A control method and device of a vehicle door, a vehicle and a storage medium

Abstract

The application relates to the technical field of vehicles, in particular to a control method and device of a vehicle door, a vehicle and a storage medium. The method comprises the following steps: when it is determined that the vehicle is in a stationary state, acquiring a first gesture image and a first voice corresponding to a target object; determining a first control strategy according to the first gesture image; determining a second control strategy according to the first voice; the first control strategy is used for indicating control of a first vehicle door in the vehicle; the second control strategy is used for indicating control of a second vehicle door in the vehicle; determining a target control strategy according to the first control strategy and the second control strategy; and controlling a target vehicle door in the vehicle according to the target control strategy. The application combines gesture control results and voice control results to realize comprehensive judgment of vehicle door control, ensures the accuracy of vehicle door control, and improves the use experience of users.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle door control method, device, vehicle, and storage medium. Background Art

[0002] Currently, to improve the user experience and enable users to open or close vehicle doors even when they forget their vehicle keys or in other situations, users can control the opening or closing of vehicle doors through gesture control or voice control. However, using a single door control method cannot guarantee the accuracy of door control, thus affecting the user experience. Summary of the Invention

[0003] One of the purposes of this application is to provide a method for controlling a vehicle door to solve the problem in the prior art that a single door control method is used to control the vehicle door, which cannot guarantee the accuracy of the door control and affects the user experience; the second purpose of this application is to provide a vehicle door control device; the third purpose of this application is to provide a vehicle; and the fourth purpose of this application is to provide a storage medium.

[0004] To achieve the above objectives, in a first aspect, the present application provides a method for controlling a vehicle door, the method comprising:

[0005] When it is determined that the vehicle is in a stationary state, obtaining a first gesture image and a first voice corresponding to the target object;

[0006] Determining a first control strategy based on the first gesture image and a second control strategy based on the first voice, wherein the first control strategy is used to instruct control of a first door in the vehicle, and the second control strategy is used to instruct control of a second door in the vehicle;

[0007] determining a target control strategy according to the first control strategy and the second control strategy;

[0008] According to the target control strategy, a target door in the vehicle is controlled.

[0009] Furthermore, determining a target control strategy according to the first control strategy and the second control strategy includes:

[0010] When it is determined that the first control strategy is inconsistent with the second control strategy, generating first prompt information according to the first control strategy and the second control strategy;

[0011] Obtaining target feedback information of the target object in response to the first prompt information;

[0012] The target control strategy is determined according to the target feedback information.

[0013] Furthermore, the obtaining of the first gesture image and the first voice corresponding to the target object includes:

[0014] Displaying a target interface, wherein the target interface displays a plurality of preset controls, each of the preset controls corresponding to a preset control type of a door in the vehicle;

[0015] When confirmation information for a first target control in the target interface is detected, determining that the preset control type of the door in the vehicle is a first control type;

[0016] When the preset control type is the first control type and it is determined that the vehicle is in the stationary state, a first gesture image and a first voice corresponding to a target object are acquired.

[0017] Furthermore, the method further includes:

[0018] When confirmation information for a second target control in the target interface is detected, determining that the preset control type of the door in the vehicle is a second control type;

[0019] When the preset control type is the second control type and it is determined that the vehicle is in the stationary state, acquiring a second gesture image corresponding to the target object;

[0020] When the third control strategy is not obtained according to the second gesture image, determining a first duration of time during which the third control strategy is not obtained;

[0021] When the first duration is longer than a first preset threshold, generating a second prompt message according to a third control type;

[0022] When confirmation information of the target object in response to the second prompt information is obtained, obtaining a second voice corresponding to the target object;

[0023] determining a fourth control strategy according to the second speech;

[0024] According to the fourth control strategy, the third door in the vehicle is controlled.

[0025] Furthermore, controlling the target door in the vehicle according to the target control strategy includes:

[0026] When the target control strategy is used to instruct to control the opening of the target door in the vehicle, controlling the target door to open; and

[0027] During the process of controlling the target door to be opened, the prompt device on the target door is controlled to operate.

[0028] Furthermore, before executing the step of controlling the target door in the vehicle according to the target control strategy, the method further includes:

[0029] Determining the target door to be controlled according to the target control strategy;

[0030] Acquire a first door image corresponding to the target door;

[0031] When it is determined according to the first door image that a target object is placed on the storage box in the target door and the target position corresponding to the target object is smaller than a preset position, the target door in the vehicle is controlled according to the target control strategy.

[0032] Further, the target control strategy is used to instruct and control the closing of the target door in the vehicle;

[0033] After executing the step of controlling the target door in the vehicle according to the target control strategy, the method further includes:

[0034] determining whether a start command for the vehicle is received;

[0035] Upon receiving the start instruction of the vehicle, acquiring a second door image corresponding to the target door;

[0036] When it is determined according to the second door image that no foreign object is clamped at the bottom of the target door, the vehicle is controlled to start according to the start instruction.

[0037] In order to achieve the above objectives, in a second aspect, the present application provides a vehicle door control device, the device comprising:

[0038] an acquisition module, configured to acquire a first gesture image and a first voice corresponding to a target object when it is determined that the vehicle is in a stationary state;

[0039] a determination module, configured to determine a first control strategy based on the first gesture image and a second control strategy based on the first voice, wherein the first control strategy is used to instruct control of a first door in the vehicle, and the second control strategy is used to instruct control of a second door in the vehicle;

[0040] The determining module is further configured to determine a target control strategy based on the first control strategy and the second control strategy;

[0041] A control module is used to control a target door in the vehicle according to the target control strategy.

[0042] In order to achieve the above-mentioned purpose, in a third aspect, the present application provides a vehicle, comprising: a processor and a memory, wherein the processor is used to execute a door control program stored in the memory to implement the door control method as described above.

[0043] In order to achieve the above-mentioned purpose, in a fourth aspect, the present application provides a storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the vehicle door control method as described above.

[0044] Beneficial effects of the present application: The present application provides a method for controlling a vehicle door. When it is determined that the vehicle is in a stationary state, a first gesture image and a first voice corresponding to a target object are obtained, and a first control strategy is determined according to the first gesture image. A second control strategy is determined according to the first voice. The first control strategy is used to indicate control of a first door in the vehicle, and the second control strategy is used to indicate control of a second door in the vehicle. According to the first control strategy and the second control strategy, a target control strategy is determined, and according to the target control strategy, the target door in the vehicle is controlled, thereby realizing a comprehensive judgment of the door control by combining the gesture control results and the voice control results, ensuring the accuracy of the door control, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic flow chart of a vehicle door control method provided in an embodiment of the present application;

[0046] Figure 2 A flowchart of another vehicle door control method provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of a control gesture provided in an embodiment of the present application;

[0048] Figure 4 A schematic structural diagram of a vehicle door control device provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application;

[0050] In the above attached figures:

[0051] 10. Acquisition module; 20. Determination module; 30. Control module;

[0052] 500, vehicle; 501, processor; 502, memory; 5021, operating system; 5022, application; 503, user interface; 504, network interface; 505, bus system. DETAILED DESCRIPTION

[0053] The following will describe the embodiments of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand the other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for the purpose of illustrating the present application and are not intended to limit the scope of protection of the present application.

[0054] To facilitate understanding of the embodiments of the present application, further explanation will be given below with reference to specific embodiments in conjunction with the accompanying drawings. The embodiments do not constitute a limitation on the embodiments of the present application.

[0055] refer to Figure 1 , Figure 1 A flow chart of a vehicle door control method provided in an embodiment of the present application. A vehicle door control method provided in an embodiment of the present application comprises the following steps:

[0056] S101: When it is determined that the vehicle is in a stationary state, a first gesture image and a first voice corresponding to a target object are acquired.

[0057] In this embodiment, when controlling a vehicle door, the target object can control the door from either inside or outside the vehicle. The vehicle is equipped with a proximity sensor, which is used to detect whether a person is approaching the vehicle when the vehicle is stationary. When the proximity sensor detects a person approaching the vehicle, the vehicle's image acquisition system performs image acquisition to obtain an image of the person, and then performs person identification on the image of the person. If the identified person's identity is within a pre-stored set of person identities, the vehicle's image acquisition device is controlled to capture a first gesture image corresponding to the target object, and the voice device is controlled to capture a first voice corresponding to the target object.

[0058] Among them, determining whether the vehicle is in a stationary state can be determined by obtaining the vehicle's speed. When the vehicle's speed is zero, it is determined that the vehicle is in a stationary state. When the vehicle's speed is not zero, it is determined that the vehicle is not in a stationary state. In order to accurately control each door in the vehicle, control gestures corresponding to different doors can be pre-set. When a certain door is controlled, the target object can control the door according to the pre-set control gesture corresponding to the door. For example, refer to Figure 3For opening the first left door in the vehicle, the gesture set is to first make a thumbs-up gesture, then gesture 1; for opening the second left door in the vehicle, the gesture set is to first make a thumbs-up gesture, then gesture 2. Of course, the control gestures corresponding to the doors can also be set according to actual needs. This embodiment does not specifically limit the control gestures corresponding to the doors. When controlling the doors via voice, the target user can input a fixed-format voice signal through a voice device. For example, the fixed-format voice signal could be "Please open the ** side door." Of course, a fixed format can also be set according to actual needs. This embodiment does not limit the fixed format.

[0059] Specifically, in order to further improve the interactive experience of the target object, refer to Figure 2 , in the embodiment of the present application, obtaining a first gesture image and a first voice of a target object includes:

[0060] S201: Displaying a target interface, wherein a plurality of preset controls are displayed in the target interface, each preset control corresponding to a preset control type of a door in a vehicle;

[0061] S202: upon detecting confirmation information for a first target control in the target interface, determining that a preset control type of a door in the vehicle is a first control type;

[0062] S203: When the preset control type is the first control type and it is determined that the vehicle is in a stationary state, a first gesture image and a first voice corresponding to the target object are acquired.

[0063] Regarding steps S201 to S203 above, the target user can select a control type for the vehicle's doors based on the target interface. The control types can be understood as controlling the vehicle doors through a combination of gesture and voice recognition, gesture recognition, or voice recognition. The target interface can contain three preset controls: one corresponding to a first control type (controlling the vehicle doors through a combination of gesture and voice recognition), one corresponding to a second control type (controlling the vehicle doors through gesture recognition), and one corresponding to a third control type (controlling the vehicle doors through voice recognition). The target user can select a preset control type based on the multiple preset controls displayed in the target interface. After selecting a preset control, a confirmation message for that preset control is detected, allowing the user to control the vehicle doors using the control type corresponding to that preset control. Upon detecting a confirmation message for the preset control corresponding to the first control type and determining that the vehicle is stationary, steps S101 to S104 are executed.

[0064] Specifically, after the target interface is displayed, when confirmation information for the second target control in the target interface is detected, determining that the preset control type of the door in the vehicle is the second control type;

[0065] When the preset control type is the second control type and it is determined that the vehicle is in the stationary state, obtaining a second gesture image corresponding to the target object;

[0066] When the third control strategy is not obtained according to the second gesture image, determining a first duration of time during which the third control strategy is not obtained;

[0067] When the first duration is greater than a first preset threshold, generating a second prompt message according to a third control type;

[0068] Upon obtaining confirmation information from the target object regarding the second prompt information, obtaining a second voice corresponding to the target object;

[0069] determining a fourth control strategy based on the second speech;

[0070] According to a fourth control strategy, a third door in the vehicle is controlled.

[0071] When confirmation information for the preset control corresponding to the first control type is not detected, but confirmation information for the preset control corresponding to the second control type is detected, the target subject is indicated to control the vehicle door using gesture recognition control only. During the process of controlling the vehicle door using gesture recognition control, if the third control strategy is not obtained due to factors such as the external environment, a first duration of the failure to obtain the third control strategy is determined. When the first duration is less than or equal to a first preset threshold, the fourth door of the vehicle is controlled according to the obtained third control strategy. When the first duration is greater than the first preset threshold, a second prompt message is generated according to the third control type (i.e., controlling the vehicle door using voice recognition control). The second prompt message is displayed via a voice device or sent to the target subject's terminal for prompting. After the target subject selects to control the vehicle door using the third control type, a second voice message of the target subject is captured via the voice device, and a fourth control strategy is determined based on the captured second voice message. The third door of the vehicle is then controlled according to the fourth control strategy. The first preset threshold can be set as needed, and the specific value of the first preset threshold is not limited in this embodiment.

[0072] More specifically, after the target interface is displayed, when confirmation information for the third target control in the target interface is detected, determining that the preset control type of the door in the vehicle is the third control type;

[0073] When the preset control type is the third control type and it is determined that the vehicle is in the stationary state, obtaining a third voice corresponding to the target object;

[0074] When the fifth control strategy is not obtained according to the third speech, determining a second duration of time during which the fifth control strategy is not obtained;

[0075] When the second duration is greater than the first preset threshold, generating a third prompt message according to the second control type;

[0076] Upon obtaining confirmation information from the target object regarding the third prompt information, obtaining a third gesture image corresponding to the target object;

[0077] determining a sixth control strategy according to the third gesture image;

[0078] According to a sixth control strategy, a fifth door in the vehicle is controlled.

[0079] When confirmation information for the preset control corresponding to the first control type is not detected, but confirmation information for the preset control corresponding to the third control type is detected, the target subject only needs to control the vehicle door using voice recognition control. During the process of controlling the vehicle door using voice recognition control, if the fifth control strategy is not obtained due to other factors such as the external environment, a second duration of the failure to obtain the fifth control strategy is determined. When the second duration is less than or equal to a first preset threshold, the sixth door of the vehicle is controlled according to the obtained fifth control strategy. When the second duration is greater than the first preset threshold, a third prompt message is generated according to the second control type (i.e., controlling the vehicle door using gesture recognition control). The third prompt message is provided via a voice device or sent to the target subject's terminal for prompting. After the target subject selects to control the vehicle door using the second control type, a third gesture image of the target subject is captured via an image acquisition device. Based on the captured third gesture image, a sixth control strategy is determined, and the fifth door of the vehicle is controlled according to the sixth control strategy. The first preset threshold can be set according to actual needs. In this embodiment, the specific value of the first preset threshold is not limited.

[0080] S102: Determine a first control strategy based on the first gesture image, and determine a second control strategy based on the first voice, the first control strategy being used to instruct control of a first door in the vehicle, and the second control strategy being used to instruct control of a second door in the vehicle.

[0081] In this embodiment, after acquiring a first gesture image, gesture recognition is performed on the first gesture image to determine a target control gesture in the first gesture image. A first control strategy corresponding to the target control gesture is determined from a first association relationship. The first association relationship stores multiple sets of corresponding relationships between control gestures and control strategies. The control strategy refers to the desired door opening or closing. The control gestures and control strategies can be referred to above and are not further described in this embodiment. After acquiring a first voice, voice recognition is performed on the first voice to obtain a voice recognition result, which is then determined as a second control strategy. The first door and the second door can be either the same or different. If the first door and the second door are the same, the gesture recognition and voice recognition results are consistent for the same control object. If the first door and the second door are different, the gesture recognition and voice recognition results are inconsistent for the same control object. In this case, further evaluation of the first control strategy and the second control strategy is required to determine the final target control strategy.

[0082] It should be noted that if the first control strategy is not determined based on the first gesture image and the second control strategy is not determined based on the second gesture image, the prompt device in the vehicle is controlled to operate, so as to return to step S101 and re-execute. The prompt device may include a voice device and a lighting device. The specific form of the prompt device can be set according to actual needs and is not limited in this embodiment.

[0083] S103: Determine a target control strategy according to the first control strategy and the second control strategy.

[0084] In this embodiment, the first control strategy and the second control strategy may be consistent or inconsistent. When the first control strategy and the second control strategy are consistent, the gesture recognition result and the speech recognition result are consistent. Therefore, the first control strategy can be determined as the target control strategy or the second control strategy can be determined as the target control strategy. When the first control strategy and the second control strategy are inconsistent, the target control strategy can be determined as follows:

[0085] When it is determined that the first control strategy and the second control strategy are inconsistent, generating first prompt information according to the first control strategy and the second control strategy;

[0086] Obtaining target feedback information from the target object in response to the first prompt information;

[0087] Determine the target control strategy based on the target feedback information.

[0088] In the above description, when the first and second control strategies are determined to be inconsistent, this indicates an inconsistency between the gesture recognition result and the voice recognition result. To ensure the accuracy of the final door control, further judgment based on the first and second control strategies is required to determine the final control strategy. Therefore, when the first and second control strategies are determined to be inconsistent, a first prompt message is generated based on the first and second control strategies. The first prompt message is then displayed via a voice device or sent to the terminal where the target subject is located. The first prompt message may indicate whether to select the first or second control strategy. The target subject may select the first or second control strategy based on the prompt from the voice device or the prompt displayed on the terminal. After the target subject selects the corresponding control strategy, target feedback information (i.e., the control strategy selected by the target subject) in response to the first prompt message can be obtained. Based on the target feedback information, a target control strategy can be determined. The target control strategy may be either the first or second control strategy, depending on the target subject's selection.

[0089] In this embodiment, after determining the target control strategy, in order to further improve the user experience of the target object during the automatic control of the vehicle door, the vehicle door control method provided in this embodiment of the application further includes the following steps:

[0090] According to the target control strategy, determine the target door to be controlled;

[0091] Acquire a first door image corresponding to the target door;

[0092] When it is determined according to the first door image that a target object is placed on the storage box in the target door and the target position corresponding to the target object is smaller than the preset position, step S104 is executed.

[0093] Among them, the target door is generally provided with a storage box for storing items. When the target door is controlled to be opened or closed, if the items in the storage box fall, it is easy to affect the user experience of the target object. Therefore, after determining the target control strategy, the target door to be controlled is determined according to the target control strategy. The first door image is captured by the image acquisition device at the position of the storage box of the target door. The first door image is image processed. When the target position is greater than or equal to the preset position, it is determined that the target item is placed in the storage box. The target position corresponds to the target item. When the target position is greater than or equal to the preset position, it indicates that the target item is very likely to fall when the door is controlled to be closed or opened. At this time, the prompt device on the target door needs to be controlled to work to prompt the target object. The prompt device can be a warning light, a buzzer, or a voice device. Of course, a fixing device or an anti-slip mat can also be provided on the inside of the storage box to increase the stability of the placed target item, thereby improving the user experience of the target object. If the target item is placed in the storage box in the target door, as determined based on the first door image, and the target position corresponding to the target item is smaller than the preset position, it indicates that there is no risk of the target item falling when the door is closed or opened, and step S104 is then executed. The preset position can be set as needed, and the specific division of the preset position is not limited in this embodiment.

[0094] S104: Controlling a target door in the vehicle according to the target control strategy.

[0095] In this embodiment, after the final target control strategy is determined, the target door in the vehicle can be controlled according to the control content included in the target control strategy. The target door can be the first door or the second door. The target control strategy can be used to instruct the opening of the target door in the vehicle, or the target control strategy can also be used to instruct the closing of the target door in the vehicle.

[0096] Specifically, when controlling the opening of a target door in a vehicle, an environmental image around the vehicle is acquired, and based on the acquired environmental image, the opening of the target door is controlled to prevent the opening of the door from affecting the safety of people next to the vehicle and obstacles near the door from scratching the target door.

[0097] In the above, according to the target control strategy, the target door in the vehicle is controlled, including:

[0098] When the target control strategy is used to instruct to control the opening of a target door in the vehicle, controlling the target door to open; and,

[0099] During the process of controlling the target door to be opened, the prompting device on the target door is controlled to operate.

[0100] To prevent irreversible damage to pedestrians behind the vehicle during the door opening process and to ensure their safety, the warning device on the target door is always activated during the control process. The warning device can be a warning light, buzzer, or voice control. Of course, reflective strips and warning signs can also be installed on the target door to cooperate with the warning device and further improve safety during the target door opening process.

[0101] In this embodiment, when the target control strategy is used to instruct the closing of a target door in a vehicle, after executing step S104, the vehicle door control method provided in the embodiment of the present application further includes the following steps:

[0102] determining whether a vehicle start command has been received;

[0103] Upon receiving the start command of the vehicle, obtaining a second door image corresponding to the target door;

[0104] When it is determined according to the second door image that no foreign object is clamped at the bottom of the target door, the vehicle is controlled to start according to the start instruction.

[0105] To ensure safe vehicle startup, after the target door is closed, a check is performed to determine whether a foreign object is trapped at the bottom of the target door. If a foreign object is trapped at the bottom of the target door, there is a risk during vehicle startup. Therefore, after the target door is closed, an image acquisition device captures a second door image corresponding to the target door. After acquiring the second door image, image analysis is performed on the second door image. If a foreign object is detected at the bottom of the target door based on the second door image, a warning device on the target door is activated to alert the target. The warning device can be a warning light, buzzer, or voice control. If no foreign object is detected at the bottom of the target door based on the second door image, the vehicle startup is safe. At this point, the vehicle startup is controlled according to the startup command. This ensures safe vehicle startup and further enhances the user experience for the target.

[0106] The present application provides a vehicle door control method. When it is determined that the vehicle is in a stationary state, a first gesture image and a first voice corresponding to a target object are obtained, and a first control strategy is determined according to the first gesture image, and a second control strategy is determined according to the first voice. The first control strategy is used to indicate control of a first door in the vehicle, and the second control strategy is used to indicate control of a second door in the vehicle. According to the first control strategy and the second control strategy, a target control strategy is determined, and according to the target control strategy, the target door in the vehicle is controlled, thereby realizing a comprehensive judgment of the door control by combining the gesture control results and the voice control results, ensuring the accuracy of the door control, and improving the user experience.

[0107] refer to Figure 4 , Figure 4 A flow chart of a vehicle door control device provided in an embodiment of the present application. A vehicle door control device provided in an embodiment of the present application includes: an acquisition module 10, a determination module 20, and a control module 30. The acquisition module 10 is used to acquire a first gesture image and a first voice corresponding to a target object when determining that the vehicle is in a stationary state; the determination module 20 is used to determine a first control strategy based on the first gesture image, and a second control strategy based on the first voice, wherein the first control result is used to indicate control of the first door in the vehicle, and the second control result is used to indicate control of the second door in the vehicle; the determination module 20 is further used to determine a target control strategy based on the first control strategy and the second control strategy; the control module 30 is used to control the target door in the vehicle according to the target control strategy.

[0108] In this embodiment, the determining module 20 is further configured to:

[0109] When it is determined that the first control strategy is inconsistent with the second control strategy, generating first prompt information according to the first control strategy and the second control strategy;

[0110] Obtaining target feedback information of the target object in response to the first prompt information;

[0111] The target control strategy is determined according to the target feedback information.

[0112] In this embodiment, the acquisition module 10 is further configured to:

[0113] Displaying a target interface, wherein the target interface displays a plurality of preset controls, each of the preset controls corresponding to a preset control type of a door in the vehicle;

[0114] When confirmation information for a first target control in the target interface is detected, determining that the preset control type of the door in the vehicle is a first control type;

[0115] When the preset control type is the first control type and it is determined that the vehicle is in the stationary state, a first gesture image and a first voice corresponding to a target object are acquired.

[0116] In this embodiment, the control module 30 is further configured to:

[0117] When confirmation information for a second target control in the target interface is detected, determining that the preset control type of the door in the vehicle is a second control type;

[0118] When the preset control type is the second control type and it is determined that the vehicle is in the stationary state, acquiring a second gesture image corresponding to the target object;

[0119] When the third control strategy is not obtained according to the second gesture image, determining a first duration of time during which the third control strategy is not obtained;

[0120] When the first duration is longer than a first preset threshold, generating a second prompt message according to a third control type;

[0121] When confirmation information of the target object in response to the second prompt information is obtained, obtaining a second voice corresponding to the target object;

[0122] determining a fourth control strategy according to the second speech;

[0123] According to the fourth control strategy, the third door in the vehicle is controlled.

[0124] In this embodiment, the control module 30 is further configured to:

[0125] When the target control strategy is used to instruct to control the opening of the target door in the vehicle, controlling the target door to open; and

[0126] During the process of controlling the target door to be opened, the prompt device on the target door is controlled to operate.

[0127] In this embodiment, the control module 30 is further configured to:

[0128] Determining the target door to be controlled according to the target control strategy;

[0129] Acquire a first door image corresponding to the target door;

[0130] When it is determined according to the first door image that a target object is placed on the storage box in the target door and the target position corresponding to the target object is smaller than a preset position, the target door in the vehicle is controlled according to the target control strategy.

[0131] In this embodiment, the target control strategy is used to instruct and control the closing of the target door in the vehicle.

[0132] In this embodiment, the control module 30 is further configured to:

[0133] After controlling a target door in the vehicle according to the target control strategy, determining whether a start instruction of the vehicle is received;

[0134] Upon receiving the start instruction of the vehicle, acquiring a second door image corresponding to the target door;

[0135] When it is determined according to the second door image that no foreign object is clamped at the bottom of the target door, the vehicle is controlled to start according to the start instruction.

[0136] The present application provides a door control device. When it is determined that the vehicle is in a stationary state, a first gesture image and a first voice corresponding to a target object are obtained, and a first control strategy is determined according to the first gesture image, and a second control strategy is determined according to the first voice. The first control strategy is used to instruct the control of a first door in the vehicle, and the second control strategy is used to instruct the control of a second door in the vehicle. According to the first control strategy and the second control strategy, a target control strategy is determined, and according to the target control strategy, the target door in the vehicle is controlled, thereby realizing a comprehensive judgment of the door control by combining the gesture control results and the voice control results, ensuring the accuracy of the door control, and improving the user experience.

[0137] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application is provided. Figure 5 The vehicle 500 shown includes: at least one processor 501, memory 502, at least one network interface 504 and other user interfaces 503. The various components in the vehicle 500 are coupled together via a bus system 505. It is understood that the bus system 505 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 505 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, the bus system 505 is not described in detail. Figure 5 Various buses are labeled as bus system 505.

[0138] The user interface 503 may include a display, a keyboard, or a pointing device (eg, a mouse, a trackball, a touchpad, or a touch screen).

[0139] It is understood that the memory 502 in the embodiment of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 502 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0140] In some embodiments, the memory 502 stores the following elements, executable units, or data structures, or a subset thereof, or an extended set thereof: an operating system 5021 and application programs 5022 .

[0141] Among them, the operating system 5021 includes various system programs, such as the framework layer, core library layer, and driver layer, which are used to implement various basic services and handle hardware-based tasks. The application 5022 includes various application programs, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. The program that implements the method of the embodiment of the present application can be included in the application 5022.

[0142] In an embodiment of the present application, by calling the program or instructions stored in the memory 502, specifically, the program or instructions stored in the application 5022, the processor 501 is used to execute the method steps provided by each method embodiment, for example, including: when it is determined that the vehicle is in a stationary state, obtaining a first gesture image and a first voice corresponding to the target object, determining a first control strategy based on the first gesture image, and determining a second control strategy based on the first voice, the first control strategy is used to indicate control of a first door in the vehicle, and the second control strategy is used to indicate control of a second door in the vehicle, determining a target control strategy based on the first control strategy and the second control strategy, and controlling the target door in the vehicle according to the target control strategy.

[0143] The methods disclosed in the above embodiments of the present application can be applied to or implemented by processor 501. Processor 501 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in processor 501 or by software instructions. The above processor 501 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software units in the decoding processor. The software units can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory 502 , and the processor 501 reads the information in the memory 502 and completes the steps of the above method in combination with its hardware.

[0144] It is understood that the embodiments described herein may be implemented using hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described herein, or a combination thereof.

[0145] For software implementation, the technology described herein can be implemented by a unit that performs the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0146] The vehicle provided in this embodiment may be Figure 5 The vehicle shown in , can perform as Figure 1-2 All steps of the control method of the middle door, thereby achieving Figure 1-2 For details on the technical effects of the door control method shown, please refer to Figure 1-2 For the sake of brevity, the relevant description will not be repeated here.

[0147] The present application also provides a storage medium (computer-readable storage medium). The storage medium stores one or more programs. The storage medium may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state drive; and the memory may also include a combination of the aforementioned types of memory.

[0148] When one or more programs in the storage medium can be executed by one or more processors, the vehicle door control method executed on the vehicle door control device side can be realized.

[0149] The processor is used to execute the vehicle door control program stored in the memory to implement the following steps of the vehicle door control method executed on the control device side of the vehicle door: when it is determined that the vehicle is in a stationary state, a first gesture image and a first voice corresponding to the target object are obtained, a first control strategy is determined based on the first gesture image, and a second control strategy is determined based on the first voice, the first control strategy is used to instruct the control of the first door in the vehicle, and the second control strategy is used to instruct the control of the second door in the vehicle, a target control strategy is determined based on the first control strategy and the second control strategy, and the target door in the vehicle is controlled according to the target control strategy.

[0150] Professionals should also be further aware that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0151] It should be noted that references in this specification to "one embodiment," "an embodiment," "an exemplary embodiment," "some embodiments," and the like indicate that the described embodiments may include a particular feature, structure, or characteristic, but not necessarily every embodiment includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0152] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling a vehicle door, characterized in that: The method comprises: When it is determined that the vehicle is in a stationary state, obtaining a first gesture image and a first voice corresponding to the target object includes: Displaying a target interface, wherein the target interface displays a plurality of preset controls, each of the preset controls corresponding to a preset control type of a door in the vehicle; When confirmation information for a first target control in the target interface is detected, determining that the preset control type of the door in the vehicle is a first control type; When the preset control type is the first control type and it is determined that the vehicle is in the stationary state, acquiring a first gesture image and a first voice corresponding to a target object; Determining a first control strategy based on the first gesture image and a second control strategy based on the first voice, wherein the first control strategy is used to instruct control of a first door in the vehicle, and the second control strategy is used to instruct control of a second door in the vehicle; determining a target control strategy according to the first control strategy and the second control strategy; controlling a target door in the vehicle according to the target control strategy; After executing the step of displaying the target interface, the method further includes: When confirmation information for a second target control in the target interface is detected, determining that the preset control type of the door in the vehicle is a second control type; When the preset control type is the second control type and it is determined that the vehicle is in the stationary state, acquiring a second gesture image corresponding to the target object; When the third control strategy is not obtained according to the second gesture image, determining a first duration of time during which the third control strategy is not obtained; When the first duration is longer than a first preset threshold, generating a second prompt message according to a third control type; When confirmation information of the target object in response to the second prompt information is obtained, obtaining a second voice corresponding to the target object; determining a fourth control strategy according to the second speech; According to the fourth control strategy, the third door in the vehicle is controlled.

2. The method according to claim 1, characterized in that Determining a target control strategy according to the first control strategy and the second control strategy includes: When it is determined that the first control strategy is inconsistent with the second control strategy, generating first prompt information according to the first control strategy and the second control strategy; Obtaining target feedback information of the target object in response to the first prompt information; The target control strategy is determined according to the target feedback information.

3. The method according to claim 1, characterized in that The controlling of the target door in the vehicle according to the target control strategy includes: When the target control strategy is used to instruct to control the opening of the target door in the vehicle, controlling the target door to open; and During the process of controlling the target door to be opened, the prompt device on the target door is controlled to operate.

4. The method according to claim 1, wherein Before executing the step of controlling the target door in the vehicle according to the target control strategy, the method further includes: Determining the target door to be controlled according to the target control strategy; Acquire a first door image corresponding to the target door; When it is determined according to the first door image that a target object is placed on the storage box in the target door and the target position corresponding to the target object is smaller than a preset position, the target door in the vehicle is controlled according to the target control strategy.

5. The method according to claim 1, wherein The target control strategy is used to instruct and control the closing of the target door in the vehicle; After executing the step of controlling the target door in the vehicle according to the target control strategy, the method further includes: determining whether a start command for the vehicle is received; Upon receiving the start instruction of the vehicle, acquiring a second door image corresponding to the target door; When it is determined according to the second door image that no foreign object is clamped at the bottom of the target door, the vehicle is controlled to start according to the start instruction.

6. A vehicle door control device, characterized in that: The device comprises: an acquisition module, configured to acquire a first gesture image and a first voice corresponding to a target object when it is determined that the vehicle is in a stationary state; a determination module, configured to determine a first control strategy based on the first gesture image and a second control strategy based on the first voice, wherein the first control strategy is used to instruct control of a first door in the vehicle, and the second control strategy is used to instruct control of a second door in the vehicle; The determining module is further configured to determine a target control strategy based on the first control strategy and the second control strategy; a control module, configured to control a target door in the vehicle according to the target control strategy; The acquisition module is further configured to display a target interface, wherein the target interface displays a plurality of preset controls, each of the preset controls corresponding to a preset control type of a door in the vehicle; When confirmation information for a first target control in the target interface is detected, determining that the preset control type of the door in the vehicle is a first control type; When the preset control type is the first control type and it is determined that the vehicle is in the stationary state, acquiring a first gesture image and a first voice corresponding to a target object; The control module is further configured to, after displaying the target interface, determine that the preset control type of the door in the vehicle is the second control type when detecting confirmation information for the second target control in the target interface; When the preset control type is the second control type and it is determined that the vehicle is in the stationary state, acquiring a second gesture image corresponding to the target object; When the third control strategy is not obtained according to the second gesture image, determining a first duration of time during which the third control strategy is not obtained; When the first duration is longer than a first preset threshold, generating a second prompt message according to a third control type; When confirmation information of the target object in response to the second prompt information is obtained, obtaining a second voice corresponding to the target object; determining a fourth control strategy according to the second speech; According to the fourth control strategy, the third door in the vehicle is controlled.

7. A vehicle, characterized in that: include: A processor and a memory, wherein the processor is used to execute a vehicle door control program stored in the memory to implement the vehicle door control method according to any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the vehicle door control method according to any one of claims 1 to 5.

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