Vehicle control method and device, electronic equipment and readable storage medium

Abstract

The application relates to the technical field of vehicle control, and provides a vehicle control method and device, electronic equipment and a readable storage medium. The method comprises the following steps: in the case that it is determined that a vehicle door is to be switched to an open door state, acquiring image information; in the case that it is determined through the image information that there is an obstacle outside the vehicle door, measuring a distance between the vehicle door and the obstacle; measuring a second distance between the obstacle and a vehicle body; in the case that the distance is less than a first safety distance and the second distance is greater than a second safety distance, issuing first prompt information and controlling the door opening degree to be within a first preset opening degree; in the case that the distance is less than the first safety distance and the second distance is less than the second safety distance, issuing second prompt information; and in the case that the driver does not move the vehicle based on the second prompt information, controlling the vehicle to move; the application embodiment solves the problem that the prior art cannot well prevent vehicle scratching.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle control method, device, electronic device, and readable storage medium. Background Technology

[0002] As people's living standards continue to improve, the number of cars in our lives is increasing. Car scratches are something many car owners have encountered. Minor scratches affect the overall appearance of a car, while more serious scratches require the car to be sent for paint repair or other repairs. This is because once the primer is damaged, even very small scratches can develop into rust if left unattended for a long time.

[0003] Currently, the main way to prevent car scratches is to improve the driver's driving skills to reduce the occurrence of car scratches. However, drivers always have blind spots and cannot monitor the situation around the vehicle in a 360-degree all-round way, which makes it easy for scratches to occur.

[0004] Therefore, existing technologies cannot effectively prevent vehicle scratches. Summary of the Invention

[0005] In view of this, embodiments of this application provide a vehicle control method, device, electronic device, and readable storage medium to solve the problem that the prior art cannot effectively prevent vehicle scratches.

[0006] A first aspect of this application provides a vehicle obstacle warning method, including:

[0007] Once it is determined that the vehicle door is about to be switched to the open position, image information captured by the vehicle-mounted camera is obtained;

[0008] When an obstacle is determined to exist outside the car door through image information, a first distance between the inner edge of the car door and the obstacle is measured by a laser rangefinder, and a second distance between the obstacle and the vehicle body is measured by a laser rangefinder, wherein the inner edge of the car door is the edge where the car door connects to the vehicle body;

[0009] If the first distance is less than the first safe distance and the second distance is greater than the second safe distance, a first warning message is issued, and the opening degree of the car door is controlled to be less than the first preset opening degree; the first warning message is used to remind the driver that there is an obstacle outside the car door, wherein the second safe distance is less than the first safe distance;

[0010] If the first distance is less than the first safe distance and the second distance is less than the second safe distance, a second prompt message will be issued to remind the driver to move the vehicle.

[0011] If no movement of the vehicle by the driver based on the second prompt information is detected, the vehicle is controlled to move until the first distance is greater than the first safe distance and the second distance is greater than the second safe distance.

[0012] A second aspect of this application provides a vehicle obstacle warning device, comprising:

[0013] The shooting module is used to acquire image information captured by the vehicle camera when it is determined that the vehicle door is about to be switched to the open state;

[0014] The ranging module, when it is determined through image information that there is an obstacle outside the car door, measures the first distance between the inner edge of the car door and the obstacle through a laser ranging sensor, and measures the second distance between the obstacle and the vehicle body through a laser ranging sensor, wherein the inner edge of the car door is the edge connecting the car door and the vehicle body;

[0015] The first prompting module is used to issue a first prompting message when the first distance is less than the first safe distance and the second distance is greater than the second safe distance, and to control the opening degree of the car door to be less than the first preset opening degree; the first prompting message is used to remind the driver that there is an obstacle outside the car door, wherein the second safe distance is less than the first safe distance;

[0016] The second prompt module is used to issue a second prompt message when the first distance is less than the first safe distance and the second distance is less than the second safe distance. The second prompt message is used to remind the driver to move the vehicle.

[0017] The control module is used to control the vehicle to move until a first distance is greater than a first safe distance and a second distance is greater than a second safe distance when no movement of the vehicle by the driver based on the second prompt information is detected.

[0018] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0019] A fourth aspect of this application provides a readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0020] The beneficial effects of the embodiments in this application compared with the prior art are:

[0021] Before opening the car door, the system analyzes the surrounding environment and issues a warning message if an obstacle is detected outside the vehicle, thus effectively preventing the obstacle from scratching or damaging the car door when it is opened.

[0022] When it's determined that a vehicle door is about to open, an onboard camera captures images of the outside environment. These images are then analyzed to determine if any obstacles are present. If an obstacle is detected, laser rangefinders mounted on both sides of the vehicle measure a first distance from the inner edge of the door to the obstacle and a second distance between the obstacle and the vehicle body. A first safety distance is defined for the vehicle. If the distance is greater than this first safety distance, there is no risk of the door being scratched by the obstacle. If the distance is less than the first safety distance, but the second distance between the obstacle and the vehicle body is greater than this second safety distance, there is a risk of the door being scratched. In this case, the vehicle issues a first warning message to alert the driver of the obstacle. The driver, upon receiving the warning, can then alert other passengers. Knowing that an obstacle exists, passengers or the driver will be more mindful of the force applied when opening the door, effectively reducing the risk of the door being scratched. Furthermore, the door opening is controlled within a first preset opening degree, which is set based on the approximate body size of an adult. This ensures that passengers can exit the vehicle when the door is at this preset opening degree. By setting the first preset opening degree and controlling the door opening within this limit, it effectively prevents passengers from using excessive force to open the door, thus avoiding the door from opening too wide and causing scratches. This provides another layer of protection against vehicle scratches. When the distance is less than the first safe distance and the second safe distance is less than the second safe distance, it means that opening the door and allowing passengers to exit carries a significant risk of the door hitting an obstacle, resulting in scratches and damage to the vehicle. This indicates that opening the door at this position is highly likely to cause damage. Therefore, in this situation, the vehicle issues a second warning message, reminding the driver to leave the current parking position to avoid scratches. If the driver does not move the vehicle based on the second warning message, the vehicle is moved away from the risky location, effectively reducing or resolving the problem of vehicle scratches. This solution addresses the problem that existing technologies cannot effectively prevent vehicle scratches. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1This is a flowchart illustrating a vehicle obstacle warning method provided in an embodiment of this application;

[0025] Figure 2 This is a flowchart illustrating another vehicle obstacle warning method provided in an embodiment of this application;

[0026] Figure 3 This is a schematic diagram of the structure of a vehicle obstacle warning device provided in an embodiment of this application;

[0027] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0028] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0029] A vehicle obstacle warning method and apparatus according to embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0030] Figure 1 This is a flowchart illustrating a vehicle obstacle warning method provided in an embodiment of this application. Figure 1 As shown, the vehicle obstacle warning method includes:

[0031] Step 101: When it is determined that the vehicle door is to be switched to the open state, obtain image information captured by the vehicle camera.

[0032] Specifically, occupants inside the vehicle convey their intention to open the door by pulling a handle located on the inside of the door. At this point, the vehicle detects that the door is ready to switch to the open position. The onboard cameras are positioned at the highest points on both the left and right sides of the vehicle. These cameras are the primary visual sensors for advanced driver assistance systems (ADAS) and are among the most mature types of sensors, capable of capturing images through lenses. The onboard cameras have photosensitive and control components, which analyze and process the images, converting them into digital signals that the vehicle controller can process. When the vehicle determines that the door is ready to switch to the open position, the onboard cameras located on the left and right sides of the vehicle capture image information of the surrounding area—specifically, the area near the sides of the doors.

[0033] When the status of the door handle inside the vehicle is detected as indicating that the vehicle door is about to open, the vehicle camera captures images of the surrounding environment. Obtaining accurate and timely image information is essential for subsequent obstacle warnings to prevent the vehicle from being scratched.

[0034] Step 102: If it is determined through image information that there is an obstacle outside the car door, the first distance between the inner edge of the car door and the obstacle is measured by a laser rangefinder, and the second distance between the obstacle and the vehicle body is measured by a laser rangefinder, wherein the inner edge of the car door is the edge where the car door connects to the vehicle body.

[0035] Specifically, the obstacle is any object outside the vehicle that may cause damage to the vehicle's surface. It can be a wall, a fence, a rock, another vehicle, or even a person. This application does not limit the type of obstacle; relevant R&D and production personnel can set the type of obstacle according to the actual situation. The aforementioned laser ranging sensors are installed on the left and right sides of the vehicle. They can measure and subsequently calculate the first distance between the inner edge of the door and the obstacle, and the second distance between the obstacle and the vehicle body. In this application, the first distance between the door and the obstacle refers to the distance from the obstacle to the connection point between the door and the vehicle body.

[0036] The vehicle-mounted camera uses an adaptive algorithm to analyze image information captured as the vehicle door is about to open, checking for obstacles around the vehicle and transmitting the analysis results to the controller. If an obstacle is present outside the door, the controller, based on the analysis results, directs a laser rangefinder to measure the distance between the inner edge of the door and the obstacle. If multiple obstacles are detected around the vehicle, it is necessary to measure the first distance between each obstacle and the inner edge of the door, as well as the second distance between each obstacle and the vehicle body. Obtaining the distance between the door and obstacles is essential for the next step of providing obstacle warnings; therefore, using a laser rangefinder with precise measurement and fast response speed is crucial for obtaining accurate distance results.

[0037] Step 103: When the first distance is less than the first safe distance and the second distance is greater than the second safe distance, issue a first prompt message and control the opening degree of the car door to be less than the first preset opening degree; the first prompt message is used to remind the driver that there is an obstacle outside the car door, wherein the second safe distance is less than the first safe distance;

[0038] Specifically, the first safety distance is a pre-set safe distance for opening a vehicle door. This first safety distance is related to the distance between the farthest edge of the door away from the vehicle body and the point where the door connects to the vehicle body; in simpler terms, it is related to the size of the vehicle door. This application does not specify a specific value for the first safety distance. In practice, vehicle R&D and manufacturing personnel will set the first safety distance based on the size of the vehicle door, ensuring that even when the distance between an obstacle and the door is greater than the first safety distance, the obstacle will not contact the door, even when the door is opened to its maximum. The second safety distance is smaller than the first safety distance and refers to the vertical distance between the farthest edge of the door away from the vehicle body and the vehicle body when the vehicle door is opened to a first preset opening degree. When the vehicle door is opened to the first preset opening degree, only one adult male can exit the vehicle. This application also does not specify a specific value for the second safety distance; its specific value is determined based on the body shape of vehicle users in real life.

[0039] If the first distance is less than the first safe distance and the second distance is greater than the second safe distance, it means that if the car door is fully opened at this time, there is a certain possibility that the car door will come into contact with the obstacle, resulting in the vehicle being scratched. Therefore, it is necessary to issue a first warning message to inform the occupants of the obstacle nearby and to inform them of the risk of scratching. To further ensure safety, the opening of the car door is controlled within the first preset opening. This way, when the door is opened, the occupants can exit the vehicle smoothly, and the vehicle door can be prevented from being scratched.

[0040] Step 104: If the first distance is less than the first safe distance and the second distance is less than the second safe distance, issue a second prompt message. The second prompt message is used to remind the driver to move the vehicle.

[0041] Specifically, when the first distance is less than the first safe distance and the second distance is less than the second safe distance, there are two situations. The first situation is that the obstacle is in the left or right front of the connection between the front door and the vehicle body. In this case, even if the first distance is less than the first safe distance and the second distance is less than the second safe distance, the obstacle will not be hit when the front door is opened to the first preset opening degree. Therefore, when the first distance is less than the first safe distance and the second distance is less than the second safe distance, and the obstacle is in the left or right front of the connection between the front door and the vehicle body, the door opening degree is controlled within the first preset opening degree. This can also ensure that the obstacle will not come into contact with the vehicle when the door is opened, and the vehicle can be prevented from being scratched. The second scenario is that the obstacle is located to the left or right rear of the connection between the front door and the vehicle body. In this case, the distance is less than the first safe distance and the second distance is less than the second safe distance. Therefore, as long as the door is opened to the first preset opening, the door will come into contact with the obstacle, which may cause damage to the vehicle. However, the first preset opening is the minimum door opening required when a single person leaves the vehicle. Therefore, in order for the people in the vehicle to get out smoothly and to ensure that the vehicle is not scratched, the controller issues the first prompt message to remind the driver to move the vehicle to a safe position where there is no risk of scratching.

[0042] Step 105: If no movement of the vehicle by the driver based on the second prompt information is detected, control the vehicle to move until the first distance is greater than the first safe distance and the second distance is greater than the second safe distance.

[0043] Specifically, the vehicle can also control the vehicle to move to a new position when no movement of the vehicle by the driver based on the second prompt information is detected. This ensures that the first distance at the new position is greater than the first safe distance and the second distance is greater than the second safe distance, thereby ensuring that the door will not be scratched by obstacles when it is opened.

[0044] When it's determined that a vehicle door is about to open, an onboard camera captures images of the exterior. These images are then analyzed to determine if any obstacles are present. Upon detection of an obstacle, laser rangefinders on both sides of the vehicle measure a first distance from the inner edge of the door to the obstacle and a second distance between the obstacle and the vehicle body. If the first distance is less than a first safe distance but the second distance between the obstacle and the vehicle body is greater than a second safe distance, it indicates a risk of scratching the vehicle when the door is opened. In this case, the vehicle issues a warning signal to alert the driver and other occupants of the potential obstacle. Knowing that an obstacle exists, passengers or the driver will be more mindful of the force applied when opening the door, effectively reducing the risk of scratches. Furthermore, the door opening is controlled within a first preset opening degree, which is set based on the approximate body size of an adult. This ensures that passengers can exit the vehicle when the door is at this preset opening degree. By setting the first preset opening degree and controlling the door opening within this limit, it effectively prevents passengers from using excessive force to open the door, thus avoiding the door from opening too wide and causing scratches. This provides another layer of protection against vehicle scratches. When the distance is less than the first safety distance and the second distance is less than the second safety distance, it means that opening the door and allowing passengers to exit carries a significant risk of the door hitting an obstacle, resulting in scratches and damage to the vehicle. Therefore, in this situation, the vehicle issues a second warning message, reminding the driver to leave the current parking position to prevent the vehicle from being scratched. If the driver does not move the vehicle based on the second warning message, the vehicle is controlled to move away from the risky location, effectively reducing or resolving the problem of vehicle scratches. This solution addresses the lack of anti-scratch technology for automobiles in existing technologies.

[0045] In some embodiments, the vehicle-mounted camera includes a first camera disposed on the left side of the vehicle; the image information includes first image information captured by the first camera; and the laser rangefinder includes a first laser rangefinder disposed on the left side of the vehicle.

[0046] When it is determined through the first image information that there is an obstacle outside the left door of the vehicle, the first distance includes the first front door distance between the inner edge of the left front door of the vehicle and the obstacle on the left side of the vehicle, and the first rear door distance between the inner edge of the left rear door of the vehicle and the obstacle on the left side of the vehicle.

[0047] The first distance between the inner edge of the car door and the obstacle is measured using a laser rangefinder, including:

[0048] The first distance between the obstacle on the left side of the vehicle and the first laser rangefinder sensor is measured by the first laser rangefinder sensor, and the first front relative angle information between the obstacle and the inner edge of the left front door of the vehicle and the first rear relative angle information between the obstacle and the inner edge of the left rear door of the vehicle are obtained.

[0049] The first front door distance is obtained based on the first interval distance and the first front relative angle information;

[0050] The first rear door distance is obtained based on the first interval distance and the first relative angle information.

[0051] Specifically, the doors provide access for the driver and passengers to enter and exit the vehicle, while also isolating them from external interference. A first camera and a first laser rangefinder are both located on the left side of the vehicle. The first camera captures images of the environment to the left of the vehicle, while the first laser rangefinder measures the distance from obstacles to the left-side door.

[0052] For example, when the door handle on the inside of the vehicle detects that the door is about to open, the system acquires the first image of the environment on the left side of the vehicle captured by the first camera and analyzes this image. If the analysis indicates that there is an obstacle on the left side of the vehicle, then the first laser rangefinder needs to measure the distance from the obstacle to the left door. By using the first camera to monitor for obstacles on the left side of the vehicle and then using the first laser rangefinder to measure the distance to the obstacle, the system provides protection for the left door and prevents it from being scratched.

[0053] like Figure 2 As shown, the first front door distance refers to the distance between the obstacle on the left and the inner edge of the left front door, and the first rear door distance refers to the distance between the obstacle on the left and the inner edge of the left rear door. The first interval distance measured by the first laser rangefinder is the first interval distance from the obstacle on the left side of the vehicle to the first laser rangefinder. Then, the first front relative angle information α between the obstacle on the left and the left front door of the vehicle is obtained. Combined with the distance from the first laser rangefinder to the inner edge of the left front door, relevant mathematical calculations are performed to obtain the first front door distance between the obstacle on the left and the inner edge of the left front door. Similarly, the first rear relative angle information β between the obstacle on the left and the left rear door of the vehicle is obtained. Combined with the distance from the first laser rangefinder to the inner edge of the left rear door, relevant mathematical calculations are performed to obtain the first rear door distance between the obstacle on the left and the inner edge of the left rear door. By obtaining accurate and timely distance information through the laser rangefinder and combining it with relevant angle information, the accurate first front door distance and first rear door distance calculated provide a precise basis for subsequent anti-scratch measures.

[0054] In some embodiments, the vehicle-mounted camera includes a second camera disposed on the right side of the vehicle, the image information includes second image information captured by the second camera, and the laser ranging sensor includes a second laser ranging sensor disposed on the right side of the vehicle.

[0055] When it is determined through the second image information that there is an obstacle outside the right door of the vehicle, the first distance includes the second front door distance between the inner edge of the right front door of the vehicle and the obstacle on the right side of the vehicle, and the second rear door distance between the inner edge of the right rear door of the vehicle and the obstacle on the right side of the vehicle.

[0056] The first distance between the inner edge of the car door and the obstacle is measured using a laser rangefinder, including:

[0057] The second laser rangefinder sensor measures the second distance between the obstacle on the right side of the vehicle and the second laser rangefinder sensor, and obtains the second front relative angle information between the obstacle and the inner edge of the right front door of the vehicle and the second rear relative angle information between the obstacle and the inner edge of the right rear door of the vehicle.

[0058] The second front door distance is obtained based on the second interval distance and the second front relative angle information;

[0059] The second back door distance is obtained based on the second interval distance and the second relative angle information.

[0060] Specifically, the vehicle is equipped with a second camera located on the right side of the vehicle, and a second laser ranging sensor located on the right side of the vehicle; the second camera captures images of the environment on the right side of the vehicle; the second laser ranging sensor measures the distance from obstacles to the right-side door.

[0061] For example, when the door handle on the inside of the vehicle detects that the door is about to open, a second image of the environment on the right side of the vehicle, captured by the second camera, is acquired and analyzed. If the analysis indicates an obstacle on the right side of the vehicle, then the second laser rangefinder needs to measure the distance from the obstacle to the right door. By using the second camera to monitor for obstacles on the right side of the vehicle and the second laser rangefinder to measure the distance to the obstacle, the system protects the right door from scratches.

[0062] The second front door distance refers to the distance between the obstacle on the right side and the inner edge of the right front door, and the second rear door distance refers to the distance between the obstacle on the right side and the inner edge of the right rear door. The second interval distance measured by the second laser rangefinder is the distance from the obstacle on the right side of the vehicle to the second laser rangefinder. Then, the second relative angle information between the obstacle on the right side and the right front door is obtained. Combined with the distance from the second laser rangefinder to the inner edge of the right front door, relevant mathematical calculations are performed to obtain the second front door distance between the obstacle on the right side and the inner edge of the right front door. Similarly, the second relative angle information between the obstacle on the right side and the right rear door is obtained. Combined with the distance from the second laser rangefinder to the connection point between the right rear door and the vehicle body, relevant mathematical calculations are performed to obtain the second rear door distance between the obstacle on the right side and the inner edge of the right rear door. By obtaining accurate and timely distance information from the laser rangefinder and combining it with relevant angle information, the calculated accurate second front door and second rear door distances provide a precise basis for subsequent anti-scratch measures.

[0063] In some embodiments, the vehicle further includes a third camera and a third laser rangefinder disposed at the rear of the vehicle, and also includes:

[0064] When it is determined that the vehicle is reversing, a third image information captured by a third camera is acquired; if the third image information determines that there is an obstacle behind the vehicle, a third distance between the rear of the vehicle and the obstacle behind the vehicle is measured by a third laser ranging sensor; if the third distance is less than a third safe distance, a third warning message is issued to remind the driver that there is an obstacle behind the vehicle; if it is detected that the driver continues to reverse based on the third warning message, and if the third distance is detected to be less than a fourth safe distance, the vehicle is controlled to stop moving, wherein the fourth safe distance is less than the third safe distance.

[0065] Specifically, not only are vehicles prone to scratches when opening doors, but reversing is also a common scenario for scratches. Therefore, a solution is needed to prevent scratches while reversing. The third safety distance is the safe distance for reversing; this application does not limit the size of the third safety distance, allowing developers to set a reasonable number based on actual conditions. The fourth safety distance is the critical distance to ensure reversing safety; this application also does not specify a fourth safety distance.

[0066] When reversing, a third image of the rear environment captured by a third camera is acquired. An adaptive algorithm analyzes this image to determine if there are any obstacles behind the vehicle. If the analysis determines an obstacle posing a risk of damage, a third laser rangefinder sensor located behind the vehicle measures the distance between the rear of the vehicle and the obstacle. If this distance is less than a third safe distance, it indicates an imminent risk of rear-end collision. A third warning message is then sent to alert the driver of the obstacle. The driver, upon receiving this message, makes a decision, such as stopping to prevent contact with the obstacle and potential collision. If the third distance is less than a fourth safe distance, it indicates the vehicle has reached a critical reversing distance, and the vehicle is stopped to prevent rear-end contact with the obstacle. By using a third camera to monitor obstacles behind the vehicle and a third laser rangefinder to measure their distance, the system provides protection for the rear of the vehicle and prevents rear-end collisions.

[0067] In some embodiments, after determining that the vehicle is reversing, the method further includes:

[0068] The system obtains the vehicle's current reversing speed; if the speed exceeds the safe reversing speed, it issues a fourth warning message to remind the driver to slow down. If the system detects that the driver has not slowed down based on the fourth warning message, it controls the vehicle to issue an alarm sound.

[0069] Specifically, reversing is more difficult in terms of driving skills than driving, and due to limited visibility, the speed must be kept as slow as possible; otherwise, it can easily lead to an accident. According to relevant regulations, the driver reversing is fully responsible for any accidents that occur while reversing. If the speed is too high while reversing, even if an obstacle is detected, the driver may not have enough time to react before the vehicle comes into contact with it. Therefore, to ensure driving safety and avoid scratches to one's own vehicle while reversing, it is necessary to control the reversing speed within a certain range, that is, the speed when reversing must be less than the safe reversing speed.

[0070] When the vehicle is reversing, the system acquires its current reversing speed, also known as the initial speed. If this initial speed exceeds the safe reversing speed, a fourth warning message is issued to remind the driver to slow down, ensuring safe reversing. If the system subsequently detects that the driver has not slowed down, the vehicle emits a more prominent alarm sound. This dual warning system ensures that the driver maintains the reversing speed within the safe range, guaranteeing safe reversing.

[0071] In some embodiments, the vehicle further includes a fourth camera and a fourth laser rangefinder disposed at the front of the vehicle, and also includes:

[0072] If the vehicle is confirmed to be in motion, a fourth image is acquired via a fourth camera. If the image includes a moving vehicle, the vehicle's second speed is acquired, and a fourth distance between the vehicle and the moving vehicle is measured using a fourth laser ranging sensor. A second safe distance corresponding to the second speed is acquired. If the fourth distance is less than the second safe distance, a fifth warning message is issued to remind the driver to slow down. If the driver fails to slow down based on the fifth warning message, the vehicle's speed is reduced to a preset speed.

[0073] Specifically, when driving on the road, to ensure driving safety, it is necessary to maintain a certain distance from the vehicle in front. If the distance is too great, a rear-end collision is likely to occur. The faster the vehicle is traveling, the farther the corresponding safe distance. There is no specific regulation on the relationship between vehicle speed and safe distance. When setting the relationship between vehicle speed and safe distance, vehicle developers can refer to the relationship between vehicle speed and braking distance. Braking distance is related to vehicle speed, the friction coefficient of the road surface, and the material of the vehicle's tires.

[0074] The system analyzes the fourth image information captured by a fourth camera located at the front of the vehicle. If it determines that a vehicle is traveling ahead, it obtains the vehicle's current speed (a second speed). Simultaneously, a fourth laser distance sensor measures the distance between the vehicle and the vehicle ahead. Based on the correlation between speed and safe distance, a second safe distance is determined. If the fourth distance is less than the second safe distance, it indicates that the distance between the vehicle and the vehicle ahead is too close, posing a safety hazard. Therefore, the system issues a fifth warning message to remind the driver to slow down to ensure driving safety. If the driver fails to slow down, the system reduces the vehicle's speed to a preset speed to prevent rear-end collisions and collisions.

[0075] In some embodiments, controlling vehicle movement includes:

[0076] If the distance to the first front door is greater than the distance to the first rear door, control the vehicle to move forward;

[0077] If the distance to the first front door is less than or equal to the distance to the first rear door, control the vehicle to reverse.

[0078] Specifically, when the distance to the first front door is greater than the distance to the first rear door, controlling the vehicle to move forward can increase the distance to the first front door until the distance to the first front door is greater than the first safe distance. At this point, opening the front door will not pose a risk of being scratched by an obstacle. This operation can prevent the vehicle from being scratched.

[0079] When the distance to the first front door is less than the distance to the first rear door, you can increase the distance to the first rear door by reversing the vehicle until the distance to the first rear door is greater than the first safe distance. At this point, there is no risk of the rear door being scratched by an obstacle when you open it. This operation can prevent the vehicle from being scratched.

[0080] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0081] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0082] Figure 3 This is a schematic diagram of a vehicle obstacle warning device provided in an embodiment of this application. Figure 4 As shown, the device includes:

[0083] The shooting module 301 is used to acquire image information captured by the vehicle camera when it is determined that the vehicle door is about to be switched to the open state;

[0084] The ranging module 302, when it is determined through image information that there is an obstacle outside the car door, measures the first distance between the inner edge of the car door and the obstacle through a laser ranging sensor, and measures the second distance between the obstacle and the vehicle body through a laser ranging sensor, wherein the inner edge of the car door is the edge connecting the car door and the vehicle body;

[0085] The first prompt module 303 is used to issue a first prompt message when the first distance is less than the first safe distance and the second distance is greater than the second safe distance, and to control the opening degree of the car door to be less than the first preset opening degree; the first prompt message is used to remind the driver that there is an obstacle outside the car door, wherein the second safe distance is less than the first safe distance;

[0086] The second prompt module 304 is used to issue a second prompt message when the first distance is less than the first safe distance and the second distance is less than the second safe distance. The second prompt message is used to remind the driver to move the vehicle.

[0087] The control module 305 is used to control the vehicle to move when no movement of the vehicle by the driver based on the second prompt information is detected, until the first distance is greater than the first safe distance and the second distance is greater than the second safe distance.

[0088] According to the technical solution provided in this application embodiment, when the vehicle door is about to be switched to the open state, the shooting module 301 captures image information outside the vehicle using an onboard camera. The image information can be analyzed to determine if there are obstacles outside the door. After analyzing the image information, if an obstacle is detected outside the vehicle, the ranging module 302 uses laser ranging sensors installed on both sides of the vehicle to measure a first distance between the vehicle door and the obstacle, and a second distance between the obstacle and the vehicle body. The first warning module 303 sets a first safety distance. If the distance is greater than the first safety distance, it means there is no risk of the door being scratched by the obstacle outside the vehicle when opening the door. If the first distance is less than the first safety distance but the second distance between the obstacle and the vehicle body is greater than the second safety distance, it means there is a risk of the door being scratched when opening the door. Therefore, the vehicle issues a first warning message to remind the driver of the obstacle outside the door. By reminding the driver, the driver can then remind other passengers inside the vehicle. When the people inside the vehicle are aware of the obstacle outside, passengers or the driver will be more careful when opening the door, effectively avoiding the vehicle being scratched to a certain extent. Furthermore, the door opening is controlled within a first preset opening range to ensure that passengers can exit the vehicle when the door is at this preset opening range. By setting a first preset opening range and controlling the door opening within this range, it effectively prevents passengers from using excessive force to open the door, thus preventing the door from opening too wide and causing scratches. This provides another layer of protection against vehicle scratches. The second warning module 304 indicates that if the first distance is less than the first safe distance and the second distance is less than the second safe distance, it means that opening the door and allowing passengers to exit carries a significant risk of the door hitting an obstacle, resulting in scratches and damage to the vehicle. Therefore, in this situation, the vehicle issues a second warning message, reminding the driver to leave the current parking position to avoid scratches. The control module 305, if it does not detect the driver moving the vehicle based on the second warning message, controls the vehicle to move away from the risky location, effectively reducing or resolving the problem of vehicle scratches. This solution addresses the lack of anti-scratch technology for automobiles in existing technologies.

[0089] In some embodiments, the vehicle-mounted camera includes a first camera disposed on the left side of the vehicle, the image information includes first image information captured by the first camera, and the laser ranging sensor includes a first laser ranging sensor disposed on the left side of the vehicle; when it is determined through the first image information that there is an obstacle outside the left side door of the vehicle, the first distance includes a first front door distance between the inner edge of the left front door of the vehicle and the obstacle on the left side of the vehicle, and a first rear door distance between the inner edge of the left rear door of the vehicle and the obstacle on the left side of the vehicle; the ranging module includes a first ranging unit, used to measure the first distance between the inner edge of the door and the obstacle by means of the laser ranging sensor, including:

[0090] The first interval distance from the obstacle located on the left side of the vehicle to the first laser rangefinder sensor is measured by the first laser rangefinder sensor, and the first front relative angle information between the obstacle and the inner edge of the left front door of the vehicle and the first rear relative angle information between the obstacle and the inner edge of the left rear door of the vehicle are obtained; the first front door distance is obtained based on the first interval distance and the first front relative angle information; the first rear door distance is obtained based on the first interval distance and the first rear relative angle information.

[0091] In some embodiments, the vehicle-mounted camera includes a second camera disposed on the right side of the vehicle, the image information includes second image information captured by the second camera, and the laser ranging sensor includes a second laser ranging sensor disposed on the right side of the vehicle; when it is determined through the second image information that there is an obstacle outside the right side door of the vehicle, the first distance includes a second front door distance between the inner edge of the right front door of the vehicle and the obstacle on the right side of the vehicle, and a second rear door distance between the inner edge of the right rear door of the vehicle and the obstacle on the right side of the vehicle; the ranging module includes a second ranging unit, used to measure the first distance between the inner edge of the door and the obstacle by means of the laser ranging sensor, including:

[0092] The second laser rangefinder sensor measures the second interval distance from the obstacle located on the right side of the vehicle to the second laser rangefinder sensor, and obtains the second front relative angle information between the obstacle and the inner edge of the right front door of the vehicle, and the second rear relative angle information between the obstacle and the inner edge of the right rear door of the vehicle; the second front door distance is obtained based on the second interval distance and the second front relative angle information; the second rear door distance is obtained based on the second interval distance and the second rear relative angle information.

[0093] In some embodiments, the vehicle further includes a third camera and a third laser ranging sensor disposed at the rear of the vehicle, and a third prompting module, used to acquire third image information captured by the third camera when it is determined that the vehicle is reversing; to measure a third distance between the rear of the vehicle and the obstacle located behind the vehicle using the third laser ranging sensor when it is determined that the third image information indicates the presence of an obstacle behind the vehicle; and to issue a third prompting message when the third distance is less than a third safe distance, the third prompting message being used to remind the driver of the presence of an obstacle behind the vehicle. If it is detected that the driver continues to reverse based on the third prompting message, and if the third distance is detected to be less than a fourth safe distance, the vehicle is controlled to stop moving, wherein the fourth safe distance is less than the third safe distance.

[0094] In some embodiments, the third prompting module includes a speed acquisition unit for determining after the vehicle has reversed, and further includes:

[0095] The system obtains the vehicle's current reversing speed; if the speed exceeds the safe reversing speed, it issues a fourth warning message to remind the driver to slow down; if the system detects that the driver has not slowed down based on the fourth warning message, it controls the vehicle to issue an alarm sound.

[0096] In some embodiments, the vehicle further includes a fourth camera and a fourth laser ranging sensor disposed at the front of the vehicle, and a fourth prompting module, used to acquire fourth image information captured by the fourth camera when it is determined that the vehicle is in motion; if the image corresponding to the fourth image information includes a moving vehicle, acquire the second speed of the vehicle and measure the fourth distance between the vehicle and the moving vehicle using the fourth laser ranging sensor; acquire a second safe distance corresponding to the second speed; if the fourth distance is less than the second safe distance, issue a fifth prompting message, the fifth prompting message being used to remind the driver to slow down the vehicle's speed; if it is detected that the driver has not slowed down the vehicle based on the fifth prompting message, control the vehicle's speed to be reduced to a preset speed.

[0097] In some embodiments, the control module is specifically used to control vehicle movement, including:

[0098] When the distance to the first front door is greater than the distance to the first rear door, control the vehicle to move forward; when the distance to the first front door is less than or equal to the distance to the first rear door, control the vehicle to move backward.

[0099] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0100] Figure 4 This is a schematic diagram of the electronic device 4 provided in an embodiment of this application. Figure 4 As shown, the electronic device 4 of this embodiment includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401. When the processor 401 executes the computer program 403, it implements the steps in the various method embodiments described above. Alternatively, when the processor 401 executes the computer program 403, it implements the functions of each module / unit in the various device embodiments described above.

[0101] Electronic device 4 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 4 may include, but is not limited to, processor 401 and memory 402. Those skilled in the art will understand that... Figure 4 This is merely an example of electronic device 4 and does not constitute a limitation on electronic device 4. It may include more or fewer components than shown, or different components.

[0102] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0103] The memory 402 can be an internal storage unit of the electronic device 4, such as a hard disk or RAM of the electronic device 4. The memory 402 can also be an external storage device of the electronic device 4, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the electronic device 4. The memory 402 can also include both internal and external storage units of the electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device.

[0104] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0105] If integrated modules / units are implemented as software functional units and sold or used as independent products, they can be stored in a readable storage medium (e.g., a computer-readable storage medium). Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0106] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for controlling a vehicle, characterized in that, include: Once it is determined that the vehicle door is about to be switched to the open position, image information captured by the vehicle-mounted camera is obtained; The vehicle-mounted camera includes a first camera disposed on the left side of the vehicle, and the image information includes first image information captured by the first camera; When the image information determines that an obstacle exists outside the vehicle door, a first distance between the inner edge of the vehicle door and the obstacle is measured by a laser ranging sensor, and a second distance between the obstacle and the vehicle body is measured by the same laser ranging sensor. The laser ranging sensor includes a first laser ranging sensor located on the left side of the vehicle, and the inner edge of the vehicle door is the edge connecting the door to the vehicle body. When the image information determines that an obstacle exists outside the left side door of the vehicle, the first distance includes a first front door distance between the inner edge of the left front door and the obstacle on the left side of the vehicle, and a first rear door distance between the inner edge of the left rear door and the obstacle on the left side of the vehicle. If the first distance is less than the first safe distance and the second distance is greater than the second safe distance, a first prompt message is issued, and the opening degree of the car door is controlled to be less than the first preset opening degree; The first notification message is used to remind the driver that there is an obstacle outside the vehicle door, wherein the second safe distance is less than the first safe distance; If the first distance is less than the first safe distance and the second distance is less than the second safe distance, a second prompt message is issued, which is used to remind the driver to move the vehicle; When no driver movement of the vehicle is detected based on the second prompt information, the vehicle is controlled to move until the first distance is greater than the first safe distance and the second distance is greater than the second safe distance; wherein, when the first front door distance is greater than the first rear door distance, the vehicle is controlled to move forward, and when the first front door distance is less than or equal to the first rear door distance, the vehicle is controlled to move backward.

2. The method according to claim 1, characterized in that, The step of measuring the first distance between the inner edge of the vehicle door and the obstacle using a laser rangefinder sensor includes: The first distance between the obstacle on the left side of the vehicle and the first laser rangefinder sensor is measured by the first laser rangefinder sensor, and the first front relative angle information between the obstacle and the inner edge of the left front door of the vehicle and the first rear relative angle information between the obstacle and the inner edge of the left rear door of the vehicle are obtained. The first front door distance is obtained based on the first interval distance and the first front relative angle information; The first rear door distance is obtained based on the first interval distance and the first rear relative angle information.

3. The method according to claim 1, characterized in that, The vehicle-mounted camera includes a second camera disposed on the right side of the vehicle, the image information includes second image information captured by the second camera, and the laser ranging sensor includes a second laser ranging sensor disposed on the right side of the vehicle; When it is determined through the second image information that there is an obstacle outside the right door of the vehicle, the first distance includes the second front door distance between the inner edge of the right front door of the vehicle and the obstacle on the right side of the vehicle, and the second rear door distance between the inner edge of the right rear door of the vehicle and the obstacle on the right side of the vehicle. The step of measuring the first distance between the inner edge of the vehicle door and the obstacle using a laser rangefinder sensor includes: The second laser rangefinder sensor measures the second distance between the obstacle on the right side of the vehicle and the second laser rangefinder sensor, and obtains the second front relative angle information between the obstacle and the inner edge of the right front door of the vehicle and the second rear relative angle information between the obstacle and the inner edge of the right rear door of the vehicle. The second front door distance is obtained based on the second interval distance and the second front relative angle information; The second rear door distance is obtained based on the second interval distance and the second rear relative angle information.

4. The method according to claim 1, characterized in that, The vehicle also includes a third camera and a third laser rangefinder located at the rear of the vehicle, and the method further includes: If it is determined that the vehicle is reversing, acquire third image information captured by the third camera; If the third image information determines that there is an obstacle behind the vehicle, the third distance between the rear of the vehicle and the obstacle located behind the vehicle is measured by the third laser ranging sensor. If the third distance is less than the third safe distance, a third warning message is issued. The third warning message is used to remind the driver that there is an obstacle behind the vehicle. If the driver continues to reverse based on the third prompt information, and if the third distance is less than the fourth safety distance, the vehicle is controlled to stop moving, wherein the fourth safety distance is less than the third safety distance.

5. The method according to claim 4, characterized in that, After determining that the vehicle is reversing, the process further includes: Obtain the vehicle's current first speed while reversing; If the first speed is greater than the safe reversing speed, a fourth prompt message is issued, which is used to remind the driver to slow down the reversing speed. If the driver fails to slow down the reversing speed based on the fourth prompt information, the system will control the vehicle to issue an alarm sound.

6. The method according to claim 1, characterized in that, The vehicle also includes a fourth camera and a fourth laser rangefinder sensor disposed at the front of the vehicle, and the method further includes: If it is determined that the vehicle is in motion, the fourth image information captured by the fourth camera is obtained; If the image corresponding to the fourth image information includes a moving vehicle, the second speed of the vehicle is obtained, and the fourth distance between the vehicle and the moving vehicle is measured by the fourth laser ranging sensor. Obtain the second safe distance corresponding to the second speed; if the fourth distance is less than the second safe distance, issue a fifth prompt message, which is used to remind the driver to slow down the vehicle. If the driver is detected not to slow down based on the fifth prompt information, the vehicle's speed is controlled to decrease to a preset speed.

7. A vehicle obstacle warning device, characterized in that, include: The shooting module is used to acquire image information captured by the vehicle camera when it is determined that the vehicle door is about to be switched to the open state; The vehicle-mounted camera includes a first camera disposed on the left side of the vehicle, and the image information includes first image information captured by the first camera; The ranging module, when determining from the image information that an obstacle exists outside the vehicle door, measures a first distance between the inner edge of the vehicle door and the obstacle using a laser ranging sensor, and also measures a second distance between the obstacle and the vehicle body using the same laser ranging sensor. The laser ranging sensor includes a first laser ranging sensor located on the left side of the vehicle, and the inner edge of the vehicle door is the edge connecting the door to the vehicle body. When the first image information determines that an obstacle exists outside the left side door of the vehicle, the first distance includes a first front door distance between the inner edge of the left front door and the obstacle on the left side of the vehicle, and a first rear door distance between the inner edge of the left rear door and the obstacle on the left side of the vehicle. The first prompt module is used to issue a first prompt message and control the opening degree of the car door to be less than a first preset opening degree when the first distance is less than a first safe distance and the second distance is greater than a second safe distance. The first notification message is used to remind the driver that there is an obstacle outside the vehicle door, wherein the second safe distance is less than the first safe distance; The second prompting module is used to issue a second prompting message when the first distance is less than the first safe distance and the second distance is less than the second safe distance. The second prompting message is used to remind the driver to move the vehicle. The control module is used to control the vehicle to move until the first distance is greater than the first safe distance and the second distance is greater than the second safe distance when no movement of the vehicle by the driver based on the second prompt information is detected; wherein, when the first front door distance is greater than the first rear door distance, the vehicle is controlled to move forward, and when the first front door distance is less than or equal to the first rear door distance, the vehicle is controlled to move backward.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 6.

9. A readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 6.

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