Vehicle door opening early warning method and device, storage medium and vehicle

Abstract

The invention discloses a vehicle door opening early warning method and device, a storage medium and a vehicle, and belongs to the technical field of automobile safety. The method comprises the steps of detecting whether door opening danger exists or not in response to a user planned getting-off event after a vehicle stops; if the door opening danger exists, a door opening early warning action is executed; in response to the door pushing operation of the user, judging whether the door pushing operation of the user meets a door opening limitation condition or not; and if the door pushing operation of the user meets the door opening limitation condition, at least after the door opening limitation action is executed, whether the door pushing operation of the user meets the door opening limitation condition or not is judged again until the door pushing operation of the user does not meet the door opening limitation condition any more and the door opening danger does not exist, and door opening limitation is cancelled so that the vehicle door can be normally opened. According to the method, multiple door opening early warning and protection measures can be provided for the user after the door opening danger is detected, the intuition, safety, effectiveness and environment adaptability of vehicle door opening early warning are improved, the door opening safety of the user is guaranteed, and the vehicle using experience of the user is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automobile safety technology, and in particular to a vehicle door opening warning method, device, storage medium and vehicle. Background Art

[0002] With the development of technology, more and more vehicles are equipped with door opening warning function. At present, most of the common door opening warning systems on the market remind drivers and passengers to pay attention to door opening safety through vehicle central control display screen prompts, instrument screen image prompts, sound prompts, door atmosphere light color changes, etc.

[0003] However, when users are distracted by conversation (for example, the driver and passengers are paying the fare) or the vehicle is located in a harsh environment (for example, in thunderstorms, next to construction sites, etc.), the visual warning signals and / or auditory warning signals that existing vehicle door opening warning systems rely on are easily ignored by the driver or passengers, and there is still a risk of door opening. Summary of the invention

[0004] The embodiments of the present invention provide a vehicle door opening warning method, device, storage medium and vehicle, so as to at least solve the problem that the warning signal sent by the existing vehicle door opening warning system is easily ignored by the user, and it is difficult to ensure the safety of the user opening the door. The intuitiveness, safety, effectiveness and environmental adaptability of the vehicle door opening warning are improved, which is beneficial to ensuring the safety of the user opening the door and improving the user's vehicle experience.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle door opening warning method, the method comprising at least the following steps:

[0006] S1, in response to an event that a user intends to get off the vehicle after the vehicle stops, detecting whether there is a danger of opening the door;

[0007] S2. If the door opening risk exists, a door opening warning action is executed;

[0008] S3, in response to the user's door-pushing operation, determining whether the user's door-pushing operation meets the door-opening restriction condition;

[0009] S4, if the user's door-pushing operation meets the door-opening restriction condition, then re-enter step S3 at least after performing the door-opening restriction action, until the user's door-pushing operation no longer meets the door-opening restriction condition and there is no door-opening danger, then enter step S5;

[0010] S5. Cancel the door opening restriction to allow the door to open normally.

[0011] Optionally, step S3 at least includes the following steps:

[0012] S31, in response to the user's door-pushing operation, determining whether the user's door-pushing operation is a first door-opening operation;

[0013] S32: if the door-pushing operation by the user is the first door-opening operation, determining that the door-opening restriction condition is met;

[0014] S33, if the door-pushing operation by the user is not the first door-opening operation, determining whether the interval time between the door-pushing operation by the user and the last door-pushing operation by the user satisfies a first preset time condition;

[0015] S34: If the interval time between the user's door-pushing operation and the user's last door-pushing operation does not meet the first preset time condition, it is determined that the door opening restriction condition is met.

[0016] Optionally, before step S31, the method further includes:

[0017] S35, in response to the user's door-pushing operation, determining whether the total time duration of the user's door-pushing operation meets a second preset time condition;

[0018] S36. If the total time duration of the user pushing the door meets the second preset time condition, proceed to step S5; otherwise, proceed to step S31.

[0019] Optionally, the user's door-pushing operation does not meet the door-opening restriction condition, which at least includes:

[0020] The door-pushing operation by the user is not the first door-opening operation, and the interval time between the door-pushing operation by the user and the last door-pushing operation by the user meets the first preset time condition.

[0021] Optionally, after step S3, the method further includes:

[0022] S6. If the door opening restriction condition is met, then at least after executing the door opening restriction action, in response to the user's door closing operation, re-enter step S1.

[0023] Optionally, the door opening warning action includes at least one of an increase in the resistance of the door on the door opening danger side, an image display of the door opening danger side, and an alarm sound prompt;

[0024] The door opening restriction action includes at least one of increasing the resistance of the door on the door opening risk side and limiting the opening distance of the door on the door opening risk side.

[0025] In a second aspect, an embodiment of the present invention further provides a vehicle door opening warning device, comprising:

[0026] A door opening danger detection module, used to detect whether there is a door opening danger in response to an event that a user intends to get off the vehicle after the vehicle stops;

[0027] A door opening warning execution module, used for executing a door opening warning action when the door opening danger detection module detects the door opening danger;

[0028] A door opening restriction judgment module, configured to judge whether the user's door pushing operation meets the door opening restriction condition in response to the user's door pushing operation;

[0029] a door opening restriction execution module, configured to re-enter the door opening restriction determination module at least after executing the door opening restriction action when the user's door pushing operation meets the door opening restriction condition, and then enter the door opening restriction cancellation module when the user's door pushing operation no longer meets the door opening restriction condition and there is no door opening danger;

[0030] The door opening restriction cancellation module is used to cancel the door opening restriction so that the vehicle door can be opened normally.

[0031] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a vehicle door opening warning method as described in any one of the first aspects.

[0032] In a fourth aspect, an embodiment of the present invention further provides a vehicle, comprising:

[0033] An electronic device, used to implement the steps of the vehicle door opening warning method according to any one of the first aspects;

[0034] A processor, wherein the processor runs a program, and when the program runs, data outputted from the electronic device executes the steps of any one of the vehicle door opening warning methods of the first aspect;

[0035] A storage medium is used to store a program, and when the program is running, it executes the steps of the vehicle door opening warning method described in any one of the first aspects for data output from the electronic device.

[0036] The embodiment of the present invention provides a vehicle door opening warning method, system, storage medium and vehicle. First, in response to the event that the user intends to get off the vehicle after the vehicle stops, it is detected whether there is a risk of opening the door; secondly, if there is a risk of opening the door, a door opening warning action is performed; then, in response to the user's door pushing operation, it is determined whether the user's door pushing operation meets the door opening restriction condition. If the user's door pushing operation meets the door opening restriction condition, it is responded to again and determined whether the subsequent user's door pushing operation meets the door opening restriction condition at least after the door opening restriction action is performed, until a certain user's door pushing operation no longer meets the door opening restriction condition and there is no door opening risk. Finally, after determining that the user's door pushing operation no longer meets the door opening restriction condition and there is no door opening risk, the door opening restriction is revoked to allow the vehicle door to open normally.

[0037] In view of this, in the process from detecting the door opening danger to finally canceling the door opening restriction, the embodiment of the present invention needs to perform at least one door opening warning action and determine whether at least one user's door pushing operation meets the door opening restriction conditions. The door can be opened normally only when and only when the user's door pushing operation no longer meets the door opening restriction conditions and there is no door opening danger, and the user will be restricted from opening the door under other working conditions. Obviously, through the door opening warning and door opening restriction processes involved in the above process, the embodiment of the present invention can provide users with multiple door opening warnings and protection measures after detecting the door opening danger, and can solve the problem that the warning signal sent by the existing vehicle door opening warning system is easily ignored by the user, and it is difficult to ensure the safety of the user opening the door, and improve the intuitiveness, safety, effectiveness and environmental adaptability of the vehicle door opening warning, which is conducive to ensuring the safety of user door opening and improving the user's car experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 is a flow chart of a vehicle door opening warning method provided by an embodiment of the present invention;

[0040] Figure 2 is a flow chart of another vehicle door opening warning method provided by an embodiment of the present invention;

[0041] Figure 3 It is a structural schematic diagram of a vehicle door opening warning system provided by an embodiment of the present invention;

[0042] Figure 4 It is a structural schematic diagram of a vehicle system provided by an embodiment of the present invention.

[0043] Figure 5 It is a schematic diagram of a door opening distance limit calculation method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0045] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0046] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0047] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0048] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0049] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0050] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0051] The embodiment of the present invention provides a vehicle door opening warning method, Figure 1This is a flow chart of a vehicle door opening warning method provided by an embodiment of the present invention. This embodiment can be applied to various types of vehicle door opening hazard warning scenarios, such as fuel vehicles, pure electric vehicles, oil-electric hybrid vehicles, plug-in hybrid vehicles, extended-range electric vehicles, driverless vehicles, etc. The vehicle door opening warning method can be, but is not limited to, executed by the vehicle door opening warning device in the embodiment of the present invention as the execution subject, and the execution subject can be implemented in software and / or hardware. Figure 1 As shown, the vehicle door opening warning method at least includes the following steps:

[0052] S1. In response to an event in which a user intends to get off the vehicle after the vehicle stops, detecting whether there is a danger of opening the door.

[0053] Among them, the user may refer to the vehicle driver, the vehicle passengers, etc. It can be seen that based on the different real vehicle application scenarios facing the vehicle, when the vehicle only carries the driver, the number of doors to be detected for door opening danger is only one; if the vehicle carries other passengers in addition to the driver, the number of doors to be detected for door opening danger may be multiple; detecting whether there is a door opening danger may refer to using any existing millisecond wave radar, vehicle-mounted camera and other sensors or equipment to collect multiple frames of images of objects outside the vehicle and then obtain the trajectory information of the objects, and analyzing the trajectory information of the objects outside the vehicle through a pre-trained trajectory prediction model. If the predicted trajectory information of the object moves to the vicinity of the door and affects the normal opening of the door, it is considered that there is a door opening danger.

[0054] In a specific implementation, when determining which door or doors are at risk of opening, the mass or gravity data of all seats in the vehicle can be first obtained, and then the position of the passengers or driver in the vehicle can be judged based on the mass or gravity data corresponding to each seat, and finally, whether the corresponding door is at risk of opening can be judged based on the position of the passengers and the driver.

[0055] In another specific implementation, when determining which door or doors are at risk of opening, the door opening risk detection range can be appropriately adjusted by obtaining the surrounding environment or road condition information when the vehicle is parked, and then judging whether opening the door is dangerous based on the surrounding environment information or road condition information. For example, when temporarily parking on a city road, if there are vehicles or pedestrians traveling at a high speed, the door opening risk detection range can be appropriately increased to prevent vehicles or pedestrians that suddenly rush out due to obstructed vision from posing a threat to user safety; similarly, when parking in parking lots or communities where vehicles are limited in speed or there are few pedestrians, the door opening risk detection range can be appropriately reduced to improve the accuracy of door opening risk detection.

[0056] It can be understood that before detecting whether there is a danger of opening the door, the present embodiment can adaptively set the detection range and select different detection ranges according to the specific needs of the user, thereby improving the detection accuracy of the danger of opening the door in different application scenarios, further ensuring the safety of users opening the door, and helping to improve the environmental adaptability and user experience of the vehicle door opening warning.

[0057] S2: If there is a risk of door opening, the door opening warning action is executed.

[0058] Among them, when the door opening danger is detected, optionally, the door opening warning action includes at least one of an increase in the door resistance on the door opening danger side, an image display on the door opening danger side, and an alarm sound prompt.

[0059] In addition, the specific implementation method of increasing the resistance of the door on the dangerous side of door opening may be to control the speed and force of door opening through a hydraulic or pneumatic system to increase the resistance when the door is opened; the specific implementation method of image display on the dangerous side of door opening may be to give a prompt through the car's central control screen or any device with image display function; the specific implementation method of the alarm sound prompt may be to give a prompt through any device with voice function, such as in-car voice assistant and in-car audio.

[0060] S3, in response to the user's door-pushing operation, determining whether the user's door-pushing operation meets the door-opening restriction condition;

[0061] The user door push operation may refer to the action of the user pulling the door handle and pushing the door to open. Adaptively, judging whether the user door push operation meets the door opening restriction condition may refer to judging the action of the user pulling the door handle and pushing the door to open to determine whether the action needs to be restricted.

[0062] S4. If the user's door-pushing operation meets the door-opening restriction condition, then re-enter step S3 at least after executing the door-opening restriction action, until the user's door-pushing operation no longer meets the door-opening restriction condition and there is no door-opening danger, then enter step S5.

[0063] Among them, the door opening restriction action may refer to taking restriction measures on the vehicle door so that the vehicle door cannot be opened normally; in a specific embodiment, optionally, the door opening restriction action includes at least one of increasing the resistance of the vehicle door on the door opening danger side and limiting the opening distance of the vehicle door on the door opening danger side. Adaptively, re-entering step S3 at least after executing the door opening restriction action may refer to (when the vehicle is in danger of door opening and the user's door pushing operation meets the door opening restriction condition) when the user first pulls the door opening handle and pushes the vehicle door to open, it is found that there is resistance to the door opening and the door can only be partially opened, and the door cannot be opened normally. At this time, the user pulls the door opening handle and pushes the vehicle door again, then the user's action of pulling the door opening handle and pushing the vehicle door to open again is judged to determine whether it is still necessary to restrict the user's action of pulling the door opening handle and pushing the vehicle door to open again. By analogy, until a certain door pushing operation of the user no longer meets the door opening restriction condition and there is no door opening danger, the next step, i.e., step S5, is entered.

[0064] S5. Cancel the door opening restriction to allow the door to open normally.

[0065] Among them, canceling the door opening restriction may refer to removing any restriction action that exists when the door is opened, so that the door can be opened normally.

[0066] In another specific embodiment, the driver drives the vehicle to take the rear passenger to the cinema. After the vehicle arrives at the cinema, the rear passenger needs to push open the right rear door of the vehicle to get out. The on-board camera finds that pedestrians continue to pass by the side and rear of the door. Then the on-board camera collects multiple frames of images of pedestrians outside the vehicle to obtain the trajectory information of the pedestrians and inputs it into the pre-trained trajectory prediction model. The trajectory prediction model analyzes the trajectory information of the pedestrians and finds that the vertical distance of the pedestrian's movement trajectory after one second is less than 30cm from the side door. There is a danger in opening the door. Then the on-board voice assistant voice prompts: "The right rear door is open in a dangerous position", and the car's central control screen displays the real-time image information of the right rear door. At this time, the passenger pulls the door handle to push the door, and finds that there is a restriction on the door opening, and the door cannot be opened normally. Then the passenger pulls the door handle to push the door again, and finds that there is still a restriction on the door opening. The passenger pulls the door handle to push the door again, and continues to judge whether this door opening action meets the door restriction condition. If the passenger's action of pulling the door handle to push the door again does not meet the door restriction condition, then when the passenger pulls the door handle to push the door again, step S5 is entered, that is, the door opening restriction is lifted, and the door opens normally.

[0067] In summary, in the process from detecting the door opening danger to finally canceling the door opening restriction, this embodiment needs to perform at least one door opening warning action and determine whether at least one user door pushing operation meets the door opening restriction conditions. The door can be opened normally only when and only when the user door pushing operation no longer meets the door opening restriction conditions and there is no door opening danger, and the user will be restricted from opening the door under other working conditions. Obviously, through the door opening warning and door opening restriction processes involved in the above process, this embodiment can provide users with multiple door opening warnings and protection measures after detecting the door opening danger, and can solve the problem that the warning signal issued by the existing vehicle door opening warning system is easily ignored by the user and it is difficult to ensure the safety of the user opening the door, improve the intuitiveness, safety, effectiveness and environmental adaptability of the vehicle door opening warning, and help to ensure the safety of user door opening and improve the user's car experience.

[0068] Based on the above embodiments or implementations, this embodiment supplements and refines the vehicle door opening warning method of the above embodiments, but does not limit the present invention. In a specific implementation, optionally, step S3 includes at least the following steps:

[0069] S31, in response to the user's door-pushing operation, determining whether the user's door-pushing operation is the first door-opening operation;

[0070] S32. If the door-pushing operation by the user is the first door-opening operation, it is determined that the door-opening restriction condition is met;

[0071] S33, if the door-pushing operation by the user is not the first door-opening operation, determining whether the interval time between the door-pushing operation by the user and the last door-pushing operation by the user meets a first preset time condition;

[0072] S34: If the interval time between the user's door-pushing operation and the user's last door-pushing operation does not meet the first preset time condition, it is determined that the door opening restriction condition is met.

[0073] In another specific implementation, optionally, before step S31, the method further includes:

[0074] S35, in response to the user's door-pushing operation, determining whether the total time duration of the user's door-pushing operation meets a second preset time condition;

[0075] S36: If the total time duration of the user pushing the door meets the second preset time condition, proceed to step S5; otherwise, proceed to step S31.

[0076] In another specific implementation, optionally, the user's door-pushing operation does not meet the door-opening restriction condition, which at least includes:

[0077] The door-pushing operation by the user is not the first door-opening operation, and the interval time between the door-pushing operation by the user and the last door-pushing operation by the user meets the first preset time condition.

[0078] In another specific implementation, optionally, after step S3, the method further includes:

[0079] S6. If the door opening restriction condition is met, then at least after the door opening restriction action is performed, in response to the user's door closing operation, re-enter step S1.

[0080] Based on the specific scheme of the above implementation mode, Figure 2 is a flow chart of another vehicle door opening warning method provided by an embodiment of the present invention. Figure 2 As shown, the vehicle door opening warning method specifically includes the following steps:

[0081] S1. In response to an event in which a user intends to get off the vehicle after the vehicle stops, detecting whether there is a danger of opening the door.

[0082] S2: If there is a risk of door opening, the door opening warning action is executed.

[0083] S35. In response to the user's door-pushing operation, determine whether the total duration of the user's door-pushing operation meets a second preset time condition.

[0084] S36: If the total time duration of the user pushing the door meets the second preset time condition, proceed to step S5; otherwise, proceed to step S31.

[0085] The total time for the user to push the door can be the time interval from the first time the user pulled the door handle and pushed the door open to the last time the user pulled the door handle and pushed the door open. Adaptively, the second preset time condition can be adaptively adjusted according to the actual needs of the user. The setting method can be input by the user through touch screen click, voice recognition input, gesture recognition input, etc., or it can be a time condition preset in the vehicle computer.

[0086] In addition, the specific timing method for the total time the user pushes the door can be to start the total time timer when the user pulls the door handle and pushes the car door for the first time, and the total time timer records the time each time the user subsequently pulls the door handle and pushes the car door; the specific calculation method for the total time the user pushes the door can be to obtain the time when the user most recently pulled the door handle and pushed the car door and the time when the user first pulled the door handle and pushed the car door, and subtract the time to obtain the total time the user pushes the door.

[0087] S31. In response to a door-pushing operation by a user, determine whether the door-pushing operation by the user is a first door-opening operation.

[0088] S32. If the door-pushing operation by the user is the first door-opening operation, it is determined that the door-opening restriction condition is met.

[0089] Among them, the first door opening operation may refer to the action of the user pulling the door handle and pushing the door to open for the first time after determining that there is a danger in opening the door.

[0090] S33: If the door-pushing operation by the user is not the first door-opening operation, determine whether the interval time between the door-pushing operation by the user and the last door-pushing operation by the user meets a first preset time condition.

[0091] S34: If the interval time between the user's door-pushing operation and the user's last door-pushing operation does not meet the first preset time condition, it is determined that the door opening restriction condition is met.

[0092] The specific setting method of the first preset time condition may be consistent with the second preset time, that is, the driver may input through touch screen click, voice recognition input, gesture recognition input, etc., or it may be a time condition preset in advance in the vehicle computer. Adaptively, the interval time between the user's door push operation and the user's last door push operation may refer to the interval time between the time node when the user pulled the door handle and pushed the door and the time node when the user pulled the door handle and pushed the door last time. The interval time may be obtained by a timer, and the interval time may be calculated by subtracting the current door opening time from the last door opening time.

[0093] S6. If the door opening restriction condition is met, then at least after the door opening restriction action is performed, in response to the user's door closing operation, re-enter step S1.

[0094] Among them, the door opening restriction action may refer to limiting the door opening distance; if the door opening restriction conditions are met, then at least after executing the door opening restriction action, in response to the user's door closing operation, re-entering step S1 may mean that when the user opens the door and finds that there is a distance limit for opening the door, the user pulls the door handle to restore the door to a closed state.

[0095] In addition, the specific implementation method of the door opening restriction action can be to limit the door opening distance by limiting the door opening angle. For example, the preset door opening restriction distance is 20cm. Generally, the length of the front door of a car is between 90 and 120cm, and the length of the rear door is between 80 and 110cm. Among them, α1 is the door opening angle that needs to be limited when the front door is 120cm, α2 is the door opening angle that needs to be limited when the front door is 90cm, β1 is the door opening angle that needs to be limited when the rear door is 110cm, and β2 is the door opening angle that needs to be limited when the rear door is 80cm. According to the trigonometric function, α1=9.59°, α2=12.88°, β2=10.47°, and β2=14.48° are obtained. Therefore, it is only necessary to keep the front door opening angle at 9.59~12.88°; similarly, the rear door opening angle only needs to be guaranteed to be between 10.47 and 14.48° to achieve a door opening angle within 20cm. The specific implementation method is as follows Figure 5 shown.

[0096] S4. If the user's door-pushing operation meets the door-opening restriction condition, then re-enter step S3 at least after executing the door-opening restriction action, until the user's door-pushing operation is not the first door-opening operation, and the interval time between the user's door-pushing operation and the user's last door-pushing operation meets the first preset time condition and there is no danger of door opening, then enter step S5.

[0097] S5. Cancel the door opening restriction to allow the door to open normally.

[0098] In another specific embodiment, the driver drives the vehicle to send a rear passenger to a subway station. After the vehicle arrives at the station, the passenger needs to push open the right rear door of the vehicle to get off. The on-board camera finds that pedestrians are passing by the rear side continuously. Then the on-board camera collects multiple frames of images of the pedestrians outside the vehicle to obtain the pedestrian's trajectory information and inputs it into a pre-trained trajectory prediction model. After the trajectory prediction model analyzes the trajectory information of the pedestrian at the rear side, the relative distance between the predicted trajectory information of the pedestrian and the door on that side does not exceed 30 cm (it is considered that there is a danger of opening the door at this time). The on-board voice assistant prompts: "There is a danger in opening the right rear door", and the car's central control screen displays the real-time video image of the door on that side. At this time, the passenger pulled the door handle and pushed the right rear door and found that there was obvious resistance when opening the right rear door and the maximum opening distance of the door was 20 cm (at this time it was considered that the passenger opened the door for the first time). According to the car's main clock time, the time the passenger pushed the door this time was 16:24:03. Prior to this, the driver set the first preset time to 1 second and the second preset time to 2 seconds. The passenger pulled the door handle and pushed the door several times within the subsequent second and found that there were always restrictions on opening the door and the door could not be opened normally (at this time it was considered that the interval time between the user's door pushing operation and the user's last door pushing operation did not meet the first preset time condition). The passenger now found that there were still pedestrians passing by the right rear door. The passenger discovered through the real-time video image of the door on that side displayed on the car's central control screen that there was actually no danger in opening the door slowly. After confirming safety, the passenger pulled the door handle again and pushed the right rear door. The time when the passenger pushed the door was recorded as 16:24:05 according to the car's main clock. At this time, the passenger found that the door status was restored and there was no limit on the door opening distance (at this time, it is considered that the total time the user pushed the door meets the second preset time condition), and the door can be opened normally.

[0099] In summary, this embodiment can solve the problem that the visual warning signal and / or auditory warning signal relied on by the existing vehicle door opening warning system is easily ignored by the driver or passenger under the working conditions of distracted conversation between users (for example, the driver and the passenger pay the fare, etc.) or the vehicle is in a relatively bad environment (for example, in thunderstorm weather, next to a construction site, etc.), and there is still a risk of opening the door. By adding tactile dimension prompts, the intuitiveness, safety, effectiveness and environmental adaptability of the vehicle door opening warning are improved, which is conducive to ensuring the safety of users opening the door. Further, this embodiment can also avoid the unnecessary continuous execution of door restrictions when there are non-particularly dangerous situations such as pedestrians continuing to slowly pass by the door, causing the door to be in a state where it cannot be opened, further improving the user experience. Further, when there is a danger of opening the door, this embodiment can also continuously restrict the opening of the door within a certain preset time, avoiding the frequent opening and closing operations of the door due to the user's impatience or the dangerous events of the door opening due to the user's negligence, which is conducive to ensuring the safety of the user when opening the door.

[0100] The embodiment of the present invention also provides a vehicle door opening warning device, Figure 3 : is a schematic diagram of the structure of a vehicle door opening warning device provided by an embodiment of the present invention. This embodiment can be applied to vehicle door opening danger scenarios in various types of vehicles, such as fuel vehicles, pure electric vehicles, oil-electric hybrid vehicles, plug-in hybrid vehicles, extended-range electric vehicles, driverless vehicles, etc. The device can be implemented by software and / or hardware, and the device can be integrated into the vehicle by integrating it into the vehicle machine device. Figure 3 As shown, the vehicle door opening warning device includes:

[0101] The door opening danger detection module 110 is used to detect whether there is a door opening danger in response to an event in which a user intends to get off the vehicle after the vehicle stops.

[0102] The door opening warning execution module 120 is used to execute the door opening warning action when the door opening danger detection module 110 detects the door opening danger.

[0103] The door opening restriction determination module 130 is used to determine whether the user's door pushing operation meets the door opening restriction condition in response to the user's door pushing operation.

[0104] The door opening restriction execution module 140 is used to re-enter the door opening restriction judgment module 130 at least after executing the door opening restriction action when the user's door pushing operation meets the door opening restriction conditions, until the user's door pushing operation no longer meets the door opening restriction conditions and there is no danger of opening the door, and then enter the door opening restriction cancellation module 150.

[0105] The door opening restriction cancelling module 150 is used to cancel the door opening restriction so that the vehicle door can be opened normally.

[0106] Optionally, the door opening restriction judgment module 130 specifically functions to, in response to the user's door pushing operation, determine whether the user's door pushing operation is the first door opening operation; if the user's door pushing operation is the first door opening operation, then determine that the door opening restriction condition is met; if the user's door pushing operation is not the first door opening operation, then determine whether the interval time between the user's door pushing operation and the user's last door pushing operation meets a first preset time condition; if the interval time between the user's door pushing operation and the user's last door pushing operation does not meet the first preset time condition, then determine that the door opening restriction condition is met.

[0107] Optionally, it also includes:

[0108] The judgment module 160 is used to respond to the user's door pushing operation and judge whether the total time the user pushes the door meets the second preset time condition; if the total time the user pushes the door meets the second preset time condition, enter the door opening restriction cancellation module 150, otherwise enter the door opening restriction judgment module 130.

[0109] Optionally, the user's door-pushing operation does not meet the door-opening restriction conditions, which at least include:

[0110] The door-pushing operation by the user is not the first door-opening operation, and the interval time between the door-pushing operation by the user and the last door-pushing operation by the user meets the first preset time condition.

[0111] Optionally, the door opening restriction execution module 140 is specifically used to re-enter the door opening hazard detection module 110 in response to the user's door closing operation, at least after executing the door opening restriction action, if the door opening restriction conditions are met.

[0112] Optionally, the door opening warning action includes at least one of an increase in the resistance of the door on the dangerous side, an image display of the dangerous side, and an alarm sound prompt; the door opening restriction action includes at least one of an increase in the resistance of the door on the dangerous side, and a limitation on the opening distance of the door on the dangerous side.

[0113] The above-mentioned vehicle door opening warning device can execute a vehicle door opening warning method provided by any embodiment or implementation of the present invention, and has corresponding functional modules and beneficial effects of the execution method.

[0114] The present embodiment provides a vehicle door opening warning device. First, a door opening danger detection module is used to detect whether there is a door opening danger. Then, if the door opening danger detection module detects a door opening danger, a door opening warning execution module is used to execute a door opening warning action. Finally, a door opening restriction judgment module is used to determine whether the user's door pushing operation meets the door opening restriction condition; if the door opening restriction condition is not met, the vehicle door opens normally; if the door opening restriction condition is met, the door opening restriction execution module is used to execute the door opening restriction action at least once, and then the door opening restriction judgment module is used to determine whether the subsequent user door pushing operation meets the door opening restriction condition, until a certain user door pushing operation no longer meets the door opening restriction condition and there is no door opening danger, and the door opening restriction is revoked by the door opening restriction revocation module, and the vehicle door opens normally.

[0115] In view of this, in the process from detecting the door opening danger detection module to finally canceling the door opening restriction module, this embodiment needs to perform at least one door opening warning action and determine whether at least one user door pushing operation meets the door opening restriction condition. The door can be opened normally only when and only when the user door pushing operation no longer meets the door opening restriction condition and there is no door opening danger, and the user will be restricted from opening the door under other working conditions. Obviously, through the door opening warning and door opening restriction process involved in the above process, this embodiment can provide users with multiple door opening warnings and protection measures after detecting the door opening danger, and can solve the problem that the warning signal sent by the existing vehicle door opening warning device is easily ignored by the user and it is difficult to ensure the safety of the user opening the door, and improve the intuitiveness, safety, effectiveness and environmental adaptability of the vehicle door opening warning, which is conducive to ensuring the safety of user door opening and improving the user's car experience.

[0116] Figure 4 It is a structural schematic diagram of a vehicle system provided by an embodiment of the present invention. Figure 4 A block diagram of an exemplary vehicle system 21 suitable for implementing embodiments of the present invention is shown. Figure 4 The vehicle system 21 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiment of the present invention.

[0117] like Figure 4 As shown, the vehicle system 21 is in the form of a general-purpose computing device. The components of the vehicle system 21 may include, but are not limited to: a radar 31, one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0118] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0119] The vehicle system 21 typically includes a variety of computer system readable media, which can be any available media that can be accessed by the vehicle system 21, including volatile and non-volatile media, removable and non-removable media.

[0120] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The vehicle system 21 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 not shown, usually called a "hard drive"). Although Figure 4 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0121] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0122] The vehicle system 21 may also communicate with one or more external devices 14 (such as keyboards, pointing devices, displays 24, etc.), and may also communicate with one or more devices that enable a user to interact with the vehicle system 21, and / or communicate with any device that enables the vehicle system 21 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication may be performed through an input / output (I / O) interface 22. In addition, in the vehicle system 21 of the present embodiment, the display 24 does not exist as an independent individual, but is embedded in the mirror surface. When the display surface of the display 24 is not displayed, the display surface of the display 24 is visually integrated with the mirror surface. In addition, the vehicle system 21 may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter 20. Figure 4 As shown, the network adapter 20 communicates with other modules of the vehicle system 21 through the bus 18. It should be understood that although Figure 4 Not shown, other hardware and / or software modules may be used in conjunction with the vehicle system 21, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0123] The processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28, for example, implementing the vehicle door opening warning method provided in the embodiment of the present invention: in response to the event that the user intends to get off the vehicle after the vehicle stops, detecting whether there is a risk of door opening; if there is a risk of door opening, executing the door opening warning action; in response to the user's door pushing operation, judging whether the user's door pushing operation meets the door opening restriction condition; if the user's door pushing operation meets the door opening restriction condition, responding again and judging whether the subsequent user's door pushing operation meets the door opening restriction condition at least after executing the door opening restriction action, until a certain user's door pushing operation no longer meets the door opening restriction condition and there is no door opening risk; after determining that the user's door pushing operation no longer meets the door opening restriction condition and there is no door opening risk, canceling the door opening restriction to allow the vehicle door to open normally.

[0124] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of a vehicle door opening warning method.

[0125] An embodiment of the present invention also provides a vehicle, comprising: at least one electronic device, at least one processor; and a storage medium communicatively connected to the at least one processor; wherein the storage medium stores instructions executable by the one processor, and the instructions are executed by the at least one processor so that the at least one electronic device can perform the method steps described in the above embodiment.

[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle door opening warning method, characterized in that: The method comprises at least the following steps: S1, in response to an event that a user intends to get off the vehicle after the vehicle stops, detecting whether there is a danger of opening the door; S2. If the door opening risk exists, a door opening warning action is executed; S3, in response to the user's door-pushing operation, determining whether the user's door-pushing operation meets the door-opening restriction condition; S4, if the user's door-pushing operation meets the door-opening restriction condition, then re-enter step S3 at least after performing the door-opening restriction action, until the user's door-pushing operation no longer meets the door-opening restriction condition and there is no door-opening danger, then enter step S5; S5. Cancel the door opening restriction to allow the door to open normally.

2. The vehicle door opening warning method according to claim 1, characterized in that: The step S3 at least comprises the following steps: S31, in response to the user's door-pushing operation, determining whether the user's door-pushing operation is a first door-opening operation; S32: if the door-pushing operation by the user is the first door-opening operation, determining that the door-opening restriction condition is met; S33, if the door-pushing operation by the user is not the first door-opening operation, determining whether the interval time between the door-pushing operation by the user and the last door-pushing operation by the user satisfies a first preset time condition; S34: If the interval time between the user's door-pushing operation and the user's last door-pushing operation does not meet the first preset time condition, it is determined that the door opening restriction condition is met.

3. The vehicle door opening warning method according to claim 3, characterized in that: Before step S31, the method further includes: S35, in response to the user's door-pushing operation, determining whether the total time duration of the user's door-pushing operation meets a second preset time condition; S36. If the total time duration of the user pushing the door meets the second preset time condition, proceed to step S5; otherwise, proceed to step S31.

4. The vehicle door opening warning method according to claim 3, characterized in that: The user's door-pushing operation does not meet the door-opening restriction condition, which at least includes: The door-pushing operation by the user is not the first door-opening operation, and the interval time between the door-pushing operation by the user and the last door-pushing operation by the user meets the first preset time condition.

5. The vehicle door opening warning method according to claim 1, characterized in that: After step S3, the method further includes: S6. If the door opening restriction condition is met, then at least after executing the door opening restriction action, in response to the user's door closing operation, re-enter step S1.

6. The vehicle door opening warning method according to any one of claims 1 to 5, characterized in that: The door opening warning action includes at least one of an increase in the door resistance at the door opening danger side, an image display of the door opening danger side, and an alarm sound prompt; The door opening restriction action includes at least one of increasing the resistance of the door on the door opening risk side and limiting the opening distance of the door on the door opening risk side.

7. A vehicle door opening warning device, characterized in that: include: A door opening danger detection module, used to detect whether there is a door opening danger in response to an event that a user intends to get off the vehicle after the vehicle stops; A door opening warning execution module, used for executing a door opening warning action when the door opening danger detection module detects the door opening danger; A door opening restriction judgment module, configured to judge whether the user's door pushing operation meets the door opening restriction condition in response to the user's door pushing operation; a door opening restriction execution module, configured to re-enter the door opening restriction determination module at least after executing the door opening restriction action when the user's door pushing operation meets the door opening restriction condition, and then enter the door opening restriction cancellation module when the user's door pushing operation no longer meets the door opening restriction condition and there is no door opening danger; The door opening restriction cancellation module is used to cancel the door opening restriction so that the vehicle door can be opened normally.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle door opening warning method described in any one of claims 1-6 is implemented.

9. A vehicle, characterized in that: include: An electronic device, used to implement the steps of the vehicle door opening warning method according to any one of claims 1 to 6; A processor, wherein the processor runs a program, and when the program runs, data output from the electronic device executes the steps of the vehicle door opening warning method according to any one of claims 1 to 6; A storage medium is used to store a program, and when the program is running, it executes the steps of the vehicle door opening warning method according to any one of claims 1 to 6 for data output from the electronic device.

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