Door open protection early warning method and device, driver control command recognition method

Abstract

The application discloses a vehicle door unfastening protection early warning method and device and a driver control command recognition method. The vehicle door unfastening protection early warning method comprises the following steps: when it is detected that a vehicle door is unfastened, the control command of the driver to the vehicle door is judged according to the state of the driver and / or the signal of the vehicle; when the control command is not to fasten the vehicle door, it is detected whether there is an early warning target in the unfastened vehicle door early warning area; and when it is detected that there is an early warning target in the unfastened vehicle door early warning area, a second early warning signal is sent. The application can detect and early warn pedestrians and vehicles in the unfastened vehicle door early warning area, timely and effectively prevent the occurrence of accidents such as the collision of the vehicle door with pedestrians or vehicles and the scratching of the vehicle, improve the driving safety of the vehicle, reduce the damage of the vehicle and the injury of the personnel, and can intelligently judge the corresponding control command according to the action and posture of the driver, reduce the driving burden, improve the driving experience, and improve the accuracy of early warning.

Description

Technical Field

[0001] This invention relates to the field of vehicle protection technology, and in particular to a method and device for early warning of an unclosed vehicle door, and a method for recognizing driver control commands. Background Technology

[0002] When a driver drives with the car door open, the open door may collide with pedestrians, non-motorized vehicles, or scrape against passing vehicles. Common door-open warning systems on the market involve a door sensor detecting the door is open, illuminating an indicator light, and sounding a vehicle alarm. Some models also have a central control system that indicates which door is open. However, in practice, these warnings are often unreliable, prone to false alarms and missed detections, thus impacting driving experience and safety. Summary of the Invention

[0003] To address the aforementioned problems, the inventors have developed this invention, which, through specific embodiments, provides a method and device for preventing and warning of unclosed vehicle doors, and a method for recognizing driver control commands.

[0004] In a first aspect, embodiments of the present invention provide a method for providing a warning of an unclosed vehicle door, comprising the following steps:

[0005] When an open door is detected, the driver's control command to the door is determined based on the driver's status and / or vehicle signals.

[0006] When the control command is to leave the door open, detect whether there is a warning target within the warning area for an open door;

[0007] When a warning target is detected within the warning area for an unclosed door, a second warning signal is issued.

[0008] Optionally, when an open door is detected, the driver's control command for the door is determined based on the driver's status and / or vehicle signals, including the following steps:

[0009] The DMS is used to identify driver action and posture features. Based on the mapping relationship between driver action and posture features and control commands, the control commands corresponding to the identified driver action and posture features are determined.

[0010] Alternatively, vehicle signals can be collected, and the corresponding control commands can be determined based on the mapping relationship between vehicle signals and control commands.

[0011] Alternatively, the control commands corresponding to the identified driver's action and posture features are compared with the control commands corresponding to the collected vehicle signals. The control commands that match the comparison are determined as the control commands corresponding to the identified driver's action and posture features and vehicle signals. When the comparison does not match, the control commands determined by the higher priority mapping relationship are determined as the control commands corresponding to the identified driver's action and posture features and vehicle signals according to the preset mapping relationship priority.

[0012] Alternatively, based on the driver's posture characteristics and the mapping relationship between vehicle signals and control commands, the control commands corresponding to the identified driver posture characteristics and vehicle signals can be determined.

[0013] Optionally, a mapping relationship between driver's action and posture characteristics and control commands is established, including the following steps:

[0014] Identify the driver's action and posture characteristics, classify the driver's action and posture characteristics according to the control commands, and determine the driver's action and posture characteristics corresponding to the control command to not close the door.

[0015] Alternatively, identify the driver's action and posture characteristics, establish a first regression model between the driver's action and posture characteristics and control commands, and determine the driver's action and posture characteristics corresponding to the control command to not close the door based on the first regression model.

[0016] Establishing a mapping relationship between vehicle signals and control commands includes the following steps:

[0017] Collect vehicle signals, classify the vehicle signals according to control commands, and determine the vehicle signal corresponding to the control command to not close the door;

[0018] Alternatively, vehicle signals can be collected, a second regression model between vehicle signals and control commands can be established, and the vehicle signal corresponding to the control command to not close the door can be determined based on the second regression model.

[0019] Establishing a mapping relationship between driver's action and posture characteristics, vehicle signals, and control commands includes the following steps:

[0020] The driver's action posture features and vehicle signals are identified, and the identified driver's action posture features and vehicle signals are combined to establish a corresponding two-dimensional array. The elements in the two-dimensional array are classified according to the control command to determine the driver's action posture features corresponding to the control command to not close the door.

[0021] Alternatively, the driver's posture features and vehicle signals can be identified, and the identified driver posture features and vehicle signals can be combined to establish a corresponding two-dimensional array. A third regression model between the elements of the two-dimensional array and the control command can be established. Based on the third regression model, the two-dimensional array element corresponding to the control command to not close the door can be determined.

[0022] Optionally, when an open door is detected, determining the driver's control command for the door based on the driver's status and / or vehicle signals further includes the following steps:

[0023] Within each detection cycle, when the determined control command is to keep the door closed, the flag bit for the corresponding detection cycle is set to true.

[0024] Within a time period of a preset length from the current time, the cumulative number of detection cycles in which the flag bit is true is recorded. When the cumulative number exceeds a preset threshold, it is determined that the driver's control command for the car door is not to close the door.

[0025] Optionally, when the control command is to leave the door open, detecting whether a warning target exists within the unclosed door warning area further includes the following steps:

[0026] Based on the vehicle's direction of travel and speed, the shape and size of the unclosed door warning area are dynamically updated, and image recognition devices and / or electromagnetic wave emitting devices are used to detect whether there are obstacles in the warning area in real time.

[0027] Optionally, when a warning target is detected within the unclosed door warning area, a second warning signal is issued, including the following steps:

[0028] When an obstacle is detected in the unclosed door warning area, a second warning signal is issued. The second warning signal includes steering wheel vibration, corresponding voice prompts, and indication of the location of the unclosed door.

[0029] The second warning signal will be stopped when an obstacle is detected to have left the unclosed door warning area.

[0030] When the driver issues a control command to keep the doors open, all warning signals for open doors will be stopped.

[0031] Optionally, the door-open warning system also includes the following steps:

[0032] When an unclosed door is detected, a first warning signal is issued. The warning level of the first warning signal is lower than that of the second warning signal. When an obstacle is detected to have left the warning area of ​​the unclosed door, the warning signal is downgraded to the first warning signal.

[0033] When the driver issues a control command to keep the doors open, all warning signals for open doors will be stopped.

[0034] Secondly, embodiments of the present invention provide a vehicle door unclosed protection and early warning device, comprising:

[0035] The system comprises a perception module, an intelligent decision-making module, and an early warning module.

[0036] The perception module includes vehicle sensors and a DMS, used to detect the status of the vehicle doors, identify the driver's action and posture characteristics, and collect vehicle signals.

[0037] The intelligent decision-making module includes a driver status judgment module and a surrounding environment judgment module, which are used to determine the driver's control command for the door based on the driver's status and / or vehicle signals when the door is detected to be open; when the control command is to leave the door open, the module detects whether there is a warning target within the warning area for the open door.

[0038] The warning module is used to issue a second warning signal when a warning target is detected in the warning area of ​​an unclosed door.

[0039] Thirdly, embodiments of the present invention provide a driver control command recognition method, comprising the following steps:

[0040] The DMS is used to identify driver action and posture features. Based on the mapping relationship between driver action and posture features and control commands, the control commands corresponding to the identified driver action and posture features are determined.

[0041] Within each detection cycle, when the determined control command is to keep the door closed, the flag bit for the corresponding detection cycle is set to true.

[0042] Within a time period of a preset length from the current time, the cumulative number of detection cycles in which the flag bit is true is recorded. When the cumulative number exceeds a preset threshold, it is determined that the driver's control command for the car door is not to close the door.

[0043] Based on the same inventive concept, embodiments of the present invention also provide a computer storage medium storing computer-executable instructions, which, when executed, implement the aforementioned door-open protection warning method or driver control command recognition method.

[0044] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0045] This invention can detect and warn pedestrians and vehicles in the vicinity of open car doors, effectively preventing accidents such as collisions between car doors and pedestrians or vehicles, and scratches on vehicles. It improves vehicle driving safety, reduces vehicle damage and personal injury, and has high practical value. Furthermore, it can intelligently judge the corresponding control commands based on the driver's actions and posture, reducing the driving burden, improving the driving experience, and increasing the accuracy of warnings.

[0046] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0047] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0048] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0049] Figure 1 This is a flowchart of a vehicle door unclosed protection and early warning method according to an embodiment of the present invention;

[0050] Figure 2 This is a flowchart illustrating a specific method for providing a warning and protection against an unclosed car door in an embodiment of the present invention.

[0051] Figure 3 This is a block diagram of a door-open protection and early warning device according to an embodiment of the present invention;

[0052] Figure 4 This is a flowchart of a driver control command recognition method according to an embodiment of the present invention. Detailed Implementation

[0053] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0054] To address the problems existing in the prior art, embodiments of the present invention provide a method and device for preventing and warning of unclosed vehicle doors, and a method for recognizing driver control commands.

[0055] This invention provides a method for preventing and warning of an unclosed vehicle door, the process of which is as follows: Figure 1 As shown, it includes the following steps:

[0056] Step S1: When an open door is detected, determine the driver's control command for the door based on the driver's status and / or vehicle signals.

[0057] In some specific embodiments, when an open door is detected, the driver's control command for the door is determined based on the driver's status and / or vehicle signals, including the following steps:

[0058] A Driver Monitoring System (DMS) is a real-time system that uses driver facial images, physiological indicators, or vehicle information processing to determine the driver's state.

[0059] Alternatively, vehicle signals can be collected, and the corresponding control commands can be determined based on the mapping relationship between vehicle signals and control commands.

[0060] Alternatively, the control commands corresponding to the identified driver's action and posture features are compared with the control commands corresponding to the collected vehicle signals. The control commands that match the comparison are determined as the control commands corresponding to the identified driver's action and posture features and vehicle signals. When the comparison does not match, the control commands determined by the higher priority mapping relationship are determined as the control commands corresponding to the identified driver's action and posture features and vehicle signals according to the preset mapping relationship priority.

[0061] Alternatively, based on the driver's posture characteristics and the mapping relationship between vehicle signals and control commands, the control commands corresponding to the identified driver posture characteristics and vehicle signals can be determined.

[0062] In some specific embodiments, establishing a mapping relationship between driver's action posture characteristics and control commands includes the following steps:

[0063] Identify the driver's action and posture characteristics, classify the driver's action and posture characteristics according to the control commands, and determine the driver's action and posture characteristics corresponding to the control command to not close the door.

[0064] Alternatively, identify the driver's action and posture characteristics, establish a first regression model between the driver's action and posture characteristics and control commands, and determine the driver's action and posture characteristics corresponding to the control command to not close the door based on the first regression model.

[0065] Establishing a mapping relationship between vehicle signals and control commands includes the following steps:

[0066] Collect vehicle signals, classify the vehicle signals according to control commands, and determine the vehicle signal corresponding to the control command to not close the door;

[0067] Alternatively, vehicle signals can be collected, a second regression model between vehicle signals and control commands can be established, and the vehicle signal corresponding to the control command to not close the door can be determined based on the second regression model.

[0068] Establishing a mapping relationship between driver's action and posture characteristics, vehicle signals, and control commands includes the following steps:

[0069] The driver's action posture features and vehicle signals are identified, and the identified driver's action posture features and vehicle signals are combined to establish a corresponding two-dimensional array. The elements in the two-dimensional array are classified according to the control command to determine the driver's action posture features corresponding to the control command to not close the door.

[0070] Alternatively, the driver's posture features and vehicle signals can be identified, and the identified driver posture features and vehicle signals can be combined to establish a corresponding two-dimensional array. A third regression model between the elements of the two-dimensional array and the control command can be established. Based on the third regression model, the two-dimensional array element corresponding to the control command to not close the door can be determined.

[0071] Classifying driver gestures or vehicle signals can also be achieved by establishing corresponding AI classification models. The first, second, and third regression models can be established using regression algorithms such as support vector machines.

[0072] In some specific embodiments, when an open door is detected, determining the driver's control command for the door based on the driver's status and / or vehicle signals further includes the following steps:

[0073] Within each detection cycle, when the determined control command is to keep the door closed, the flag bit for the corresponding detection cycle is set to true.

[0074] Within a time period of a preset length from the current time, the cumulative number of detection cycles in which the flag bit is true is recorded. When the cumulative number exceeds a preset threshold, it is determined that the driver's control command for the car door is not to close the door.

[0075] Step S2: When the control command is to leave the door open, detect whether there is a warning target within the warning area for an open door.

[0076] In some specific embodiments, when the control command is to leave the door open, detecting whether a warning target exists within the unclosed door warning area further includes the following steps:

[0077] Based on the vehicle's direction of travel and speed, the shape and size of the unclosed door warning area are dynamically updated, and image recognition devices and / or electromagnetic wave emitting devices are used to detect whether there are obstacles in the warning area in real time.

[0078] Step S3: When a warning target is detected within the warning area of ​​an unclosed door, a second warning signal is issued.

[0079] In some specific embodiments, when a warning target is detected within the warning area for an unclosed vehicle door, a second warning signal is issued, including the following steps:

[0080] When an obstacle is detected in the unclosed door warning area, a second warning signal is issued. The second warning signal includes steering wheel vibration, corresponding voice prompts, and indication of the location of the unclosed door.

[0081] The second warning signal will be stopped when an obstacle is detected to have left the unclosed door warning area.

[0082] When the driver issues a control command to keep the doors open, all warning signals for open doors will be stopped.

[0083] In some specific embodiments, the door-open protection warning method further includes the following steps:

[0084] When an unclosed door is detected, a first warning signal is issued. The warning level of the first warning signal is lower than that of the second warning signal. When an obstacle is detected to have left the warning area of ​​the unclosed door, the warning signal is downgraded to the first warning signal.

[0085] When the driver issues a control command to keep the doors open, all open door warning signals are stopped. By classifying the warning signals, different risk situations are distinguished, making the warnings more accurate.

[0086] The method described in this embodiment can detect and warn pedestrians and vehicles in the vicinity of an open vehicle door, effectively preventing collisions between the door and pedestrians or vehicles, and preventing vehicle scrapes. This improves vehicle safety, reduces vehicle damage and personal injury, and has high practical value. Furthermore, it can intelligently judge corresponding control commands based on the driver's actions and posture, reducing driving burden, enhancing the driving experience, and improving the accuracy of warnings. Further, by determining whether the target has left the warning area, or if the driver decides to keep the door open, the warning can automatically stop, reducing false alarms.

[0087] In a specific embodiment, such as Figure 2 As shown, the specific procedure for the door-open warning system is as follows:

[0088] 1) Door sensors detect whether the doors are closed;

[0089] The vehicle uses door sensors to detect whether the doors are closed, determining their status and triggering a warning mechanism. Specifically, when a door is not closed, the door sensor transmits a signal to the control center, triggering the warning module and issuing a first warning signal. This first warning signal includes: the vehicle alarm sounds, the door-open indicator light illuminates, and a voice prompt to the driver that the door is not closed. The voice prompt may be: "Please note, the left rear door is not closed. Please check and close the door," or "Warning, the left rear door is not closed." Optionally, the central control screen displays which door is not closed.

[0090] 2) Determine whether the driver intentionally left the car door open;

[0091] Specifically, the driver state judgment module combines the detection from the DMS (Driver Management System) with vehicle signals to intelligently determine whether the driver intentionally leaves the door open. The DMS detects whether the driver intentionally issues a control command to leave the door open by recognizing features such as the driver's eye movements, head posture, and hand posture. For example, the characteristics of intentionally leaving the door open can be defined as: the driver looking straight ahead, the driver's body posture showing no tendency to turn towards leaving the door open, and the driver's hands placed on the steering wheel.

[0092] Specifically, vehicle signals used to determine whether the driver intentionally left the door open can be: gear position signal, accelerator opening, and brake opening. Within a detection cycle, the driver status judgment module receives the detection features from the DMS and the vehicle signals, intelligently determining whether the driver intentionally left the door open. If the driver intentionally left the door open, a true flag is output. Within a certain time range, if the cumulative number of detection cycles with the true flag exceeds a threshold, it is determined that the driver intentionally left the door open. Simultaneously, the driver status judgment module transmits a signal to the control center, triggering the environment judgment module.

[0093] 3) Are there any warning targets within the warning area where the car door is not closed?

[0094] The surrounding environment assessment module uses electromagnetic wave emitting devices, such as radar, to detect in real time whether there are pedestrians or vehicles in the vicinity of unopened car doors. This detection module can dynamically update the shape and size of the warning area based on the vehicle's direction and speed. The speed is divided into three levels: low, medium, and high. For example, if the vehicle is moving forward at a low speed, the warning area will be 20*10m in length and width. 2 The warning area is a rectangular area. If a target is detected within the warning area, a second warning signal is issued: the vehicle alarm sounds, the door-open indicator light illuminates, the steering wheel vibrates, and a voice prompt is played to remind the driver that the door is not closed and there is a possibility of scratches or collisions. The voice prompt can be: "Please note that the door is not closed, and there is a possibility of scratches or collisions. Please close the door immediately." Optionally, the location of the open door can be displayed on the central control screen.

[0095] 4) If the target leaves the warning area, the warning level is downgraded; if the driver confirms that the door is left open, the warning is stopped.

[0096] When the surrounding environment assessment module detects no target within the warning area, the warning remains at the highest level. Once the driver confirms that the door remains open after the warning module issues a warning, through voice response, clicking options on the central control panel, or other means, the warning will cease.

[0097] In the specific embodiments described above, the system can promptly detect whether the vehicle door is closed, effectively preventing situations where the door is not closed while the vehicle is in motion and reducing the risk of accidents. It detects and issues warnings to pedestrians and vehicles in the vicinity of open doors, effectively preventing collisions between the door and pedestrians or vehicles, and minor scrapes. It determines whether the driver intentionally leaves the door open, reducing false alarms and improving the accuracy of warnings. By issuing warnings, the system reminds the driver to close the door promptly, reducing the probability of scrapes and collisions and improving driving safety. The system automatically stops issuing warnings once the target leaves the warning area or the driver confirms that the door remains open, further reducing false alarms.

[0098] Those skilled in the art can change the above order without departing from the scope of protection of this disclosure.

[0099] Another embodiment of the present invention provides a vehicle door unclosed protection and warning device, the structure of which is as follows: Figure 3 As shown, it includes:

[0100] The system comprises a perception module, an intelligent decision-making module, and an early warning module.

[0101] The perception module includes vehicle sensors and a DMS, used to detect the status of the vehicle doors, identify the driver's action and posture characteristics, and collect vehicle signals.

[0102] The intelligent decision-making module includes a driver status judgment module and a surrounding environment judgment module, which are used to determine the driver's control command for the door based on the driver's status and / or vehicle signals when the door is detected to be open; when the control command is to leave the door open, the module detects whether there is a warning target within the warning area for the open door.

[0103] The warning module is used to issue a second warning signal when a warning target is detected in the warning area of ​​an unclosed door.

[0104] Regarding the system in the above embodiments, the specific ways in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0105] In this embodiment, pedestrians and vehicles in the vicinity of an open car door can be detected and warned in a timely and effective manner, preventing accidents such as collisions between the car door and pedestrians or vehicles, and scratches on vehicles. This improves vehicle driving safety, reduces vehicle damage and personal injury, and has high practical value. Furthermore, it can intelligently judge the corresponding control commands based on the driver's actions and postures, reducing the driving burden, enhancing the driving experience, and improving the accuracy of warnings.

[0106] Another embodiment of the present invention provides a method for recognizing driver control commands, the process of which is as follows: Figure 4 As shown, it includes the following steps:

[0107] The DMS is used to identify driver action and posture features. Based on the mapping relationship between driver action and posture features and control commands, the control commands corresponding to the identified driver action and posture features are determined.

[0108] Within each detection cycle, when the determined control command is to keep the door closed, the flag bit for the corresponding detection cycle is set to true.

[0109] Within a time period of a preset length from the current time, the cumulative number of detection cycles in which the flag bit is true is recorded. When the cumulative number exceeds a preset threshold, it is determined that the driver's control command for the car door is not to close the door.

[0110] Specifically, establishing a mapping relationship between driver's action posture features and control commands includes the following steps: identifying driver's action posture features, classifying the driver's action posture features according to control commands, and determining the driver's action posture features corresponding to the control command to not close the door; or, identifying driver's action posture features, establishing a first regression model between driver's action posture features and control commands, and determining the driver's action posture features corresponding to the control command to not close the door according to the first regression model.

[0111] During the detection period, based on the features identified by the DMS (Distributed Monitoring System), an AI algorithm intelligently determines whether the driver intentionally leaves the car door open. If the driver is determined to have intentionally left the door open, a flag indicating that the driver has intentionally left the door open is output. Within a certain time range, if the cumulative number of detection periods with the flag indicating that the driver has intentionally left the door open exceeds a threshold, it is determined that the driver has indeed left the door open.

[0112] In this embodiment, the corresponding control commands can be intelligently judged based on the driver's actions and postures, which reduces the driving burden, improves the driving experience, and enhances the accuracy of warnings.

[0113] Based on the same inventive concept, embodiments of the present invention also provide a computer storage medium storing computer-executable instructions, which, when executed by a processor, implement the aforementioned door-open protection warning method or driver control command recognition method.

[0114] Any modifications, additions, and equivalent substitutions made within the scope of the principles of this invention shall still fall within the patent coverage of this invention. The terms "first," "second," etc., used in the above description do not indicate a sequential order but are merely for distinction and identification.

Claims

1. A method for providing early warning and protection against unclosed vehicle doors, characterized in that, Includes the following steps: When an open door is detected, the driver's control command to the door is determined based on the driver's status and / or vehicle signals. When the control command is to leave the door open, detect whether there is a warning target within the warning area for an open door; When a warning target is detected within the warning area for an unclosed door, a second warning signal is issued; When an open door is detected, determining the driver's control command for the door based on the driver's status and / or vehicle signals includes: The DMS is used to identify driver action and posture features. Based on the mapping relationship between driver action and posture features and control commands, the control commands corresponding to the identified driver action and posture features are determined. Alternatively, the control commands corresponding to the identified driver's action and posture features are compared with the control commands corresponding to the collected vehicle signals. The control commands that match the comparison are determined as the control commands corresponding to the identified driver's action and posture features and vehicle signals. When the comparison does not match, the control commands determined by the higher priority mapping relationship are determined as the control commands corresponding to the identified driver's action and posture features and vehicle signals according to the preset mapping relationship priority. Alternatively, based on the mapping relationship between the driver's posture characteristics and vehicle signals to control commands, the control commands corresponding to the identified driver posture characteristics and vehicle signals can be determined. The establishment of the mapping relationship between the driver's posture characteristics and control commands includes the following steps: Identify the driver's action and posture characteristics, classify the driver's action and posture characteristics according to the control commands, and determine the driver's action and posture characteristics corresponding to the control command to not close the door. Alternatively, identify the driver's action and posture characteristics, establish a first regression model between the driver's action and posture characteristics and control commands, and determine the driver's action and posture characteristics corresponding to the control command to not close the door based on the first regression model. Establishing a mapping relationship between vehicle signals and control commands includes the following steps: Collect vehicle signals, classify the vehicle signals according to control commands, and determine the vehicle signal corresponding to the control command to not close the door; Alternatively, vehicle signals can be collected, a second regression model between vehicle signals and control commands can be established, and the vehicle signal corresponding to the control command to not close the door can be determined based on the second regression model. Establishing a mapping relationship between driver's action and posture characteristics, vehicle signals, and control commands includes the following steps: The driver's action posture features and vehicle signals are identified, and the identified driver's action posture features and vehicle signals are combined to establish a corresponding two-dimensional array. The elements in the two-dimensional array are classified according to the control command to determine the driver's action posture features corresponding to the control command to not close the door. Alternatively, the driver's posture features and vehicle signals can be identified, and the identified driver posture features and vehicle signals can be combined to establish a corresponding two-dimensional array. A third regression model between the elements of the two-dimensional array and the control command can be established. Based on the third regression model, the two-dimensional array element corresponding to the control command to not close the door can be determined.

2. The method as described in claim 1, characterized in that, When an open door is detected, the system determines the driver's control command for the door based on the driver's status and / or vehicle signals, and also includes the following steps: Within each detection cycle, when the determined control command is to keep the door closed, the flag bit for the corresponding detection cycle is set to true. Within a time period of a preset length from the current time, the cumulative number of detection cycles in which the flag bit is true is recorded. When the cumulative number exceeds a preset threshold, it is determined that the driver's control command for the car door is not to close the door.

3. The method as described in claim 1, characterized in that, When the control command is to leave the door open, detecting whether a warning target exists within the unclosed door warning area also includes the following steps: Based on the vehicle's direction of travel and speed, the shape and size of the unclosed door warning area are dynamically updated, and image recognition devices and / or electromagnetic wave emitting devices are used to detect whether there are obstacles in the warning area in real time.

4. The method as described in claim 1, characterized in that, When a warning target is detected within the warning area for an unclosed vehicle door, a second warning signal is issued, including the following steps: When an obstacle is detected in the unclosed door warning area, a second warning signal is issued. The second warning signal includes steering wheel vibration, corresponding voice prompts, and indication of the location of the unclosed door. The second warning signal will be stopped when an obstacle is detected to have left the unclosed door warning area. When the driver issues a control command to keep the doors open, all warning signals for open doors will be stopped.

5. The method as described in claim 1, characterized in that, The method for providing a warning that a car door is not closed also includes the following steps: When an unclosed door is detected, a first warning signal is issued. The warning level of the first warning signal is lower than that of the second warning signal. When an obstacle is detected to have left the warning area of ​​the unclosed door, the warning signal is downgraded to the first warning signal. When the driver issues a control command to keep the doors open, all warning signals for open doors will be stopped.

6. A vehicle door open warning device, characterized in that, include: The system comprises a perception module, an intelligent decision-making module, and an early warning module. The perception module includes vehicle sensors and a DMS, used to detect the status of the vehicle doors, identify the driver's action and posture characteristics, and collect vehicle signals. The intelligent decision-making module includes a driver status judgment module and a surrounding environment judgment module, which are used to determine the driver's control command for the door based on the driver status and / or vehicle signals when the door is detected to be open. When the control command is to leave the door open, detect whether there is a warning target within the warning area for an open door; The warning module is used to issue a second warning signal when a warning target is detected in the warning area of ​​an unclosed door; When an open door is detected, determining the driver's control command for the door based on the driver's status and / or vehicle signals includes: The DMS is used to identify driver action and posture features. Based on the mapping relationship between driver action and posture features and control commands, the control commands corresponding to the identified driver action and posture features are determined. Alternatively, the control commands corresponding to the identified driver's action and posture features are compared with the control commands corresponding to the collected vehicle signals. The control commands that match the comparison are determined as the control commands corresponding to the identified driver's action and posture features and vehicle signals. When the comparison does not match, the control commands determined by the higher priority mapping relationship are determined as the control commands corresponding to the identified driver's action and posture features and vehicle signals according to the preset mapping relationship priority. Alternatively, based on the mapping relationship between the driver's posture characteristics and vehicle signals to control commands, the control commands corresponding to the identified driver posture characteristics and vehicle signals can be determined. The establishment of the mapping relationship between the driver's posture characteristics and control commands includes the following steps: Identify the driver's action and posture characteristics, classify the driver's action and posture characteristics according to the control commands, and determine the driver's action and posture characteristics corresponding to the control command to not close the door. Alternatively, identify the driver's action and posture characteristics, establish a first regression model between the driver's action and posture characteristics and control commands, and determine the driver's action and posture characteristics corresponding to the control command to not close the door based on the first regression model. Establishing a mapping relationship between vehicle signals and control commands includes the following steps: Collect vehicle signals, classify the vehicle signals according to control commands, and determine the vehicle signal corresponding to the control command to not close the door; Alternatively, vehicle signals can be collected, a second regression model between vehicle signals and control commands can be established, and the vehicle signal corresponding to the control command to not close the door can be determined based on the second regression model. Establishing a mapping relationship between driver's action and posture characteristics, vehicle signals, and control commands includes the following steps: The driver's action posture features and vehicle signals are identified, and the identified driver's action posture features and vehicle signals are combined to establish a corresponding two-dimensional array. The elements in the two-dimensional array are classified according to the control command to determine the driver's action posture features corresponding to the control command to not close the door. Alternatively, the driver's posture features and vehicle signals can be identified, and the identified driver posture features and vehicle signals can be combined to establish a corresponding two-dimensional array. A third regression model between the elements of the two-dimensional array and the control command can be established. Based on the third regression model, the two-dimensional array element corresponding to the control command to not close the door can be determined.

7. A method for recognizing driver control commands, characterized in that, Includes the following steps: The DMS is used to identify driver gesture features. Based on the mapping relationship between driver gesture features and control commands, the control command corresponding to the identified driver gesture features is determined. Alternatively, the control command corresponding to the identified driver gesture features is compared with the control command corresponding to the collected vehicle signal. The control command that matches the comparison is determined as the control command corresponding to the identified driver gesture features and vehicle signal. When the comparison does not match, the control command determined by the higher priority mapping relationship is determined as the control command corresponding to the identified driver gesture features and vehicle signal. Alternatively, based on the mapping relationship between the driver's posture characteristics and vehicle signals to control commands, the control commands corresponding to the identified driver posture characteristics and vehicle signals can be determined. Within each detection cycle, when the determined control command is to keep the door closed, the flag bit for the corresponding detection cycle is set to true. Within a time period of a preset length from the current time, the cumulative number of detection cycles in which the flag bit is true is recorded. When the cumulative number exceeds a preset threshold, it is determined that the driver's control command for the car door is not to close the door. The establishment of the mapping relationship between the driver's posture characteristics and control commands includes the following steps: Identify the driver's action and posture characteristics, classify the driver's action and posture characteristics according to the control commands, and determine the driver's action and posture characteristics corresponding to the control command to not close the door. Alternatively, identify the driver's action and posture characteristics, establish a first regression model between the driver's action and posture characteristics and control commands, and determine the driver's action and posture characteristics corresponding to the control command to not close the door based on the first regression model. Establishing a mapping relationship between vehicle signals and control commands includes the following steps: Collect vehicle signals, classify the vehicle signals according to control commands, and determine the vehicle signal corresponding to the control command to not close the door; Alternatively, vehicle signals can be collected, a second regression model between vehicle signals and control commands can be established, and the vehicle signal corresponding to the control command to not close the door can be determined based on the second regression model. Establishing a mapping relationship between driver's action and posture characteristics, vehicle signals, and control commands includes the following steps: The driver's action posture features and vehicle signals are identified, and the identified driver's action posture features and vehicle signals are combined to establish a corresponding two-dimensional array. The elements in the two-dimensional array are classified according to the control command to determine the driver's action posture features corresponding to the control command to not close the door. Alternatively, the driver's posture features and vehicle signals can be identified, and the identified driver posture features and vehicle signals can be combined to establish a corresponding two-dimensional array. A third regression model between the elements of the two-dimensional array and the control command can be established. Based on the third regression model, the two-dimensional array element corresponding to the control command to not close the door can be determined.

8. A computer storage medium, characterized in that, The computer storage medium stores computer-executable instructions, which, when executed, implement the door-open protection warning method according to any one of claims 1-5 or the driver control command recognition method according to claim 7.

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