Vehicle door control method, device, vehicle, apparatus, and computer-readable storage medium

Abstract

The present disclosure relates to a vehicle door control method, comprising: in the case of detecting a passenger's door opening operation on a target vehicle door, acquiring a target vehicle interior image; determining a target posture parameter of the passenger according to the target vehicle interior image; in the case of determining that the passenger is in a side-opening state according to the target posture parameter, controlling the target vehicle door to open, so that the passenger can observe whether there are obstacles around the target vehicle door when opening the door from the side, and thus it is not necessary to install an anti-collision controller at the target vehicle door, the method not only can avoid the occurrence of safety accidents, but also does not need to set a separate anti-collision controller for the vehicle, thereby improving the safety performance of the vehicle and saving the overall cost of the vehicle design.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more particularly to a door control method, apparatus, vehicle, device, and computer-readable storage medium. Background Technology

[0002] In recent years, accidents caused by opening car doors, resulting in collisions with pedestrians, vehicles behind, or other obstacles, have become increasingly common. These accidents not only cause significant financial losses for car owners but also threaten the lives of themselves and others. Current technology typically involves installing a separate collision avoidance controller inside the vehicle. This controller automatically monitors whether the driver or passengers are at risk of colliding with pedestrians, vehicles behind, or other obstacles when opening the door, thus preventing accidents caused by negligence on the part of the driver or passengers when opening the door.

[0003] However, using existing technologies increases the overall cost of vehicle design because a separate collision avoidance controller needs to be developed. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a door control method, apparatus, vehicle, device, and computer-readable storage medium.

[0005] In a first aspect, embodiments of this disclosure provide a door control method, including:

[0006] If a passenger's action to open the target vehicle door is detected, an image of the interior of the target vehicle is acquired;

[0007] Based on the target vehicle interior image, determine the passenger's target posture parameters;

[0008] If the passenger is determined to be in a side-opening position based on the target posture parameters, the target door is controlled to open.

[0009] Optionally, determining the passenger's target posture parameters based on the target vehicle interior image includes:

[0010] Acquire an initial in-vehicle image, which is the in-vehicle image acquired by the camera before the door opening operation;

[0011] The first posture parameters of the passenger are obtained from the initial in-vehicle image, wherein the first posture parameters include a plurality of first coordinate points on a target line connecting one end of the passenger's shoulder to the other end of the shoulder;

[0012] The second posture parameters of the passenger are obtained from the target vehicle interior image, wherein the second posture parameters are multiple second coordinate points corresponding to the multiple first coordinate points;

[0013] The target posture parameters of the passenger are determined based on the first posture parameters and the second posture parameters.

[0014] Optionally, the target posture parameter is the body side-turning angle, and determining the passenger's target posture parameter based on the first posture parameter and the second posture parameter includes:

[0015] The passenger's body side angle is determined based on the first coordinate point and the second coordinate point;

[0016] The step of controlling the opening of the target door when the passenger is determined to be in a side-opening state based on the target posture parameters includes:

[0017] If the body's side angle is determined to be greater than or equal to a preset side angle, the target car door is controlled to open.

[0018] Optionally, the method further includes:

[0019] Obtain the passenger's body side angle when the passenger's body side angle is greater than or equal to the preset side angle within the previous preset period;

[0020] The preset side angle for the next preset period is determined based on the passenger's body side angle in the previous preset period.

[0021] Optionally, the target attitude parameter is the coordinate difference between the first coordinate point and its corresponding second coordinate point along the target axis, and the target axis is the axis along which the line connecting the plurality of first coordinate points lies. Determining the passenger's target attitude parameter based on the first attitude parameter and the second attitude parameter includes:

[0022] The coordinate difference along the target axis is determined based on the first coordinate point and the corresponding second coordinate point.

[0023] The step of controlling the opening of the target door when the passenger is determined to be in a side-opening state based on the target posture parameters includes:

[0024] If the coordinate difference is determined to be greater than or equal to a preset coordinate difference, the target door is controlled to open.

[0025] Optionally, the method further includes:

[0026] Obtain the coordinate difference value when the coordinate difference value is greater than or equal to the preset coordinate difference value in the previous preset period;

[0027] The preset coordinate difference in the next preset period is determined based on the coordinate difference in the previous preset period.

[0028] Optionally, controlling the opening of the target door when the passenger is determined to be in a side-opening state based on the target posture parameters includes:

[0029] When it is determined that the passenger is in a side-opening door state based on the target posture parameters, visual data is acquired;

[0030] If, based on the visual data, it is determined that there are no obstacles within a preset range of the target door, the target door is controlled to open.

[0031] Optionally, acquiring an image of the interior of the target vehicle upon detecting a passenger's opening operation on the target door includes:

[0032] When a passenger's action to open the target door is detected, visual data is acquired;

[0033] If, based on the visual data, it is determined that there is an obstacle within a preset range of the target vehicle door, an image of the interior of the target vehicle is acquired.

[0034] Secondly, embodiments of this disclosure provide a door control device, comprising:

[0035] The target vehicle interior image acquisition module is used to acquire images of the target vehicle interior when a passenger's opening operation on the target vehicle door is detected.

[0036] The target posture parameter determination module is used to determine the target posture parameters of the passenger based on the target in-vehicle image.

[0037] The target door control module is used to control the opening of the target door when the passenger is determined to be in a side-opening state based on the target posture parameters.

[0038] Thirdly, embodiments of this disclosure provide a vehicle, including: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the method as described in any of the first aspects.

[0039] Fourthly, embodiments of this disclosure provide an electronic device, including:

[0040] One or more processors;

[0041] Storage device for storing one or more programs.

[0042] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any of the first aspects.

[0043] Fifthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the methods described in any of the first aspects.

[0044] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0045] The vehicle door control method provided in this disclosure acquires an image of the interior of the target vehicle when a passenger's opening operation on the target door is detected; determines the passenger's target posture parameters based on the image; and controls the target door to open when the passenger is determined to be in a side-opening state based on the target posture parameters. In this way, since the passenger can observe whether there are obstacles around the target door when opening the door sideways, there is no need to install a collision avoidance controller at the target door. This method not only avoids safety accidents but also eliminates the need for a separate collision avoidance controller for the vehicle, thus improving the vehicle's safety performance and saving overall vehicle design costs. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0047] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0048] Figure 1 This is a schematic flowchart of a door control method provided in an embodiment of this disclosure;

[0049] Figure 2 This is a schematic flowchart of another door control method provided in this embodiment of the present disclosure;

[0050] Figure 3 This is a schematic diagram of a passenger plan structure provided in an embodiment of this disclosure;

[0051] Figure 4 This is another schematic diagram of a passenger plan structure provided in an embodiment of this disclosure;

[0052] Figure 5 This is a flowchart illustrating another door control method provided in this disclosure embodiment;

[0053] Figure 6 This is a flowchart illustrating another door control method provided in this disclosure embodiment;

[0054] Figure 7 This is a flowchart illustrating another door control method provided in this disclosure embodiment;

[0055] Figure 8 This is a flowchart illustrating another door control method provided in this disclosure embodiment;

[0056] Figure 9 This is a schematic diagram of the structure of the door control device provided in the embodiments of this disclosure;

[0057] Figure 10 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this disclosure. Detailed Implementation

[0058] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0059] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0060] In recent years, accidents caused by car doors colliding with pedestrians, vehicles behind, or other obstacles have become increasingly common, resulting not only in significant financial losses for car owners but also threatening their lives and the safety of others. Current technology typically involves installing a separate collision avoidance controller within the vehicle to automatically monitor for potential collisions with pedestrians, vehicles behind, or other obstacles when the driver or passengers open the door, thus preventing accidents caused by negligence on the part of the driver or passengers. However, using existing technology requires the separate development of the collision avoidance controller, increasing the overall cost of vehicle design.

[0061] Based on this, this disclosure provides a vehicle door control method. Upon detecting a passenger's opening operation on a target vehicle door, an image of the interior of the target vehicle is acquired; based on the image, target posture parameters of the passenger are determined; and if the passenger is determined to be in a side-opening state based on the target posture parameters, the target vehicle door is controlled to open. In this way, since the passenger can observe whether there are obstacles around the target vehicle door when opening it sideways, there is no need to install a collision avoidance controller at the target vehicle door. This method not only avoids safety accidents but also eliminates the need for a separate collision avoidance controller for the vehicle, thus improving the vehicle's safety performance and saving overall vehicle design costs.

[0062] like Figure 1 As shown, the door control method provided in this embodiment includes:

[0063] S11. If a passenger's opening operation on the target vehicle door is detected, an image of the interior of the target vehicle is acquired.

[0064] The passenger can be the driver or a passenger. The target door refers to the door that the passenger wants to open. The image information inside the target vehicle includes, but is not limited to, the target door and the passenger who is opening the target door.

[0065] Specifically, when a passenger inside the vehicle is detected opening the target door, the camera is controlled to take a picture to obtain an image of the target vehicle's interior.

[0066] The aforementioned detection of a passenger's opening operation on the target door can be achieved by installing a sensor on the door handle to detect whether the passenger has touched the door lock, or by detecting whether the passenger has performed a corresponding opening operation on the door opening control. This can help determine whether the passenger has performed an opening operation on the target door. However, this method is not limited to these methods. This disclosure does not impose specific limitations, and those skilled in the art can make specific settings according to the actual situation.

[0067] The aforementioned cameras are installed inside the target vehicle; one or more cameras can be installed to ensure that the relative positional relationship between the passengers and the target vehicle doors can be obtained when acquiring images of the vehicle's interior.

[0068] S12. Determine the target posture parameters of the passenger based on the image inside the target vehicle.

[0069] The target posture parameters refer to the relevant parameters of the passenger's current posture, such as the passenger's side angle parameters, but are not limited thereto. This disclosure does not impose specific limitations, and those skilled in the art can set them according to the actual situation.

[0070] Specifically, by controlling the camera to take pictures, after acquiring images of the interior of the target vehicle, the images are identified and analyzed to obtain the target posture parameters of the current passenger.

[0071] Based on the above embodiments, in some embodiments of this disclosure, such as Figure 2 As shown, one possible implementation of S12 is:

[0072] S21. Obtain the initial interior image of the vehicle.

[0073] The initial in-vehicle image is the in-vehicle image captured by the camera before the door is opened.

[0074] For example, before a passenger is detected opening the door, the camera can be controlled to capture images of the vehicle interior in real time, and multiple images can be identified to determine the image of the passenger sitting upright as the initial image of the vehicle interior. Alternatively, the camera can be controlled to capture images of the vehicle interior periodically, and multiple images can be identified to determine the image of the passenger sitting upright as the initial image of the vehicle interior. However, this is not a limitation and this disclosure does not impose any specific restrictions. Those skilled in the art can set it according to the actual situation.

[0075] It should be noted that the camera used to capture the images inside the target vehicle and the initial images inside the vehicle is the same camera.

[0076] S22. Obtain the passenger's first posture parameters from the initial in-vehicle image.

[0077] The first posture parameters include multiple first coordinate points along a target line connecting one end of the passenger's shoulder to the other. It should be noted that these multiple first coordinate points are collected when the passenger is sitting upright, and they are evenly spaced; that is, the distance between any two first coordinate points along the target line is equal. Optionally, these multiple first coordinate points can be identified using a visual feature recognition algorithm, which can be a trained neural network model, but is not limited thereto. This disclosure does not impose specific limitations, and those skilled in the art can set the appropriate parameters according to the actual situation.

[0078] Specifically, after acquiring the initial in-vehicle image captured by the camera, the initial in-vehicle image is identified to obtain the first posture parameters of the current passenger. The first posture parameters include multiple first coordinate points on the line connecting one end of the passenger's shoulder to the other end of the shoulder.

[0079] For example, the initial in-vehicle image mentioned above includes a passenger performing a door opening operation, such as... Figure 3 As shown, when recognizing the initial in-vehicle image, the passenger's head and upper body can be marked using a bounding box. A spatial coordinate system is established with the midpoint of the line connecting one end of the passenger's shoulder to the other as the origin. The line connecting one end of the shoulder to the other is used as the horizontal axis, and a vertical axis is established perpendicular to this horizontal axis. Furthermore, based on this spatial coordinate system, multiple first coordinate points on the line connecting one end of the passenger's shoulder to the other are identified. That is, it can be understood that the axis containing the multiple first coordinate points is the horizontal axis. These multiple first coordinate points can be seven first coordinate points, and these seven first coordinate points are marked sequentially starting from one end of the shoulder, and can be marked as "a, b, c, d, e, f, g", but are not limited to this. This disclosure does not specifically limit the scope, and those skilled in the art can set it according to the actual situation.

[0080] S121, Obtain the passenger's second attitude parameters from the target vehicle interior image.

[0081] The second attitude parameter is a plurality of second coordinate points corresponding to a plurality of first coordinate points.

[0082] Specifically, after acquiring the target vehicle interior image captured by the camera, the target vehicle interior image is identified to obtain the second posture parameters of the passenger currently performing the door opening operation, that is, to obtain multiple second coordinate points of the current passenger, which correspond to multiple first coordinate points identified in the initial vehicle interior image.

[0083] For example, based on the above embodiments, the multiple first coordinate points on the line connecting the passenger's shoulder from one end to the target at the other end are "a, b, c, d, e, f, g", as shown. Figure 4 As shown, for the target vehicle interior image captured by the camera, the target vehicle interior image is identified to obtain multiple second coordinate points corresponding to multiple first coordinate points of the passenger, and marked as "a1, b1, c1, d1, e1, f1, g1". However, it is not limited to this. It is also possible to obtain more than seven coordinate points, such as nine coordinate points, or less than seven coordinate points, such as five coordinate points, by identifying the target vehicle interior image and the initial vehicle interior image. This disclosure does not specifically limit the number of coordinate points, and those skilled in the art can set it according to the actual situation.

[0084] S122, determine the passenger's target attitude parameters based on the first attitude parameters and the second attitude parameters.

[0085] Specifically, by recognizing the initial in-vehicle image and the target in-vehicle image, the passenger's first posture parameters and second posture parameters are obtained, namely multiple first coordinate points and multiple second coordinate points corresponding to the multiple first coordinate points. Based on the multiple first coordinate points and the multiple second coordinate points, the passenger's target posture parameters are determined.

[0086] Based on the above embodiments, in some embodiments of this disclosure, when the target posture parameter is the body side-turning angle, such as Figure 5 As shown, optionally, one implementation of S122 could be:

[0087] S1221, Determine the passenger's body side angle based on the first coordinate point and the second coordinate point.

[0088] Specifically, the body angle of the passenger currently performing the door opening operation relative to the target door is determined by calculating the first coordinate point and its corresponding second coordinate point.

[0089] For example, following the above embodiments, such as Figure 4As shown, for multiple first coordinate points "a, b, c, d, e, f, g" and corresponding multiple second coordinate points "a1, b1, c1, d1, e1, f1, g1", three first coordinate points such as "a, d, g" are selected from the multiple first coordinate points, and the abscissa values ​​of the corresponding second coordinate points "a1, d1, g1" are obtained. At the same time, the abscissa values ​​of the first coordinate points such as "b, d, f" are obtained. By comparing the abscissa values ​​of the second coordinate points "a1, d1, g1" with the abscissa values ​​of the first coordinate points such as "b, d, f", when their abscissa values ​​are equal, it is determined that the current passenger's body side angle relative to the target door is 30 degrees. Alternatively, when the abscissa values ​​of the second coordinate points "a1, d1, g1" are equal, it means that the current passenger's body side angle relative to the target door is 90 degrees.

[0090] Optionally, based on the above embodiments, in some embodiments of this disclosure, for multiple first coordinate points "a, b, c, d, e, f, g" and corresponding multiple second coordinate points "a1, b1, c1, d1, e1, f1, g1", the abscissa value of the second coordinate point "a1, d1, g1" corresponding to the first coordinate point "a, b, c, d, e, f, g" is selected from the first coordinate points "a, b, c, d, e, f, g", and the difference between the abscissa value of the second coordinate point "a1, d1, g1" and the abscissa value of the corresponding first coordinate point is calculated. A preset difference range and a body side angle corresponding to the preset difference range are set. For example, the body side angle corresponding to the preset difference range is 30 degrees. That is, when it is determined that the difference is within the preset difference range, the body side angle of the current passenger relative to the target door is determined to be 30 degrees.

[0091] Optionally, based on the above embodiments, in some embodiments of this disclosure, for multiple first coordinate points "a, b, c, d, e, f, g" and corresponding multiple second coordinate points "a1, b1, c1, d1, e1, f1, g1", a second coordinate point "a1" corresponding to the first coordinate point "a" is selected from the first coordinate points "a, b, c, d, e, f, g". The horizontal and vertical coordinate values ​​of the second coordinate point "a1" are used to calculate the current passenger's body side angle using trigonometric functions.

[0092] It should be noted that when the x-coordinates of multiple second coordinate points "a1, b1, c1, d1, e1, f1, g1" of a passenger are equal to or have a small difference from the x-coordinates of multiple first coordinate points "a, b, c, d, e, f, g", it indicates that the passenger's body has not twisted, or the angle of the twisted body is small and can be ignored. It is assumed that the passenger's body is not tilted relative to the target door when opening the door. This is to avoid the situation where the passenger cannot fully observe whether there are pedestrians or vehicles approaching outside the vehicle because they are not tilted when opening the door or the tilt angle is small.

[0093] Optionally, based on the above embodiments, in some embodiments of this disclosure, the target attitude parameter is the coordinate difference between a first coordinate point and its corresponding second coordinate point along the target axis, and the target axis is the axis along which the line connecting multiple first coordinate points lies, such as... Figure 6 As shown, alternatively, another implementation of S122 could be:

[0094] S1222, Determine the coordinate difference along the target axis based on the first coordinate point and its corresponding second coordinate point.

[0095] For example, such as Figure 4 As shown, for multiple first coordinate points "a, b, c, d, e, f, g", and corresponding multiple second coordinate points "a1, b1, c1, d1, e1, f1, g1", where the multiple first coordinate points are the coordinate points identified when the passenger is sitting upright, the line connecting the multiple first coordinate points is used as the horizontal axis, i.e. the target axis. By obtaining the horizontal coordinate value of the first coordinate point "a" and the horizontal coordinate value of the corresponding second coordinate point "a1", the difference between the horizontal coordinates of the first coordinate point and its corresponding second coordinate point is calculated, which is the coordinate difference on the target axis.

[0096] S13. If the passenger is determined to be in a side-opening state based on the target posture parameters, control the target door to open.

[0097] Specifically, after obtaining the target posture parameters of the current passenger based on the image inside the target vehicle, it is possible to determine whether the current passenger is in a side-opening state based on the target posture parameters, so as to control the opening of the target vehicle door.

[0098] Based on the above embodiments, in some embodiments of this disclosure, such as Figure 5 As shown, one possible implementation of S13 is:

[0099] S131, when it is determined that the body's side angle is greater than or equal to the preset side angle, control the target door to open.

[0100] The preset side angle is a parameter value set to ensure that passengers can observe whether there are obstacles outside the vehicle to the greatest extent when the door is opened. This disclosure does not specifically limit the value of the preset side angle, and those skilled in the art can set it according to the actual situation.

[0101] Specifically, it determines whether the current passenger's body side angle is greater than or equal to the preset side angle. Only when it is determined that the current passenger's body side angle is greater than or equal to the preset side angle can the target door be opened.

[0102] Furthermore, based on the above embodiments, some embodiments of this disclosure also include:

[0103] Get the passenger's body side angle when the passenger's body side angle is greater than or equal to the preset side angle in the previous preset period.

[0104] The preset period is a parameter set to obtain the passenger's body side angle when the passenger's body side angle is greater than or equal to the preset side angle within a certain period of time. For example, the preset period can be one month or three months. This disclosure does not specifically limit it, and those skilled in the art can set it according to the actual situation.

[0105] It should be noted that within a preset period, the preset side angle is a fixed threshold.

[0106] The preset side angle for the next preset period is determined based on the passenger's side angle in the previous preset period.

[0107] Specifically, the system collects the passenger's body side angles when they are greater than or equal to a preset side angle in the previous preset period. Based on the multiple body side angles of passengers when they are greater than or equal to the preset side angle in the previous preset period, the preset side angle for the next preset period is determined.

[0108] For example, within a previous preset period, such as one month, multiple body side angles of passengers whose body side angles are greater than or equal to a preset side angle are collected within that month. The average of these multiple body side angles is calculated to determine the preset side angle for the next preset period, such as the next month. However, this is not limited to this. This disclosure does not impose specific limitations, and those skilled in the art can set it according to the actual situation.

[0109] In this way, by acquiring multiple body side angles of the passenger that are greater than or equal to a preset side angle in the previous preset period, and determining the preset side angle in the next preset period based on these multiple body side angles, the preset side angle is continuously updated based on the multiple actual body side angles of the passenger when opening the door. This allows for more accurate control of the target door opening based on the continuously updated preset side angle, thereby improving the safety performance of the vehicle.

[0110] Optionally, based on the above embodiments, in some embodiments of this disclosure, such as... Figure 6 As shown, another possible implementation of S13 is:

[0111] S132, if the coordinate difference is greater than or equal to the preset coordinate difference, control the target door to open.

[0112] Specifically, the target door can only be controlled to open when the difference between the coordinates of the first coordinate point and its corresponding second coordinate point is greater than or equal to a preset difference. This disclosure does not specifically limit the value of the preset difference, and those skilled in the art can set it according to the actual situation.

[0113] Furthermore, based on the above embodiments, some embodiments of this disclosure also include:

[0114] Get the coordinate difference when the coordinate difference is greater than or equal to the preset coordinate difference within the previous preset period.

[0115] Based on the coordinate difference in the previous preset period, determine the preset coordinate difference in the next preset period.

[0116] Specifically, multiple coordinate differences are collected when the coordinate difference along the target axis is greater than or equal to a preset coordinate difference in the previous preset period. Based on these multiple coordinate differences in the previous preset period, the preset coordinate difference in the next preset period is determined.

[0117] In this way, by acquiring multiple coordinate difference values ​​when the coordinate difference value on the target axis in the previous preset period is greater than or equal to the preset coordinate difference value, and determining the preset coordinate difference value in the next preset period based on these multiple coordinate difference values, the preset coordinate difference value is continuously updated based on the coordinate difference values ​​when the passenger actually opens the door. This allows for more accurate control of the target door opening based on the continuously updated preset coordinate difference value, thereby improving the safety performance of the vehicle.

[0118] Thus, the door control method provided in this embodiment acquires an image of the interior of the target vehicle when a passenger's opening operation on the target door is detected; determines the passenger's target posture parameters based on the image; and controls the target door to open when the passenger is determined to be in a side-opening state based on the target posture parameters. Because the passenger can observe whether there are obstacles around the target door when opening it sideways, there is no need to install a collision avoidance controller at the target door. This method not only avoids safety accidents but also eliminates the need for a separate collision avoidance controller for the vehicle, thereby improving the vehicle's safety performance and saving overall vehicle design costs.

[0119] Optionally, based on the above embodiments, in some embodiments of this disclosure, the method further includes:

[0120] If the target posture parameters determine that the passenger is not in a side-opening position, a prompt message is output.

[0121] The prompting information is used to remind passengers to turn to the side when opening the door. For example, it can be an alarm such as a horn to remind passengers that they need to turn to the side when opening the door, or it can be a voice prompt inside the vehicle, such as a voice prompt "Please turn to the side when opening the door, and pay attention to door safety". However, it is not limited to these. This disclosure does not specifically limit it, and those skilled in the art can set it according to the actual situation.

[0122] Specifically, after obtaining the target posture parameters of the current passenger based on the image inside the target vehicle, and determining whether the current passenger is in a side-opening state based on the target posture parameters, a prompt message is issued to remind the passenger that they need to open the door sideways.

[0123] Thus, the door control method provided in this embodiment of the present disclosure will issue a prompt message to the passenger when it is detected that the passenger is not in a side-opening state when opening the door, prompting the passenger to open the door sideways. This avoids the phenomenon that the passenger cannot fully observe whether there are obstacles outside the vehicle because he / she is not in a side-opening state, thereby reducing the probability of safety accidents.

[0124] Figure 7 This is a schematic flowchart of another door control method provided in this disclosure. Figure 7 Is Figure 1 Based on the illustrated embodiment, another further implementation of S13 is as follows:

[0125] S51, when it is determined that the passenger is in a side-opening door state based on the target posture parameters, acquires visual data.

[0126] Among these, visual data refers to data collected from the target vehicle door or the area around the target vehicle. This data is acquired through visual sensors positioned around the target vehicle; these sensors are instruments that use optical elements or imaging devices to acquire images of the external environment.

[0127] S52, if it is determined from visual data that there are no obstacles within a preset range of the target door, control the target door to open.

[0128] The preset range refers to the parameter value set to determine the size of the range around the target door to determine whether there are obstacles. For example, the value of the preset range can be the size of the range determined by the length of the target door, or it can be the size of the range determined by the position of the target vehicle. For example, the preset range can be centered on the vehicle and can cover the range in front of and behind the vehicle, but it is not limited thereto. This disclosure does not specifically limit it, and those skilled in the art can set it according to the actual situation.

[0129] The aforementioned obstacles are objects that pose a collision risk when occupants open the vehicle door. These can be pedestrians or vehicles approaching from behind, but are not limited to these. This disclosure does not specifically limit them.

[0130] Specifically, when it is determined that the current passenger is in a side-opening state based on the target posture parameters, the vision sensor is controlled to collect visual data of the target door or the surrounding area of ​​the target vehicle. Only after analyzing the visual data and determining that there are no obstacles within the preset range of the current target door can the target door be controlled to open.

[0131] For example, if the target parameters determine that the current passenger is in a side-opening position, the vision sensor can be controlled to collect visual data of the target door or the surrounding area of ​​the target vehicle within a certain time period, such as 5 seconds. This visual data can then be identified to determine whether there are obstacles, such as pedestrians or vehicles approaching from behind, within a preset range of the target door. Only when it is determined that there are no obstacles within the preset range of the target door can the target door be opened. However, this is not a limitation, and this disclosure does not specifically restrict the scope; those skilled in the art can configure the system according to the actual situation.

[0132] Thus, the door control method provided in this embodiment of the present disclosure uses a visual sensor to acquire visual data around the target door or the target vehicle, and analyzes the visual data to determine that there are no obstacles within a preset range of the target door before controlling the target door to open. This can prevent passengers from failing to observe the presence of obstacles around the target door due to negligence, thereby preventing safety accidents from occurring when the door is opened. This improves the safety performance of the vehicle and reduces personal and property losses caused by accidents.

[0133] Figure 8 This is a schematic flowchart of another door control method provided in this disclosure. Figure 8 Is Figure 1 Based on the illustrated embodiments, as Figure 8 As shown, one possible implementation of S11 is:

[0134] S111: When a passenger's opening operation on the target door is detected, visual data is acquired.

[0135] Specifically, when a passenger is detected opening the target door, the system controls the vision sensor to collect visual data about the target door or the area around the target vehicle.

[0136] S112, if it is determined from visual data that there is an obstacle within a preset range of the target vehicle door, acquire an image of the interior of the target vehicle.

[0137] Specifically, the visual data collected by the vision sensor is identified, analyzed, and processed to determine if there are obstacles such as pedestrians or approaching vehicles within the preset range of the target door that the current passenger wants to open. If so, the camera is controlled to take a picture to capture the target interior image of the vehicle.

[0138] Thus, the door control method provided in this embodiment of the present disclosure, when detecting that a passenger is performing an opening operation on the target door, controls the vision sensor to collect visual data, and when it is determined based on the visual data that there is an obstacle within a preset range of the current target door, further controls the camera to collect the target interior image of the current vehicle, thereby improving the safety performance of the vehicle and reducing the loss of life and property caused by accidents.

[0139] Figure 9 This is a schematic diagram of the structure of a door control device provided in an embodiment of this disclosure, as shown below. Figure 9 As shown, the door control device includes:

[0140] The target vehicle interior image acquisition module 11 is used to acquire an image of the target vehicle interior when a passenger's opening operation on the target vehicle door is detected.

[0141] The target attitude parameter determination module 12 is used to determine the target attitude parameters of the passenger based on the target in-vehicle image;

[0142] The target door control module 13 is used to control the opening of the target door when the passenger is determined to be in a side-opening state based on the target posture parameters.

[0143] The vehicle door control device provided in this embodiment includes a target vehicle interior image acquisition module that acquires an image of the target vehicle interior when a passenger's opening operation on the target door is detected; a target posture parameter determination module that determines the passenger's target posture parameters based on the target vehicle interior image; and a target door control module that controls the target door to open when the passenger is determined to be in a side-opening state based on the target posture parameters. In this way, since the passenger can observe whether there are obstacles around the target door when opening the door sideways, there is no need to install a collision avoidance controller at the target door. This method not only avoids safety accidents but also eliminates the need for a separate collision avoidance controller for the vehicle, thus improving the vehicle's safety performance and saving overall vehicle design costs.

[0144] Optionally, the target vehicle interior image acquisition module 11 further includes an initial vehicle interior image acquisition module, used to acquire an initial vehicle interior image, which is a vehicle interior image acquired by the camera before the door opening operation; and to acquire the passenger's first posture parameters from the initial vehicle interior image, wherein the first posture parameters include multiple first coordinate points on the target line connecting the passenger from one shoulder end to the other shoulder end.

[0145] The target posture parameter determination module 12 is specifically used to obtain the passenger's second posture parameters from the target vehicle interior image, wherein the second posture parameters are multiple second coordinate points corresponding to multiple first coordinate points; and to determine the passenger's target posture parameters based on the first posture parameters and the second posture parameters.

[0146] Optionally, the target posture parameter determination module 12 is further used to determine the passenger's body side angle based on the first coordinate point and the second coordinate point;

[0147] The target door control module 13 is specifically used to control the opening of the target door when the body's side angle is determined to be greater than or equal to a preset side angle.

[0148] Optionally, the target door control module 13 also includes an update module, used to obtain the passenger's body side angle when the passenger's body side angle is greater than or equal to a preset side angle in the previous preset period; and to determine the preset side angle in the next preset period based on the passenger's body side angle in the previous preset period.

[0149] Optionally, the target attitude parameter determination module 12 is further used to determine the coordinate difference along the target axis based on the first coordinate point and the corresponding second coordinate point;

[0150] The target door control module 13 is also used to control the opening of the target door when the coordinate difference is determined to be greater than or equal to a preset coordinate difference.

[0151] Optionally, the update module is also used to obtain the coordinate difference when the coordinate difference in the previous preset period is greater than or equal to the preset coordinate difference; and to determine the preset coordinate difference in the next preset period based on the coordinate difference in the previous preset period.

[0152] Optionally, the target door control module 13 is further used to acquire visual data when it is determined that the passenger is in a side-opening state based on the target posture parameters; and to control the target door to open when it is determined that there are no obstacles within the preset range of the target door based on the visual data.

[0153] Optionally, the target vehicle interior image acquisition module 11 is further configured to acquire visual data when a passenger's opening operation on the target vehicle door is detected; and to acquire an image of the target vehicle interior when it is determined from the visual data that an obstacle exists within a preset range of the target vehicle door.

[0154] The apparatus provided in the embodiments of the present invention can execute the methods provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the methods.

[0155] It is worth noting that in the embodiments of the above-mentioned device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy distinction between each other and are not used to limit the scope of protection of the present invention.

[0156] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure, such as... Figure 10 As shown, the electronic device includes a processor 710, a memory 720, an input device 730, and an output device 740; the number of processors 710 in the computer device can be one or more. Figure 10 Taking a processor 710 as an example; the processor 710, memory 720, input device 730, and output device 740 in the electronic device can be connected via a bus or other means. Figure 10 Taking the example of a connection between China and Israel via a bus.

[0157] The memory 720, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the method in the embodiments of the present invention. The processor 710 executes various functional applications and data processing of the computer device by running the software programs, instructions, and modules stored in the memory 720, thereby implementing the method provided in the embodiments of the present invention.

[0158] The memory 720 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 720 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 720 may further include memory remotely located relative to the processor 710, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0159] Input device 730 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the electronic device, and may include a keyboard, mouse, etc. Output device 740 may include display devices such as a display screen.

[0160] This disclosure also provides a vehicle, including: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the method provided in this embodiment of the invention.

[0161] This disclosure also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to implement the method provided in this embodiment of the invention. The method includes:

[0162] If a passenger's action to open the target vehicle door is detected, an image of the interior of the target vehicle is acquired;

[0163] Based on the in-vehicle images, determine the passenger's target posture parameters;

[0164] If the passenger is determined to be in a side-opening position based on the target posture parameters, the target door is controlled to open.

[0165] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the methods provided in any embodiment of the present invention.

[0166] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0167] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0168] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A door control method, characterized in that, include: If a passenger is detected opening the target vehicle door, an image of the interior of the target vehicle is acquired; Based on the target vehicle interior image, the target posture parameters of the passenger are determined, wherein the target posture parameters are the body side angle. If the passenger is determined to be in a side-opening state based on the target posture parameters, the target door is controlled to open. The step of controlling the opening of the target vehicle door when the passenger is determined to be in a side-opening state based on the target posture parameters includes: controlling the opening of the target vehicle door when the side-opening angle of the body is determined to be greater than or equal to a preset side-opening angle; the preset side-opening angle is used to ensure that the passenger can observe whether there are obstacles outside the vehicle when opening the door; The method further includes: Obtain the passenger's body side angle when the passenger's body side angle is greater than or equal to the preset side angle within the previous preset period; The preset side angle for the next preset period is determined based on the passenger's body side angle in the previous preset period.

2. The method according to claim 1, characterized in that, Determining the passenger's target posture parameters based on the target vehicle interior image includes: Acquire an initial in-vehicle image, which is an in-vehicle image acquired by the camera before the door opening operation; The first posture parameters of the passenger are obtained from the initial in-vehicle image, wherein the first posture parameters include a plurality of first coordinate points on a target line connecting one end of the passenger's shoulder to the other end of the shoulder; The second posture parameters of the passenger are obtained from the target vehicle interior image, wherein the second posture parameters are multiple second coordinate points corresponding to the multiple first coordinate points; The target posture parameters of the passenger are determined based on the first posture parameters and the second posture parameters.

3. The method according to claim 2, characterized in that, Determining the passenger's target posture parameters based on the first posture parameters and the second posture parameters includes: The passenger's body side angle is determined based on the first coordinate point and the second coordinate point.

4. The method according to claim 2, characterized in that, The target attitude parameter is the coordinate difference between the first coordinate point and its corresponding second coordinate point along the target axis, and the target axis is the axis along which the line connecting the plurality of first coordinate points lies. Determining the passenger's target attitude parameter based on the first attitude parameter and the second attitude parameter includes: Based on the first coordinate point and its corresponding second coordinate point, determine the coordinate difference along the target axis; The step of controlling the opening of the target door when the passenger is determined to be in a side-opening state based on the target posture parameters includes: If the coordinate difference is determined to be greater than or equal to a preset coordinate difference, the target door is controlled to open.

5. The method according to claim 4, characterized in that, The method further includes: Obtain the coordinate difference value when the coordinate difference value is greater than or equal to the preset coordinate difference value in the previous preset period; The preset coordinate difference for the next preset period is determined based on the coordinate difference within the previous preset period.

6. The method according to claim 1, characterized in that, The step of controlling the opening of the target door when the passenger is determined to be in a side-opening state based on the target posture parameters includes: When it is determined that the passenger is in a side-opening door state based on the target posture parameters, visual data is acquired; If, based on the visual data, it is determined that there are no obstacles within a preset range of the target door, the target door is controlled to open.

7. The method according to claim 1, characterized in that, The step of acquiring an image of the interior of the target vehicle upon detecting a passenger's opening operation on the target door includes: When a passenger's action to open the target door is detected, visual data is acquired; If, based on the visual data, it is determined that there is an obstacle within a preset range of the target vehicle door, an image of the interior of the target vehicle is acquired.

8. A vehicle door control device, characterized in that, include: The target vehicle interior image acquisition module is used to acquire images of the target vehicle interior when a passenger's opening operation on the target vehicle door is detected. The target posture parameter determination module is used to determine the target posture parameters of the passenger based on the target in-vehicle image, wherein the target posture parameter is the body side angle; The target door control module is used to control the opening of the target door when the passenger is determined to be in a side-opening state based on the target posture parameters. The step of controlling the opening of the target vehicle door when the passenger is determined to be in a side-opening state based on the target posture parameters includes: controlling the opening of the target vehicle door when the side-opening angle of the body is determined to be greater than or equal to a preset side-opening angle; the preset side-opening angle is used to ensure that the passenger can observe whether there are obstacles outside the vehicle when opening the door; The target door control module also includes an update module; the update module is used to obtain the passenger's body side angle when the passenger's body side angle is greater than or equal to the preset side angle in the previous preset period; and to determine the preset side angle in the next preset period based on the passenger's body side angle in the previous preset period.

9. A vehicle, characterized in that, include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the door control method as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, include: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the door control method as described in any one of claims 1 to 7.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the door control method as described in any one of claims 1 to 7.

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