CN-122009083-A - Vehicle door unlocking method and device and vehicle

CN122009083ACN 122009083 ACN122009083 ACN 122009083ACN-122009083-A

Abstract

The application discloses a vehicle door unlocking method and device and a vehicle, and belongs to the technical field of vehicle safety control; the vehicle state data comprises motion state data, real vehicle body posture data and operation intention data, the environment perception data comprises surrounding environment data and road data, a collision risk level and an instability risk level of a vehicle are determined based on the vehicle state data and the environment perception data, a running risk level of the vehicle is determined based on the collision risk level and the instability risk level, and a vehicle door emergency unlocking instruction is generated before an accident occurs under the condition that the running risk level judges that the accident is unavoidable. The scheme can effectively realize the active unlocking of the vehicle door before the occurrence of the vehicle accident.

Inventors

WANG NING
CHEN XIAOLONG

Assignees

浙江凌艾未来科技有限公司
浙江零跑科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260302

Claims (10)

1. A method of unlocking a vehicle door, comprising the steps of: The method comprises the steps of acquiring vehicle state data and environment perception data of a vehicle in real time, wherein the vehicle state data comprise motion state data, real vehicle body posture data and operation intention data, and the environment perception data comprise surrounding environment data and road data; determining a collision risk level and a instability risk level of the vehicle based on the self-vehicle state data and the environment-aware data; Determining a driving risk level of the vehicle based on the collision risk level and the instability risk level; and generating a door emergency unlocking instruction under the condition that the driving risk level judges that the accident is unavoidable, wherein the door emergency unlocking instruction is used for unlocking the door before the accident occurs.
2. The vehicle door unlocking method according to claim 1, wherein the determining the collision risk level and the instability risk level of the vehicle based on the own vehicle state data and the environment-aware data includes: Fusing the surrounding environment data and the road data to determine effective obstacle targets and the relative motion relation between each effective obstacle target and the vehicle; predicting motion trajectories of the vehicle and each of the effective obstacle targets based on the own vehicle state data, respectively; Determining intersection probabilities and collision times between the motion trajectories of the vehicle and each of the effective obstacle targets based on the motion trajectories of the vehicle and each of the effective obstacle targets; The collision risk level is determined based on the intersection probability and the collision time.
3. The door unlocking method according to claim 2, wherein predicting the motion trajectories of the vehicle and each of the effective obstacle targets, respectively, based on the own vehicle state data, comprises: predicting initial motion trajectories of the vehicle and each of the effective obstacle targets based on motion state data in the own vehicle state data, respectively; and correcting the initial motion trail based on the road data, and predicting the motion trail of the vehicle and each effective obstacle target.
4. The vehicle door unlocking method according to claim 2, wherein determining the collision risk level and the instability risk level of the vehicle based on the own vehicle state data and the environment-aware data includes: determining ideal vehicle body posture data corresponding to the operation intention data; Comparing the real vehicle body posture data with the ideal vehicle body posture data to determine vehicle body posture data deviation; Predicting the vehicle instability time according to the vehicle body attitude data deviation and the current vehicle speed; and determining a destabilization risk level based on the vehicle destabilization time.
5. The vehicle door unlocking method of claim 4, wherein the determining a risk level of instability based on the vehicle time of instability comprises: Judging a low-level instability risk level under the condition that the collision time is larger than a first preset instability time threshold value; Judging the medium instability risk level under the condition that the collision time is smaller than the first preset instability time threshold value and larger than a second preset instability time threshold value; and under the condition that the collision time is smaller than the second preset destabilization time threshold value, judging that the collision time is high in destabilization risk level.
6. The vehicle door unlocking method according to claim 5, wherein the determining the collision risk level based on the intersection probability and the collision time includes: Judging that the collision risk level is low under the condition that the collision time is larger than a first preset collision time threshold value; determining a medium collision risk level when the intersection probability determines that an intersection exists between the vehicle and the motion trail of at least one effective obstacle target, and the collision time is smaller than the first preset collision time threshold value and larger than a second preset collision time threshold value; and determining that the high collision risk level exists when the intersection probability determines that the intersection exists between the vehicle and the motion trail of at least one effective obstacle target and the collision time is smaller than the second preset collision time threshold value.
7. The vehicle door unlocking method according to claim 6, wherein the determining the running risk level of the vehicle based on the collision risk level and the destabilizing risk level includes: Determining a low-class running risk level when the destabilization risk level and the collision risk level are both low-class risk levels; Determining a medium running risk level in the case where at least one of the destabilizing risk level and the collision risk level is a medium risk level; and determining that the running risk level is high when at least one of the destabilizing risk level and the collision risk level is high, and determining that the running risk level determines that an accident is unavoidable when the running risk level is high.
8. The vehicle door unlocking method according to claim 1, characterized in that, after the generation of the vehicle door emergency unlocking instruction, the method further comprises: Touching and sounding an audible and visual alarm; The audible and visual alarm mode comprises at least one of alarm sound, instrument panel alarm sign display and head-up display alarm.
9. A door unlocking device, comprising: The system comprises a data acquisition unit, a data processing unit and a control unit, wherein the data acquisition unit is used for acquiring vehicle state data and environment perception data of a vehicle in real time, the vehicle state data comprise motion state data, real vehicle body posture data and operation intention data, and the environment perception data comprise surrounding environment data and road data; an intermediate risk level determination unit configured to determine a collision risk level and a destabilization risk level of the vehicle based on the own vehicle state data and the environment awareness data; A running risk level determination unit configured to determine a running risk level of the vehicle based on the collision risk level and the destabilization risk level; And the emergency unlocking unit is used for generating a vehicle door emergency unlocking instruction when the driving risk level judges that the accident is unavoidable, wherein the vehicle door emergency unlocking instruction is used for unlocking the vehicle door before the accident occurs.
10. A vehicle, characterized by comprising: The chassis module is used for acquiring the vehicle state data of the vehicle, wherein the vehicle state data comprises motion state data, real vehicle body posture data and operation intention data; the intelligent driving module is used for acquiring environment perception data of the vehicle, determining a collision risk level and a instability risk level of the vehicle based on the self-vehicle state data and the environment perception data, and determining a running risk level of the vehicle based on the collision risk level and the instability risk level, wherein the environment perception data comprises surrounding environment data and road data; The vehicle body control module is used for generating a vehicle door emergency unlocking instruction when the driving risk level judges that the accident is unavoidable, wherein the vehicle door emergency unlocking instruction is used for unlocking the vehicle door before the accident occurs; The door lock module is used for executing the emergency unlocking action of the vehicle door based on the emergency unlocking instruction of the vehicle door; And the alarm module is used for generating an audible and visual alarm starting instruction matched with the driving risk level based on the vehicle door emergency unlocking instruction and triggering an alarm of a corresponding level.

Description

Vehicle door unlocking method and device and vehicle Technical Field The application relates to the technical field of vehicle safety control, in particular to a vehicle door unlocking method and device and a vehicle. Background In the running process of the automobile, sudden accidents such as collision, side turning, river falling and the like often cause serious damage to the structure and the electronic system of the automobile, and great obstruction is brought to escape and external rescue of passengers. In the related art, unlocking of a vehicle door is mostly dependent on a trigger mechanism after collision occurs, or automatic unlocking is started after a collision signal is detected by a collision sensor, or manual unlocking is needed by an occupant. However, after an accident occurs, the vehicle is very easy to have the conditions of deformation of the vehicle body, failure of the power system, disorder of the electronic control system and the like, and the problems may cause that an unlocking instruction cannot be transmitted or executed instantly, so that the vehicle door cannot be opened normally. Especially, along with the wide application of the hidden door handle in a new energy automobile, if the accident leads to the outage of the automobile, the hidden door handle can not pop out automatically, so that the difficulty of opening the automobile door is further increased, and the gold rescue time is seriously delayed. At present, some vehicles are equipped with mechanical emergency opening devices, for example, the outside of the vehicle needs to be operated by pulling out a mechanical key or prying open a cover plate, and a hidden mechanical handle is arranged in the vehicle, but the use of the devices depends on the prior study of passengers to master related operation methods. Most users do not actively consult a user manual to learn about the emergency unlocking procedure after purchasing the vehicle, and can not quickly start the device after an accident occurs due to confusion or unfamiliar operation. Meanwhile, the conventional unlocking scheme belongs to a passive response mode after an accident occurs, the accident risk cannot be prejudged in advance, unlocking preparation is carried out, and once an extreme accident occurs, the electronic system is completely invalid or a mechanical structure is blocked, the door is completely lost to be opened, so that serious threat is brought to the life safety of passengers. Therefore, in the related vehicle door unlocking scheme based on accident occurrence, the door is generally unlocked only after the accident occurrence, and the problem that the door cannot be unlocked in time before the accident occurrence exists. Disclosure of Invention The invention provides a vehicle door unlocking method and device and a vehicle, and aims to solve the problem that a vehicle door cannot be unlocked in time before an accident occurs in a related vehicle door unlocking scheme based on the accident. In a first aspect, a method for unlocking a vehicle door is provided, comprising the steps of: The method comprises the steps of acquiring vehicle state data and environment perception data of a vehicle in real time, wherein the vehicle state data comprise motion state data, real vehicle body posture data and operation intention data, and the environment perception data comprise surrounding environment data and road data; determining a collision risk level and a instability risk level of the vehicle based on the self-vehicle state data and the environment-aware data; Determining a driving risk level of the vehicle based on the collision risk level and the instability risk level; and generating a door emergency unlocking instruction under the condition that the driving risk level judges that the accident is unavoidable, wherein the door emergency unlocking instruction is used for unlocking the door before the accident occurs. In some embodiments, the determining the collision risk level and the instability risk level of the vehicle based on the self-vehicle state data and the context awareness data includes: Fusing the surrounding environment data and the road data to determine effective obstacle targets and the relative motion relation between each effective obstacle target and the vehicle; predicting motion trajectories of the vehicle and each of the effective obstacle targets based on the own vehicle state data, respectively; Determining intersection probabilities and collision times between the motion trajectories of the vehicle and each of the effective obstacle targets based on the motion trajectories of the vehicle and each of the effective obstacle targets; The collision risk level is determined based on the intersection probability and the collision time. In some embodiments, the predicting the motion trajectories of the vehicle and each of the effective obstacle targets based on the vehicle state data, respectively, includes: predicting initial motion