A door handle state detection method, vehicle controller and control device
By using cameras to detect the movement of hidden door handles, replacing mechanical physical contact, the problem of increased costs is solved, and the effect of reducing usage and maintenance costs is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHEJIANG GEELY HLDG GRP CO LTD
- Filing Date
- 2023-06-07
- Publication Date
- 2026-06-30
AI Technical Summary
In existing technologies, the motion detection of concealed door handles requires the addition of two limit switches to each door handle, which leads to increased costs and high maintenance expenses.
A camera replaces mechanical physical contact, detecting the movement of the door handle through image information, eliminating physical switches and wiring harnesses, and using camera software algorithms to determine the state of the door handle.
It reduces usage and maintenance costs, decreases the overall vehicle weight and ECU interface burden, and lowers repair costs for switch damage caused by frequent use.
Smart Images
Figure CN116588006B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to, but is not limited to, the automotive field, and particularly to a method for detecting the state of a door handle, a vehicle controller, and a control device. Background Technology
[0002] As a basic entry point for opening doors in a car, traditional car door handles are fixed to each door. However, for new energy vehicles, due to the need to consider range and energy saving, most new energy vehicles adopt hidden door handles.
[0003] Concealed door handles involve retractable components, which raises the issue of monitoring the position of the moving parts. Figure 1 This is a schematic diagram illustrating the current detection process for the position of a concealed door handle. Figure 1 As shown, to detect whether the door handle has fully extended or retracted, two limit switches are typically added to each door handle to detect whether the movement is complete. The detection principle is as follows: a limit switch is added to the innermost and outermost sides of the travel of each door handle. When the handle extends or retracts, the corresponding switch closes to ground due to physical pressure. Then, the vehicle's electronic control unit (ECU) detects the low-level grounding and controls the motor to stop moving.
[0004] However, since the vehicle has four door handles, if two limit switches are added to each door handle and each switch needs to be connected to the ECU for detection, on the one hand, the limit switches will incur additional costs, the wiring harness will also increase costs, and the design of the ECU will require many more interfaces, which will significantly increase the burden on both cost and vehicle weight; on the other hand, the door handles need to pop out or retract every time the user unlocks or locks, which is a high frequency of operation. Since the lifespan of the limit switches is limited, this will increase the user's maintenance costs.
[0005] As can be seen from the above, the relevant technology, which adds two limit switches to each door handle to detect whether the door handle has popped out and retracted properly, has the problem of increased cost. Summary of the Invention
[0006] To address the increased costs associated with detecting the extension and retraction of door handles in related technologies, this disclosure provides a method, vehicle controller, and control device for detecting the state of a roller door handle. By replacing mechanical physical contact with a camera, usage and maintenance costs can be reduced, and waste can be minimized.
[0007] This disclosure provides a method for detecting the state of a door handle, applicable to vehicles equipped with cameras within a predetermined range of the door handle's location, including:
[0008] The camera captures image information during the movement of the door handle;
[0009] Determine the distance by which the door handle protrudes outward relative to the side of the vehicle body based on the image information;
[0010] The distance is compared with the set calibration distance, and the state of the door handle is determined based on the comparison result.
[0011] This disclosure also provides a vehicle controller, including a memory and a processor. The memory stores execution instructions, and the processor invokes the execution instructions to execute the door handle state detection method described in any embodiment.
[0012] This disclosure also provides a vehicle control device, including: a vehicle controller as described in any embodiment, and at least one concealed door handle, wherein a camera is provided within a set range of the location of each door handle;
[0013] The camera is configured to capture image information during the movement of the door handle and send the image information to the vehicle controller.
[0014] The door handle status detection method, vehicle controller, and control device provided in at least one embodiment of this disclosure have the following advantages compared with the prior art:
[0015] The door handle's position can be detected using a camera, replacing mechanical physical contact and reducing operating and maintenance costs, thus minimizing waste. Furthermore, determining the door handle's position using camera software algorithms can eliminate the need for a physical switch for position detection, removing related wiring harnesses and ECU input detection interfaces. This reduction in physical switches and wiring harnesses lowers the overall vehicle weight and the burden on the ECU interface, further reducing maintenance costs associated with frequent door handle use and switch damage.
[0016] Other features and advantages of this disclosure will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the disclosure. Other advantages of this disclosure may be realized and obtained by means of the methods described in the description and the accompanying drawings. Attached Figure Description
[0017] The accompanying drawings are used to provide an understanding of the technical solutions of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the technical solutions of this disclosure and do not constitute a limitation on the technical solutions of this disclosure.
[0018] Figure 1 This is a schematic diagram illustrating the current detection of concealed door handle positioning.
[0019] Figure 2A flowchart illustrating a method for detecting the state of a door handle according to an example embodiment of this disclosure;
[0020] Figure 3 This is a block diagram of a door handle positioning detection provided in an example embodiment of this disclosure;
[0021] Figure 4 A flowchart illustrating a method for detecting the state of a door handle according to an example embodiment of this disclosure;
[0022] Figure 5 This is a structural block diagram of the driving environment perception sensor provided in the embodiments of this disclosure;
[0023] Figure 6 This is a structural block diagram of a vehicle controller provided in an example embodiment of the present disclosure;
[0024] Figure 7 This is a structural block diagram of a vehicle control device provided in an example embodiment of the present disclosure. Detailed Implementation
[0025] This disclosure describes several embodiments, but these descriptions are exemplary and not limiting, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.
[0026] This disclosure includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this disclosure may also be combined with any conventional features or elements to form a unique inventive scheme as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive schemes to form another unique inventive scheme as defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this disclosure may be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.
[0027] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that the method or process does not depend on the specific order of steps described herein. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims relating to the method and / or process should not be limited to the steps performed in the order written, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments disclosed herein.
[0028] Figure 2 This is a flowchart of a door handle status detection method provided in an example embodiment of this disclosure, as follows: Figure 2 As shown, the method for detecting the status of a door handle may include:
[0029] S201: Capture image information of the door handle during its movement using a camera.
[0030] This disclosure applies to hidden or extended door handles equipped with electronic switches on vehicles. The hidden or extended door handles of the vehicle can be popped out (or extended) or retracted under the drive of a controller. When the door handle is popped out, the user can pull the door handle to open the door; when the door handle is in a hidden state, the user cannot pull the door handle.
[0031] The door handle movement process may include: retracting the door handle when the controller detects that the vehicle is locked or when there is vehicle speed; and popping out (or unfolding) the door handle when the controller detects that the vehicle is unlocked or when the vehicle is stationary.
[0032] The door handle's movement can be captured by existing cameras on the side of the vehicle. Based on these cameras, the door handle's position can be detected. By replacing mechanical physical contact with camera-based software algorithms, operating and maintenance costs can be reduced, minimizing waste. Furthermore, determining the door handle's position through camera software algorithms can eliminate the need for physical switches for position detection, eliminating related wiring harnesses and ECU input detection interfaces. This reduction in physical switches and wiring harnesses lowers the overall vehicle weight and the burden on the ECU interface, thus reducing maintenance costs associated with frequent door handle use and switch damage.
[0033] S202: Determine the distance the door handle protrudes outward relative to the side of the vehicle body based on image information (the relative distance from the outer side of the door handle to the side of the vehicle body). The distance the door handle protrudes outward relative to the side of the vehicle body based on image information during door handle movement can be referred to as the relative distance or measured distance.
[0034] When detecting the door handle's position using a camera, images of the door handle's movement can be captured by existing cameras on the side of the vehicle. Existing software algorithms within the cameras, such as image processing algorithms, are used to process the images and perform deep learning to determine the distance of the door handle's lateral mechanism protruding relative to the side of the vehicle. This determines whether the door handle has extended or retracted. The lateral mechanism refers to the outward direction of the door handle relative to the side of the vehicle.
[0035] The implementation of image processing and deep learning using existing image software algorithms in the camera can adopt the existing image processing algorithm implementation methods, and this disclosure embodiment will not limit or elaborate on them. For example, software algorithms can be embedded in the camera, and the camera can perform self-learning processing based on the position of each car door handle. For example, background modeling (such as OpenCV modeling) can be used for image processing and deep learning to obtain the distance of the door handle protruding outward relative to the side of the car body from the image information collected by the camera, thereby identifying the position of the door handle popping out and retracting.
[0036] S203: Compare the distance with the set calibration distance, and determine the state of the door handle based on the comparison result. The state of the door handle may include at least one of the following: door handle extended into position, door handle retracted into position, door handle extension failure, and door handle retraction failure.
[0037] The system can store or set calibration distances in advance, using these distances as criteria for determining the door handle's status. Upon receiving the lock / unlock signal, the system compares the relative distance to the door handle with the set calibration distance, determining the handle's status based on the difference or absolute value of the difference. The controller can detect the door handle's position based on the calibrated data, eliminating the need for a position detection switch to control the door handle's ejection, retraction, and status detection.
[0038] In one example, when the vehicle is unlocked, if the door handle is in the retracted state, the controller controls the door handle to pop out; when the vehicle is locked, if the door handle is in the popped-out state, the controller controls the door handle to retract.
[0039] The door handle status detection method provided in this disclosure can detect the door handle's position status based on a camera. By replacing mechanical physical contact with a camera, usage and maintenance costs can be reduced, and waste can be minimized. Furthermore, determining the door handle status through camera software algorithms can eliminate the need for a physical switch for position detection, thereby eliminating related wiring harnesses and ECU input detection interfaces. Reducing physical switches and wiring harnesses lowers the overall vehicle weight and the burden on the ECU interface, and reduces maintenance costs associated with switch damage caused by frequent door handle use.
[0040] In one example embodiment of this disclosure, the set calibration distance may include: a retraction calibration distance when the door handle is in a retracted state; comparing the distance with the set calibration distance and determining the state of the door handle based on the comparison result may include:
[0041] The distance is compared with the retraction calibration distance. When the absolute value of the difference between the distance and the retraction calibration distance is less than a set threshold, it is determined that the door handle has retracted into place.
[0042] A retraction calibration distance can be stored or set in advance. This pre-set retraction calibration distance is used as a criterion for determining the retraction state of the door handle. After the vehicle receives the unlock / lock signal, the relative distance of the door handle is compared with the set retraction calibration distance. If the absolute value of the difference between the relative distance and the retraction calibration distance is less than a set threshold, the door handle is determined to be retracted. The set threshold can be determined based on empirical values, and this embodiment will not limit or elaborate on it here.
[0043] In one example embodiment of this disclosure, it may further include:
[0044] In the setting mode, adjust the door handle to the retracted position; use a camera to obtain a vehicle body state image in the retracted position and perform image feature processing to confirm the second distance at which the door handle protrudes outward relative to the side of the vehicle body when retracted; use the second distance as a reference, and float a certain distance range forward and backward under this reference as the retraction calibration distance.
[0045] In the setting mode, the driver's door handle can be adjusted to the retracted position. A camera near the door handle captures a picture of the door handle in the retracted position. Based on the collected data, image feature processing is performed to determine the distance from the outside of the door handle to the body when it is retracted. Using this distance as a reference, a certain distance range is used to adjust the retraction distance, which is then used as the criterion for determining whether the door handle is retracted.
[0046] The setting mode can be the factory default mode, or the setting mode can be the non-operating mode (or stationary mode) before the vehicle is started.
[0047] Figure 3 This is a block diagram illustrating the detection of a door handle in position according to an example embodiment of this disclosure, such as... Figure 3As shown, the vehicle may include at least four concealed door handles: a left front door handle, a left rear door handle, a right front door handle, and a right rear door handle. A camera is installed within a predetermined range at the location of each door handle; for example, the left front door handle, left rear door handle, right front door handle, and right rear door handle correspond to the left front door camera, left rear door camera, right front door camera, and right rear door camera, respectively. The controller shown in this disclosure may include a main control ECU controller (ADCU) and a door control module (DCM). The ADCU is a controller that detects the camera processing results and algorithms, while the DCU is a controller that controls the extension and retraction of the four door handles. Figure 3 In this context, DDM, PDM, RLDM, and RRDM represent the door handle actuators used to drive the left front door handle, right front door handle, left rear door handle, and right rear door handle, respectively.
[0048] In one example embodiment of this disclosure, taking the left front door handle as an example, the driver's side door handle is adjusted to the retracted position. The left front camera of the vehicle body is used to capture a picture of the handle in the retracted position. The camera sends the data to the ADCU. The ADCU performs image feature processing based on the collected data, records the target pixel point of the door handle retracting into position, and confirms the distance from the outside of the door handle to the vehicle body when it is retracted into position. Based on this distance, a certain distance range is used as the judgment condition for the door handle to be retracted into position.
[0049] The ADCU sends the relative distance from the outside of the door handle to the side of the vehicle body to the DCU in real time. The ADCU is responsible for comparing the identified distance with the ejection calibration distance. The DCU determines whether the motor is ejecting or retracting based on the unlocking / locking signal, and then determines whether the movement is in place based on the distance information sent by the ADCU, thereby deciding whether to stop the drive motor.
[0050] For the other three door handles of the vehicle, the same process is performed and control is completed through the camera closest to the vehicle body corresponding to that door handle.
[0051] After the calibration data is completed, it is written into the door control module. When the vehicle receives the lock / unlock signal, the controller controls the door handle according to the calibrated data, so that the door handle can be popped out and retracted and its status detected without the need for a position detection switch.
[0052] If the user replaces the rearview mirror or door, the ADCU needs to readjust the driver's side door handle to the retracted position in the setting mode, record the target pixel point of the door handle retracting to the correct position, and determine the retraction calibration distance. Alternatively, the user or after-sales personnel can reset the door handle position on the instrument panel. The instrument panel will prompt the user or after-sales personnel to extend or retract the door handle first. The camera will collect data, and the ADCU will perform image processing to relearn and record the target pixel point of the door handle retracting to the correct position, as well as determine the retraction calibration distance.
[0053] In one example embodiment of this disclosure, comparing the distance with a set calibration distance and determining the state of the door handle based on the comparison result may further include:
[0054] If the absolute value of the difference between the distance and the retraction calibration distance is greater than or equal to the set threshold, and the motor stops rotating, the collected image information is processed for image features. If the difference between the pixel in the collected image information and the set target pixel for retraction exceeds the set range, it is determined that the door handle retraction has failed and there is a foreign object blocking it.
[0055] When the ADCU detects that the absolute value of the difference between the relative distance and the retraction calibration distance is greater than or equal to the set threshold, and the DCU detects that the motor has stopped rotating, the camera (e.g., the left front camera) will transmit the data of the current door handle (e.g., the left front door handle) to the ADCU. The ADCU will perform image feature processing on the data. If there is a difference between the pixel in the acquired image information and the set target pixel for retraction, it will be determined that the current door handle (e.g., the left front door handle) has failed to retract and there is a foreign object blocking it.
[0056] In one example, if there is a difference between the pixels in the acquired image information and the set target pixels for retraction, the ADCU will feed back the set retraction calibration distance to the vehicle domain main controller CEM. The CEM will then feed back the set retraction calibration distance and the lock / unlock signal to the vehicle main controller DHU. The DHU will then control the instrument panel or mobile APP to indicate that the retraction has failed and that there is a foreign object blocking the way.
[0057] In one example embodiment of this disclosure, image feature processing of the acquired image information may further include:
[0058] If the difference between the pixel in the acquired image information and the target pixel for retraction is within the set range, but the motor running time exceeds the set maximum time, it is determined that the door handle retraction has failed and the system is faulty.
[0059] If, after the ADCU processes the acquired image data, the pixels in the acquired image information are no different from the set target pixels for retraction, but the motor running time exceeds the maximum time and the door handle does not reach the target position after ADCU image processing, then the ADCU will send a fault signal to the vehicle body domain main controller CEM. The CEM will then send a signal to the DHU and the mobile APP to indicate that the retraction failed and the system is faulty.
[0060] In one example embodiment of this disclosure, the set calibration distance may include: the pop-out calibration distance when the door handle is in the pop-out state; comparing the distance with the set calibration distance and determining the state of the door handle based on the comparison result may include:
[0061] The distance is compared with the pop-out calibration distance. When the absolute value of the difference between the distance and the pop-out calibration distance is less than the set threshold, it is determined that the door handle has popped out to the correct position.
[0062] A pre-stored or pre-set pop-out calibration distance can be used as a criterion for determining the door handle's pop-out position. After the vehicle receives the lock / unlock signal, the relative distance to the door handle is compared with the pre-set pop-out calibration distance. If the absolute value of the difference between the relative distance and the pop-out calibration distance is less than a set threshold, the door handle is determined to be in the pop-out position. The set threshold can be determined based on experience, and this embodiment will not limit or elaborate on it.
[0063] In one example embodiment of this disclosure, it may further include:
[0064] In the setting mode, adjust the door handle to the pop-out position; use a camera to obtain a picture of the vehicle body in the pop-out position and perform image feature processing to confirm the first distance at which the door handle protrudes outward relative to the side of the vehicle body when it is popped out; use the first distance as a reference, and adjust the distance back and forth within a certain range as the pop-out calibration distance.
[0065] In the setting mode, the driver's door handle can be adjusted to the pop-out position. A camera near the door handle captures a picture of the door handle in the pop-out position. Based on the collected data, image feature processing is performed to determine the distance from the outside of the door handle to the body when it is popped out. This distance is used as a reference, and a certain distance range is adjusted back and forth below this reference as the pop-out calibration distance, which is used as the criterion for determining whether the door handle is popped out.
[0066] In one example embodiment of this disclosure, taking the left front door handle as an example, the driver's side door handle is adjusted to the pop-out position. The left front camera of the vehicle body is used to capture a picture of the handle in the pop-out position. The camera sends the data to the ADCU. The ADCU performs image feature processing based on the collected data, records the target pixel point of the door handle popping out, and confirms the distance from the outside of the door handle to the vehicle body when it pops out. Based on this distance, a certain distance range is used to determine the door handle popping out.
[0067] The ADCU sends the relative distance from the outside of the door handle to the side of the vehicle body to the DCU in real time. The ADCU is responsible for comparing the identified distance with the ejection calibration distance. The DCU determines whether the motor is ejecting or not based on the unlocking / locking signal, and then determines whether the movement is in place based on the distance information sent by the ADCU, thereby deciding whether to stop the drive motor.
[0068] For the other three door handles of the vehicle, the same process is performed and control is completed through the camera closest to the vehicle body corresponding to that door handle.
[0069] After the calibration data is completed, it is written into the door control module. When the vehicle receives the lock / unlock signal, the controller controls the door handle according to the calibrated data, so that the door handle can be controlled to pop out and pop up and the status detection can be performed without the need for a position detection switch.
[0070] If the user replaces the rearview mirror or door, the ADCU needs to readjust the driver's side door handle to the pop-out position in the setting mode, record the target pixel point of the door handle's pop-out position, and determine the pop-out calibration distance. Alternatively, the user or after-sales personnel can reset the door handle's position on the instrument panel. The instrument panel will prompt the user or after-sales personnel to first extend or pop the door handle to its full position. The camera will then collect data, and the ADCU will perform image processing to relearn and record the target pixel point of the door handle's pop-out position, as well as determine the pop-out calibration distance.
[0071] In one example embodiment of this disclosure, comparing the distance with a set calibration distance and determining the state of the door handle based on the comparison result may further include:
[0072] If the absolute value of the difference between the distance and the pop-out calibration distance is greater than or equal to the set threshold, and the motor stops rotating, the collected image information is processed for image features. If the difference between the pixel in the collected image information and the set target pixel in the pop-out position exceeds the set range, it is determined that the door handle pop-out has failed and there is a foreign object blocking it.
[0073] When the ADCU detects that the absolute value of the difference between the relative distance and the pop-out calibration distance is greater than or equal to the set threshold, and the DCU detects that the motor has stopped rotating, the camera (e.g., the left front camera) will transmit the data of the current door handle (e.g., the left front door handle) to the ADCU. The ADCU will perform image feature processing on the collected data. If there is a difference between the pixel in the collected image information and the set target pixel for pop-out, it will be determined that the current door handle (e.g., the left front door handle) has failed to pop out and there is a foreign object blocking it.
[0074] In one example, if there is a difference between the pixel in the acquired image information and the target pixel that is set to pop up, the ADCU will feed back the set pop-up calibration distance to the vehicle domain main controller CEM. The CEM will feed back the set pop-up calibration distance and the unlock / lock signal to the vehicle main controller DHU. The DHU will control the instrument panel or mobile APP to indicate that the pop-up failed and that there is a foreign object blocking it.
[0075] In one example embodiment of this disclosure, image feature processing of the acquired image information may further include:
[0076] If the difference between the pixel in the acquired image information and the target pixel for the door handle to pop out is within the set range, but the motor running time exceeds the set maximum time, it is determined that the door handle popping out failed and the system malfunctioned.
[0077] If, after the ADCU processes the acquired image data, the pixels in the acquired image information are no different from the set target pixels for the door handle to pop up, but the motor running time exceeds the maximum time and the door handle does not reach the target position after ADCU image processing, then the ADCU will send a fault signal to the vehicle body domain main controller CEM. The CEM will then send a signal to the DHU and the mobile APP to indicate that the door handle failed to pop up and that the system is faulty.
[0078] In an example embodiment of this disclosure, before determining the distance by which the door handle protrudes outward relative to the side of the vehicle body based on image information, the method may further include:
[0079] Obtain the camera's resolution; when the camera's resolution is greater than or equal to the set resolution threshold, determine the distance the door handle protrudes outward relative to the side of the vehicle body based on the image information; when the camera's resolution is less than the set resolution threshold, determine the distance the door handle protrudes outward relative to the side of the vehicle body based on the motor's running time and rotation speed.
[0080] Before detecting the door handle's position using a camera, the accuracy of the camera's data acquisition can be determined by checking the camera's resolution.
[0081] When the camera's resolution is greater than or equal to a set resolution threshold, the accuracy of the camera's data acquisition is considered high. In environments where the camera's data acquisition accuracy is low, the door handle's position can be detected based on the camera. The distance the door handle protrudes outward relative to the side of the vehicle body is determined based on the image information acquired by the camera. This distance is then compared with a set calibration distance, and the door handle's position is determined based on the comparison result.
[0082] When the camera's resolution is less than the set resolution threshold, it is determined that the accuracy of the camera's data acquisition is low. In environments where the accuracy of camera data acquisition is low, the distance the door handle protrudes outward relative to the side of the vehicle body can be determined by the motor's running time and rotation speed. This distance is then compared with a set calibration distance, and the state of the door handle is determined based on the comparison result.
[0083] In one example embodiment of this disclosure, determining the distance the door handle protrudes outward relative to the side of the vehicle body based on the motor's operating time and rotation speed may include:
[0084] The time and speed of the motor during the movement of the door handle are obtained; the product of the motor's running time and speed is determined as the distance the door handle protrudes outward relative to the side of the vehicle body.
[0085] The distance the door handle protrudes outward relative to the side of the vehicle can be determined by the formula: distance = motor rotation speed * motor running time. Alternatively, the distance can be determined by the formula: distance = average motor rotation speed * motor running time.
[0086] Figure 4 This is a flowchart of a door handle status detection method provided in an example embodiment of this disclosure, as follows: Figure 4 As shown, the method for detecting the status of a door handle may include:
[0087] S401: Adjust the door handle to the pop-out position.
[0088] S402: Captures the pop-up image using a camera.
[0089] S403: Learn from the image data and identify the pop-up positioning distance d1.
[0090] S404: Adjust the door handle to the retracted position.
[0091] S405: Captures zoomed-in images via camera.
[0092] S406: Learn from the image data and identify the zoom-in calibration distance d2.
[0093] S407: Unlocked.
[0094] S408: Controls the door handle to pop out.
[0095] S409: Obtain the relative position d of the door handle based on the image information of the door handle captured by the camera.
[0096] S410: Determine if the distance |d-d1| ≤ △d. If yes, execute S411; otherwise, execute S408.
[0097] S411: Lockout.
[0098] S412: Controls the door handle to retract.
[0099] S413: Obtain the relative position d of the door handle based on the image information of the door handle captured by the camera.
[0100] S414: Determine if the distance |d-d2| ≤ △d. If yes, end; otherwise, execute S412.
[0101] Figure 5 This is a structural block diagram of the driving environment perception sensor provided in the embodiments of this disclosure, such as... Figure 5 As shown, a driving environment perception sensor composed of radar sensors and camera sensors can detect the driving environment around the vehicle.
[0102] The driving environment perception sensor may include at least one of the following: a front driving environment perception radar sensor RFC501, a front right driving environment perception radar sensor RFR503, a front left driving environment perception radar sensor RFL502, a front driving environment perception camera sensor CFC510, a camera sensor SVL512 for detecting the driving environment on the left side of the vehicle, a camera sensor SVR511 for detecting the driving environment on the right side of the vehicle, a radar sensor RRC506 for detecting the driving environment directly behind, a radar sensor RRR505 for detecting the driving environment to the right rear, and a radar sensor RRL504 for detecting the driving environment to the left rear.
[0103] In this embodiment, the door handle's position can be detected using an existing camera. For example, an image sensor SVL512, used to detect the driving environment on the left side of the vehicle, can be used to collect image information of the left door handle's movement to determine its position. Alternatively, an image sensor SVR511, used to detect the driving environment on the right side of the vehicle, can be used to collect image information of the right door handle's movement to determine its position.
[0104] As long as the driving environment can be detected, there are no specific requirements for the type of sensor (radar, lidar, ultrasonic, camera, etc.). Sensors for detecting the driving environment can detect and identify the speed, relative speed, position, angle, size, etc. of three-dimensional objects around the vehicle. Figure 5 There are a total of nine sensors. If the sensor configuration can ensure that the vehicle's surroundings can be detected in 360 degrees, then there is no specific requirement for the number of sensors.
[0105] Figure 6 This is a structural block diagram of a vehicle controller provided in an example embodiment of the present disclosure, such as... Figure 6 As shown, the vehicle controller may include a memory 61 and a processor 62. The memory is used to store execution instructions; the processor calls the execution instructions to execute the door handle state detection method described in any embodiment.
[0106] The processor can be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that implement the embodiments of the present invention.
[0107] Figure 7 This is a structural block diagram of a vehicle control device provided in an example embodiment of the present disclosure, such as... Figure 7 As shown, the vehicle control device may include the vehicle controller 71 shown in any embodiment, and at least one hidden door handle 72, with a camera 73 provided within a set range of the location of each door handle.
[0108] The camera is configured to capture image information during the movement of the door handle and send the image information to the vehicle controller.
[0109] The vehicle controller is configured to perform the door handle state detection method described in any embodiment.
[0110] In one example embodiment of this disclosure, the vehicle controller may include a main control ECU controller ADCU and a door control module (DCM). The ADCU is a controller that detects the processing results and algorithms of the camera, and the DCU is a controller that controls the pop-up and retraction of the four door handles.
[0111] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.
Claims
1. A method for detecting the status of a door handle, applicable to vehicles equipped with cameras within a predetermined range of the door handle's location, characterized in that, include: The camera captures image information during the movement of the door handle; Obtain the resolution of the camera; When the resolution of the camera is greater than or equal to a set resolution threshold, the distance by which the door handle protrudes outward relative to the side of the vehicle body is determined based on the image information. When the resolution of the camera is less than the set resolution threshold, the distance by which the door handle protrudes outward relative to the side of the vehicle body is determined based on the motor's running time and rotation speed. The distance is compared with a set calibration distance, and the state of the door handle is determined based on the comparison result. The step of determining the distance the door handle protrudes outward relative to the side of the vehicle body based on the motor's operating time and rotation speed includes: Obtain the motor's running time and rotation speed during the door handle's movement; The product of the motor's running time and its rotational speed is defined as the distance the door handle protrudes outward relative to the side of the vehicle body.
2. The method according to claim 1, characterized in that, The set calibration distance includes: the retraction calibration distance when the door handle is in the retracted state, and the pop-out calibration distance when the door handle is in the pop-out state; The step of comparing the distance with a set calibration distance and determining the state of the door handle based on the comparison result includes: The distance is compared with the retraction calibration distance. When the absolute value of the difference between the distance and the retraction calibration distance is less than a set threshold, it is determined that the door handle has retracted into place. or, The distance is compared with the pop-out calibration distance. When the absolute value of the difference between the distance and the pop-out calibration distance is less than a set threshold, it is determined that the door handle has popped out to the correct position.
3. The method according to claim 2, characterized in that, The step of comparing the distance with a set calibration distance and determining the state of the door handle based on the comparison result further includes: When the absolute value of the difference between the distance and the retraction calibration distance is greater than or equal to a set threshold, and the motor stops rotating, image feature processing is performed on the collected image information; when the difference between the pixel in the collected image information and the set target pixel for retraction exceeds the set range, it is determined that the door handle retraction has failed and there is a foreign object blocking it. or, When the absolute value of the difference between the distance and the pop-out calibration distance is greater than or equal to a set threshold, and the motor stops rotating, image feature processing is performed on the collected image information; when the difference between the pixel in the collected image information and the set target pixel in the pop-out position exceeds a set range, it is determined that the door handle pop-out has failed and is blocked by a foreign object.
4. The method according to claim 3, characterized in that, The method further includes performing image feature processing on the acquired image information: If the difference between the pixel in the acquired image information and the target pixel for retraction is within the set range, but the motor running time exceeds the set maximum time, it is determined that the door handle retraction has failed and the system is faulty. or, If the difference between the pixel in the acquired image information and the target pixel for the door handle to pop out is within the set range, but the motor running time exceeds the set maximum time, it is determined that the door handle popping out failed and the system malfunctioned.
5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: In the setting mode, adjust the door handle to the pop-out position; The camera is used to obtain a vehicle body state image of the popped-out position and perform image feature processing to confirm the first distance by which the door handle protrudes outward relative to the side of the vehicle body when it is popped out. Using the first distance as a reference, the distance is adjusted by floating a certain distance before and after the reference as the pop-up calibration distance.
6. The method according to any one of claims 1 to 4, characterized in that, The method further includes: In the setting mode, adjust the door handle to the retracted position; The camera is used to obtain a vehicle body state image of the retracted state and perform image feature processing to confirm the second distance at which the door handle protrudes outward relative to the side of the vehicle body when it is retracted. Using the second distance as a reference, the distance is adjusted back and forth within a certain range as the retraction calibration distance.
7. A vehicle controller, characterized in that, It includes a memory and a processor, wherein the memory is used to store execution instructions; the processor invokes the execution instructions to perform the door handle state detection method as described in any one of claims 1-6.
8. A vehicle control device, characterized in that, include: The vehicle controller as described in claim 7, and at least one concealed door handle, wherein a camera is provided within a set range of the location of each door handle; The camera is configured to capture image information during the movement of the door handle and send the image information to the vehicle controller.