Intelligent door opening anti-collision method, device, electronic device and storage medium

Abstract

The present application relates to the field of vehicle technology and provides a method, device, electronic device and storage medium for intelligent door opening and anti-collision. The method obtains obstacle information within a preset range of the intelligent door upon receiving an intelligent door opening request, sends a first instruction to a pre-resistance module when determining that a moving obstacle is in a collision area, so that the pre-resistance module sets the pre-resistance value to a maximum resistance value, and temporarily stores the door opening request. The method then periodically obtains information about the moving obstacle, and sends a second instruction to the pre-resistance module when determining that the moving obstacle has left the possible collision area, so that the intelligent door opens to a first angle. This allows accurate detection of whether the intelligent door is likely to collide with surrounding moving obstacles when it is opened, and controls the opening of the intelligent door through the pre-resistance module by sending a corresponding instruction to the pre-resistance module based on the detection result, thereby reducing the risk of collision during the opening of the intelligent door, improving the safety of vehicle door opening, and enhancing the user experience.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, electronic device and storage medium for intelligent door opening and anti-collision. Background Art

[0002] Smart doors, also known as side door opening systems, are gaining popularity in electric vehicles, as they become increasingly intelligent and connected. Their unique design and innovative technology have earned them widespread popularity. For electric vehicles, the automatic opening function of smart doors instantly elevates the vehicle's class and allows users to experience the superiority of a smart car. However, with widespread adoption, users have reported issues, such as collisions during the opening process.

[0003] To address collisions that might occur during the opening of smart doors, OEMs have implemented strategies to mitigate these collisions. For example, obstacle detection is used to detect obstacles around the vehicle to determine whether to open the door. However, this detection typically checks for static objects within a certain perimeter. However, if a moving object is in motion, the obstacle might not collide with the smart door at its current position, but could later collide with it after a period of motion. Detecting this collision and controlling the opening of the smart door based on the detection results are technical challenges that need to be addressed. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a method, device, electronic device and storage medium for preventing collision when opening an intelligent door, so as to solve the problem of how to effectively prevent collision when opening an intelligent door in the prior art.

[0005] A first aspect of an embodiment of the present application provides a method for preventing collisions when opening an intelligent door, comprising:

[0006] In response to receiving the smart door opening request, the image processing unit obtains obstacle information within a preset range of the smart door, the obstacle information including obstacle motion information and obstacle position information;

[0007] In response to determining that the obstacles include a moving obstacle based on the obstacle motion information, and determining that the moving obstacle is located in the first area based on the obstacle position information, sending a first instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance resistance to a first resistance value based on the first instruction, where the first resistance value is a maximum resistance value;

[0008] Temporarily save the door opening request;

[0009] periodically acquiring obstacle information of a moving obstacle from an image processing unit;

[0010] In response to determining that the moving obstacle is not located in the first area, obtaining a temporarily stored door opening request, and sending a second instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a second resistance value based on the second instruction, the second resistance value being a minimum resistance value, thereby causing the intelligent door to open to the first angle;

[0011] Among them, the first area is the collision area of ​​the smart door, and the second area is the possible collision area of ​​the smart door.

[0012] A second aspect of the embodiments of the present application provides an intelligent door opening anti-collision device, comprising:

[0013] an acquisition module configured to, in response to receiving a request to open the smart door, acquire obstacle information within a preset range of the smart door from the image processing unit, the obstacle information including obstacle motion information and obstacle position information;

[0014] a communication module configured to, in response to determining that the obstacles include a moving obstacle based on the obstacle motion information and that the moving obstacle is located in the first area based on the obstacle position information, send a first instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance resistance to a first resistance value based on the first instruction, the first resistance value being a maximum resistance value;

[0015] a storage module configured to temporarily store the door opening request;

[0016] The acquisition module is further configured to periodically acquire obstacle information of the moving obstacle from the image processing unit;

[0017] The communication module is further configured to, in response to determining that the motion obstacle is not located in the first area, obtain a temporarily stored door opening request and send a second instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a second resistance value based on the second instruction, the second resistance value being a minimum resistance value, thereby causing the intelligent door to open to the first angle;

[0018] Among them, the first area is the collision area of ​​the smart door, and the second area is the possible collision area of ​​the smart door.

[0019] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0020] According to a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the steps of the above method are implemented.

[0021] The beneficial effects of the embodiments of the present application compared with the prior art are as follows: the embodiments of the present application obtain the obstacle information within the preset range of the smart door when receiving the smart door opening request, obtain the position information of the moving obstacle, and send a first instruction to the pre-resistance module when the moving obstacle is located in the first area, i.e., the collision area, so that the pre-resistance module sets the pre-resistance to the maximum resistance value, and temporarily stores the door opening request, and then periodically obtains the information of the moving obstacle, and sends a second instruction to the pre-resistance module after determining that the moving obstacle leaves the second area, i.e., the possible collision area, so that the pre-resistance module sets the pre-resistance to the minimum resistance value, so that the smart door opens to the first angle, so that it can accurately detect whether the smart door is likely to collide with the surrounding moving obstacles when it is opened, and control the opening of the smart door through the pre-resistance module by sending corresponding instructions to the pre-resistance module according to the detection results, thereby reducing the collision risk during the opening of the smart door, improving the safety of vehicle door opening, and enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 It is a scenario diagram of the application scenario of the embodiment of the present application.

[0024] Figure 2 It is a flow chart of an intelligent door opening and anti-collision method provided in an embodiment of the present application.

[0025] Figure 3 It is a flow chart of another intelligent door opening anti-collision method provided in an embodiment of the present application.

[0026] Figure 4 This is a flow chart of another intelligent door opening and anti-collision method provided in an embodiment of the present application.

[0027] Figure 5 This is a flow chart of another intelligent door opening and anti-collision method provided in an embodiment of the present application.

[0028] FIG6(A) is a curve showing the relationship between the pre-resistance and the lateral distance provided in an embodiment of the present application.

[0029] FIG6(B) is a curve showing the relationship between the pre-resistance and the second angle provided in an embodiment of the present application.

[0030] Figure 7 This is a flow chart of another intelligent door opening and anti-collision method provided in an embodiment of the present application.

[0031] Figure 8 This is a flow chart of yet another intelligent door opening and anti-collision method provided in an embodiment of the present application.

[0032] Figure 9 This is a flow chart of another intelligent door opening and anti-collision method provided in an embodiment of the present application.

[0033] Figure 10 yes Figure 9 Schematic diagram of the flow chart of the first branch method in .

[0034] Figure 11 yes Figure 9 Flowchart of the second branch method in .

[0035] Figure 12 yes Figure 9 Flowchart of the third branch method in .

[0036] FIG13(A) is a schematic diagram of a method for determining the first area and the second area in an embodiment of the present application.

[0037] FIG13(B) is a schematic diagram of another method for determining the first area and the second area in an embodiment of the present application.

[0038] Figure 14 It is a schematic diagram of an intelligent door opening anti-collision device provided in an embodiment of the present application.

[0039] Figure 15 Schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0041] A method and device for preventing collision when opening an intelligent door according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0042] Figure 1 1 is a schematic diagram of an application scenario of an embodiment of the present application. The application scenario may include a vehicle 1, an obstacle 2, a server 3, and a network 4.

[0043] Vehicle 1 has an intelligent door that can automatically open upon receiving an automatic door opening command from an onboard unit, or upon detecting a user manually opening the door. There may be an obstacle 2 around the vehicle. When the distance between the obstacle and the opened intelligent door is less than 0, the obstacle will collide with the intelligent door. Therefore, to avoid collisions between the intelligent door and obstacles when it is opened, it is necessary to detect the collision risk between the obstacle, especially a moving obstacle, and the intelligent door, and then control the opening method of the intelligent door based on the detection results.

[0044] The collision detection can be performed by the vehicle 1's own onboard unit, such as a telematics box (TBOX), or the TBOX can transmit the acquired relevant data to a server 3, which then performs the collision detection calculation, thereby reducing the TBOX's load. The TBOX can transmit data to the server 3 via a network 4.

[0045] Among them, server 3 can be a server that provides various services, for example, a background server that receives requests sent by terminal devices that establish communication connections with it, and the background server can receive and analyze the requests sent by the terminal devices, and generate processing results. Server 3 can be a single server, a server cluster composed of multiple servers, or a cloud computing service center, and the embodiments of the present application are not limited to this.

[0046] Network 4 can be a wired network connected by coaxial cable, twisted pair and optical fiber, or it can be a wireless network that can interconnect various communication devices without wiring, such as Bluetooth, Near Field Communication (NFC), infrared, etc., which is not limited in this embodiment of the present application.

[0047] It should be noted that the specific types, quantities and combinations of the vehicle 1, obstacle 2, server 3 and network 4 can be adjusted according to the actual needs of the application scenario, and the embodiments of the present application do not limit this.

[0048] As mentioned above, OEMs have implemented strategies to mitigate collisions during the opening of intelligent doors, such as using obstacle detection to detect obstacles around the vehicle to determine whether to open the door. However, this detection typically checks for static faulty objects within a certain perimeter. However, when a faulty object is in motion, if the obstacle's current position doesn't cause a collision with the intelligent door, after a period of motion, the obstacle could collide with the moving intelligent door. Therefore, how to detect this collision and control the opening of the intelligent door based on the detection results is a technical challenge that needs to be addressed.

[0049] In view of this, an embodiment of the present application provides an intelligent door opening and collision prevention system. When receiving the intelligent door opening request, the system obtains the obstacle information within the preset range of the intelligent door, obtains the position information of the moving obstacle, and sends a first instruction to the pre-blocking module when the moving obstacle is located in the first area, i.e., the collision area, so that the pre-blocking module sets the pre-resistance to the maximum resistance value, and temporarily stores the door opening request. The information of the moving obstacle is then periodically obtained. After determining that the moving obstacle leaves the second area, i.e., the possible collision area, a second instruction is sent to the pre-blocking module so that the pre-blocking module sets the pre-resistance to the minimum resistance value, so that the intelligent door opens to the first angle, so that it can accurately detect whether the intelligent door is likely to collide with the surrounding moving obstacles when it is opened, and controls the opening of the intelligent door through the pre-blocking module by sending corresponding instructions to the pre-blocking module according to the detection results, thereby reducing the collision risk during the opening of the intelligent door, improving the safety of vehicle door opening, and enhancing the user experience.

[0050] It should be noted that the user-related data used in this application are all data authorized by the user.

[0051] Figure 2 It is a flow chart of an intelligent door opening and anti-collision method provided in an embodiment of the present application. Figure 2 The anti-collision method of the intelligent door opening can be Figure 1 The vehicle or server is executed. Figure 2 As shown, the method includes the following steps:

[0052] In step S201, in response to receiving a request to open the smart door, the image processing unit obtains obstacle information within a preset range of the smart door.

[0053] The obstacle information includes obstacle motion information and obstacle position information.

[0054] In step S202, in response to determining that the obstacles include a moving obstacle based on the obstacle motion information, and determining that the moving obstacle is located in the first area based on the obstacle position information, a first instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance resistance to a first resistance value based on the first instruction.

[0055] The first resistance value is the maximum resistance value.

[0056] In step S203, the door opening request is temporarily stored.

[0057] In step S204 , obstacle information of the moving obstacle is periodically obtained from the image processing unit.

[0058] In step S205, in response to determining that the moving obstacle is not located in the first area and the second area, a temporarily stored door opening request is obtained, and a second instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to the second resistance value based on the second instruction, thereby opening the smart door to the first angle.

[0059] Among them, the first area is the collision area of ​​the smart door, the second area is the possible collision area of ​​the smart door, and the second resistance value is the minimum resistance value.

[0060] In the embodiments of the present application, the method can be executed by the onboard unit of the vehicle in which the smart door is located. Alternatively, if the amount of data is large and the onboard unit is under high load, the method can also be executed by a server connected to the vehicle in which the smart door is located via a network. For ease of explanation and description, the following description uses the method executed by the onboard unit as an example.

[0061] In an embodiment of the present application, upon receiving a smart door opening request, the onboard unit can obtain obstacle information within a preset range of the smart door from the image processing unit. This obstacle information includes obstacle motion information and obstacle position information. The smart door opening request is an automatic door opening request, as opposed to a manual door opening request from the user. The image processing unit can be a processing unit built into the vehicle and connected to an onboard camera device. The image processing unit receives images captured by the onboard camera device and processes the images to identify obstacles.

[0062] Furthermore, the preset range of the smart door can be a range pre-set according to factors such as the model of the vehicle in which the smart door is located and the position of the smart door in the vehicle, or in order to reduce the calculation complexity, the entire area where the on-board camera device can capture images can be directly used as the preset range of the smart door.

[0063] Furthermore, obstacles can be identified from images captured by the vehicle-mounted camera based on target detection or target recognition algorithms, and the motion and position information of the obstacles can be calculated. There can be one or more obstacles, and the obstacle motion information can be calculated and determined by the image processing unit based on multiple images captured by the vehicle-mounted camera.

[0064] In an embodiment of the present application, if the on-board unit determines that the obstacles include a moving obstacle based on the obstacle motion information, and determines that the moving obstacle is located in a first area based on the obstacle position information, the on-board unit can send a first instruction to the pre-resistance module so that the pre-resistance module sets the pre-resistance to a maximum resistance value based on the first instruction. The first area is the collision area of ​​the smart door. That is to say, when the on-board unit determines that there is a moving obstacle around the vehicle, it first determines the position of the moving obstacle. If it is located in the collision area of ​​the smart door, the door opening request cannot be executed. At this time, the pre-resistance can be adjusted to the maximum resistance value by controlling the pre-resistance module to keep the smart door closed.

[0065] In an embodiment of the present application, when sending the first instruction to the pre-blocking module, the door opening request can also be temporarily stored so that the door opening request can be called and executed again when the on-board unit determines that the obstacle information around the vehicle meets the door opening conditions.

[0066] In this embodiment of the present application, after sending a first instruction to the pre-resistance module, obstacle information of the moving obstacle can be periodically obtained from the image processing unit. When the moving obstacle is determined to be not located in the first area or the second area based on the position information of the moving obstacle, the temporarily stored door opening request is obtained and a second instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to the minimum resistance value based on the second instruction, thereby causing the smart door to open to the first angle. The second area is the possible collision area of ​​the smart door.

[0067] That is, since a moving obstacle is in motion, it will generally move away from the collision zone of the smart door after a period of time. Therefore, obstacle information of the moving obstacle can be periodically obtained to determine whether it has left the collision zone of the smart door. The period for obtaining obstacle information can be set according to actual needs and is not limited here.

[0068] Furthermore, due to the large variety of moving obstacles, the movement trajectory of some moving obstacles is difficult to predict. After briefly leaving the collision area of ​​the smart door, they may re-enter the collision area within a short period of time. Therefore, the possible collision area of ​​the smart door is further determined in the embodiment of the present application. Only after the moving obstacle leaves the possible collision area of ​​the smart door is the pre-resistance module controlled to adjust the pre-resistance to the minimum resistance value to automatically open the smart door, further reducing the risk of collision with the moving obstacle when the smart door is opened.

[0069] Among them, the first angle of the smart door opening is the optimal angle for the smart door to open when there is no obstacle. It can be determined comprehensively based on the vehicle model of the smart door, the position of the smart door in the vehicle, the user habits of the current user of the vehicle, etc., and there is no restriction here.

[0070] According to the technical solution provided in the embodiment of the present application, by obtaining obstacle information within a preset range of the smart door when receiving a request to open the smart door, the position information of the moving obstacle is obtained, and when the moving obstacle is located in a first area, namely, a collision area, a first instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance to the maximum resistance value, and temporarily stores the door opening request, and then periodically obtains the information of the moving obstacle, and sends a second instruction to the pre-resistance module after determining that the moving obstacle leaves the second area, namely, the possible collision area, so that the pre-resistance module sets the pre-resistance to the minimum resistance value, so that the smart door opens to a first angle, so that it can accurately detect whether the smart door is likely to collide with the surrounding moving obstacles when it is opened, and according to the detection result, the corresponding instruction is sent to the pre-resistance module, and the opening of the smart door is controlled by the pre-resistance module, thereby reducing the collision risk during the opening of the smart door, improving the safety of vehicle door opening, and enhancing the user experience.

[0071] Figure 3 This is a flow chart of another method for preventing collisions when opening a smart door provided by an embodiment of the present application. Figure 3 Step S301 in the illustrated embodiment Figure 2 Step S201 in the embodiment shown is basically the same and will not be described again here. Figure 3 As shown, the method further includes the following steps:

[0072] In step S302, in response to determining that the obstacles include a moving obstacle based on the obstacle motion information and determining that the moving obstacle is located in the second area but not in the first area based on the obstacle position information, a moving direction of the moving obstacle is determined.

[0073] In step S303, in response to determining that the movement direction of the moving obstacle is away from the vehicle where the smart door is located, a second instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a second resistance value based on the second instruction, thereby opening the smart door to the first angle.

[0074] In step S304, in response to determining that the movement direction of the moving obstacle is close to the direction of the vehicle where the smart door is located, a third instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a third resistance value based on the third instruction, thereby opening the smart door to the second angle.

[0075] The third resistance value is greater than the second resistance value and less than the first resistance value, and the second angle is less than the first angle.

[0076] In an embodiment of the present application, when it is determined based on the obstacle motion information that the obstacles include a moving obstacle, and based on the obstacle position information that the moving obstacle is located in the second area but not in the first area, the direction of movement of the moving obstacle can be determined first. If the direction of movement of the moving obstacle is away from the vehicle where the intelligent door is located, a second instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance resistance to the minimum resistance value based on the second instruction, thereby causing the intelligent door to open to the first angle.

[0077] That is, when a moving obstacle is in the possible collision zone of the smart door and its direction of movement is away from the smart door, it can be considered that the probability of the moving obstacle colliding with the open smart door is very small, and the smart door is directly controlled to open to the optimal angle. In addition, to further improve the accuracy of collision detection, during the opening process of the smart door, obstacle information of the moving obstacle can be periodically obtained from the image processing unit. When it is detected that the moving obstacle has changed its direction of movement and entered the first zone, a first instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to the maximum resistance value based on the first instruction.

[0078] On the other hand, if the movement direction of the moving obstacle is close to the direction of the vehicle where the smart door is located, a third instruction can be sent to the pre-resistance module so that the pre-resistance module sets the pre-resistance value to a third resistance value based on the third instruction, thereby opening the smart door to the second angle.

[0079] That is to say, when a moving obstacle is in the possible collision area of ​​the smart door and its moving direction is close to the smart door, it can be considered that the probability of the moving obstacle colliding with the open smart door is relatively high. At this time, the smart door can be controlled to open to a smaller angle first, and then a judgment can be made based on the obstacle information of the moving obstacle obtained in real time.

[0080] Figure 4 This is a flow chart of another method for preventing collisions when opening a smart door provided by an embodiment of the present application. Figure 4 Steps S401 to S404 in the embodiment shown are similar to Figure 3 Steps S301 to S304 in the embodiment shown are basically the same and will not be described in detail here. Figure 4 As shown, the method further includes the following steps:

[0081] In step S405, obstacle information of the moving obstacle is periodically obtained from the image processing unit. In response to determining that the moving obstacle is located in the first area, a first instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance resistance to a first resistance value based on the first instruction.

[0082] In step S406, in response to determining that the moving obstacle is not located in the first area, a fourth instruction is sent to the pre-resistance module, so that the pre-resistance module increases the pre-resistance by a preset increment based on the fourth instruction, thereby opening the smart door to a third angle until the third angle is equal to the first angle.

[0083] The third angle is greater than the second angle.

[0084] In an embodiment of the present application, as previously described, when a moving obstacle is in the possible collision area of ​​the smart door and its direction of movement is toward the smart door, the smart door can be controlled to first open to a smaller angle, and then a judgment is made based on the obstacle information of the moving obstacle acquired in real time. When making a judgment based on real-time information, the obstacle information of the moving obstacle can be periodically acquired from the image processing unit. If the moving obstacle is determined to be located in the first area based on the acquired obstacle information, a first instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to the maximum resistance value based on the first instruction, thereby preventing the smart door from opening to prevent the smart door from colliding with the moving obstacle.

[0085] On the other hand, if the acquired obstacle information determines that the moving obstacle is not located in the first area, the onboard unit can send a fourth instruction to the pre-resistance module, causing the pre-resistance module to increase the pre-resistance by a preset increment based on the fourth instruction, thereby causing the smart door to open to a third angle until the third angle equals the first angle. In other words, during each real-time judgment, if it is determined that the moving obstacle in the acquired image is not located in the first area, the smart door can be controlled to continue opening in steps of the preset increment until it reaches the first angle. The preset increment can be set according to actual needs and is not limited here.

[0086] Figure 5 This is a flow chart of another method for preventing collisions when opening a smart door provided by an embodiment of the present application. Figure 5 Steps S501 to S504 in the embodiment shown are similar to Figure 3 Steps S301 to S304 in the embodiment shown are basically the same and will not be described in detail here. Figure 5 As shown, the method further includes the following steps:

[0087] In step S505 , in response to receiving a manual door opening request from the user, obstacle information of a moving obstacle is acquired from the image processing unit.

[0088] In step S506 , a fourth resistance value is determined based on the obstacle information of the moving obstacle and the second angle.

[0089] In step S507, a fifth instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a fourth resistance value based on the fifth instruction, thereby opening the smart door to a fourth angle.

[0090] The fourth angle is greater than the second angle and smaller than the first angle.

[0091] In an embodiment of the present application, when the smart door is opened to the second angle based on the third instruction, the smart door has completed the unlocking operation. At this time, the user may perform a manual door opening operation. When a manual door opening request is received from the user, obstacle information of the moving obstacle can be obtained from the image processing unit. Then, the fourth resistance value is determined based on the obstacle information of the moving obstacle and the second angle. Finally, a fifth instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance to the fourth resistance value based on the fifth instruction, thereby opening the smart door to the fourth angle. At this time, the fourth angle is the optimal door opening angle calculated based on the current position information of the moving obstacle.

[0092] In one example, the fourth resistance value can be calculated based on the lateral distance between the moving obstacle and the smart door and the second angle as independent variables, where the lateral distance refers to the vertical distance from the moving obstacle to the baseline, with the straight line from the front to the rear of the vehicle where the smart door is located as the baseline.

[0093] Figures 6(A) and 6(B) show the relationship curves between pre-resistance and lateral distance and pre-resistance and the second angle, respectively. As shown in Figure 6(A), the larger the lateral distance, the smaller the required pre-resistance. The relationship between the two can be expressed as F=k / Y, where F is the required pre-resistance, k is the first proportional coefficient, which can be obtained through calibration, and Y is the lateral distance. As shown in Figure 6(B), the larger the second angle, the larger the required pre-resistance. The relationship between the two can be expressed as F=a*Δ 2 , where a is the second proportional coefficient, which can be obtained through calibration, and Δ is the second angle. The fourth resistance value can be calculated by taking a weighted difference between the lateral distance and the second angle, or by taking a weighted difference between the lateral distance and the second angle and then subtracting a redundancy coefficient. Other methods can also be used to calculate the fourth resistance value, which are not limited here.

[0094] Figure 7 This is a flow chart of another intelligent door opening and anti-collision method provided in an embodiment of the present application.

[0095] in, Figure 7 Step S701 in the embodiment shown is the same as Figure 2 Step S201 in the embodiment shown is basically the same and will not be described again here. Figure 7 As shown, the method further includes the following steps:

[0096] In step S702, in response to determining that the obstacles include moving obstacles based on the obstacle motion information, and determining that all obstacles are not located in the first area and the second area based on the obstacle position information, a second instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to the second resistance value based on the second instruction, thereby opening the intelligent door to the first angle.

[0097] In step S703, obstacle information of the moving obstacle is periodically obtained from the image processing unit. In response to determining that the moving obstacle is located in the second area, a first instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance resistance to a first resistance value based on the first instruction.

[0098] In an embodiment of the present application, when it is determined based on the obstacle motion information that the obstacles include a moving obstacle, and based on the obstacle position information that all obstacles are not located in the first area and the second area, a second instruction may be sent to the pre-resistance module, causing the pre-resistance module to set the pre-resistance value to the second resistance value based on the second instruction, thereby causing the intelligent door to open to the first angle. Subsequently, obstacle information of the moving obstacle is periodically obtained from the image processing unit, and in response to determining that the moving obstacle is located in the second area, a first instruction is sent to the pre-resistance module, causing the pre-resistance module to set the pre-resistance value to the first resistance value based on the first instruction.

[0099] That is, if there is a moving obstacle among the obstacles, but it is not located in the collision zone or possible collision zone of the smart door, it can be assumed that the smart door will not collide with the moving obstacle when opening, and the door opening operation can be performed directly. However, the movement of the moving obstacle is uncontrollable. If it suddenly accelerates or changes direction, it may enter the possible collision zone or even the collision zone of the smart door, which greatly increases the collision risk. Therefore, the door opening operation can be stopped.

[0100] In the embodiment of the present application, after stopping the door opening operation, the user can wait for the manual door opening request, and the user can manually complete the smart door opening operation. Figure 5 The description in the illustrated embodiment is basically the same, that is, when a manual door opening request is received from the user, the obstacle information of the moving obstacle can be obtained from the image processing unit. Then, the fourth resistance value is determined based on the obstacle information of the moving obstacle and the second angle. Finally, a fifth instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance to the fourth resistance value based on the fifth instruction, thereby opening the smart door to the fourth angle. At this time, the fourth angle is the optimal door opening angle calculated based on the current position information of the moving obstacle. For other detailed execution processes, please refer to Figure 5 The description in the illustrated embodiment will not be repeated here.

[0101] Figure 8This is a flow chart of yet another intelligent door opening and anti-collision method provided in an embodiment of the present application.

[0102] in, Figure 8 Step S801 in the embodiment shown is the same as Figure 2 Step S201 in the embodiment shown is basically the same and will not be described again here. Figure 8 As shown, the method further includes the following steps:

[0103] In step S802 , in response to determining that no moving obstacle is included in the obstacles based on the obstacle motion information, it is determined whether the obstacle is located in the first area.

[0104] In step S803, in response to determining that the obstacle is located in the first area, a sixth instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to the fifth resistance value based on the second instruction, thereby opening the smart door to the fifth angle.

[0105] The fifth resistance value is determined based at least on the distance between the obstacle and the smart door.

[0106] In step S804, in response to determining that the obstacle is not located in the first area, a second instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to the second resistance value based on the second instruction, thereby opening the smart door to the first angle.

[0107] In this embodiment of the present application, if it is determined based on the obstacle motion information that no moving obstacles are present, i.e., all obstacles are stationary, it can be determined whether the obstacles are located in the first area. If so, a sixth instruction is sent to the pre-resistance module, causing the pre-resistance module to set the pre-resistance value to a fifth resistance value based on the second instruction, thereby causing the smart door to open to a fifth angle. The fifth resistance value is determined based on at least the distance between the obstacle and the smart door and represents the optimal opening angle for the smart door when the stationary obstacle is present.

[0108] On the contrary, if the obstacle is not located in the first area, it can be determined that the smart door will not collide with the obstacle when it is opened. At this time, a second instruction can be directly sent to the pre-resistance module so that the pre-resistance module sets the pre-resistance value to the second resistance value based on the second instruction, thereby opening the smart door to the first angle.

[0109] It should be noted that the calculated fourth and fifth angles may be relatively small. If these angles are insufficient to accommodate passengers getting on and off the vehicle, a prompt message may be generated, indicating that the current door opening angle does not meet the requirements. Specifically, the calculated fourth or fifth angle may be compared with a preset angle threshold, and the prompt message may be generated when the fourth or fifth angle is less than the preset angle threshold.

[0110] Furthermore, in all the embodiments provided in the present application, except when the pre-resistance is set to the second resistance value to open the smart door to the first angle, in other cases when the pre-resistance is set to the first resistance value, the third resistance value, the fourth resistance value and the fifth resistance value, an early warning message can be generated at the same time, prompting the presence of an obstacle in the form of a voice alarm, or displaying the information about the presence of an obstacle on the vehicle screen or the front windshield of the vehicle in the form of a text or image alarm.

[0111] Figure 9 This is a flow chart of another method for preventing collisions when opening a smart door provided by the embodiment of the present application. Figure 9 As shown, when the smart door receives a request to open the smart door, the image processor will determine whether the obstacle within a certain perimeter is in motion based on the image information. If there is no moving obstacle, the first branch method will be executed; if there is a moving obstacle, it will further determine whether the obstacle is in a possible collision zone. If not, the second branch method will be executed. If the obstacle is in a possible collision zone, the image processor will further determine whether the obstacle is in the collision zone. If not, the third branch method will be executed. If it is in the collision zone, the smart door module only controls the door to be unlocked but does not automatically open. The buzzer module will issue a warning tone at this time, and the pre-resistance module will adjust the pre-resistance to the maximum. The smart door module memorizes the current smart door opening request, and the image processing module continues to detect the positional relationship between the obstacle and the vehicle body. When the obstacle leaves the collision zone, the pre-resistance module releases the pre-resistance, and the buzzer stops beeping. The smart door automatically controls the door to open to the optimal opening, and the entire process ends.

[0112] Specifically, when the smart door module receives an opening request, it calls the image processor unit and determines whether the obstacle is in motion based on the data provided by the image processor unit. If not, it executes the first branch method. If so, it continues to determine whether the obstacle is in the possible collision zone. If not, it executes the second branch method. If so, it continues to determine whether the obstacle is in the collision zone. If not, it executes the third branch method. If so, the smart door unlocks the vehicle door but does not automatically open the door. It controls the buzzer module to send a warning tone. At the same time, the pre-resistance module adjusts the pre-resistance to the maximum and records the request to open the smart door. Next, it periodically calls the image processor unit to continue detecting the relative position relationship between the obstacle and the vehicle until the moving obstacle leaves. When it detects that the obstacle has left the collision range, it controls the pre-resistance module to release the pre-resistance, the buzzer module stops sending warning prompts, and the smart door automatically opens to the optimal door opening angle.

[0113] In other words, this method can be based on a purely visual solution by using a camera to capture environmental image information within the vehicle's perimeter. Specifically, the camera captures the relative distance between the obstacle and the smart door within a certain perimeter, as well as their movement. In parking conditions, the image processor determines whether there is an obstacle within the vehicle's perimeter based on the image information captured by the camera. If there is no obstacle within the perimeter, or if the obstacle is static and not within the smart door's collision zone, the warning buzzer does not sound an alarm when a smart door opening request is received. The smart door controller controls the smart door to open to the optimal calibrated opening angle to facilitate exiting the vehicle. If the image processor captures information indicating that an obstacle is within the vehicle's perimeter and is within the potential collision zone, the warning buzzer alerts the user through warning and alert tones to indicate the danger of opening the smart door. Simultaneously, the pre-resistance module automatically adjusts the door opening pre-resistance based on the obstacle's lateral distance Y and the smart door's opening angle Δ to prevent the user from manually opening the smart door, thereby preventing the smart door from colliding with the obstacle.

[0114] Figure 10 yes Figure 9 Flowchart of the first branch method in . Figure 10 As shown, the image processor determines whether the obstacle is within the collision range. If so, the smart door automatically opens to the temporary optimal opening, accompanied by a warning sound during the opening process to remind the user of the obstacle outside the vehicle. If the image processor determines that there are no obstacles around the vehicle, the smart door automatically opens to the optimal opening to allow the user to enter the vehicle, and the entire process ends. The optimal opening is the first angle described above, and the temporary optimal opening is the fifth angle described above.

[0115] Figure 11 yes Figure 9 The flowchart of the second branch method in . Figure 11 As shown, the smart door automatically opens to the optimal opening angle. If the image processing does not detect that a remote obstacle enters the possible collision zone during the opening process, the smart door will be opened to the optimal opening. If, during the automatic opening process, the image processor detects that a moving obstacle enters the possible collision zone, the automatic opening of the smart door will be stopped immediately. At this time, the control buzzer module will emit a warning tone to inform the user that the remote obstacle is approaching the vehicle and attention should be paid. After the automatic opening of the smart door is interrupted, it needs to be opened manually. If a manual opening thrust is received, the image processor will detect the lateral distance Y value of the vehicle body and the opening angle Δ of the smart door. The pre-resistance module will automatically calculate the pre-resistance according to the lateral Y value and the opening angle Δ. Finally, the smart door is opened according to the user's manual intention, and the whole process ends.

[0116] Figure 12 yes Figure 9Flow chart of the third branch method in the figure. The image processor determines whether the moving obstacle has moved away from the vehicle body. If so, the smart door automatically opens to the optimal door opening angle. If not, the smart door unlocks the door and performs a slight opening. After receiving a manual opening request, the image processor determines whether the moving obstacle is close to the vehicle body. If not, the smart door is opened according to the user's manual intention. At this time, the pre-resistance module automatically adjusts the pre-resistance to the minimum. At the same time, a warning sound is issued during the manual deployment process to remind the user to pay attention to the moving obstacle outside the vehicle. If the image processor detects that the moving obstacle is approaching the vehicle body, the image processor will detect the lateral distance Y value of the vehicle body and the opening angle Δ of the smart door. The pre-resistance module automatically calculates the pre-resistance based on the lateral Y value and the opening angle Δ, reminding the user that there is a moving obstacle approaching outside the vehicle. Finally, the smart door is opened according to the user's manual intention, and the entire process ends.

[0117] Figures 13(A) and 13(B) are schematic diagrams of a method for determining the first and second areas in an embodiment of the present application. As shown in Figures 13(A) and 13(B), the first area, i.e., the collision zone, includes a first collision zone along the front direction of the vehicle and a second collision zone along the rear direction of the vehicle, which are determined based on the lateral distance between the stationary obstacle and the smart door, or based on the lateral distance between the moving obstacle and the smart door and the speed of the moving obstacle. The second area, i.e., the possible collision zone, also includes a first possible collision zone along the front direction of the vehicle and a second possible collision zone along the rear direction of the vehicle, which are determined based on the lateral distance between the moving obstacle and the smart door and the speed of the moving obstacle. There is no possible collision zone for stationary obstacles.

[0118] By adopting the technical solution of the embodiment of the present application, when a user request to open the smart door is detected in a parking condition, the environmental information of a certain perimeter range is collected by a camera. After processing by the image processor, the current motion state of the obstacle and whether the obstacle is in the area where the smart door is opened (collision area, collision area) are judged. When the obstacle is in motion and tends to move towards the body of the smart door, the pre-resistance for manual opening of the smart door will increase as the lateral distance Y between the obstacle and the body decreases, and increases as the opening angle of the smart door increases, thereby preventing the user from forcibly opening the smart door and preventing the moving obstacle from colliding with the smart door.

[0119] At the same time, during the opening process of the smart door, if an obstacle is detected entering the collision zone, the control buzzer will send a warning sound to remind the user that a collision may occur when opening the smart door. If an obstacle is detected entering the collision zone, the control buzzer will send a warning sound to inform the user that if the smart door is opened to the maximum position, it will collide with the obstacle.

[0120] All of the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described in detail here.

[0121] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0122] Figure 14 This is a schematic diagram of an intelligent door opening anti-collision device provided by an embodiment of the present application. Figure 14 As shown, the device includes:

[0123] The acquisition module 1401 is configured to obtain obstacle information within a preset range of the smart door from the image processing unit in response to receiving a request to open the smart door, where the obstacle information includes obstacle motion information and obstacle position information.

[0124] The communication module 1402 is configured to send a first instruction to the pre-resistance module in response to determining that the obstacles include a moving obstacle based on the obstacle motion information and determining that the moving obstacle is located in the first area based on the obstacle position information, so that the pre-resistance module sets the pre-resistance resistance to a first resistance value based on the first instruction, and the first resistance value is a maximum resistance value.

[0125] The storage module 1403 is configured to temporarily store the door opening request.

[0126] The acquisition module 1401 is further configured to periodically acquire obstacle information of a moving obstacle from the image processing unit.

[0127] The communication module 1402 is also configured to, in response to determining that the moving obstacle is not located in the second area, obtain a temporarily stored door opening request and send a second instruction to the pre-resistance module so that the pre-resistance module sets the pre-resistance value to a second resistance value based on the second instruction, and the second resistance value is the minimum resistance value, thereby causing the smart door to open to the first angle.

[0128] Among them, the first area is the collision area of ​​the smart door, and the second area is the possible collision area of ​​the smart door.

[0129] According to the technical solution provided in the embodiment of the present application, by obtaining obstacle information within a preset range of the smart door when receiving a request to open the smart door, the position information of the moving obstacle is obtained, and when the moving obstacle is located in a first area, namely, a collision area, a first instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance to the maximum resistance value, and temporarily stores the door opening request, and then periodically obtains the information of the moving obstacle, and sends a second instruction to the pre-resistance module after determining that the moving obstacle leaves the second area, namely, the possible collision area, so that the pre-resistance module sets the pre-resistance to the minimum resistance value, so that the smart door opens to a first angle, so that it can accurately detect whether the smart door is likely to collide with the surrounding moving obstacles when it is opened, and according to the detection result, the corresponding instruction is sent to the pre-resistance module, and the opening of the smart door is controlled by the pre-resistance module, thereby reducing the collision risk during the opening of the smart door, improving the safety of vehicle door opening, and enhancing the user experience.

[0130] In an embodiment of the present application, the communication module 1402 is further configured to, in response to determining that the obstacles include a moving obstacle based on the obstacle motion information, and determining that the moving obstacle is located in the second area but not in the first area based on the obstacle position information, determine the movement direction of the moving obstacle; in response to determining that the movement direction of the moving obstacle is away from the direction of the vehicle where the smart door is located, send a second instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to the second resistance value based on the second instruction, thereby opening the smart door to the first angle; in response to determining that the movement direction of the moving obstacle is close to the direction of the vehicle where the smart door is located, send a third instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to the third resistance value based on the third instruction, thereby opening the smart door to the second angle, wherein the third resistance value is greater than the second resistance value and less than the first resistance value, and the second angle is less than the first angle.

[0131] In an embodiment of the present application, after sending the third instruction to the pre-resistance module, the communication module 1402 is further configured to: periodically obtain obstacle information of the moving obstacle from the image processing unit, and in response to determining that the moving obstacle is located in the first area, send a first instruction to the pre-resistance module so that the pre-resistance module sets the pre-resistance resistance to the first resistance value based on the first instruction; in response to determining that the moving obstacle is not located in the first area, send a fourth instruction to the pre-resistance module so that the pre-resistance module increases the pre-resistance resistance by a preset increment based on the fourth instruction, thereby opening the intelligent door to a third angle until the third angle is equal to the first angle, wherein the third angle is greater than the second angle.

[0132] In an embodiment of the present application, after sending the third instruction to the pre-resistance module, the communication module 1402 is further configured to: in response to receiving a manual door opening request from the user, obtain obstacle information of the moving obstacle from the image processing unit; determine a fourth resistance value based on the obstacle information of the moving obstacle and the second angle; send a fifth instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to the fourth resistance value based on the fifth instruction, thereby opening the smart door to a fourth angle, wherein the fourth angle is greater than the second angle and less than the first angle.

[0133] In an embodiment of the present application, the communication module 1402 is also configured to send a second instruction to the pre-resistance module in response to determining that the obstacles include a moving obstacle based on the obstacle motion information, and determining that all obstacles are not located in the first area and the second area based on the obstacle position information, so that the pre-resistance module sets the pre-resistance resistance to the second resistance value based on the second instruction, thereby opening the intelligent door to the first angle; periodically obtain obstacle information of the moving obstacle from the image processing unit, and send a first instruction to the pre-resistance module in response to determining that the moving obstacle is located in the second area, so that the pre-resistance module sets the pre-resistance resistance to the first resistance value based on the first instruction.

[0134] In an embodiment of the present application, the communication module 1402 is also configured to, after sending a first instruction to the pre-resistance module, periodically obtain obstacle information of the moving obstacle from the image processing unit in response to receiving a manual door opening request from the user; determine a fourth resistance value based on the obstacle information of the moving obstacle and the second angle; and send a fifth instruction to the pre-resistance module so that the pre-resistance module sets the pre-resistance value to the fourth resistance value based on the fifth instruction, thereby opening the intelligent door to a fourth angle, wherein the fourth angle is greater than the second angle and less than the first angle.

[0135] In an embodiment of the present application, the communication module 1402 is also configured to determine whether the obstacle is located in the first area in response to determining that the obstacles do not include a moving obstacle based on the obstacle motion information; in response to determining that the obstacle is located in the first area, send a sixth instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a fifth resistance value based on the second instruction, thereby opening the smart door to a fifth angle, wherein the fifth resistance value is determined based at least on the distance between the obstacle and the smart door; in response to determining that the obstacle is not located in the first area, send a second instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a second resistance value based on the second instruction, thereby opening the smart door to the first angle.

[0136] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean 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.

[0137] Figure 15Schematic diagram of an electronic device provided in an embodiment of the present application. Figure 15 As shown, the electronic device 15 of this embodiment includes: a processor 1501, a memory 1502, and a computer program 1503 stored in the memory 1502 and executable by the processor 1501. When the processor 1501 executes the computer program 1503, the steps of the above-described method embodiments are implemented. Alternatively, when the processor 1501 executes the computer program 1503, the functions of the modules / units in the above-described device embodiments are implemented.

[0138] The electronic device 15 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 15 may include but is not limited to a processor 1501 and a memory 1502. Those skilled in the art will appreciate that Figure 15 The electronic device 15 is merely an example and does not limit the electronic device 15 , and may include more or fewer components than shown in the figure, or different components.

[0139] The processor 1501 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0140] Memory 1502 can be an internal storage unit of electronic device 15, such as a hard disk or memory of electronic device 15. Memory 1502 can also be an external storage device of electronic device 15, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on electronic device 15. Memory 1502 can also include both an internal storage unit of electronic device 15 and an external storage device. Memory 1502 is used to store computer programs and other programs and data required by the electronic device.

[0141] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by 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 above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0142] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0143] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for preventing collision when opening an intelligent door, characterized in that: include: In response to receiving a request to open the smart door, the image processing unit obtains obstacle information within a preset range of the smart door, the obstacle information including obstacle motion information and obstacle position information; In response to determining that the obstacles include a moving obstacle based on the obstacle motion information, and determining that the moving obstacle is located in a first area based on the obstacle position information, sending a first instruction to a pre-resistance module, so that the pre-resistance module sets a pre-resistance resistance to a first resistance value based on the first instruction, where the first resistance value is a maximum resistance value; Temporarily storing the door opening request; periodically acquiring obstacle information of the moving obstacle from an image processing unit; In response to determining that the moving obstacle is not located in the first area and the second area, obtaining a temporarily stored door opening request, and sending a second instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a second resistance value based on the second instruction, the second resistance value being a minimum resistance value, thereby causing the intelligent door to open to the first angle; The first area is the collision area of ​​the smart door, and the second area is the possible collision area of ​​the smart door; In response to determining, based on the obstacle motion information, that the obstacles include a moving obstacle, and determining, based on the obstacle position information, that the moving obstacle is located in the second area but not in the first area, determining a moving direction of the moving obstacle; In response to determining that the moving direction of the moving obstacle is away from the direction of the vehicle where the smart door is located, sending a second instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a second resistance value based on the second instruction, thereby opening the smart door to the first angle; In response to determining that the movement direction of the moving obstacle is close to the direction of the vehicle where the smart door is located, a third instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a third resistance value based on the third instruction, thereby opening the smart door to a second angle, wherein the third resistance value is greater than the second resistance value and less than the first resistance value, and the second angle is less than the first angle.

2. The method according to claim 1, characterized in that After sending the third instruction to the pre-blocking module, the method further includes: periodically acquiring obstacle information of the moving obstacle from the image processing unit, and in response to determining that the moving obstacle is located in a first area, sending a first instruction to a pre-resistance module so that the pre-resistance module sets a pre-resistance resistance to a first resistance value based on the first instruction; In response to determining that the moving obstacle is not located in the first area, a fourth instruction is sent to the pre-resistance module, so that the pre-resistance module increases the pre-resistance force by a preset increment based on the fourth instruction, thereby opening the smart door to a third angle until the third angle is equal to the first angle, wherein the third angle is greater than the second angle.

3. The method according to claim 1, characterized in that After sending the third instruction to the pre-blocking module, the method further includes: In response to receiving a manual door opening request from a user, obtaining obstacle information of the moving obstacle from an image processing unit; determining a fourth resistance value based on the obstacle information of the motion obstacle and the second angle; A fifth instruction is sent to the pre-resistance module so that the pre-resistance module sets the pre-resistance value to a fourth resistance value based on the fifth instruction, thereby opening the smart door to a fourth angle, wherein the fourth angle is greater than the second angle and less than the first angle.

4. The method according to claim 1, wherein The method further comprises: In response to determining, based on the obstacle motion information, that the obstacles include a moving obstacle, and determining, based on the obstacle position information, that all obstacles are not located in the first area and the second area, sending a second instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a second resistance value based on the second instruction, thereby causing the intelligent door to open to the first angle; Obstacle information of the moving obstacle is periodically obtained from the image processing unit, and in response to determining that the moving obstacle is located in the second area, a first instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance resistance to a first resistance value based on the first instruction.

5. The method according to claim 4, characterized in that The method further comprises: After sending the first instruction to the pre-blocking module, in response to receiving a manual door opening request from the user, periodically obtaining obstacle information of the moving obstacle from the image processing unit; determining a fourth resistance value based on the obstacle information of the motion obstacle and the second angle; A fifth instruction is sent to the pre-resistance module so that the pre-resistance module sets the pre-resistance value to a fourth resistance value based on the fifth instruction, thereby opening the smart door to a fourth angle, wherein the fourth angle is greater than the second angle and less than the first angle.

6. The method according to claim 1, characterized in that The method further comprises: In response to determining that the obstacles do not include a moving obstacle based on the obstacle motion information, determining whether the obstacle is located in a first area; In response to determining that the obstacle is located in the first area, sending a sixth instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a fifth resistance value based on the second instruction, thereby opening the smart door to a fifth angle, wherein the fifth resistance value is determined based on at least the distance between the obstacle and the smart door; In response to determining that the obstacle is not located in the first area, a second instruction is sent to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a second resistance value based on the second instruction, thereby opening the smart door to a first angle.

7. An intelligent door opening anti-collision device, characterized in that: include: an acquisition module configured to, in response to receiving a request to open the smart door, acquire obstacle information within a preset range of the smart door from the image processing unit, the obstacle information including obstacle motion information and obstacle position information; a communication module configured to, in response to determining that the obstacles include a moving obstacle based on the obstacle motion information and determining that the moving obstacle is located in a first area based on the obstacle position information, send a first instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance resistance to a first resistance value based on the first instruction, where the first resistance value is a maximum resistance value; a storage module, configured to temporarily store the door opening request; The acquisition module is further configured to periodically acquire obstacle information of the moving obstacle from the image processing unit; The communication module is further configured to, in response to determining that the motion obstacle is not located in the second area, obtain a temporarily stored door opening request and send a second instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance value to a second resistance value based on the second instruction, the second resistance value being a minimum resistance value, thereby causing the intelligent door to open to the first angle; The first area is the collision area of ​​the smart door, and the second area is the possible collision area of ​​the smart door; The communication module is further configured to: in response to determining that the obstacles include a moving obstacle based on the obstacle motion information, and determining that the moving obstacle is located in the second area but not in the first area based on the obstacle position information, determine the movement direction of the moving obstacle; in response to determining that the movement direction of the moving obstacle is away from the direction of the vehicle where the smart door is located, send a second instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance resistance to a second resistance value based on the second instruction, thereby opening the smart door to a first angle; in response to determining that the movement direction of the moving obstacle is close to the direction of the vehicle where the smart door is located, send a third instruction to the pre-resistance module, so that the pre-resistance module sets the pre-resistance resistance to a third resistance value based on the third instruction, thereby opening the smart door to a second angle, wherein the third resistance value is greater than the second resistance value and less than the first resistance value, and the second angle is less than the first angle.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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