A method, apparatus, equipment and medium for detecting car door opening

Abstract

This invention discloses a method, apparatus, device, and medium for detecting vehicle door opening, relating to the field of vehicle safety technology. The method includes: during a test of a target vehicle, acquiring the stopping position of the target vehicle and detecting obstacles around the target vehicle; acquiring the opening control information of the target door indicated by the door opening system under test; and detecting whether the door opening system under test is abnormal based on the stopping position, obstacle detection results, and the target door opening control information. The technical solution of this invention enables abnormal detection of the door opening system, thereby improving the stability of the door opening system under test.

Description

Technical Field

[0001] This invention relates to the field of vehicle safety technology, specifically to a method, device, equipment, and medium for detecting car door opening. Background Technology

[0002] With the continuous development of automation technology, more and more vehicles are equipped with automatic door opening systems, which replace manual opening by the user and improve the user experience for drivers and passengers.

[0003] The existing automatic door opening system may collide with an obstacle if there is one outside the door, causing damage to the door or making the opening too small, making it difficult for the user to get out of the car. Summary of the Invention

[0004] This invention provides a method, apparatus, equipment, and medium for detecting car door opening, so as to realize the detection of anomalies in the door opening system and improve the stability of the door opening system operation.

[0005] According to one aspect of the present invention, a method for detecting the opening of a car door is provided, the method comprising:

[0006] During the testing of the target vehicle, acquire the opening control information of the target vehicle's door;

[0007] Obtain the stopping position of the target vehicle and detect obstacles around the target vehicle;

[0008] Obtain the opening control information of the target door indicated by the door opening system under test of the target vehicle;

[0009] Based on the stopping position, obstacle detection results, and target door opening control information, check whether the door opening system under test is abnormal.

[0010] According to another aspect of the present invention, a car door opening detection device is provided, the device comprising:

[0011] The parameter acquisition module is used to acquire the opening control information of the target door of the target vehicle during the target vehicle test.

[0012] The obstacle detection module is used to obtain the stopping position of the target vehicle and detect obstacles around the target vehicle;

[0013] The information acquisition module is used to acquire the opening control information of the target door indicated by the door opening system under test of the target vehicle;

[0014] The anomaly detection module is used to detect whether the door opening system under test is abnormal based on the stopping position, obstacle detection results, and target door opening control information.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory that is communicatively connected to at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the vehicle door opening detection method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to execute and implement the vehicle door opening detection method of any embodiment of the present invention.

[0020] The technical solution of this invention, during the testing of a target vehicle, acquires the stopping position of the target vehicle and detects obstacles around the target vehicle; acquires the opening control information of the target door indicated by the door opening system under test; and detects whether the door opening system under test is abnormal based on the stopping position, obstacle detection results, and target door opening control information. This technical solution, based on the stopping position of the target vehicle, obstacle detection results, and target door opening control information, achieves anomaly detection of the door opening system under test, enabling technicians to promptly repair anomalies based on the anomaly detection results, thereby improving the stability of the door opening system under test and enhancing door opening safety.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a car door opening detection method provided in Embodiment 1 of the present invention;

[0024] Figure 2 This is a flowchart of a car door opening detection method according to Embodiment 2 of the present invention;

[0025] Figure 3This is a structural diagram of a car door opening detection device according to Embodiment 3 of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the car door opening detection method of this invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Example 1

[0030] Figure 1 This is a flowchart illustrating a vehicle door opening detection method according to Embodiment 1 of the present invention. This embodiment of the invention is applicable to situations involving the detection of a vehicle's door opening system. The method can be executed by a vehicle door opening detection device, which can be implemented in hardware and / or software and can be configured in an electronic device, such as a server.

[0031] See Figure 1 The car door opening detection method shown includes:

[0032] S101. During the target vehicle test, obtain the stopping position of the target vehicle and detect obstacles around the target vehicle.

[0033] In this embodiment, the target vehicle can be a vehicle used for door opening detection. In one specific implementation, the stopping position of the target vehicle may include the longitude and latitude information of the target vehicle. In another specific implementation, a ground coordinate system is constructed for the target vehicle testing process, and the stopping position of the target vehicle includes the x-coordinate and y-coordinate values ​​of the target vehicle in the ground coordinate system.

[0034] S102. Obtain the opening control information of the target door indicated by the door opening system under test of the target vehicle.

[0035] In this embodiment, the door opening system under test can be a system for opening a vehicle door to be tested. The target vehicle door can be a door on a target vehicle for which door opening detection is performed. The opening control information can be information associated with the door opening system under test instructing the target vehicle door to open. In an optional embodiment, the opening control information may include at least one of the following: door opening angle, hovering operation completion duration, and door opening speed. The door opening angle can be the angle formed between the target vehicle door and the vehicle body after the target vehicle door is opened. The door opening speed is the speed at which the target vehicle door opens. The hovering operation is a control signal sent by the door opening system under test to the target vehicle door when a dynamic obstacle enters the door collision area. The hovering operation completion duration is the time between the issuance time of the hovering operation control signal and the start time of the target vehicle door's hovering.

[0036] Optionally, the method of acquiring the opening control information of the target door indicated by the door opening system under test of the target vehicle includes: acquiring the distance detection value of the distance detector of the target vehicle; comparing the distance detection value with the true value; performing anomaly detection on the distance detector based on the comparison result; and acquiring the opening control information of the target door indicated by the door opening system under test of the target vehicle when the distance detector is normal.

[0037] The distance detection value can be the distance between the target vehicle and a preset object measured by the distance detector. The true value can be the actual distance between the target vehicle and the preset object. Specifically, the distance detection value and the true value are compared; if the comparison result is that the distance detection value is not equal to the true value, the distance detector's abnormal detection result is abnormal, and the subsequent door opening detection process is not performed; if the comparison result is that the distance detection value is equal to the true value, the distance detector's abnormal detection result is normal, and the target vehicle door opening control information indicated by the door opening system under test is obtained.

[0038] Understandably, by adopting the above technical solution, anomaly detection of the distance detector can be performed based on the distance detection value and the actual value. Anomaly detection of the distance detector can be performed in advance. When the distance detector is normal, the opening control information can be obtained. This avoids invalid anomaly detection of the door opening system under test when the distance detector is abnormal, thus improving the efficiency of anomaly detection of the door opening system under test.

[0039] S103. Based on the stopping position, obstacle detection results, and target door opening control information, detect whether the door opening system under test is abnormal.

[0040] Specifically, a certain algorithm is used to detect whether the door opening system under test is abnormal, based on the stopping position, obstacle detection results, and target door opening control information.

[0041] Optionally, the obstacle detection results may include at least one of the following: whether an obstacle exists, the positional relationship between the obstacle and the collision area of ​​the target door, and the dynamic information of the obstacle.

[0042] The collision zone of the target door is determined by the stopping position of the target vehicle. The positional relationship between the obstacle and the collision zone of the target door can include, but is not limited to, the obstacle being located within the collision zone of the target door, the obstacle being located outside the collision zone of the target door, the obstacle moving from within the collision zone of the target door to outside the collision zone of the target door, and the obstacle moving from outside the collision zone of the target door to within the collision zone of the target door. Where the obstacle is located within the collision zone of the target door, it can be further divided according to motion information into the obstacle being stationary within the collision zone of the target door and the obstacle moving within the collision zone of the target door; where the obstacle is located outside the collision zone of the target door, it can be further divided according to motion information into the obstacle being stationary outside the collision zone of the target door and the obstacle moving outside the collision zone of the target door. The motion information of the obstacle can include, but is not limited to, at least one of the following: obstacle speed, obstacle path, and obstacle stationary position.

[0043] In one specific embodiment, a circular area centered on the stopping position of the target vehicle and with the length of the target door as its radius is designated as the door collision area. In another specific embodiment, a rectangle centered on the stopping position of the target vehicle and with the length of the target vehicle as its side length is designated as the door collision area.

[0044] In one optional embodiment, the obstacle detection result includes the predicted movement path of the obstacle within the door collision area; the target door opening control information includes the door opening angle; and the stopping position is a planar position. Based on the stopping position, the obstacle detection result, and the target door opening control information, the system is checked for abnormality, including: detecting whether the target door collides with the obstacle based on the door opening angle and the predicted movement path of the obstacle within the door collision area; and detecting whether the system is abnormal based on the collision detection result.

[0045] Specifically, based on the opening angle of the target door, the intersection point between the straight line where the target door is located after opening and the predicted movement path of the obstacle within the door collision area is determined. If the distance between this intersection point and the target vehicle is greater than the length of the target door, the target door will collide with the obstacle, and the detection result of the door opening system under test is normal; otherwise, the target door will collide with the obstacle, and the detection result of the door opening system under test is abnormal.

[0046] Understandably, by adopting the above technical solution, when an obstacle moves within the door collision area, anomaly detection can be performed on the door opening system under test based on the door opening angle and the predicted movement path of the obstacle within the door collision area. This improves the flexibility of anomaly detection for the door opening system under test, enriches the diversity of detection dimensions, and thus improves the accuracy of anomaly detection for the door opening system under test.

[0047] In another optional embodiment, the obstacle detection result includes whether the obstacle does not exist or is located outside the door collision area, or whether the parking position is on a slope; the target door opening control information includes the door opening angle. Based on the stopping position, the obstacle detection result, and the target door opening control information, it is determined whether the door opening system under test is abnormal, including: if the door opening angle is less than the maximum door angle, the detection result of the door opening system under test is abnormal.

[0048] The maximum opening angle of the door can be the maximum angle at which the target door can be opened. Specifically, if the door opening angle is less than the maximum door angle, the test result of the door opening system under test is abnormal; otherwise, the test result of the door opening system under test is normal.

[0049] Understandably, by adopting the above technical solution, when there is no obstacle or the obstacle is outside the door collision area, or when the parking position is on a slope, the door opening system under test is subjected to anomaly detection based on the door opening angle and the maximum door angle. This improves the flexibility of anomaly detection for the door opening system under test, enriches the diversity of detection dimensions, and thus improves the accuracy of anomaly detection for the door opening system under test.

[0050] In this embodiment of the invention, during the testing of a target vehicle, the stopping position of the target vehicle is obtained, and obstacles around the target vehicle are detected; the opening control information of the target door indicated by the door opening system under test is obtained; based on the stopping position, obstacle detection results, and target door opening control information, whether the door opening system under test is abnormal is detected. The technical solution of this embodiment of the invention, based on the stopping position of the target vehicle, obstacle detection results, and target door opening control information, realizes the anomaly detection of the door opening system under test, enabling technicians to promptly repair anomalies based on the anomaly detection results, thereby improving the operational stability of the door opening system under test.

[0051] Example 2

[0052] Figure 2 This is a flowchart of a car door opening detection method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment optimizes and improves the acquisition of opening control information and the anomaly detection operation of the door opening system under test.

[0053] Furthermore, the process of "acquiring the opening control information of the target door indicated by the door opening system under test" is refined to "acquiring the completion time of the hovering operation of the target door indicated by the door opening system under test; the hovering operation is the control signal sent by the door opening system under test to the target door when a dynamic obstacle enters the door collision area, and the completion time of the hovering operation is the time between the issuance time of the control signal of the hovering operation and the start time of the target door's hovering," to improve the acquisition operation of the opening control information; the process of "detecting whether the door opening system under test is abnormal based on the stopping position, obstacle detection results, and the opening control information of the target door" is refined to "determining the collision duration between the time when the dynamic obstacle enters the door collision area and the time when the target vehicle's door collides, based on the obstacle's moving speed and the radius of the door collision area; if the collision duration is less than the completion time of the hovering operation, the detection result of the door opening system under test in the candidate obstacle scenario is abnormal," to improve the abnormal detection operation of the door opening system under test.

[0054] It should be noted that for parts not described in detail in the embodiments of the present invention, please refer to the descriptions in other embodiments.

[0055] See Figure 2 The car door opening detection method shown includes:

[0056] S201. During the target vehicle test, obtain the stopping position of the target vehicle and detect obstacles around the target vehicle.

[0057] S202. Obtain the completion time of the hovering operation of the target door indicated by the door opening system under test; the hovering operation is the control signal sent by the door opening system under test to the target door when a dynamic obstacle enters the door collision area, and the completion time of the hovering operation is the time between the time of sending the control signal of the hovering operation and the start time of the target door hovering.

[0058] In this embodiment, a dynamic obstacle is an obstacle in motion. The hovering operation is a control signal sent by the door opening system under test to the target door to stop opening when a dynamic obstacle enters the door collision area. The door collision area is the collision area of ​​the target door.

[0059] S203. Based on the obstacle's moving speed and the radius of the door collision area, determine the time when the dynamic obstacle enters the door collision area and the collision duration between the time the obstacle collides with the door of the target vehicle.

[0060] In this embodiment, the obtained stopping position of the target vehicle is a planar position. The obstacle detection result includes the obstacle's moving speed when the obstacle enters the collision area of ​​the target vehicle door from outside the collision area.

[0061] In one specific implementation, a collision between the dynamic obstacle and the target vehicle's door is defined as occurring when the dynamic obstacle is located at the center of the door collision area; the ratio between the radius of the door collision area and the obstacle's moving speed when it enters the target vehicle's door collision area from outside the door collision area is used as an auxiliary duration; the time of collision between the dynamic obstacle and the target vehicle's door is determined based on the auxiliary duration and the time it takes for the dynamic obstacle to enter the door collision area; and the duration between the time it takes for the dynamic obstacle to enter the door collision area and the time it takes for the target vehicle's door to collide, i.e., the auxiliary duration, is used as the collision duration.

[0062] S204. If the collision duration is less than the hovering operation completion duration, the test result of the door opening system under test is abnormal.

[0063] Correspondingly, if the collision duration is greater than or equal to the hovering operation completion duration, the test result of the door opening system under test is normal.

[0064] In one optional embodiment, after the target door performs a hovering operation, the hovering distance between the target door and the obstacle is detected; based on the duration of the hovering operation and the hovering distance, it is detected whether the door opening system under test is abnormal.

[0065] Specifically, the product of the hovering operation completion time and its weight is used as the first test value; the product of the hovering distance and its weight is used as the second test value; and the sum of the first and second test values ​​is used as the target test value. If the target test value is less than a preset test value threshold, the test result of the door opening system under test is normal; otherwise, the test result of the door opening system under test is abnormal. It should be noted that the preset test value threshold can be set independently by technical personnel based on practical experience or actual skill level, and this invention does not limit this.

[0066] Understandably, by adopting the above technical solution, anomaly detection of the door opening system under test is performed from the dimensions of hovering operation completion time and hovering distance, which improves the flexibility of anomaly detection of the door opening system under test, enriches the diversity of detection dimensions, and thus improves the accuracy of anomaly detection of the door opening system under test.

[0067] This invention embodiment obtains the completion time of the hovering operation of the door opening system under test indicating the target vehicle door; based on the obstacle's moving speed and the radius of the door collision area, it determines the time when the dynamic obstacle enters the door collision area and the collision time between this time and the target vehicle door; if the collision time is less than the completion time of the hovering operation, the detection result of the door opening system under test is abnormal. This invention embodiment's technical solution can perform anomaly detection on the door opening system under test in scenarios where obstacles appear in the door collision area, based on the obstacle's moving speed, the radius of the door collision area, and the completion time of the hovering operation. This improves the flexibility of anomaly detection for the door opening system under test, enriches the diversity of detection dimensions, and thus improves the accuracy of anomaly detection.

[0068] Example 3

[0069] Figure 3 This is a schematic diagram of a car door opening detection device provided in Embodiment 3 of the present invention. This embodiment of the present invention is applicable to situations involving the detection of a car door opening system. The device can execute a car door opening detection method and can be implemented in hardware and / or software. The device can be configured in an electronic device, such as a server.

[0070] See Figure 3 The car door opening detection device shown includes: an obstacle detection module 301, an information acquisition module 302, and an anomaly detection module 303, wherein...

[0071] The obstacle detection module 301 is used to obtain the stopping position of the target vehicle and detect obstacles around the target vehicle during the target vehicle test.

[0072] The information acquisition module 302 is used to acquire the opening control information of the target door indicated by the door opening system under test of the target vehicle;

[0073] The anomaly detection module 303 is used to detect whether the door opening system under test is abnormal based on the stopping position, obstacle detection results, and target door opening control information.

[0074] This invention, through an obstacle detection module, acquires the stopping position of the target vehicle and detects obstacles around it during testing. An information acquisition module obtains the opening control information of the target door indicated by the door opening system under test. An anomaly detection module detects whether the door opening system under test is abnormal based on the stopping position, obstacle detection results, and the target door opening control information. This invention's technical solution enables anomaly detection in the door opening system under test, allowing technicians to promptly repair anomalies based on the detection results, thereby improving the stability of the door opening system under test.

[0075] Optionally, in this device, the obstacle detection result includes at least one of the following: whether an obstacle exists, the positional relationship between the obstacle and the collision area of ​​the target door, and the motion information of the obstacle; the collision area of ​​the target door is determined by the stopping position of the target vehicle.

[0076] Optionally, the obstacle detection results in the device include the obstacle's moving speed when it enters the collision area of ​​the target door from outside the collision area; the stopping position is a planar position;

[0077] Information acquisition module 302 is specifically used for:

[0078] Acquire the duration of the hovering operation of the target door indicated by the door opening system under test; the hovering operation is the control signal sent by the door opening system under test to the target door when a dynamic obstacle enters the door collision area, and the duration of the hovering operation is the time between the time of the issuance of the control signal for the hovering operation and the start time of the target door's hovering.

[0079] Anomaly detection module 303 is specifically used for:

[0080] Based on the obstacle's moving speed and the radius of the door collision area, determine the time when the dynamic obstacle enters the door collision area and the collision duration between the time when it collides with the door of the target vehicle.

[0081] If the collision duration is less than the hovering operation completion time, the test result of the door opening system under test is abnormal.

[0082] Optionally, in this device, the obstacle detection results include the predicted movement path of the obstacle within the door collision area; the target door opening control information includes the door opening angle; and the stopping position is a planar position.

[0083] Anomaly detection module 303 is specifically used for:

[0084] Based on the door opening angle and the predicted movement path of the obstacle within the door collision area, detect whether the target door collides with the obstacle;

[0085] Based on the detection results of whether a collision occurred, the door opening system under test is checked for abnormalities.

[0086] Optionally, in this device, the obstacle detection result includes whether the obstacle does not exist or is located outside the door collision area, or whether the parking position is a ramp position; the target door opening control information includes the door opening angle;

[0087] The anomaly detection module includes:

[0088] If the door opening angle is less than the maximum door angle, the test result of the door opening system under test is abnormal.

[0089] Optionally, the device may also include:

[0090] The hovering distance determination module is used to detect the hovering distance between the target door and the obstacle after the target door performs a hovering operation;

[0091] The hovering detection module is used to detect whether the door opening system under test is abnormal based on the duration of the hovering operation and the hovering distance.

[0092] Optionally, the information acquisition module 302 includes:

[0093] The distance detection value determination unit is used to obtain the distance detection value of the distance detector of the target vehicle;

[0094] The detection value comparison unit is used to compare the distance detection value with the true value;

[0095] Anomaly detection unit is used to detect anomalies in the distance detector based on the comparison results;

[0096] The information acquisition unit is used to acquire the opening control information of the target door indicated by the door opening system of the target vehicle when the distance detector is normal.

[0097] The vehicle door opening detection device provided in this embodiment of the invention can execute the vehicle door opening detection method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the vehicle door opening detection method.

[0098] The acquisition, storage, and application of opening control information involved in the technical solutions of this invention comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0099] Example 4

[0100] Figure 4 A schematic diagram of an electronic device 400 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0101] like Figure 4 As shown, the electronic device 400 includes at least one processor 401 and a memory, such as a read-only memory (ROM) 402 and a random access memory (RAM) 403, communicatively connected to the at least one processor 401. The memory stores computer programs executable by the at least one processor. The processor 401 can perform various appropriate actions and processes based on the computer program stored in the ROM 402 or loaded into the RAM 403 from storage unit 408. The RAM 403 may also store various programs and data required for the operation of the electronic device 400. The processor 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0102] Multiple components in electronic device 400 are connected to I / O interface 405, including: input unit 406, such as keyboard, mouse, etc.; output unit 407, such as various types of displays, speakers, etc.; storage unit 408, such as disk, optical disk, etc.; and communication unit 409, such as network card, modem, wireless transceiver, etc. Communication unit 409 allows electronic device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0103] Processor 401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 401 performs the various methods and processes described above, such as power distribution network line planning methods.

[0104] In some embodiments, the power distribution network planning method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 408. In some embodiments, part or all of the computer program may be loaded into and / or installed on electronic device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by processor 401, one or more steps of the power distribution network planning method described above may be performed. Alternatively, in other embodiments, processor 401 may be configured to perform the power distribution network planning method by any other suitable means (e.g., by means of firmware).

[0105] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0107] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0108] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0109] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0110] A computing system can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system. It addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server) services, such as high management difficulty and weak business scalability.

[0111] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0112] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for detecting car door opening, characterized in that, The method includes: During the target vehicle test, the stopping position of the target vehicle is obtained, and obstacles around the target vehicle are detected; Obtain the opening control information of the target door indicated by the door opening system under test of the target vehicle; Based on the stopping position, the obstacle detection result, and the target door opening control information, detect whether the door opening system under test is abnormal; The obstacle detection result includes the obstacle's moving speed when it enters the collision area of ​​the target door from outside the collision area; the stopping position is a planar position; The step of acquiring the opening control information of the target door indicated by the door opening system under test of the target vehicle includes: The duration of the hovering operation of the target vehicle door as instructed by the door opening system under test is obtained; the hovering operation is the control signal sent by the door opening system under test to the target vehicle door when a dynamic obstacle enters the door collision area; the duration of the hovering operation is the time between the time the control signal for the hovering operation is sent and the start time of the hovering of the target vehicle door. The step of detecting whether the door opening system under test is abnormal based on the stopping position, the obstacle detection result, and the target door opening control information includes: Based on the obstacle's moving speed and the radius of the door collision area, determine the time when the dynamic obstacle enters the door collision area and the collision duration between the time when it collides with the door of the target vehicle. If the collision duration is less than the hovering operation completion time, the test result of the door opening system under test is abnormal.

2. The method according to claim 1, characterized in that, The obstacle detection result includes at least one of the following: whether an obstacle exists, the positional relationship between the obstacle and the collision area of ​​the target door, and the motion information of the obstacle; the collision area of ​​the target door is determined by the stopping position of the target vehicle.

3. The method according to claim 2, characterized in that, The obstacle detection result includes the predicted movement path of the obstacle within the door collision area; the target door opening control information includes the door opening angle; and the stopping position is a planar position. The step of detecting whether the door opening system under test is abnormal based on the stopping position, the obstacle detection result, and the target door opening control information includes: Based on the door opening angle and the predicted movement path of the obstacle within the door collision area, detect whether the target door collides with the obstacle; Based on the detection results of whether a collision has occurred, the door opening system under test is checked for abnormality.

4. The method according to claim 2, characterized in that, The obstacle detection results include whether the obstacle does not exist or the obstacle is located outside the door collision area, or the parking position is a slope position; the target door opening control information includes the door opening angle; The step of detecting whether the door opening system under test is abnormal based on the stopping position, the obstacle detection result, and the target door opening control information includes: If the door opening angle is less than the maximum door angle, the test result of the door opening system under test is abnormal.

5. The method according to claim 1, characterized in that, The method further includes: After the target door performs a hovering operation, the hovering distance between the target door and the obstacle is detected; The system is tested to determine whether the door opening system is malfunctioning based on the duration of the hovering operation and the hovering distance.

6. The method according to claim 1, characterized in that, Acquiring the opening control information of the target door indicated by the door opening system under test of the target vehicle, including: Obtain the distance detection value from the distance detector of the target vehicle; The detected distance value is compared with the true value; Anomaly detection is performed on the distance detector based on the comparison results; When the distance detector is normal, the opening control information of the target door indicated by the door opening system under test of the target vehicle is acquired.

7. A vehicle door opening detection device, used to perform the vehicle door opening detection method according to any one of claims 1-6, characterized in that, include: An obstacle detection module is used to obtain the stopping position of the target vehicle and detect obstacles around the target vehicle during the target vehicle test. The information acquisition module is used to acquire the opening control information of the target door indicated by the door opening system under test of the target vehicle; The anomaly detection module is used to detect whether the door opening system under test is abnormal based on the stopping position, the obstacle detection result, and the target door opening control information.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle door opening detection method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle door opening detection method according to any one of claims 1-6.

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