed on the left rearview mirror, as shown in fig. 3, a coordinate system is established with the direction of the left vehicle body as a Y axis and the direction perpendicular to the vehicle body as an X axis, and the intersection point falls on the left camera. Assuming that the obstacle is P (x, y), when the distance y between the obstacle and the vehicle body is greater than a preset threshold value, the vehicle door is considered to be automatically opened, and the opening angle θ=arctan (y/x) at this time can determine the opening angle of the vehicle door. And if the distance y between the obstacle and the vehicle body is smaller than or equal to a preset threshold value, the vehicle door is considered to not meet the opening condition, and the opening angle is determined to be 0.
In order to prevent an emergency, according to an embodiment of the present invention, in the process of controlling the automatic opening of the door, the method further includes: when the distance between the obstacle and the vehicle is less than or equal to a preset distance threshold value, the hovering of the vehicle door is controlled.
That is, when it is determined that the obstacles on both sides of the door are greater than the preset distance and that no obstacle exists behind the vehicle, the door is controlled to be opened automatically according to the determined opening angle, and in the process of controlling the opening of the door, since the image collected by the camera arranged on the rearview mirror is shielded by the door along with the opening of the door, the collected information is inaccurate, the distance between the obstacle and the vehicle can be continuously detected by the ultrasonic radar arranged on the vehicle, and when the distance between the obstacle and the vehicle is less than or equal to the preset distance threshold, for example, the obstacle is a pedestrian, the pedestrian approaches the vehicle in the process of automatically opening the door, for example, the vehicle is also a falling object or a small obstacle, and the door is controlled to stop immediately, namely, the door is controlled to hover. Thus, the risk of striking pedestrians or causing collisions in an emergency can be avoided.
According to one embodiment of the present invention, in the process of controlling the automatic opening of the vehicle door, the method further includes: and when determining that an obstacle exists behind the vehicle, controlling the vehicle door to hover.
Specifically, in the process of controlling the automatic opening of the vehicle door, the road condition behind the vehicle is detected through the millimeter wave radar arranged behind the vehicle, and if an obstacle exists behind the vehicle, such as a vehicle coming from the rear, the vehicle door is immediately controlled to stop moving, so that the vehicle door hovers, and accidents are avoided. Simultaneously, the voice broadcasting function is realized through multimedia voice reminding, so that the user is reminded that barriers exist on two sides or behind a vehicle. Wherein, the multimedia voice reminding is communicated with the multimedia by CAN connection between the central control module, so as to realize the voice reminding function. For example, when no obstacle is present on two sides of the vehicle or no vehicle or pedestrian is present on the rear side of the vehicle, the multimedia voice prompt will send out a voice broadcast of "open door", and when an emergency occurs, the multimedia voice prompt will send out a voice broadcast of "obstacles are present, please wait for a moment" to give a prompt to the user.
According to one embodiment of the invention, after controlling the automatic opening of the vehicle door, the method further comprises: and when a door closing command is received, controlling the vehicle door to be automatically closed.
That is, not only the automatic opening of the door but also the automatic closing of the door can be achieved. In addition, in the process of controlling the automatic closing of the vehicle door, whether an obstacle exists or not is also detected, the automatic closing of the vehicle door is affected, the specific control logic is the same as the control logic in the process of automatically opening the vehicle door, and is not repeated here, and in the process of closing the door, if the obstacle exists, the vehicle door is controlled to hover, and a user is reminded.
In summary, the vehicle door control method provided by the invention can monitor the surrounding environment in real time, judge the door opening condition and the emergency, prevent collision with roadside obstacles or people when the door is opened automatically, improve the safety of the vehicle, omit the process of manual door opening of a user and improve the user experience.
As a specific example, as shown in fig. 4, the door control method of the present invention may include the steps of:
s101, judging whether the intelligent key is close to the vehicle. If yes, go to step S102; if not, return to step S101.
S102, judging whether a door opening key is pressed. If yes, go to step S103; if not, the process continues with step S102.
S103, judging whether the multimedia is started. If yes, go to step S104; if not, step S103 is continued.
S104, judging whether the door can be opened or not according to the road condition information around the vehicle. If yes, go to step S106; if not, step S105 is performed.
S105, voice prompt: the obstacle is too close to open the door.
S106, calculating the door opening angle.
S107, millimeter wave radar/ultrasonic radar real-time monitoring.
S108, driving a door motor.
S109, voice prompt: and (3) opening the door.
S110, whether an emergency occurs in the door opening process. If yes, go to step S111; if not, step S113 is performed.
S111, stopping driving the motor.
S112, voice prompt: with obstacles, please get a little bit.
S113, whether the automatic door opening is finished or not. If yes, go to step S114, if no; step S107 is performed.
S114, automatically opening the door.
In summary, according to the door control method of the embodiment of the invention, when the door opening command is received, the road condition information around the vehicle is obtained, then when the automatic door opening condition is determined to be met according to the road condition information around the vehicle, the opening angle of the door is determined, and finally the door is controlled to be automatically opened according to the opening angle. Therefore, the method can monitor the surrounding environment in real time, judge the door opening condition and the emergency, prevent the collision with roadside obstacles or pedestrians during automatic door opening, improve the safety of vehicles, omit the manual door opening process of users and improve the user experience.
Corresponding to the embodiment, the invention further provides a control system for automatically opening the vehicle door.
As shown in fig. 5, the control system for automatically opening a vehicle door according to an embodiment of the present invention: a receiving module 10, an image acquisition module 20 and a controller 30.
The receiving module 10 is configured to receive a door opening instruction. The image acquisition module 20 is used for acquiring road condition information around the vehicle. The controller 30 is configured to determine an opening angle of the vehicle door when it is determined that the automatic opening condition of the vehicle door is satisfied according to the road condition information around the vehicle, and control the motor driving module to operate according to the opening angle so as to drive the vehicle door to be automatically opened.
According to one embodiment of the present invention, as shown in fig. 6, the image acquisition module 20 may include: a first camera 21, a second camera 22, an ultrasonic radar 23, and a millimeter wave radar 24. Wherein, the first camera 21 is arranged on the left rearview mirror of the vehicle and is used for collecting images of the left side of the vehicle; the second camera 22 is arranged on the right rearview mirror of the vehicle and is used for collecting images on the right side of the vehicle; the ultrasonic radar 23 is arranged on the vehicle and is used for collecting images on two sides of the vehicle in the process of automatically opening the vehicle door; the millimeter wave radar 24 is provided at the rear of the vehicle for acquiring an image of the rear of the vehicle.
According to one embodiment of the present invention, road condition information around a vehicle includes: whether there is an obstacle on both sides of the vehicle and behind the vehicle, the controller 30 is further configured to determine whether there is an obstacle outside the door according to road condition information around the vehicle; when barriers exist on two sides of a vehicle, acquiring the distance between the barriers and the vehicle; and when the distance is greater than a preset distance threshold value and no obstacle exists behind the vehicle, determining that the automatic opening condition of the vehicle door is met.
According to one embodiment of the present invention, the controller 30 is further configured to acquire position information of obstacles on both sides of the vehicle; and determining the opening angle of the vehicle door according to the position information.
According to one embodiment of the present invention, the controller 30 is further configured to determine a relative position to a preset position on the vehicle based on the position information of the obstacle; and determining the opening angle of the vehicle door according to the relative position.
According to one embodiment of the present invention, the controller 30 is further configured to control the door to hover when it is determined that the distance between the obstacle and the vehicle is equal to or less than a preset distance threshold in the process of controlling the door to automatically open.
According to one embodiment of the invention, the controller 30 is also configured to control the door to hover when it is determined that an obstacle is present behind the vehicle during the process of controlling the door to automatically open.
According to an embodiment of the present invention, the above-mentioned control system for automatically opening a vehicle door further includes: the reminding module 70 is used for reminding a user when barriers exist on two sides of the vehicle.
The controller 30 is further configured to control the door to be automatically closed when the receiving module 10 receives a door closing command according to an embodiment of the present invention.
As a specific example, as shown in fig. 2 and 6, the controller 30 is installed inside the door, receives data transmitted from each module, calculates and detects conditions of opening and closing the door in real time, and a stop action command required for transmission of an emergency during movement; the first camera (left camera) 21 and the second camera (right camera) 22 are respectively arranged inside the left and right outer rearview mirrors, can acquire scene conditions of the left and right doors and the periphery of the automobile, and monitor the object conditions around the door side when door opening requirements exist; the ultrasonic radar 23 is arranged on the side surface of the vehicle door, detects people and objects within 2 meters, and if a falling object exists, the near small obstacle is connected with the controller wire harness; the millimeter wave radar 24 is arranged at the left oblique angle and the right oblique angle of the tail of the whole vehicle, monitors detection of people and objects beyond 20 meters, and is connected with the wire harness of the controller; the voice reminding module 70 is communicated with the multimedia 60 through CAN connection between the controller 30, so as to realize a voice reminding function; when the controller 30 recognizes that the door needs to be automatically moved, the motor driving module 40 drives the door motor 50 to move, thereby achieving an automatic door opening and closing effect.
When a user has a door opening or closing requirement, the user manually presses a door opening button or selects door opening/closing through multimedia, after the receiving module 10 receives the signal, the receiving module analyzes whether the door opening condition is met or not, whether the coming vehicle is close to an obstacle or not is judged, whether the collision obstacle risk is caused, and the like is caused, if the door opening condition is met, the distance between the vehicle and surrounding obstacles is analyzed, and the door opening angle is calculated from data sent by the first camera (left camera) 21, the second camera (right camera) 22, the ultrasonic radar 23 and the millimeter wave radar 24. If so, the controller 30 drives the motor driving module 40 to supply power to the door motor 50, and the motor rotates to drive the door transmission mechanism to move, so that the door is automatically opened or closed.
In the door opening or closing process, the door can block the use of the external rearview mirror camera, so that if an automobile or a person coming behind or a small obstacle is suddenly coming or is in close proximity, the door needs to be identified through detection of the ultrasonic radar 23 and the millimeter wave radar 24, if the situation exists, the door movement needs to be stopped immediately, and the door movement is continuously executed after the obstacle is removed. After the person leaves the automobile, a door closing command is sent to the automobile, and the controller controls the automobile door to be automatically closed.
It should be noted that, for details not disclosed in the door control system according to the embodiment of the present invention, please refer to details disclosed in the door control method according to the embodiment of the present invention, and details thereof are not described herein.
According to the vehicle door control system provided by the embodiment of the invention, the receiving module receives a door opening instruction; the image acquisition module acquires road condition information around the vehicle; when the controller determines that the automatic opening condition of the vehicle door is met according to the road condition information around the vehicle, the opening angle of the vehicle door is determined, and the motor driving module is controlled to work according to the opening angle so as to drive the vehicle door to be automatically opened. Therefore, the system can monitor the surrounding environment in real time, judge the door opening condition and the emergency, prevent the occurrence of the event that the car door collides with a roadside obstacle or a person when the car door is automatically opened, improve the safety of the car, save the manual door opening process of the user and improve the user experience.
Corresponding to the embodiment, the invention also provides a vehicle.
As shown in fig. 7, the vehicle 100 of the present invention may include a door control system 110.
According to the vehicle disclosed by the embodiment of the invention, through the vehicle door control system, the surrounding environment can be monitored in real time, the door opening condition and the emergency can be judged, the collision of roadside obstacles or pedestrians during automatic door opening can be prevented, the safety of the vehicle can be improved, the process of manually opening the door by a user can be omitted, and the user experience can be improved.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (18)
1. A vehicle door control method, characterized by comprising:
when a door opening instruction is received, acquiring road condition information around the vehicle;
determining the opening angle of the vehicle door when the automatic opening condition of the vehicle door is determined to be met according to the road condition information around the vehicle;
and controlling the automatic opening of the vehicle door according to the opening angle.
2. The vehicle door control method according to claim 1, wherein the road condition information around the vehicle includes: whether barriers exist on two sides of the vehicle and behind the vehicle or not, determining that the automatic opening condition of the vehicle door is met according to the road condition information around the vehicle, and comprising the following steps:
judging whether an obstacle exists outside the vehicle door according to the road condition information around the vehicle;
acquiring the distance between the obstacle and the vehicle when the obstacle exists at two sides of the vehicle;
and when the distance is larger than a preset distance threshold value and no obstacle exists behind the vehicle, determining that the automatic opening condition of the vehicle door is met.
3. The vehicle door control method according to claim 2, wherein determining the opening angle of the vehicle door includes:
acquiring position information of obstacles on two sides of the vehicle;
and determining the opening angle of the vehicle door according to the position information.
4. The door control method according to claim 3, wherein determining the opening angle of the door based on the position information includes:
determining a relative position to a preset position on the vehicle according to the position information of the obstacle;
and determining the opening angle of the vehicle door according to the relative position.
5. The vehicle door control method according to claim 2, characterized in that in controlling the automatic opening of the vehicle door, the method further comprises:
and when the distance between the obstacle and the vehicle is less than or equal to the preset distance threshold value, controlling the vehicle door to hover.
6. The vehicle door control method according to claim 2, characterized in that in controlling the automatic opening of the vehicle door, the method further comprises:
and controlling the vehicle door to hover when the obstacle is determined to exist behind the vehicle.
7. The vehicle door control method according to any one of claims 2 to 6, characterized in that a user is alerted when an obstacle exists on both sides of the vehicle.
8. The vehicle door control method according to claim 1, characterized in that after controlling the vehicle door to be automatically opened, the method further comprises:
and when a door closing instruction is received, controlling the vehicle door to be automatically closed.
9. A vehicle door control system, comprising:
the receiving module is used for receiving a door opening instruction;
the image acquisition module is used for acquiring road condition information around the vehicle;
and the controller is used for determining the opening angle of the vehicle door when the automatic opening condition of the vehicle door is met according to the road condition information around the vehicle, and controlling the motor driving module to work according to the opening angle so as to drive the vehicle door to be automatically opened.
10. The vehicle door control system of claim 9, wherein the image acquisition module comprises:
the first camera is arranged on the left rearview mirror of the vehicle and is used for acquiring images of the left side of the vehicle;
the second camera is arranged on the right rearview mirror of the vehicle and is used for acquiring an image on the right side of the vehicle;
the ultrasonic radar is arranged on the vehicle and is used for acquiring images on two sides of the vehicle in the process of automatically opening the vehicle door;
and the millimeter wave radar is arranged behind the vehicle and is used for acquiring images behind the vehicle.
11. The vehicle door control system according to claim 10, wherein the road condition information around the vehicle includes: whether there is an obstacle on both sides of the vehicle and behind the vehicle, the controller being further configured to,
judging whether an obstacle exists outside the vehicle door according to the road condition information around the vehicle;
acquiring the distance between the obstacle and the vehicle when the obstacle exists at two sides of the vehicle;
and when the distance is larger than a preset distance threshold value and no obstacle exists behind the vehicle, determining that the automatic opening condition of the vehicle door is met.
12. The vehicle door control system of claim 11, wherein the controller is further configured to,
acquiring position information of obstacles on two sides of the vehicle;
and determining the opening angle of the vehicle door according to the position information.
13. The vehicle door control system of claim 12, wherein the controller is further configured to,
determining a relative position to a preset position on the vehicle according to the position information of the obstacle;
and determining the opening angle of the vehicle door according to the relative position.
14. The vehicle door control system of claim 11, wherein the controller is further configured to,
and in the process of controlling the automatic opening of the vehicle door, when the distance between the obstacle and the vehicle is less than or equal to the preset distance threshold value, controlling the vehicle door to hover.
15. The vehicle door control system of claim 11, wherein the controller is further configured to,
and in the process of controlling the automatic opening of the vehicle door, when the obstacle is determined to exist behind the vehicle, controlling the vehicle door to hover.
16. The vehicle door control system of any of claims 9-15, further comprising:
and the reminding module is used for reminding a user when barriers exist on two sides of the vehicle.
17. The vehicle door control system of claim 9, wherein the controller is further configured to,
and when the receiving module receives a door closing instruction, controlling the vehicle door to be automatically closed.
18. A vehicle comprising a door control system according to any one of claims 9-17.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111272122.2A CN116065918A (en) | 2021-10-29 | 2021-10-29 | Vehicle door control method, control system and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111272122.2A CN116065918A (en) | 2021-10-29 | 2021-10-29 | Vehicle door control method, control system and vehicle |
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| CN116065918A true CN116065918A (en) | 2023-05-05 |
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Cited By (1)
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| CN117774831A (en) * | 2024-01-31 | 2024-03-29 | 镁佳(武汉)科技有限公司 | Anti-collision system for vehicle door |
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