A vehicle door opening prompting method and system, an electronic device, and a storage medium

Abstract

The present application relates to a kind of car door opening prompt method, system, electronic equipment and storage medium, the prompt method includes: real-time monitoring the stillness barrier and mobile barrier around when vehicle stops;Car door opening angle limit is carried out based on the distance of the detected stillness barrier and car door;Approaching intention determination is carried out to mobile barrier, and the mobile barrier approaching vehicle is limited and / or warned to car door opening angle;Mobile barrier and stillness barrier around vehicle are monitored respectively, prevent the occurrence of scratch and other accidents with surrounding people or things in the process of opening door.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent vehicles, in particular to a vehicle door opening prompting method and system, an electronic device and a storage medium. BACKGROUND

[0002] There is a safety hazard when pedestrians get off the vehicle after parking. Many drivers or passengers often forget to observe the situation behind the vehicle before opening the door to get off, which may cause the driver or the driver of an electric vehicle behind to collide with the vehicle door when the door is opened, resulting in vehicle damage, and even possible casualties, personal injury and property loss.

[0003] In one prior art solution, a door opening limiting device is added to prevent the door from being fully opened at once, thereby reminding the driver or passenger to pay attention to the vehicle and pedestrians behind to avoid traffic accidents. This method increases the number of limiting gears, and the driver and passenger in the vehicle cannot accurately determine the distance if there are vehicles and obstacles beside the vehicle in the parking scene, which may cause the door to collide with the obstacles.

[0004] In another prior art solution, a door limiter is added to actively control the door opening function according to the situation of the vehicle behind. In this solution, if there are vehicles and obstacles beside the vehicle in the parking scene, the driver and passenger in the vehicle cannot accurately determine the distance, which may cause the door to collide with the obstacles; the vehicle behind may not necessarily be unable to open the door, but only a certain angle, and if the vehicle behind is always identified, the door will never be opened. SUMMARY

[0005] The present application provides a vehicle door opening prompting method, system, electronic device and storage medium to monitor the moving obstacles and stationary obstacles around the vehicle to prevent accidents such as scratching from occurring during the door opening process.

[0006] According to the first aspect of the present application, a vehicle door opening prompting method is provided, comprising: step 1, real-time monitoring of stationary obstacles and moving obstacles around the vehicle when parked;

[0007] Step 2, limiting the door opening angle based on the distance between the detected stationary obstacles and the door;

[0008] Step 3, determining the intention to approach the moving obstacles, and limiting the door opening angle and / or warning for the moving obstacles intending to approach the vehicle.

[0009] On the basis of the above technical solution, the present application can also be improved as follows.

[0010] Optionally, the step 2 and step 3 are performed by setting an electric control limiter to limit the opening angle of the door;

[0011] The electric control limiter adjusts the distance between the installation support and the hinge through a gear transmission structure to realize the opening and closing of the door. The gear is connected with a motor. After the controller calculates the door opening angle limit, the door opening angle limit is converted into the rotation number limit of the motor, and the door opening angle is controlled by limiting the rotation number of the motor.

[0012] The motor also generates a drag force to increase the opening force of the door, so as to remind the driver or passenger to pay attention.

[0013] Optionally, the step 2 includes:

[0014] Measuring the lateral distance L1 between the stationary obstacle outside the door and the vehicle based on the vehicle side radar, limiting the maximum value of the door opening angle ; L2 is the length of the door.

[0015] Optionally, the step 3 includes:

[0016] When the vehicle rear radar monitors that the rear pedestrian or vehicle is moving in the forward direction, the pedestrian or vehicle is determined to be a moving obstacle intending to approach the vehicle.

[0017] Measuring the longitudinal distance L3 between the moving obstacle and the vehicle and the angle β with the lateral line at any time, then the lateral distance between the moving obstacle and the vehicle , limiting the maximum value of the door opening angle ; L2 is the length of the door.

[0018] Optionally, the step 3 includes:

[0019] When the vehicle radar monitors one or more moving objects approaching the vehicle;

[0020] Determining that the moving object is a moving obstacle intending to approach the vehicle;

[0021] Calculating the time when the moving obstacle reaches the vehicle based on the moving speed of the moving obstacle and the distance from the vehicle, and selecting the door opening angle limit, the door opening limit and / or the alarm prompt according to the time.

[0022] Optionally, the step 3 includes:

[0023] When the vehicle radar monitors that one moving object a is moving normally and the distance between another moving object b and the moving object a is decreasing;

[0024] The speed of the moving object a is calculated The speed of the moving object b is calculated ;

[0025] Wherein, β1 is the angle between the moving object a and the lateral line at t1, l1 is the distance between the moving object a and the vehicle radar at t1, δ1 is the angle between the moving object b and the lateral line at t1, s1 is the distance between the moving object b and the vehicle radar at t1;

[0026] β2 is the angle between the moving object a and the lateral line at t2, l2 is the distance between the moving object a and the vehicle radar at t2, δ2 is the angle between the moving object b and the lateral line at t2, s2 is the distance between the moving object b and the vehicle radar at t2;

[0027] The distance between the moving object a and the moving object b at t1 is calculated:

[0028] ;

[0029] The angle between the moving direction of the moving object b and the lateral line is calculated as:

[0030] ;

[0031] The angle between the moving direction of the moving object a and the lateral line is calculated as:

[0032] , and β0 is obtained by substituting ;

[0033] When the moving object a and the moving object b keep driving in the same direction, the time when the moving object a and the moving object b come into contact is t3;

[0034] Then ;

[0035] Substituting A, δ0, β0, , The time t3 when the moving object a and the moving object b come into contact is obtained;

[0036] When t3> 2s, it is judged that the probability of the moving object a approaching the door of the vehicle is small, and the vehicle sends a reminder to the driver and the passenger;

[0037] When 1s < t3 < 2s, it is judged that the probability of the moving object a approaching the door of the vehicle is medium, and the vehicle sends a reminder to the driver and the passenger; and the motor generates a preset drag force, so that the force for the corresponding side driver and passenger to open the door is increased, playing a role of reminding and warning;

[0038] When t3<1s, it is judged that the calculated probability of the moving object a approaching the vehicle door is larger, the vehicle issues a reminder, the driver and passengers are asked to pay attention, and the door cannot be opened and can be opened after the screen contacts the lock.

[0039] Optionally, the prompting method further comprises: when the vehicle door is detected by the side camera to have a water pool, a sewer or a pit, the vehicle display screen displays the real-time environment picture, the lateral distance L5 between the side water pool, the sewer or the pit and the vehicle is measured, and the maximum value of the door opening angle is limited. When L2 is the length of the door, the motor of the electric control limiter for limiting the door opening angle generates a preset drag force, so that the force for the corresponding side driver and passenger to open the door is increased.

[0040] According to a second aspect of the present application, a door opening prompting system is provided, comprising: an obstacle monitoring module and a door opening limiting module.

[0041] The obstacle monitoring module is used to monitor the static obstacles and the moving obstacles around the vehicle in real time when the vehicle is parked.

[0042] The door opening limiting module is used to limit the door opening angle based on the distance between the detected static obstacles and the door, and to determine the approaching intention of the moving obstacles, and to limit the door opening angle and / or to give an alarm reminder for the moving obstacles approaching the vehicle.

[0043] According to a third aspect of the present application, an electronic device is provided, comprising a memory and a processor, wherein the processor is used to execute the computer management type program stored in the memory to realize the steps of the door opening prompting method.

[0044] According to a fourth aspect of the present application, a computer readable storage medium is provided, which stores a computer management type program, wherein the computer management type program is executed by a processor to realize the steps of the door opening prompting method.

[0045] The door opening prompting method, system, electronic device and storage medium provided by the present application can monitor the environment around the vehicle after the vehicle stops, prevent accidents such as scratching with the surrounding people or objects during the door opening process, and prevent personal injury caused by unknown environmental factors after the driver and passengers get off the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 A flowchart of the door opening prompting method provided by the present application is provided.

[0047] Figure 2 A schematic diagram of an embodiment provided by the present application is provided.

[0048] Figure 3 A schematic diagram of one embodiment of the present application in which there is a moving obstacle;

[0049] Figure 4 A schematic diagram of another embodiment of the present application in which there is a moving obstacle;

[0050] Figure 5 A schematic diagram of an embodiment of the present application in which there is a moving obstacle;

[0051] Figure 6 A schematic diagram of an embodiment of the present application in which there is a moving obstacle;

[0052] Figure 7 A schematic diagram of an embodiment of the present application in which there is a moving obstacle;

[0053] Figure 8 A schematic diagram of an embodiment of the present application in which there is a moving obstacle. DETAILED DESCRIPTION

[0054] The principles and features of the present application are described below in conjunction with the accompanying drawings, in which the examples are used to explain the present application and are not intended to limit the scope of the present application.

[0055] Figure 1 A flowchart of a door opening prompting method according to the present application is shown in FIG. 1, which includes the following steps: Figure 1

[0056] Step 1, real-time monitoring of static obstacles and moving obstacles around the vehicle when the vehicle is parked.

[0057] Step 2, door opening angle restriction based on the distance between the detected static obstacles and the door.

[0058] Step 3, determination of the intention to approach the moving obstacles, and door opening angle restriction and / or warning reminder for the moving obstacles intending to approach the vehicle.

[0059] The door opening prompting method according to the present application monitors the moving obstacles and static obstacles around the vehicle respectively, preventing accidents such as scratching from occurring during the door opening process.

[0060] Embodiment 1

[0061] Embodiment 1 according to the present application is an embodiment of a door opening prompting method according to the present application, which can be known from FIG. 1. Figure 1

[0062] Step 1, real-time monitoring of static obstacles and moving obstacles around the vehicle when the vehicle is parked. ​​

[0063] Step 2, limit the opening angle of the door based on the distance between the detected stationary obstacle and the door.

[0064] In one possible embodiment, the opening angle of the door is limited by setting an electric control limiter in Step 2.

[0065] The electric control limiter adjusts the distance between the mounting bracket and the hinge through a gear transmission structure to realize opening and closing of the door. The gear is connected with a motor, and the motor can record the number of revolutions of the gear. After the controller calculates the door opening angle limit, the door opening angle limit is converted into a motor revolution limit, and the door opening angle is controlled by limiting the number of motor revolutions.

[0066] The motor also generates a drag force that increases the opening force of the door to remind the driver or passenger.

[0067] In one possible embodiment, as shown in Figure 2 The schematic diagram of an embodiment of the present application with a stationary obstacle is shown, which includes Figure 1 and Figure 2 Step 2 includes:

[0068] The lateral distance L1 between the stationary obstacle outside the door and the vehicle is measured based on the vehicle side radar, and the maximum value of the door opening angle limit ; L2 is the length of the door.

[0069] In a specific implementation, the opening angle limit value of the door limiter is set to , and the maximum angle that can be opened cannot be greater than α.

[0070] Step 3, determine the approach intention of the moving obstacle, and limit the opening angle of the door and / or give a warning reminder for the moving obstacle approaching the vehicle.

[0071] In one possible embodiment, the opening angle of the door is limited by setting an electric control limiter in Step 3.

[0072] The electric control limiter adjusts the distance between the mounting bracket and the hinge through a gear transmission structure to realize opening and closing of the door. The gear is connected with a motor, and the motor can record the number of revolutions of the gear. After the controller calculates the door opening angle limit, the door opening angle limit is converted into a motor revolution limit, and the door opening angle is controlled by limiting the number of motor revolutions.

[0073] The motor also generates a drag force that increases the opening force of the door to remind the driver or passenger.

[0074] In one possible embodiment, as shown in Figure 3Fig. 1 shows a schematic diagram of one embodiment of the present application in which there is a moving obstacle, in combination with Figure 1 and Figure 3 Step 3 comprises:

[0075] When the rear radar of the vehicle detects that a rear pedestrian or vehicle is moving in the forward direction, the controller predicts that the pedestrian or vehicle will continue to walk / drive in the forward direction, and determines that the pedestrian or vehicle is a moving obstacle intending to approach the vehicle.

[0076] The longitudinal distance between the moving obstacle and the vehicle at any time is L3, and the angle β between the moving obstacle and the lateral line, then the lateral distance between the moving obstacle and the vehicle is The maximum value of the opening angle of the door is limited L2 is the length of the door.

[0077] In a specific implementation, the opening angle limit value of the door stopper is set to The maximum angle that can be opened cannot be greater than γ.

[0078] In one possible embodiment, step 3 comprises: when the vehicle radar detects one or more moving objects (pedestrians or vehicles) approaching the vehicle at a certain speed.

[0079] The moving object is determined to be a moving obstacle intending to approach the vehicle.

[0080] The time for the moving obstacle to reach the vehicle is calculated based on the moving speed of the moving obstacle and the distance from the vehicle, and the time is used to select the door opening angle limitation, the door opening limitation, and / or the warning prompt.

[0081] In a specific implementation, the time t can be set as:

[0082] When t>10s, it is determined that the door can be opened before the moving obstacle reaches, and the vehicle will issue a prompt to the driver and passenger to pay attention, thereby playing a role in warning and reminding.

[0083] When 5s

[0084] When t<5s, the vehicle will issue a prompt to the driver and passenger to pay attention and the door cannot be opened, and the door can only be opened after the screen contacts the door lock.

[0085] In one possible embodiment, as Figure 4 Fig. 2 shows a schematic diagram of another embodiment of the present application in which there is a moving obstacle, in combination with Figure 1 and Figure 4 Step 3 comprises:

[0086] When the vehicle radar monitors that one moving object a is normally moving forward and the distance between the other moving object b and the moving object a is decreasing, the controller predicts that the moving path of the pedestrian or vehicle can be close to the door.

[0087] Calculate the speed of the moving object a Calculate the speed of the moving object b .

[0088] Wherein, β1 is the angle between the moving object a and the transverse line at t1, l1 is the distance between the moving object a and the vehicle radar at t1, δ1 is the angle between the moving object b and the transverse line at t1, and s1 is the distance between the moving object b and the vehicle radar at t1.

[0089] β2 is the angle between the moving object a and the transverse line at t2, l2 is the distance between the moving object a and the vehicle radar at t2, δ2 is the angle between the moving object b and the transverse line at t2, and s2 is the distance between the moving object b and the vehicle radar at t2.

[0090] Calculate the distance between the moving object a and the moving object b at t1:

[0091] .

[0092] Calculate the angle between the moving direction of the moving object b and the transverse line:

[0093] Substitute to obtain δ0.

[0094] Calculate the angle between the moving direction of the moving object a and the transverse line:

[0095] Substitute to obtain β0.

[0096] When the moving object a and the moving object b keep moving in the predetermined direction, the time when the moving object a and the moving object b come into contact is t3.

[0097] Then .

[0098] Substitute A, δ0, β0, , to obtain the time t3 when the moving object a and the moving object b come into contact.

[0099] When t3 > 2s, it is judged that the probability of the moving object a approaching the door of the vehicle is small, and the vehicle sends a reminder to the driver and passengers, which plays a role of warning and reminding.

[0100] When 1s < t3 < 2s, it is judged that the probability of the moving object a approaching the door of the vehicle is medium, even if the distance between the current door and the pedestrian is a safe distance, the vehicle sends a reminder, please pay attention to the driver and passenger; and the motor generates a preset drag force, so that the force of the corresponding side driver and passenger opening the door is increased, which plays a role of warning and warning.

[0101] When t3 < 1s, it is judged that the probability of the moving object a approaching the door of the vehicle is greater, even if the distance between the current door and the pedestrian is a safe distance, the vehicle sends a reminder, please pay attention to the driver and passenger, and the door cannot be opened, and needs to be opened after contacting the lock on the screen.

[0102] In a possible embodiment mode, as Figure 5 The schematic diagram of the embodiment of the surrounding environment monitoring provided by the application is shown, and Figure 1 and Figure 5 It can be known that the prompt method provided by the embodiment of the application further includes: surrounding environment monitoring, the process of which includes: when the vehicle door side camera detects that there is a water pool, a sewer or a pit at the vehicle door, the vehicle display screen displays the environment picture in real time, the lateral distance L5 of the side water pool, the sewer or the pit from the vehicle is detected, and the maximum value of the opening angle of the vehicle door is limited L2 is the length of the door; the motor of the electric control limiter for limiting the opening angle of the door generates a preset drag force, so that the force of the corresponding side driver and passenger opening the door is increased.

[0103] Embodiment 2

[0104] The embodiment 2 provided by the application is an embodiment of the door opening prompt system provided by the application, Figure 6 It is a structure diagram of the door opening prompt system provided by the embodiment of the application, and Figures 1-6 It can be known that the embodiment of the prompt system includes: an obstacle monitoring module and a door opening limiting module.

[0105] The obstacle monitoring module is used for monitoring the static obstacles and the moving obstacles around the vehicle in real time when the vehicle is parked.

[0106] The door opening limiting module is used for limiting the opening angle of the door based on the distance between the detected static obstacles and the door; and performing proximity intention judgment on the moving obstacles, limiting the opening angle of the door and / or warning and reminding the moving obstacles approaching the vehicle.

[0107] In a possible embodiment mode, the door opening limiting module limits the opening angle of the door by setting an electric control limiter.

[0108] The electric control limiter adjusts the distance between the installation support and the hinge through a gear transmission structure to realize the opening and closing of the door. The gear is connected with the motor, and the motor can record the number of gear rotation signals. After the controller calculates the door opening angle limit, the door opening angle limit is converted into the motor rotation limit, and the door opening angle is controlled by limiting the number of motor rotations.

[0109] The motor also generates a drag force that increases the opening force of the door to remind the driver or passenger.

[0110] In one possible embodiment, the door opening angle limiting process based on the distance between the detected stationary obstacle and the door includes:

[0111] The lateral distance L1 between the stationary obstacle outside the door and the vehicle is measured based on the vehicle side radar, and the maximum value of the door opening angle limit is L2 is the length of the door.

[0112] In a specific implementation, the opening angle limit value of the door limiter is set to , and the maximum angle that can be opened cannot be greater than α.

[0113] In one possible embodiment, the door opening limit module determines the approaching intention of the moving obstacle, and one embodiment of the door opening angle limit and / or warning reminder for the moving obstacle intending to approach the vehicle includes:

[0114] When the vehicle rear radar monitors that the rear pedestrian or vehicle is moving in the forward direction, the controller predicts that the pedestrian or vehicle will continue to walk / drive in the forward direction, and determines that the pedestrian or vehicle is a moving obstacle intending to approach the vehicle.

[0115] The longitudinal distance L3 between the moving obstacle and the vehicle at any time and the included angle β with the lateral line are measured, the lateral distance L4 between the moving obstacle and the vehicle is , and the maximum value of the door opening angle limit is L2 is the length of the door.

[0116] In a specific implementation, the opening angle limit value of the door limiter is set to , and the maximum angle that can be opened cannot be greater than γ.

[0117] In one possible embodiment, the door opening limit module determines the approaching intention of the moving obstacle, and one embodiment of the door opening angle limit and / or warning reminder for the moving obstacle intending to approach the vehicle includes: when the vehicle radar monitors one or more moving objects (pedestrians or vehicles) approaching the vehicle at a certain speed.

[0118] The moving object is determined to be a moving obstacle intending to approach the vehicle.

[0119] The time it takes for the moving obstacle to reach the vehicle is calculated based on the obstacle's speed and distance from the vehicle. Depending on the duration of the time, the vehicle may be restricted from opening the door at an angle, be restricted from opening the door, or be alerted.

[0120] In practical implementation, time t can be set as follows:

[0121] When t > 10s, it is determined that the door can be opened before the moving obstacle arrives, and the vehicle will issue a reminder to the driver and passengers, serving as a warning.

[0122] When 5s < t < 10s, the vehicle will issue a warning to the driver and passengers; and the motor will generate a certain drag force, which will increase the force required for the driver and passengers on the corresponding side to open the door, thus serving as a warning.

[0123] When t < 5s, the vehicle will issue a warning, alerting the driver and passengers that the doors cannot be opened and must be touched on the screen to unlock them.

[0124] In one possible embodiment, the door opening restriction module determines the approach intention of a moving obstacle, and one embodiment of restricting the door opening angle and / or issuing an alarm for the moving obstacle intending to approach the vehicle includes:

[0125] When the vehicle radar detects a moving object 'a' moving normally, and the distance between another moving object 'b' and moving object 'a' is decreasing, the controller predicts that the pedestrian or vehicle's path may be approaching the vehicle door.

[0126] Calculate the speed of moving object a. The speed of moving object b .

[0127] Where β1 is the angle between moving object a and the horizontal line at time t1, l1 is the distance between moving object a and the vehicle radar at time t1, δ1 is the angle between moving object b and the horizontal line at time t1, and s1 is the distance between moving object b and the vehicle radar at time t1.

[0128] β2 is the angle between moving object a and the horizontal line at time t2, l2 is the distance between moving object a and the vehicle radar at time t2, δ2 is the angle between moving object b and the horizontal line at time t2, and s2 is the distance between moving object b and the vehicle radar at time t2.

[0129] Calculate the distance between moving object a and moving object b at time t1:

[0130] .

[0131] The included angle between the advancing direction of the moving object b and the transverse line is calculated as follows:

[0132] , and substituted into to obtain δ0.

[0133] The included angle between the advancing direction of the moving object a and the transverse line is calculated as follows:

[0134] , and substituted into to obtain β0.

[0135] When the moving object a and the moving object b keep driving in the predetermined directions, the time when the moving object a and the moving object b come into contact is t3.

[0136] , then ;

[0137] Substituting A, δ0, β0, , to obtain the time t3 when the moving object a and the moving object b come into contact.

[0138] When t3> 2s, it is determined that the probability of the moving object a approaching the door of the vehicle is small, and the vehicle sends a reminder to the driver and the passenger, thereby playing a role of reminding and early warning.

[0139] When 1s < t3 < 2s, it is determined that the probability of the moving object a approaching the door of the vehicle is medium, and even if the distance between the door and the pedestrian is a safe distance, the vehicle sends a reminder to the driver and the passenger, and the motor generates a preset drag force, so that the force for the driver and the passenger on the corresponding side to open the door is increased, thereby playing a role of reminding and early warning.

[0140] When t3 < 1s, it is determined that the probability of the moving object a approaching the door of the vehicle is large, and even if the distance between the door and the pedestrian is a safe distance, the vehicle sends a reminder to the driver and the passenger, and the door cannot be opened and needs to be opened after the screen contacts the lock.

[0141] In a possible embodiment, the vehicle door opening prompting system provided by the embodiment of the present application further comprises a surrounding environment monitoring module.

[0142] The surrounding environment monitoring module is configured to detect whether there is a water pool, a sewer or a pit at the door of the vehicle based on the side cameras on both sides of the vehicle.

[0143] When the side cameras on both sides of the vehicle detect whether there is a water pool, a sewer or a pit at the door of the vehicle, the real-time environment picture is displayed on the display screen of the vehicle, and the maximum value of the opening angle of the door is limited by the lateral distance L5 between the side water pool, the sewer or the pit and the vehicle. At this time, L2 is the length of the door; the motor of the electric control limiter limiting the opening angle of the door generates a preset dragging force, so that the force of the corresponding side driver and passenger opening the door is increased.

[0144] Please refer to Figure 7 , Figure 7 The embodiment of the electronic device provided by the embodiment of the present application is shown in the figure. Figure 7 As shown in the figure, the embodiment of the present application provides an electronic device, which includes a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and executable on the processor 1320. When the processor 1320 executes the computer program 1311, the following steps are implemented: real-time monitoring of static obstacles and moving obstacles around the vehicle when it is parked; distance-based opening angle limitation of the door based on the detected static obstacles and the door; intention determination of the moving obstacles approaching the vehicle, and opening angle limitation and / or warning reminder of the moving obstacles intending to approach the vehicle.

[0145] Please refer to Figure 8 , Figure 8 The embodiment of the computer-readable storage medium provided by the present application is shown in the figure. Figure 8 As shown in the figure, the embodiment provides a computer-readable storage medium 1400, which stores a computer program 1411. When the computer program 1411 is executed by a processor, the following steps are implemented: real-time monitoring of static obstacles and moving obstacles around the vehicle when it is parked; distance-based opening angle limitation of the door based on the detected static obstacles and the door; intention determination of the moving obstacles approaching the vehicle, and opening angle limitation and / or warning reminder of the moving obstacles intending to approach the vehicle.

[0146] The embodiment of the present application provides a door opening prompting method, system, electronic device, and storage medium. The door opening prompting method provided by the present application solves the technical problems including: 1) the vehicle is parked too close to the side obstacle, resulting in scratching with the obstacle; 2) the vehicle is parked, and the driver or passenger does not notice the oncoming vehicle (or person), resulting in scratching of the vehicle; 3) the vehicle is parked, and there is a puddle or a sewer at the exit position, and the driver or passenger does not know, resulting in stepping on water or falling into the sewer. After the vehicle stops, the vehicle can be monitored, preventing accidents such as scratching with the surrounding people or objects during the opening process, and preventing the driver or passenger from being injured due to unknown environmental factors after getting off the vehicle.

[0147] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0148] Those skilled in the art will appreciate that embodiments of the present application can be devised for a variety of applications. It is intended that the present application be limited only by the scope of the appended claims, and it is intended that various modifications and alterations made by those skilled in the art be considered as within the scope of the present application. The embodiments of the present application will be described with reference to the attached drawings identified below.

[0149] The present application is described in reference to the drawings using a flowchart and / or a block diagram of the method, apparatus (system) and computer program product according to embodiments of the application. It will be understood that each block of the flowchart and / or block diagram, and combinations of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks.

[0150] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks.

[0151] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks.

[0152] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the embodiments by those skilled in the art once they learn of the basic inventive concepts. Therefore, the appended claims are intended to cover all such modifications and variations as fall within the scope of the present application.

[0153] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A door opening prompting method characterized by comprising: The prompt method comprises: Step 1, real-time monitoring of static obstacles and moving obstacles around the vehicle when the vehicle is parked; Step 2, limiting the opening angle of the vehicle door based on the distance between the detected static obstacles and the vehicle door; Step 3, determining the approaching intention of the moving obstacles, limiting the opening angle of the vehicle door and / or warning for the moving obstacles intending to approach the vehicle; The step 3 comprises: When the vehicle radar monitors that one moving object a is normally moving forward and the distance between another moving object b and the moving object a is decreasing; calculating the speed at which the moving object a is advancing calculating the speed at which the moving object b is advancing ; Wherein, β1 is the angle between the moving object a and the transverse line at t1, l1 is the distance between the moving object a and the vehicle radar at t1, δ1 is the angle between the moving object b and the transverse line at t1, and s1 is the distance between the moving object b and the vehicle radar at t1; β2 is the angle between the moving object a and the transverse line at t2, l2 is the distance between the moving object a and the vehicle radar at t2, δ2 is the angle between the moving object b and the transverse line at t2, and s2 is the distance between the moving object b and the vehicle radar at t2; The distance between the moving object a and the moving object b at t1 is calculated as follows: ； The angle between the moving direction of the moving object b and the transverse line is calculated as follows: ； The angle between the moving direction of the moving object a and the transverse line is calculated as follows: , substituting obtaining β0; When the moving object a and the moving object b are preset to keep moving in the given directions, the time when the moving object a and the moving object b come into contact is t3; then ; Substitute A, δ0, β0, , Find the time t3 when the moving object a and the moving object b come into contact. When t3>2s, it is determined that the probability of the moving object a approaching the vehicle door is small, and the vehicle issues a warning, asking the driver and the passenger to pay attention; When 1s When t3<1s, it is determined that the probability of the moving object a approaching the vehicle door is large, and the vehicle issues a warning, asking the driver and the passenger to pay attention, and the vehicle door cannot be opened and needs to be opened after the screen contacts the lock.

2. The prompting method of claim 1, wherein, The step 2 and the step 3 limit the opening angle of the vehicle door by setting an electric control limiter; The electric control limiter adjusts the distance between the mounting bracket and the hinge through a gear transmission structure to realize the opening and closing of the vehicle door, the gear is connected with the motor, and the controller converts the opening angle limitation of the vehicle door into the rotation number limitation of the motor after calculating the opening angle limitation of the vehicle door, so as to control the opening angle of the vehicle door by limiting the rotation number of the motor; The motor also generates a dragging force to increase the opening force of the vehicle door, so as to remind the driver or the passenger to pay attention.

3. The prompting method of claim 1, wherein, The step 2 comprises: Limiting the maximum value of the opening angle of the door based on the lateral distance L1 of a stationary obstacle outside the door from the vehicle measured by a vehicle side radar ; L2 is the length of the door.

4. The prompting method of claim 1, wherein, The step 3 comprises: When the vehicle radar monitors that one or more moving objects are approaching the vehicle; measuring the longitudinal distance L3 of the moving obstacle from the vehicle and the angle β of the moving obstacle from the lateral line at any time , limiting the maximum value of the door opening angle ; L2 is the length of the door.

5. The prompting method of claim 1, wherein, It is determined that the moving object is a moving obstacle intending to approach the vehicle; The step 3 comprises: When the vehicle radar monitors that one or more moving objects are approaching the vehicle; It is determined that the moving object is a moving obstacle intending to approach the vehicle; The time for the moving obstacle to reach the vehicle is calculated based on the moving speed of the moving obstacle and the distance from the vehicle, and the vehicle door opening angle limitation, vehicle door opening limitation and / or warning reminder are selected according to the time.

6. The prompting method of claim 1, wherein, The prompt method further comprises: when the two side direction cameras detect that there is a water pool, a sewer or a pit at the door of the vehicle, the environment picture is displayed in real time on the display screen of the vehicle, the lateral distance L5 between the side direction water pool, the sewer or the pit and the vehicle is measured, and the maximum value of the opening angle of the door is limited When L2 is the length of the door, the motor of the electric control limiter for limiting the opening angle of the door generates a preset drag force, so that the force for the corresponding side driver and passenger to open the door is increased.

7. A door opening prompting system characterized by comprising: The prompt system comprises an obstacle monitoring module and a door opening limitation module. The obstacle monitoring module is configured to monitor static obstacles and moving obstacles around the vehicle in real time when the vehicle is parked. The door opening limitation module is configured to limit the opening angle of the vehicle door based on the distance between the detected static obstacles and the vehicle door, and to determine the approaching intention of the moving obstacles, and to limit the opening angle of the vehicle door and / or to give a warning reminder for the moving obstacles intending to approach the vehicle. The door opening limitation module determines the approaching intention of the moving obstacles, limits the opening angle of the vehicle door and / or gives a warning reminder for the moving obstacles intending to approach the vehicle. When the vehicle radar monitors that one moving object a is normally moving forward and the distance between another moving object b and the moving object a is decreasing; calculating the speed at which the moving object a is advancing calculating the speed at which the moving object b is advancing ; wherein β1 is the angle between the moving object a and the transverse line at t1, l1 is the distance between the moving object a and the vehicle radar at t1, δ1 is the angle between the moving object b and the transverse line at t1, and s1 is the distance between the moving object b and the vehicle radar at t1; β2 is the angle between the moving object a and the transverse line at t2, l2 is the distance between the moving object a and the vehicle radar at t2, δ2 is the angle between the moving object b and the transverse line at t2, and s2 is the distance between the moving object b and the vehicle radar at t2; The distance between the moving object a and the moving object b at t1 is calculated as follows: ； The angle between the moving direction of the moving object b and the transverse line is calculated as follows: ； The angle between the moving direction of the moving object a and the transverse line is calculated as follows: , substituting yields β0; When the moving object a and the moving object b keep moving in the predetermined directions, the time for the moving object a and the moving object b to contact each other is t3; then ; Substitute A, δ0, β0, , The time t3 when the moving object a and the moving object b come into contact is found. When t3>2s, it is determined that the probability of the moving object a approaching the vehicle door is small, and the vehicle gives a reminder for the driver and the passenger to pay attention; When 1s The vehicle gives a reminder for the driver and the passenger to pay attention, and the door cannot be opened until the screen contacts the lock.

8. An electronic device, comprising: The vehicle door opening prompt method comprises a memory and a processor, and the processor is configured to execute the computer management program stored in the memory to realize the steps of the vehicle door opening prompt method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer management program is stored on the memory and is executed by the processor to realize the steps of the vehicle door opening prompt method according to any one of claims 1-6.

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