Door detection method, device and vehicle based on automatic parking assistance system

Abstract

The present invention provides a vehicle door detection method, device, and vehicle based on an automatic parking assistance system, relating to the field of vehicle control technology. The method comprises: determining the coordinates of a target contact point within the current vehicle door coordinate system based on a first initial distance point, a second initial distance point, and the vehicle door width; determining the maximum door opening angle and door opening distance based on the coordinates of the target contact point and the vehicle door width; and determining whether the current door meets the opening conditions based on the maximum door opening angle and door opening distance. This method alleviates the technical problems of low door obstacle detection accuracy and inconvenient parking in the prior art, thereby improving the accuracy of door obstacle detection, convenience, and adaptability.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle door detection method, device and vehicle based on an automatic parking assistance system. Background Art

[0002] With the rapid development of intelligent vehicle technology, more and more vehicles are equipped with automatic parking assistance systems, and the demand for parking spaces that meet these requirements is also increasing. Updated automatic parking assistance systems can rely on surround-view cameras to detect parking spaces and millimeter-wave radar to detect obstacles, automatically completing parking in and out of parking spaces. For some special parking spaces or vehicles, parking in the limited parking space can make it difficult for people to exit the vehicle, scratch the door, and even prevent the trunk door of off-road vehicles from opening. Existing automatic parking assistance systems often have difficulty accurately detecting these problems. In other words, existing technologies suffer from low accuracy in detecting obstacles around the door and inconvenient parking. Summary of the Invention

[0003] The purpose of the present invention is to provide a vehicle door detection method, device and vehicle based on an automatic parking assistance system to alleviate the technical problems existing in the prior art of low accuracy in detecting obstacles around the door and inconvenient parking.

[0004] In a first aspect, an embodiment of the present invention provides a vehicle door detection method based on an automatic parking assistance system, which is applied to a vehicle. The vehicle includes an automatic parking assistance system and two ultrasonic radars, wherein the two ultrasonic radars are respectively used to measure a first initial distance point and a second initial distance point between the vehicle and an adjacent obstacle. The method includes:

[0005] Determining the coordinates of the target contact point in the current door coordinate system based on the first initial distance point, the second initial distance point, and the door width of the vehicle;

[0006] Determining a maximum door opening angle and a door opening distance based on the coordinates of the target contact point and the door width of the vehicle;

[0007] Based on the maximum door opening angle and the door opening distance, determine whether the current door meets the opening conditions.

[0008] In some possible embodiments, the above method also includes: constructing a current door coordinate system with the rotation axis of the current door of the above vehicle as the origin, the straight line where the current door of the above vehicle is located as the Y-axis, and the straight line perpendicular to the above Y-axis as the X-axis.

[0009] In some possible embodiments, the above method also includes: using a first ultrasonic radar to determine a first initial distance point; the above first ultrasonic radar is set at the front end of the vehicle on the door side of the above vehicle; the above first initial distance point is the point at which the distance from the current vehicle is a first length measured by the above first ultrasonic radar; using a second ultrasonic radar to determine a second initial distance point; the above second ultrasonic radar is set at the rear end of the vehicle on the door side of the above vehicle; the above second initial distance point is the point at which the distance from the current vehicle is a second length measured by the above second ultrasonic radar.

[0010] In some possible embodiments, the step of determining the coordinates of the target contact point in the current door coordinate system based on the first initial distance point, the second initial distance point, and the door width of the vehicle includes: determining the coordinates of the first initial distance point and the second initial distance point in the current door coordinate system according to the first length and the second length, respectively; determining the slope of the target line segment composed of the first initial distance point and the second initial distance point according to the coordinates of the first initial distance point and the second initial distance point; determining the coordinates of the target contact point in the current door coordinate system based on the slope of the target line segment, the coordinate origin of the current door coordinate system, and the door width; the target contact point is the intersection of the target line segment and a circle with the coordinate origin as the center and the door width as the radius.

[0011] In some possible implementations, the step of determining the maximum door opening angle and the door opening distance based on the coordinates of the target contact point and the door width of the vehicle includes: determining the maximum door opening angle based on the horizontal coordinate of the target contact point and the door width of the vehicle; the calculation formula is:

[0012]

[0013] Wherein, θ is the maximum opening angle of the door; x is the horizontal coordinate of the target contact point; and r is the door width of the vehicle.

[0014] In some possible implementations, the step of determining the maximum door opening angle and the door opening distance based on the coordinates of the target contact point and the door width of the vehicle further includes: determining the door opening distance based on the horizontal coordinate and the vertical coordinate of the target contact point and the door width of the vehicle; the calculation formula is:

[0015]

[0016] Wherein, |PQ| is the door opening distance; x is the abscissa of the target contact point; y is the ordinate of the target contact point; and r is the door width of the vehicle.

[0017] In some possible implementations, the method further includes: sending the maximum door opening angle and the door opening distance to an onboard human-computer interaction interface for display.

[0018] In a second aspect, an embodiment of the present invention provides a vehicle door detection device based on an automatic parking assistance system, which is applied to a vehicle. The vehicle includes an automatic parking assistance system and two ultrasonic radars, wherein the two ultrasonic radars are respectively used to measure a first initial distance point and a second initial distance point between the vehicle and an adjacent obstacle. The device includes:

[0019] a first determining module, configured to determine the coordinates of the target contact point in the current door coordinate system based on the first initial distance point, the second initial distance point, and the door width of the vehicle;

[0020] a second determining module, configured to determine a maximum door opening angle and a door opening distance based on the coordinates of the target contact point and the door width of the vehicle;

[0021] The judgment module is used to judge whether the current door meets the opening conditions based on the above-mentioned maximum opening angle of the door and the above-mentioned opening distance of the door.

[0022] In a third aspect, an embodiment of the present invention provides a vehicle, comprising the door detection device based on the automatic parking assistance system described in the second aspect above.

[0023] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the steps of the method described in any one of the first aspects above are implemented.

[0024] The present invention provides a vehicle door detection method, device, and vehicle for an automatic parking assistance system. The method comprises: determining the coordinates of a target contact point within the current vehicle door coordinate system based on a first initial distance point, a second initial distance point, and the vehicle door width; determining the maximum door opening angle and door opening distance based on the coordinates of the target contact point and the vehicle door width; and determining whether the current door meets the opening conditions based on the maximum door opening angle and door opening distance. This method alleviates the technical problems of low door obstacle detection accuracy and inconvenient parking in the prior art, thereby improving door obstacle detection accuracy, convenience, and adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A schematic flow chart of a vehicle door detection method based on an automatic parking assistance system provided by an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of the principle of a vehicle door detection method based on an automatic parking assistance system provided by an embodiment of the present invention;

[0028] Figure 3 A schematic structural diagram of a vehicle door detection device based on an automatic parking assistance system provided by an embodiment of the present invention;

[0029] Figure 4 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0032] It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures. Some embodiments of the present invention are described in detail below with reference to the accompanying figures. The following embodiments and features of the embodiments may be combined with each other unless there is a conflict.

[0033] With the rapid development of intelligent vehicle technology, more and more vehicles are equipped with automatic parking assistance systems, and the demand for parking spaces that meet these requirements is also increasing. Updated automatic parking assistance systems can rely on surround-view cameras to detect parking spaces and millimeter-wave radar to detect obstacles, automatically completing parking in and out of parking spaces. For some special parking spaces or vehicles, parking in the limited parking space may cause difficulty in getting out of the vehicle, scratching the door, and preventing the trunk door from opening. Existing automatic parking assistance systems often have difficulty accurately detecting these problems. In other words, existing technologies suffer from low accuracy in detecting obstacles around the door and inconvenient parking.

[0034] Based on this, the embodiments of the present invention provide a door detection method, device and vehicle based on an automatic parking assistance system to alleviate the technical problems existing in the prior art of low accuracy in detecting obstacles around the door and inconvenient parking.

[0035] To facilitate understanding of this embodiment, a vehicle door detection method based on an automatic parking assistance system disclosed in an embodiment of the present invention is first described in detail. Figure 1 The flow chart of a vehicle door detection method based on an automatic parking assistance system is shown in FIG. The method can be executed by an electronic device. The method is applied to a vehicle including an automatic parking assistance system and two ultrasonic radars. The installation position of the ultrasonic radars is shown in FIG. Figure 2 At points D and C in the figure, two ultrasonic radars are used to measure the first initial distance point B and the second initial distance point A between the vehicle and the adjacent obstacle, respectively.

[0036] The above method mainly includes the following steps S110 to S130:

[0037] S110: Determine the coordinates of the target contact point in the current door coordinate system based on the first initial distance point, the second initial distance point, and the door width of the vehicle;

[0038] In this embodiment, before the above step S110, the method further includes: constructing a current door coordinate system with the rotation axis of the current door of the vehicle as the origin, the straight line where the current door of the vehicle is located as the Y axis, and the straight line perpendicular to the Y axis as the X axis. Figure 2 As shown, with the door's rotation axis as the origin, a plane coordinate system Oxy (i.e., the current door coordinate system) is established based on the vehicle's body posture.

[0039] The target contact point is the position where the vehicle door contacts the adjacent obstacle when the vehicle door is opened, and the coordinates of the target contact point P in the current door coordinate system are P(x, y).

[0040] In this embodiment, the above method also includes: using a first ultrasonic radar to determine a first initial distance point; the first ultrasonic radar is set at the front end of the vehicle on the door side of the vehicle; the first initial distance point is a point measured by the first ultrasonic radar at a distance of a first length from the current vehicle; using a second ultrasonic radar to determine a second initial distance point; the second ultrasonic radar is set at the rear end of the vehicle on the door side of the vehicle; the second initial distance point is a point measured by the second ultrasonic radar at a distance of a second length from the current vehicle.

[0041] Combine Figure 2 As shown, point D and point C are the installation positions of the two ultrasonic radars; the distances between the installation positions of the two ultrasonic radars and the door axis are d1 and d2 respectively. Based on the above distances from the door axis, the coordinates of point D and point C can be determined, and based on the coordinates of point D and point C, the coordinates B(x2, y2) and A(x1, y1) of the first initial distance point B and the second initial distance point A can be determined.

[0042] In this embodiment, the step of determining the coordinates of the target contact point in the current door coordinate system based on the first initial distance point, the second initial distance point, and the door width of the vehicle in step S110 includes: determining the coordinates of the first initial distance point and the second initial distance point in the current door coordinate system according to the first length and the second length, respectively; determining the slope of the target line segment composed of the first initial distance point and the second initial distance point according to the coordinates of the first initial distance point and the coordinates of the second initial distance point; determining the coordinates of the target contact point in the current door coordinate system based on the slope of the target line segment, the coordinate origin of the current door coordinate system, and the door width; the target contact point is the intersection of the target line segment and a circle with the coordinate origin as the center and the door width as the radius.

[0043] As a specific example, combining Figure 2 As shown in the figure, after the vehicle stops, the distance between |AC| and |BD| is obtained based on the ultrasonic detection data. The coordinates of point A (x1, y1) and point B (x2, y2) are obtained based on this information. Then, the slope k of the target line segment AB is determined based on the coordinates of point A (x1, y1) and point B (x2, y2). Finally, the coordinates P (x, y) of the target contact point in the current door coordinate system are determined based on the slope k of the target line segment, the coordinate origin O of the current door coordinate system, and the door width r. The target contact point is the point P where the line segment AB intersects the circle with center O and radius r. The specific calculation formula for the coordinate point P is as follows:

[0044]

[0045] Where k is the slope of line segment AB, b is a constant, and r is the radius of the car door.

[0046] S120: Determine a maximum door opening angle and a door opening distance based on the coordinates of the target contact point and the door width of the vehicle;

[0047] In this embodiment, step S120 includes:

[0048] (S21) Determine the maximum door opening angle based on the horizontal coordinate of the target contact point and the door width of the vehicle; the calculation formula is:

[0049]

[0050] Where θ is the maximum opening angle of the door; x is the horizontal coordinate of the target contact point; and r is the door width of the vehicle.

[0051] (S22) Determine the door opening distance based on the horizontal coordinate and vertical coordinate of the target contact point and the door width of the vehicle; the calculation formula is:

[0052]

[0053] Where |PQ| is the door opening distance; x is the horizontal coordinate of the target contact point; y is the vertical coordinate of the target contact point; and r is the door width of the vehicle.

[0054] S130: Based on the maximum door opening angle and the door opening distance, determine whether the current door meets the opening conditions.

[0055] That is to say, the calculated θ angle value is compared with the minimum threshold angle for getting off the vehicle set by the driver. If it is less than the set threshold angle, an early warning is issued to remind the driver that it is difficult to open the door and get off the vehicle. If it is greater than the set angle, the door is automatically opened to the θ angle value after receiving the driver's door opening command.

[0056] In one embodiment, the above method further includes: sending the maximum door opening angle and the door opening distance to the vehicle-mounted human-computer interaction interface for display.

[0057] Similarly, the same calculation method can be used to calculate the opening and closing angles of other doors and the trunk. The door opening distance PQ and angle θ are displayed on the HMI to assist the driver in determining whether the distance required to exit the vehicle and open the door to retrieve items is met.

[0058] The door detection method for an automatic parking assistance system provided by the present invention calculates the maximum door opening angle based on the vehicle's wheelbase and other parameters. This method then determines whether exiting the vehicle or retrieving items is permitted based on this maximum angle and a minimum threshold, resulting in more accurate calculations. This method, by pre-detecting the width and depth of parking spaces, addresses issues such as difficulty exiting the vehicle, door scratches, and the inability to open the trunk door.

[0059] In addition, an embodiment of the present invention further provides a door detection device based on an automatic parking assistance system, which is applied to a vehicle. The vehicle includes an automatic parking assistance system and two ultrasonic radars, which are respectively used to measure a first initial distance point and a second initial distance point between the vehicle and an adjacent obstacle. Figure 3 As shown, the device includes:

[0060] A first determining module 310 is configured to determine the coordinates of the target contact point in the current door coordinate system based on the first initial distance point, the second initial distance point, and the door width of the vehicle;

[0061] A second determining module 320 is configured to determine a maximum door opening angle and a door opening distance based on the coordinates of the target contact point and the door width of the vehicle;

[0062] The judgment module 330 is used to judge whether the current door meets the opening condition based on the maximum opening angle and the door opening distance of the door.

[0063] The vehicle door detection device based on the automatic parking assistance system provided in the embodiment of the present application can be specific hardware on the device or software or firmware installed on the device, etc. The implementation principle and technical effects produced by the device provided in the embodiment of the present application are the same as those in the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding contents in the aforementioned method embodiment. Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can all refer to the corresponding processes in the aforementioned method embodiment, and will not be repeated here. The vehicle door detection device based on the automatic parking assistance system provided in the embodiment of the present application has the same technical features as the vehicle door detection method based on the automatic parking assistance system provided in the aforementioned embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0064] An embodiment of the present application further provides an electronic device. Specifically, the electronic device includes a processor and a storage device; the storage device stores a computer program, and when the computer program is run by the processor, it executes the method described in any one of the above-mentioned embodiments.

[0065] Figure 4 A structural diagram of an electronic device provided in an embodiment of the present application, the electronic device 400 includes: a processor 40, a memory 41, a bus 42 and a communication interface 43, wherein the processor 40, the communication interface 43 and the memory 41 are connected via the bus 42; the processor 40 is used to execute an executable module stored in the memory 41, such as a computer program.

[0066] The memory 41 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. The system network element communicates with at least one other network element via at least one communication interface 43 (which may be wired or wireless), and may utilize the Internet, a wide area network, a local area network, a metropolitan area network, or the like.

[0067] The bus 42 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0068] Among them, the memory 41 is used to store programs, and the processor 40 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 40 or implemented by the processor 40.

[0069] Processor 40 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method may be completed by hardware integrated logic circuits or software instructions in processor 40. The above processor 40 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention may be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or the like. The storage medium is located in the memory 41 , and the processor 40 reads the information in the memory 41 and completes the steps of the above method in combination with its hardware.

[0070] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0071] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0072] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0073] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, electronic device, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0074] It should be noted that similar numbers and letters represent similar items in the accompanying drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A door detection method based on an automatic parking assistance system, characterized in that: Applied to a vehicle, the vehicle including an automatic parking assistance system and two ultrasonic radars, the two ultrasonic radars being used to measure a first initial distance point and a second initial distance point between the vehicle and an adjacent obstacle, respectively; the method comprising: Constructing a current door coordinate system with the rotation axis of the current door of the vehicle as the origin, the straight line on which the current door of the vehicle is located as the Y-axis, and the straight line perpendicular to the Y-axis as the X-axis; Determining a first initial distance point using a first ultrasonic radar; the first ultrasonic radar is disposed at the front end of the vehicle on the door side; the first initial distance point is a point at which the first ultrasonic radar measures a first distance from the current vehicle; Determining a second initial distance point using a second ultrasonic radar; the second ultrasonic radar is disposed at the rear end of the vehicle on the door side; the second initial distance point is a point measured by the second ultrasonic radar at a second distance from the current vehicle; determining coordinates of the first initial distance point and the second initial distance point in the current door coordinate system according to the first length and the second length; determining, according to the coordinates of the first initial distance point and the coordinates of the second initial distance point, a slope of a target line segment formed by the first initial distance point and the second initial distance point; Determining the coordinates of a target contact point in the current door coordinate system based on the slope of the target line segment, the coordinate origin of the current door coordinate system, and the door width; the target contact point is the intersection of the target line segment and a circle with the coordinate origin as the center and the door width as the radius; Determining a maximum door opening angle and a door opening distance according to the coordinates of the target contact point and the door width of the vehicle; Based on the maximum door opening angle and the door opening distance, it is determined whether the current door meets the opening condition.

2. The vehicle door detection method based on the automatic parking assistance system according to claim 1, characterized in that: The step of determining a maximum door opening angle and a door opening distance according to the coordinates of the target contact point and the door width of the vehicle includes: The maximum door opening angle is determined according to the horizontal coordinate of the target contact point and the door width of the vehicle; the calculation formula is: 𝜃= arcsin ; Among them, 𝜃 is the maximum opening angle of the door; x is the horizontal coordinate of the target contact point; r is the door width of the vehicle.

3. The vehicle door detection method based on the automatic parking assistance system according to claim 1, characterized in that: The step of determining a maximum door opening angle and a door opening distance based on the coordinates of the target contact point and the door width of the vehicle further includes: The door opening distance is determined according to the abscissa and ordinate of the target contact point and the door width of the vehicle; the calculation formula is: ； Wherein, |PQ| is the door opening distance; x is the horizontal coordinate of the target contact point; y is the vertical coordinate of the target contact point; and r is the door width of the vehicle.

4. The vehicle door detection method based on an automatic parking assistance system according to any one of claims 1 to 3, characterized in that: The method further comprises: The maximum door opening angle and the door opening distance are sent to the vehicle-mounted human-computer interaction interface for display.

5. A vehicle door detection device according to any one of claims 1 to 4, characterized in that: Applied to a vehicle, the vehicle including an automatic parking assistance system and two ultrasonic radars, the two ultrasonic radars being used to measure a first initial distance point and a second initial distance point between the vehicle and an adjacent obstacle, respectively; the device comprising: A first determination module is configured to: construct a current door coordinate system with the rotation axis of the current door of the vehicle as the origin, the straight line on which the current door of the vehicle is located as the Y-axis, and the straight line perpendicular to the Y-axis as the X-axis; determine a first initial distance point using a first ultrasonic radar; the first ultrasonic radar is disposed at the front end of the vehicle on the door side; the first initial distance point is a point at which the first ultrasonic radar measures a first distance from the current vehicle; and determine a second initial distance point using a second ultrasonic radar; the second ultrasonic radar is disposed at the rear end of the vehicle on the door side; the second initial distance point is a point at which the second ultrasonic radar measures a second distance from the current vehicle. The first determination module is further configured to: determine the coordinates of the first initial distance point and the second initial distance point in the current vehicle door coordinate system based on the first length and the second length, respectively; determine the slope of a target line segment formed by the first initial distance point and the second initial distance point based on the coordinates of the first initial distance point and the second initial distance point; determine the coordinates of a target contact point in the current vehicle door coordinate system based on the slope of the target line segment, the coordinate origin of the current vehicle door coordinate system, and the vehicle door width; the target contact point being the intersection of the target line segment and a circle having the coordinate origin as the circle center and the vehicle door width as the radius; a second determining module, configured to determine a maximum door opening angle and a door opening distance according to the coordinates of the target contact point and the door width of the vehicle; The judgment module is used to judge whether the current door meets the opening condition based on the maximum opening angle of the door and the opening distance of the door.

6. A vehicle, characterized in that: The vehicle door detection device includes the vehicle door detection device described in claim 5 above.

7. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

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