CN119502851A - Method, device, vehicle and storage medium for controlling vehicle door - Google Patents
Method, device, vehicle and storage medium for controlling vehicle door Download PDFInfo
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- CN119502851A CN119502851A CN202311083778.9A CN202311083778A CN119502851A CN 119502851 A CN119502851 A CN 119502851A CN 202311083778 A CN202311083778 A CN 202311083778A CN 119502851 A CN119502851 A CN 119502851A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/01—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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Abstract
The application provides a method, a device, a vehicle and a storage medium for controlling a vehicle door. The method comprises the steps of determining whether a vehicle door is in a completely closed and unlocked state when the vehicle is in a parking mode and the parking duration is longer than a preset duration, determining whether a key of the vehicle is in the vehicle and determining whether a user exists in the vehicle when the vehicle door is in the completely closed and unlocked state, and automatically controlling the vehicle door to lock when the key is in the vehicle and the user does not exist in the vehicle. That is, when the vehicle is in the parking mode and the parking time period is long, the vehicle can detect the state of the vehicle and lock the door automatically when the state of the vehicle meets the condition. This can avoid vehicle safety problems or property safety problems caused by the user forgetting to lock. In addition, when the key is in the vehicle and no user exists in the vehicle, the vehicle door is locked, so that the situation that an illegal person steals the vehicle by using the key and some users (especially children) are locked in the vehicle and cannot get off the vehicle can be avoided.
Description
Technical Field
The present application relates to the field of vehicles, and more particularly, to a method, apparatus, vehicle, and storage medium for controlling a door in the field of vehicles.
Background
Currently, in the vehicle industry, a user needs to manually close a door when the vehicle is in a stopped state and there is no user in the vehicle.
When the user closes the door without locking the door, safety problems of the vehicle and personal and property safety problems of the user may be caused.
Based on this, how to intelligently lock the vehicle door becomes a problem to be solved.
Disclosure of Invention
The application provides a method, a device, a vehicle and a storage medium for controlling a vehicle door. This can avoid the vehicle safety problem or the user property safety problem caused by the user forgetting to close the lock. In addition, when the key is in the vehicle and no user exists in the vehicle, the door is locked, and the situation that an illegal person steals the vehicle by using the key and some users (especially children) are locked in the vehicle and cannot get off the vehicle can be avoided.
In a first aspect, a method of controlling a vehicle door is provided, the method comprising determining whether a vehicle door in a vehicle is in a fully closed and unlocked state when the vehicle is in a park mode and the park duration is greater than a preset duration, determining whether a key of the vehicle is in the vehicle and determining whether a user is present in the vehicle when the vehicle door is in the fully closed and unlocked state, and controlling the vehicle door to lock when the key is in the vehicle and no user is present in the vehicle.
According to the technical scheme, when the vehicle is in the parking mode and the parking time period is longer than the preset time period, the vehicle can automatically determine whether the door in the vehicle is in a completely closed and unlocked state, when the door is in the completely closed and unlocked state, the vehicle can again determine whether a key of the vehicle is in the vehicle and determine whether a user exists in the vehicle, and when the key is in the vehicle and the user does not exist in the vehicle, the vehicle automatically controls the door to be locked. That is, when the vehicle is in the parking mode and the parking time period is long, the vehicle can detect the state of the vehicle itself, and automatically lock the door when the state of the vehicle satisfies the condition. This can avoid the vehicle safety problem or the user property safety problem caused by the user forgetting to close the lock. In addition, in the case where the key is in the vehicle and there is no user in the vehicle, the door is locked, which also prevents an illegal person from stealing the vehicle with the key and some users (especially children) from getting out of the vehicle.
With reference to the first aspect, in some possible implementations, controlling the door to lock when the key is in the vehicle and there is no user in the vehicle includes determining whether there is an electronic device bound to the vehicle and having control over the door when the key is in the vehicle and there is no user in the vehicle, and controlling the door to lock in response to a locking instruction of the electronic device to the door when there is an electronic device bound to the vehicle and having control over the door.
According to the technical scheme, when the vehicle is in the parking mode and the parking duration is long, the vehicle door is closed but not locked, and under the condition that a key of the vehicle is in the vehicle and a user does not exist in the vehicle, whether the vehicle is bound with the electronic equipment or not and whether the electronic equipment has the authority for controlling the vehicle or not is judged, and under the condition that the electronic equipment bound with the vehicle and having the authority for controlling the vehicle door exists, the locking instruction of the electronic equipment to the vehicle door is responded, and the vehicle door is controlled to be locked. That is, when the vehicle itself satisfies the condition, the vehicle can also receive a command to lock the door from the target electronic device (the electronic device that is bound to and controls the door right) and lock the door. This can facilitate the user to remotely lock the entire vehicle via the electronic device.
With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, determining whether the key of the vehicle is in the vehicle includes determining that the key is not in the vehicle if a bluetooth device in the vehicle does not receive a bluetooth signal sent by the key, and determining whether the key is in the vehicle based on an intensity value of the bluetooth signal received by the bluetooth device if the bluetooth device receives the bluetooth signal sent by the key.
In the above technical scheme, the key of the vehicle is a remote control Bluetooth key, and the remote control Bluetooth key communicates with the vehicle through Bluetooth signals. In the event that a bluetooth device in the vehicle does not receive a bluetooth signal transmitted by the remote bluetooth key, it is indicated that the remote bluetooth key is too far from the vehicle, and thus the vehicle determines that the remote bluetooth key is not in the vehicle. In the case that a bluetooth device in a vehicle receives a bluetooth signal transmitted by the remote bluetooth key, it indicates that the distance between the remote bluetooth key and the vehicle is relatively short. But the remote control bluetooth key can also receive the bluetooth signal with smaller intensity value sent by the remote control bluetooth key outside the vehicle, and for this purpose, whether the remote control bluetooth key is in the vehicle needs to be determined based on the intensity value of the received bluetooth signal. The method can simply and accurately judge whether the remote control Bluetooth key is in the vehicle.
With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the bluetooth device includes N antennas, where N is a positive integer and greater than or equal to 3, and determining whether the key is in the vehicle based on an intensity value of a bluetooth signal received by the bluetooth device includes converting the intensity value of the bluetooth signal received by the N antennas into distances between the key and each of the N antennas, determining that the key is in the vehicle if the distances between the key and each of the antennas meet a preset distance condition, and determining that the key is not in the vehicle if the distances between the key and each of the antennas do not meet the preset distance condition.
In the above-mentioned technical solution, since the antennas broadcast bluetooth signals outwards within a certain distance range, a plurality of antennas (at least 3) are required to determine the distance between the key (remote bluetooth key) and the plurality of antennas, so as to determine the position of the remote bluetooth key relative to the vehicle. The remote control Bluetooth key is characterized by comprising a remote control Bluetooth key, a plurality of antennas, a remote control Bluetooth key and a remote control Bluetooth key, wherein the remote control Bluetooth key is used for converting the intensity values of Bluetooth signals received by the plurality of antennas into the distance between the remote control Bluetooth key and each antenna, the remote control Bluetooth key is very close to the plurality of antennas under the condition that the distance between the remote control Bluetooth key and each antenna meets the preset distance condition, and the remote control Bluetooth key is outside the vehicle under the condition that the distance between the remote control Bluetooth key and each antenna does not meet the preset distance condition.
With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, determining whether the user exists in the vehicle includes acquiring an environmental image in the vehicle by an image acquisition device in the vehicle, determining that the user does not exist in the vehicle if the user is not included in the environmental image, determining that the user exists in the vehicle if the user is included in the environmental image, and/or acquiring a load weight of a seat in the vehicle by a pressure sensor of the seat, determining that the user does not exist in the vehicle if the load weight is less than a preset weight, and determining that the user exists in the vehicle if the load weight is greater than or equal to the preset weight.
According to the technical scheme, the image acquisition device acquires the environment image in the vehicle, the environment image is detected to determine whether a user exists in the vehicle, the pressure sensor of the seat acquires the bearing weight of the seat, and the bearing weight is compared with the preset weight to determine whether the user exists in the vehicle. The method can enrich the ways of determining whether a user is present in the vehicle.
With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the method further includes determining a force for closing the door in response to a closing operation of the door when the door is not closed and the opening of the door is greater than a preset opening, not triggering a self-priming function of the door when the force is in a first force range, and controlling the door to be attracted to a fully locking position when the force is in a second force range, where the fully locking position is a position where the door is fully closed.
In the above technical solution, the vehicle can determine the door closing force in response to the closing operation of the door when the door is opened, and the door is directly closed (fully closed) when the force is large. That is, the vehicle controls the door not to trigger the self-priming function, i.e., not to draw the door from the semi-locked position to the fully-locked position. Under the condition that the force is in the second force range, the vehicle door is pushed to a half-locking position (the vehicle door is not completely closed and is in a virtual masking state) by the force of a user, and at the moment, the vehicle controls the vehicle door to trigger a self-priming function, so that the vehicle door is sucked to the full-locking position, and the vehicle door is completely closed.
With reference to the first aspect and the foregoing implementation manners, in some possible implementation manners, the method further includes adjusting the door to a half-locking position in response to a self-priming interrupt command to the door during the process of the door being attracted to the fully-locking position, where the half-locking position is a position where the door is not fully closed.
In the technical scheme, the vehicle can respond to the self-priming interrupt instruction to the vehicle door in the process of sucking the vehicle door from the half-locking position to the full-locking position, and the vehicle door can be adjusted to the half-locking position. That is, the vehicle can receive an external instruction to interrupt the self-priming process of the door, and interrupt the self-priming process.
With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, after controlling the locking of the door, the method further includes obtaining a plurality of sampling results of the locking of the door, and outputting early warning information of failure of a door lock of the door when a continuous number of sampling results exist in the plurality of sampling results to indicate that the door is not locked.
In the technical scheme, after the vehicle door is locked, the locking result of the vehicle door is sampled for a plurality of times. And outputting early warning information of the door lock failure of the vehicle door under the condition that the sampling results of the continuous times exist in the sampling results of the multiple times to indicate that the vehicle door is not locked. That is, after locking the door, the locking result is verified a plurality of times to inform the user in time when the door lock fails.
In a second aspect, an apparatus for controlling a vehicle door is provided, the apparatus comprising a determination module for determining whether a vehicle door in a vehicle is in a fully closed and unlocked state when the vehicle is in a park mode and a park duration is greater than a preset duration, determining whether a key of the vehicle is in the vehicle and determining whether a user is present in the vehicle when the vehicle door is in the fully closed and unlocked state, and a control module for controlling the vehicle door to lock when the key is in the vehicle and no user is present in the vehicle.
With reference to the second aspect, in some possible implementation manners, the control module is specifically configured to determine whether an electronic device which is bound to the vehicle and has the right to control the door exists in a case that the key is in the vehicle and no user exists in the vehicle, and control the door to lock in response to a locking instruction of the electronic device to the door in a case that the electronic device which is bound to the vehicle and has the right to control the door exists.
With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the determining module is specifically configured to determine that the key is not in the vehicle if the bluetooth device in the vehicle does not receive the bluetooth signal sent by the key, and determine whether the key is in the vehicle based on an intensity value of the bluetooth signal received by the bluetooth device if the bluetooth device receives the bluetooth signal sent by the key.
With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the bluetooth device includes N antennas, where N is a positive integer and is greater than or equal to 3, and the determining module is specifically further configured to convert an intensity value of a bluetooth signal received by the N antennas into a distance between the key and each of the N antennas, determine that the key is in the vehicle when a distance between the key and each of the N antennas meets a preset distance condition, and determine that the key is not in the vehicle when a distance between the key and each of the N antennas does not meet the preset distance condition.
With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the determining module is specifically further configured to obtain, by using an image capturing device in the vehicle, an environmental image in the vehicle, determine that no user is present in the vehicle if no user is included in the environmental image, determine that a user is present in the vehicle if a user is included in the environmental image, and/or obtain, by using a pressure sensor of a seat in the vehicle, a load weight of the seat, determine that no user is present in the vehicle if the load weight is less than a preset weight, and determine that a user is present in the vehicle if the load weight is greater than or equal to the preset weight.
With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the determining module is further configured to determine, in response to a closing operation of the door, a force for closing the door when the door is not closed and the opening of the door is greater than a preset opening, the device further includes a triggering module configured to not trigger a self-priming function of the door when the force is in a first force range, and the control module is further configured to control, in a case where the force is in a second force range, the door to be attracted to a fully-locked position, where the fully-locked position is a position where the door is fully closed.
With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the apparatus further includes an adjusting module, configured to, during the process of the door being pulled into the fully-closed position, adjust the door to a half-closed position in response to a self-priming interrupt command to the door, where the half-closed position is a position where the door is not fully closed.
With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, after controlling the locking of the door, the determining module is further configured to obtain a plurality of sampling results of the locking of the door, and the device further includes an output module configured to output, when a continuous number of sampling results exist in the plurality of sampling results to indicate that the door is not locked, early warning information that a door lock of the door fails.
In a third aspect, there is provided a vehicle comprising a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor, when executing the computer program, causes the vehicle to perform the method of the first aspect or any one of the possible implementations of the first aspect.
In a fourth aspect, a computer readable storage medium is provided, in which instructions are stored which, when run on a computer or processor, cause the computer or processor to perform the method of the first aspect or any one of the possible implementations of the first aspect.
Drawings
Fig. 1 is a schematic structural view of a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method of controlling a vehicle door provided in an embodiment of the application;
FIG. 3 is a schematic view of a state of a vehicle door according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a determination of whether a key is in a vehicle provided by an embodiment of the present application;
FIG. 5 is a flow chart of a door closing process according to an embodiment of the present application;
FIG. 6 is a schematic view of a device for controlling a vehicle door according to an embodiment of the present application;
fig. 7 is a schematic structural view of another vehicle according to an embodiment of the present application.
Detailed Description
The technical scheme of the application will be clearly and thoroughly described below with reference to the accompanying drawings. Wherein in the description of embodiments of the application, "a plurality" means two or more than two. The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as implying or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first", "second", "third", "fourth" and "fifth" may explicitly or implicitly include one or more such features.
Fig. 1 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Typically, as shown in fig. 1, after the vehicle a is used, the user adjusts the vehicle a to a parking mode and fully closes and locks the doors of the vehicle a.
It should be understood that the door is completely closed and locked is understood to mean that the opening between the door and the corresponding side skirt of the door is 0 and that there is no gap between the rear side of the door and the vehicle body. After the door is locked, other users cannot open the door outside the vehicle, so that the problem that the property in the vehicle is stolen or the vehicle is stolen can be prevented.
In the prior art, carelessness of a user may cause the user to completely close the door without locking the door, which may cause a safety problem of the vehicle or a safety problem of belongings in the vehicle.
Based on this, the present application proposes a method of controlling a vehicle door to solve the above-mentioned problems.
Fig. 2 is a schematic flow chart of a method of controlling a vehicle door according to an embodiment of the present application.
It should be appreciated that the method for controlling a vehicle door provided in the embodiment of the present application may be applied to the vehicle shown in fig. 1. Specifically, the method of controlling the vehicle door may be applied to a target controller in the vehicle, which is any one of a vehicle body controller and a vehicle body domain controller. The body area controller is used to control various vehicle components in the vehicle. In some embodiments, the vehicle component includes a vehicle light, a wiper blade, a window, a rear view mirror, a seat, an on-board air conditioner, a door, a bluetooth device, and the like.
Illustratively, as shown in FIG. 2, the method 200 includes:
In step 201, when the vehicle is in the parking mode and the parking duration is greater than the preset duration, the vehicle controller determines whether the door in the vehicle is in a completely closed and unlocked state.
It should be understood that "the vehicle is in the parking mode" in step 201 may be understood as that the gear of the vehicle is in the parking gear (P gear), and the vehicle is in the parking state. It should be further understood that in the present application, when the vehicle is in the parking mode and the parking duration is longer than the preset duration, the self state of the vehicle (the door state, the state of the key of the vehicle, and whether the user is present in the vehicle) is determined, so that the door is locked only when the self state satisfies the condition (the door is completely closed and not locked, the key is in the vehicle and the user is not present in the vehicle), which can exclude the situation that the user continues to use the vehicle.
It should also be appreciated that the above-described "the door is in the fully closed and unlocked state" in step 201 may be understood as a state in which the door is in the fully locked position but the door is not locked. In this case, the opening degree between the door and the side skirt corresponding to the door is 0 and there is no gap between the rear side of the door and the vehicle body. In addition, in this state, other users can open the door outside the vehicle.
In a possible implementation manner, the vehicle controller in step 201 determines whether the door in the vehicle is in a completely closed and unlocked state, including determining that the door is in a completely closed and unlocked state when detecting that a pawl connected to the door is in an off state, a state switch of the door is in an off state, and a ratchet connected to the door is in an off state, and determining that the door is in a not completely closed state when detecting that the pawl is in an on state, the state switch of the door is in an off state, and the ratchet is in an off state.
It should be understood that the term "the door is in the incompletely closed state" in the above-described aspect is understood to mean a state in which the door is closed but not completely closed (the door is in the half-locked position), in which case the opening degree between the door and the side skirt corresponding to the door is 0, but a gap exists between the rear side of the door and the vehicle body, and the door is in the state of being virtually masked. It should also be appreciated that the door can only be locked after it is closed. Thus, the door is not locked when the door is in an incompletely closed state.
It should also be appreciated that the door is also in a fully open condition.
Fig. 3 is a schematic view of a state of a vehicle door according to an embodiment of the present application.
As shown in fig. 3 (a), the opening degree between the door of the vehicle and the side skirt plate corresponding to the door is a, and a is greater than 0, and the door is in a fully opened state. As shown in fig. 3 (b), the opening degree between the door and the side skirt plate corresponding to the door is 0, a gap b exists between the rear side of the door and the vehicle body, the door is in an incompletely closed state, and the door is in a virtual mask state, in which case, if other users do not carefully view the door, the door is not noticed to be incompletely closed. As shown in fig. 3 (c), the opening degree between the door and the side skirt corresponding to the door is 0, and there is no gap between the rear side of the door and the vehicle body, and the door is in the fully closed state c, in which case the door can be locked.
In step 202, with the door in a fully closed and unlocked state, the vehicle controller determines whether a key of the vehicle is in the vehicle and whether a user is present in the vehicle.
It should be appreciated that the "key for vehicle" in step 202 is typically a remote bluetooth key. The remote bluetooth key is capable of communicating with the vehicle via bluetooth signals.
Whether a key of a vehicle is in the vehicle is further described as follows.
In one possible implementation, the vehicle controller determines whether a key of the vehicle is in the vehicle, and the vehicle controller determines whether the key is in the vehicle based on the intensity value of the Bluetooth signal received by the Bluetooth device when the Bluetooth device receives the Bluetooth signal transmitted by the key.
In the above technical solution, in the case that the bluetooth device in the vehicle does not receive the bluetooth signal sent by the remote bluetooth key, it indicates that the remote bluetooth key is too far away from the vehicle, so the vehicle determines that the remote bluetooth key is not in the vehicle. In the case that a bluetooth device in a vehicle receives a bluetooth signal transmitted by the remote bluetooth key, it indicates that the distance between the remote bluetooth key and the vehicle is relatively short. But the remote control bluetooth key can also receive the bluetooth signal with smaller intensity value sent by the remote control bluetooth key outside the vehicle, and for this purpose, whether the remote control bluetooth key is in the vehicle needs to be determined based on the intensity value of the received bluetooth signal. The method can simply and accurately judge whether the remote control Bluetooth key is in the vehicle.
In a possible implementation manner, the Bluetooth device comprises N antennas, N is a positive integer and is greater than or equal to 3, the whole vehicle controller determines whether the key is in the vehicle based on the intensity value of the Bluetooth signal received by the Bluetooth device, the Bluetooth device comprises the whole vehicle controller converting the intensity value of the Bluetooth signal received by the N antennas into the distance between the key and each antenna in the N antennas, the whole vehicle controller determines that the key is in the vehicle when the distance between the key and each antenna meets the preset distance condition, and the whole vehicle controller determines that the key is not in the vehicle when the distance between the key and each antenna does not meet the preset distance condition.
It should be understood that, since the above solution includes a plurality of antennas, the "preset distance condition" in the above solution specifically includes a first distance range corresponding to a distance between the key and a first antenna of the plurality of antennas, and so on. It should also be appreciated that the distance between the key and each antenna is only determined to satisfy the predetermined distance condition if the distance between the key and each antenna satisfies the distance range corresponding to the antenna.
In the above-mentioned technical solution, since the antennas broadcast bluetooth signals outwards within a certain distance range, a plurality of antennas (at least 3) are required to determine the distance between the key (remote bluetooth key) and the plurality of antennas, so as to determine the position of the remote bluetooth key relative to the vehicle. The remote control Bluetooth key is characterized by comprising a remote control Bluetooth key, a plurality of antennas, a remote control Bluetooth key and a remote control Bluetooth key, wherein the remote control Bluetooth key is used for converting the intensity values of Bluetooth signals received by the plurality of antennas into the distance between the remote control Bluetooth key and each antenna, the remote control Bluetooth key is very close to the plurality of antennas under the condition that the distance between the remote control Bluetooth key and each antenna meets the preset distance condition, and the remote control Bluetooth key is outside the vehicle under the condition that the distance between the remote control Bluetooth key and each antenna does not meet the preset distance condition.
In some embodiments, the whole vehicle controller converts the intensity value of the Bluetooth signals received by the N antennas into the distance between the key and each of the N antennas respectively, and the whole vehicle controller determines the distance between the key and each of the N antennas respectively based on the following formula (1);
Wherein RSSI i is the intensity value of the Bluetooth signal received by the ith antenna in the N antennas, i is from 1 to N, A 0 is the intensity value of the Bluetooth signal when the antenna and the key are separated by 1 meter, N is an environmental attenuation factor, d i is the distance between the key and the ith antenna in the N antennas, and ABS (RSSI i) is the absolute value of the intensity value of the Bluetooth signal received by the ith antenna.
Taking N as 3 as an example, the N antennas refer to a first antenna, a second antenna and a third antenna, where the strength value of the bluetooth signal received by the first antenna is RSSI 1, the strength value of the bluetooth signal received by the second antenna is RSSI 2, the strength value of the bluetooth signal received by the third antenna is RSSI 3, the distance between the key and the first antenna is d 1, the distance between the key and the second antenna is d 2, and the distance between the key and the third antenna is d 3.
Fig. 4 is a schematic diagram of a determination of whether a key is in a vehicle according to an embodiment of the present application.
In some embodiments, where N is 3 and three antennas in the vehicle are arranged as shown in FIG. 4, the preset distance condition may be d 1＜r1 and d 2＜r2 and d 3＜r3, where r 2 is the distance between the left and right wheels (the width of the vehicle body, as in FIG. 4, i 2),r3 is half the distance between the front and rear of the vehicle (half the length of the vehicle body, as in FIG. 4, 1/2 i 1),r1 is i 3 in FIG. 4. Specifically, the key O is in the vehicle when in the position as in FIG. 4.
It should also be appreciated that the preset distance conditions in the foregoing are exemplary. Alternatively, the area corresponding to the preset distance condition may be smaller than the area of the vehicle bottom surface, that is, smaller than the area of the hatched portion in fig. 4.
Whether a user is present in the vehicle is further described as follows.
In a possible implementation manner, the vehicle controller determines whether a user exists in the vehicle or not, and comprises the vehicle controller acquires an environment image in the vehicle through an image acquisition device in the vehicle, determines that the user does not exist in the vehicle when the user is not included in the environment image, determines that the user exists in the vehicle when the user is included in the environment image, and/or acquires the bearing weight of a seat in the vehicle through a pressure sensor of the seat, determines that the user does not exist in the vehicle when the bearing weight is smaller than a preset weight, and determines that the user exists in the vehicle when the bearing weight is larger than or equal to the preset weight.
Optionally, the image acquisition device is a vision sensor, and the vision sensor is a camera.
According to the technical scheme, the image acquisition device acquires the environment image in the vehicle, the environment image is detected to determine whether a user exists in the vehicle, the pressure sensor of the seat acquires the bearing weight of the seat, and the bearing weight is compared with the preset weight to determine whether the user exists in the vehicle. The method can enrich the ways of determining whether a user is present in the vehicle.
In some embodiments, the overall vehicle controller may determine whether the user is included in the environment image by. The method 200 further includes the vehicle controller inputting the environmental image into a user detection model, identifying the environmental image by the user detection model based on characteristics of a user, and determining whether the user is included in the environmental image to determine whether the user is present in the vehicle.
Alternatively, the user detection model is the Faster R-CNN (Region-Convolutional Neural Network) model or the DEEPPARTS model.
Optionally, the user detection model identifies the environment image based on the characteristics of the user, and determines whether the environment image comprises the user, wherein the user detection model comprises a region generation network in a Faster R-CNN model for extracting user candidate regions in the environment image, the Faster R-CNN model for extracting the characteristics of the user in the user candidate regions, and the Faster R-CNN model classifies the extracted characteristics through a classifier to determine whether the environment image comprises the user.
Optionally, the user detection model identifies the environment image based on the characteristics of the user, and determines whether the environment image comprises the user or not, wherein the user detection model comprises a DEEPPARTS model dividing the environment image into a plurality of sub-images and detecting the plurality of sub-images, and a DEEPPARTS model combines detection results and determines whether the environment image comprises the user or not based on the combined results.
It should be appreciated that the DEEPPARTS model is a human body part-based user detection algorithm. It should also be appreciated that the user detection model in the above is a target detection model.
In the technical scheme, because the fast R-CNN model or the DEEPPARTS model in the deep learning is trained based on a large number of user data sets, the fast R-CNN model or the DEEPPARTS model can improve the accuracy of user detection on environmental images and improve the accuracy of user detection on vehicles. Based on the user detection model, user detection is performed in the vehicle, and the user detection efficiency can be improved.
It should be appreciated that in the event that the door is not fully closed and is not locked, the door may be in a fully open state and may also be in a not fully closed state. In a scenario where a user is closing a door with great force, the door may transition from a fully open state to a fully closed state (i.e., the door is directly from open to closed). In a scenario where a user closes a door with less force, the door may transition from a fully open state to a not fully closed state, and from the not fully closed state to the fully closed state. That is, the door is pushed to the half-lock position with a small force by the user, the door is in a virtual-mask state, the door is not completely closed, and then the self-priming function of the door is triggered to suck the door to the full-lock position, and the door is completely closed. The process can refer to the states of the vehicle door shown in (a) - (c) in fig. 3.
In a possible implementation manner, the method 200 further includes that the whole vehicle controller responds to the closing operation of the vehicle door when the vehicle door is not closed and the opening of the vehicle door is larger than a preset opening, determines the force for closing the vehicle door, does not trigger the self-priming function of the vehicle door when the force is in a first force range, and controls the vehicle door to be attracted to a full locking position when the force is in a second force range, wherein the full locking position is the position where the vehicle door is completely closed.
It should be understood that the opening degree of the door in the above-mentioned scheme refers to the angle between the door and the corresponding side skirt plate of the door. In the above scheme, the fact that the door is not closed and the opening of the door is larger than the preset opening means that the door is in a fully opened state. The first force range in the scheme is that F is more than or equal to F 1,F1 and does not trigger the self-priming function of the vehicle door, so that the vehicle door is pushed to the force of being completely closed. The "second force range" is F 2≤F＜F1,F2 which is the force that pushes the door to the half-lock position.
In the above technical solution, the vehicle can determine the door closing force in response to the closing operation of the door when the door is completely opened, and the door is directly closed (completely closed) when the force is large. That is, the vehicle controls the door not to trigger the self-priming function, i.e., not to draw the door from the semi-locked position to the fully-locked position. Under the condition that the force is in the second force range, the vehicle door is pushed to a half locking position (the vehicle door is not completely closed and is in a virtual masking state) by the force of a user, and at the moment, the vehicle controls the vehicle door to trigger a self-priming function, the vehicle door is sucked to the full locking position, and the vehicle door is controlled to be completely closed.
In some embodiments, the vehicle controller controls the vehicle door to be attracted to the full locking position, and the vehicle controller electrifies a self-priming motor in the vehicle door, and jumps a pawl connected with the vehicle door from an on state to an off state through the self-priming motor so that the vehicle door is attracted to the full locking position.
In one possible implementation, the method 200 further includes the vehicle controller adjusting the door to a semi-locked position, which is a position where the door is not fully closed, in response to a self-priming interrupt command to the door during actuation of the door to the fully locked position.
It should be appreciated that "adjusting the door to the semi-locked position" in the above scenario may be considered a self-priming reset process. The vehicle controller responds to the self-priming interrupt instruction of the vehicle door, controls the self-priming reset switch to be switched on, at the moment, the self-priming reset process is started, and the vehicle controller adjusts the vehicle door to a half-locking position. After the door is in a state of not being fully closed (the door is in the half-locking position), the self-priming reset switch is turned off, and at this time, the self-priming reset action is completed.
In the technical scheme, the vehicle can respond to the self-priming interrupt instruction to the vehicle door in the process of sucking the vehicle door from the half-locking position to the full-locking position, and the vehicle door can be adjusted to the half-locking position. That is, the vehicle can receive an external instruction to interrupt the self-priming process of the door, and interrupt the self-priming process.
In some embodiments, the self-priming interrupt instruction is any one of a touch operation to an outer handle of the vehicle door and a press operation to a switch of the outer handle.
In some embodiments, the whole vehicle controller responds to the self-priming interrupt command to the vehicle door to adjust the vehicle door to the half-locking position, and the whole vehicle controller responds to the self-priming interrupt command to the vehicle door to stop the power supply to the self-priming motor in the vehicle door, and the self-priming motor jumps a pawl connected with the vehicle door from an off state to an on state to enable the vehicle door to be adjusted to the half-locking position.
Fig. 5 is a flowchart of a door closing process according to an embodiment of the present application.
The vehicle control unit responds to the closing operation of the vehicle door when the vehicle door is not closed and the opening of the vehicle door is larger than the preset opening, namely, the vehicle door is completely opened, as shown in fig. 5, the vehicle control unit judges whether the door closing force is in a first force range, and the vehicle control unit does not trigger the self-priming function of the vehicle door when the door is in the first force range, so that the vehicle door directly reaches the full locking position. Under the condition that the force is in the second force range, the vehicle door is pushed to a half locking position, and the whole vehicle controller triggers the self-priming function of the vehicle door and controls the vehicle door to be in a full locking position. In the case where the force is not at the second force, the door is not pushed to the half-lock position, and the door is in the still-open state at this time, but is smaller than the opening at the beginning.
It will be appreciated that the force of closing the door is in the first force range, indicating that the force is relatively large, the door can be pushed directly to the fully closed, fully locked position, and the vehicle control unit does not trigger the door's self-priming function. The force of closing the door is in a second force range, which indicates that the magnitude of the force is moderate, the door can be pushed to a half-locking position which is not completely closed, and the whole vehicle controller triggers the self-priming function of the door. The door is not pushed to the half-locking position which is not fully closed, and the force is small at this time, and only the opening of the door at the beginning is reduced. It should also be appreciated that the force of closing the door by the user is not typically great. In the case where the force is large, a phenomenon of damaging the door may be caused.
It should also be appreciated that there is a process of powering down the entire vehicle or powering up the entire vehicle. After the whole vehicle is powered off, a door lock (electric suction lock) in a vehicle door is powered on and initialized. Specifically, when the door of the vehicle is in the fully locked position (the state switch of the door is in the off state, the pawl connected to the door is in the off state, and the ratchet connected to the door is in the off state, the door is fully closed), the whole vehicle controller samples the state of the door for a first preset period of time. And continuously sampling the vehicle door at the full locking position for a plurality of times within the first preset time length, and immediately controlling the self-priming motor in the vehicle door to stop running by the vehicle controller, wherein the vehicle door is successfully at the full locking position. And continuously sampling for a plurality of times within the first preset time period until the vehicle door is not in the full locking position, powering on the self-priming motor by the vehicle controller, and adjusting the vehicle door from the half locking position (the vehicle door is not fully closed) to the full locking position, namely sucking the vehicle door to be closed. And simultaneously, sampling the state of the vehicle door within a second preset time period. And continuously sampling for a plurality of times in the second preset time until the vehicle door is at the full locking position, immediately controlling the self-priming motor to stop running, and enabling the vehicle door to be at the full locking position successfully, and continuously sampling for a plurality of times in the second preset time until the vehicle door is not at the full locking position, wherein the whole vehicle controller controls the self-priming motor to stop running, and outputting early warning information of door lock faults.
In the case that the door is not in the full-locking position but in the half-locking position, the whole-vehicle controller controls the door to trigger the self-priming function (to suck the door to the full-locking position), and at the same time samples the self-priming result for a third preset period of time. And under the condition that the vehicle door is in the full locking position after being continuously sampled for a plurality of times within the third preset time period, the vehicle controller immediately controls the self-priming motor to stop running, and the self-priming process is finished, and under the condition that the vehicle door is not in the full locking position after being continuously sampled for a plurality of times within the third preset time period, the vehicle controller electrifies the self-priming motor, and adjusts the vehicle door from the half locking position (the vehicle door is not fully closed) to the full locking position, namely, the vehicle door is sucked to the full locking position. And simultaneously, sampling the state of the vehicle door within a fourth preset time period. And continuously sampling for a plurality of times in the fourth preset time until the vehicle door is at the full locking position, immediately controlling the self-priming motor to stop running, and enabling the vehicle door to be at the full locking position successfully, and continuously sampling for a plurality of times in the fourth preset time until the vehicle door is not at the full locking position, wherein the whole vehicle controller controls the self-priming motor to stop running, and outputting early warning information of door lock faults.
And under the condition that the vehicle door is completely opened, the whole vehicle controller controls the self-priming motor to operate. And controlling the self-priming motor to stop running under the condition that the working current of the self-priming motor is less than a preset value in a fifth preset time period, and outputting early warning information of door lock faults by the whole vehicle controller under the condition that the working current of the self-priming motor is not acquired in the fifth preset time period.
Optionally, the first preset duration, the second preset duration, the third preset duration, and the fourth preset duration may be the same, and are 1.5s. The fifth preset time period is 200ms.
In step 203, the vehicle controller controls the door to lock when the key is in the vehicle and no user is present in the vehicle.
In a possible implementation manner, after the door is controlled to be locked, the method 200 further includes the whole vehicle controller determining a plurality of sampling results of the door being locked, and outputting early warning information of failure of the door lock of the door by the whole vehicle controller when the sampling results of the plurality of sampling results have continuous times to indicate that the door is not locked.
In the technical scheme, after the vehicle door is locked, the locking result of the vehicle door is sampled for a plurality of times. And outputting early warning information of the door lock failure of the vehicle door under the condition that the sampling results of the continuous times exist in the sampling results of the multiple times to indicate that the vehicle door is not locked. That is, after locking the door, the locking result is verified a plurality of times to inform the user in time when the door lock fails.
In a possible implementation manner, step 203 includes that the whole vehicle controller determines whether an electronic device which is bound with the vehicle and has the right to control the door exists in the condition that the key is in the vehicle and no user exists in the vehicle, and controls the door to lock in response to a locking instruction of the electronic device to the door in the condition that the electronic device which is bound with the vehicle and has the right to control the door exists.
It should be understood that, in some embodiments, the "electronic device that is bound to the vehicle and has the right to control the door" in the above solution may be understood that a user account corresponding to the electronic device is registered in a vehicle system of the vehicle, and the electronic device can control the door in the vehicle to be opened or completely closed or locked.
According to the technical scheme, when the vehicle is in the parking mode and the parking duration is long, the vehicle door is completely closed but not locked, and under the condition that a key of the vehicle is in the vehicle and a user does not exist in the vehicle, whether the vehicle is bound with the electronic equipment or not and whether the electronic equipment has the authority for controlling the vehicle or not is judged, and under the condition that the electronic equipment bound with the vehicle and having the authority for controlling the vehicle door exists, the locking instruction of the electronic equipment to the vehicle door is responded, and the vehicle door is controlled to be locked. That is, the vehicle controller in the vehicle can also receive a locking instruction of the target electronic device (the electronic device that is bound and controls the door right) to lock the door when the state of the vehicle controller satisfies the condition. This can facilitate the user to remotely lock the entire vehicle via the electronic device.
In some embodiments, the electronic device in the above-described aspects may be a user terminal including, but not limited to, a personal computer, tablet, handheld device, vehicle mounted device, computing device, or other processing device connected to a wireless modem, etc.
In some embodiments, the whole vehicle controller determines whether the electronic device which is bound with the vehicle and has the authority to control the vehicle door exists or not, and comprises the steps of determining whether the user account corresponding to the electronic device exists in the vehicle from a vehicle server or not by the whole vehicle controller, detecting whether the control authority to the vehicle door is set under the user account when the user account corresponding to the electronic device of the vehicle exists in the vehicle server, and determining that the electronic device which is bound with the vehicle and has the authority to control the vehicle door exists when the control authority to the vehicle door is set under the user account.
In some embodiments, the vehicle server in the above scenario is a vehicle remote service Provider (TELEMATICS SERVICE Provider, TSP).
According to the technical scheme, the storage content in the vehicle server can be checked, whether the vehicle has the user account corresponding to the electronic equipment or not is determined through the storage content, whether the control authority for the vehicle door is opened or not under the user account is detected, and whether the vehicle has the electronic equipment which is bound with the vehicle and has the authority for controlling the vehicle door or not is determined. The process can accurately determine whether the vehicle has an electronic device bound to the vehicle and having authority to control the door.
In some embodiments, after step 203, the method 200 further includes the vehicle controller sending an indication to the electronic device that the door lock was successful.
According to the technical scheme, after the vehicle door is locked, the whole vehicle controller sends indication information of successful locking of the vehicle door to the electronic equipment. This can prompt the user that the vehicle is in a safe state and no problem of theft of property in the vehicle occurs.
Fig. 6 is a schematic structural view of a device for controlling a vehicle door according to an embodiment of the present application.
Illustratively, as shown in FIG. 6, the apparatus 600 includes:
A determining module 601, configured to:
Determining whether a door in the vehicle is in a fully closed and unlocked state, determining whether a key of the vehicle is in the vehicle and determining whether a user is present in the vehicle when the door is in the fully closed and unlocked state;
A control module 602 for controlling the door lock in the event that the key is in the vehicle and no user is present in the vehicle.
Optionally, the control module 602 is specifically configured to determine whether an electronic device that is bound to the vehicle and has authority to control the door exists if the key is in the vehicle and no user exists in the vehicle, and control locking of the door in response to a locking instruction of the electronic device to the door if the electronic device that is bound to the vehicle and has authority to control the door exists.
Optionally, the determining module 601 is specifically configured to determine that the key is not in the vehicle if the bluetooth device in the vehicle does not receive the bluetooth signal sent by the key, and determine whether the key is in the vehicle based on the intensity value of the bluetooth signal received by the bluetooth device if the bluetooth device receives the bluetooth signal sent by the key.
Optionally, the bluetooth device includes N antennas, where N is a positive integer and greater than or equal to 3, and the determining module 601 is specifically further configured to convert an intensity value of a bluetooth signal received by the N antennas into a distance between the key and each of the N antennas, determine that the key is in the vehicle when the distance between the key and each of the N antennas meets a preset distance condition, and determine that the key is not in the vehicle when the distance between the key and each of the N antennas does not meet the preset distance condition.
Optionally, the determining module 601 is specifically further configured to obtain an environmental image in the vehicle through an image acquisition device in the vehicle, determine that no user is present in the vehicle if no user is included in the environmental image, determine that a user is present in the vehicle if a user is included in the environmental image, and/or obtain a load weight of a seat in the vehicle through a pressure sensor of the seat, determine that no user is present in the vehicle if the load weight is less than a preset weight, and determine that a user is present in the vehicle if the load weight is greater than or equal to the preset weight.
Optionally, the determining module 601 is further configured to determine a force for closing the door in response to a closing operation of the door when the door is not closed and the opening of the door is greater than a preset opening, the apparatus 600 further includes a triggering module configured to not trigger a self-priming function of the door when the force is in a first force range, and the control module 602 is further configured to control the door to be attracted to a fully-locked position when the force is in a second force range, where the fully-locked position is a position where the door is fully closed.
Optionally, the apparatus 600 further comprises an adjustment module for adjusting the door to a half-lock position in response to a self-priming interrupt command to the door during actuation of the door to the fully-locked position, the half-lock position being a position in which the door is not fully closed.
Optionally, after controlling the door to lock, the determining module 601 is further configured to determine a plurality of sampling results of the door to lock, and the apparatus 600 further includes an output module configured to output early warning information of failure of the door lock of the door if there are consecutive times of sampling results of the plurality of sampling results indicating that the door is not locked.
Fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
As shown in fig. 7, for example, the vehicle 700 includes a memory 701, a processor 702, and a computer program 703 stored in the memory 701 and running on the processor 702, wherein the processor 702, when executing the computer program 703, causes the vehicle to perform any one of the methods of controlling a vehicle door described above.
In this embodiment, the vehicle may be divided into functional modules according to the above method example, for example, each functional module may be corresponding to a specific functional module, or two or more functions may be integrated into one processing module, where the integrated modules may be implemented in a hardware form. It should be noted that, in this embodiment, the division of the modules is schematic, only one logic function is divided, and another division manner may be implemented in actual implementation.
In the case of dividing the respective function modules with the respective functions, the vehicle may include a determination module, a control module, a trigger module, an adjustment module, an output module, and the like. It should be noted that, all relevant contents of each step related to the above method embodiment may be cited to the functional description of the corresponding functional module, which is not described herein.
The vehicle provided in the present embodiment is used for executing the above-described method for controlling the vehicle door, so that the same effects as those of the above-described implementation method can be achieved.
In case an integrated unit is employed, the vehicle may comprise a processing module, a memory module. The processing module can be used for controlling and managing the actions of the vehicle. The memory module may be used for the vehicle to execute, inter alia, program codes and data.
Wherein a processing module may be a processor or controller that may implement or execute the various illustrative logical blocks, modules, and circuits described in connection with the present disclosure. A processor may also be a combination of computing functions, including for example one or more microprocessors, digital Signal Processing (DSP) and microprocessor combinations, etc., and a memory module may be a memory.
The present embodiments provide a computer readable storage medium having instructions stored therein which, when executed on a computer or processor, cause the computer or processor to perform any of the methods of controlling a vehicle door described above.
The present embodiments also provide a computer program product comprising instructions which, when run on a computer or processor, cause the computer or processor to perform the above-described related steps to implement any of the methods of controlling a vehicle door as described above.
The vehicle, the computer readable storage medium, the computer program product or the chip containing the instructions provided in this embodiment are used to execute the corresponding method provided above, so that the benefits achieved by the method can refer to the benefits in the corresponding method provided above, and are not repeated herein.
It will be appreciated by those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another apparatus, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (11)
1. A method of controlling a vehicle door, the method comprising:
Determining whether a door in a vehicle is in a completely closed and unlocked state under the condition that the vehicle is in a parking mode and the parking time is longer than a preset time;
Determining whether a key of the vehicle is in the vehicle and determining whether a user is present in the vehicle with the door in a fully closed and unlocked state;
Controlling the door to lock if the key is in the vehicle and there is no user in the vehicle.
2. The method of claim 1, wherein the controlling the door lock if the key is in the vehicle and no user is present in the vehicle comprises:
determining if there is an electronic device bound to the vehicle and having rights to control the door if the key is in the vehicle and there is no user in the vehicle;
And controlling the locking of the vehicle door in response to a locking instruction of the electronic equipment to the vehicle door under the condition that the electronic equipment which is bound with the vehicle and has the authority of controlling the vehicle door exists.
3. The method of claim 1, wherein the determining whether the key of the vehicle is in the vehicle comprises:
Determining that the key is not in the vehicle if a Bluetooth device in the vehicle does not receive a Bluetooth signal sent by the key;
And under the condition that the Bluetooth device receives the Bluetooth signal sent by the key, determining whether the key is in the vehicle or not based on the intensity value of the Bluetooth signal received by the Bluetooth device.
4. The method of claim 3, wherein the bluetooth device includes N antennas, N being a positive integer and greater than or equal to 3, and wherein determining whether the key is in the vehicle based on the strength value of the bluetooth signal received by the bluetooth device comprises:
Converting the intensity values of Bluetooth signals received by the N antennas into distances between the key and each of the N antennas;
Determining that the key is in the vehicle under the condition that the distances between the key and each antenna respectively meet a preset distance condition;
And determining that the key is not in the vehicle under the condition that the distances between the key and the antennas respectively do not meet the preset distance condition.
5. The method of claim 1, wherein the determining whether a user is present in the vehicle comprises:
Acquiring an environment image in the vehicle through an image acquisition device in the vehicle;
Determining that no user is present in the vehicle in the case where no user is included in the environment image;
determining that a user is present in the vehicle in the case that the user is included in the environment image;
And/or the number of the groups of groups,
Acquiring a bearing weight of a seat in the vehicle through a pressure sensor of the seat;
Determining that no user is present in the vehicle if the load weight is less than a preset weight;
And determining that a user exists in the vehicle when the bearing weight is greater than or equal to the preset weight.
6. The method according to claim 1, wherein the method further comprises:
determining a force for closing the door in response to a closing operation of the door when the door is not closed and an opening of the door is greater than a preset opening;
under the condition that the force is in a first force range, the self-priming function of the vehicle door is not triggered;
and under the condition that the force is in a second force range, controlling the vehicle door to be attracted to a full locking position, wherein the full locking position is a position where the vehicle door is completely closed.
7. The method of claim 6, wherein the method further comprises:
And in the process of sucking the vehicle door to the full locking position, responding to a self-priming interrupt instruction of the vehicle door, and adjusting the vehicle door to a half locking position, wherein the half locking position is a position where the vehicle door is not fully closed.
8. The method of claim 1, wherein after said controlling the locking of the door, the method further comprises:
acquiring a plurality of sampling results of locking the vehicle door;
And outputting early warning information of the failure of the door lock of the vehicle door under the condition that the sampling results of the continuous times exist in the sampling results of the multiple times to indicate that the vehicle door is not locked.
9. An apparatus for controlling a vehicle door, the apparatus comprising:
A determining module for:
Determining whether a door in a vehicle is in a completely closed and unlocked state under the condition that the vehicle is in a parking mode and the parking time is longer than a preset time;
Determining whether a key of the vehicle is in the vehicle and determining whether a user is present in the vehicle with the door in a fully closed and unlocked state;
And the control module is used for controlling the vehicle door to lock when the key is in the vehicle and no user exists in the vehicle.
10. A vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, causes the vehicle to perform the method of controlling a vehicle door as claimed in any one of claims 1 to 8.
11. A computer-readable storage medium having instructions stored therein, which when run on a computer or processor, cause the computer or processor to perform the method of controlling a vehicle door as claimed in any one of claims 1 to 8.
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| CN202311083778.9A CN119502851A (en) | 2023-08-25 | 2023-08-25 | Method, device, vehicle and storage medium for controlling vehicle door |
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| CN202311083778.9A CN119502851A (en) | 2023-08-25 | 2023-08-25 | Method, device, vehicle and storage medium for controlling vehicle door |
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