A gate control method based on vehicle recognition

Abstract

The present invention discloses a gate control method based on vehicle recognition for controlling an electric telescopic door. The method comprises the following steps: identifying the vehicle width and predicting the vehicle's entry trajectory; determining the electric telescopic door's opening length d based on the vehicle width; determining the position coordinates of the electric telescopic door's opening based on the vehicle's entry trajectory, and using the position coordinates to correct the opening length d so that the electric telescopic door can open at the position coordinates. The present invention determines the electric telescopic door's opening length by detecting the vehicle's width, predicts the vehicle's entry trajectory, and corrects the electric telescopic door's opening length, ensuring that the vehicle can safely and smoothly pass through the electric telescopic door while avoiding excessive losses and energy waste caused by the electric telescopic door's excessive extension and retraction.

Description

Technical Field

[0001] The present invention belongs to the field of access control, and in particular relates to a gate control method based on vehicle identification. Background Art

[0002] Electric retractable gates are a common type of door product, often installed at the entrances of residential communities or factories. These gates are generally quite wide, but in practice, they don't need to be fully opened every time someone passes through. However, if they were made into small doors, the gate would appear cramped and fail to reflect the "class" of the venue.

[0003] Therefore, manual opening and closing are usually adopted. For example, the door is opened and closed narrowly for pedestrians, bicycles, and electric vehicles, while it is opened wider for passengers or construction vehicles. Among the previously published invention patents, CN110593711A, a control method for a residential telescopic door, discloses a method for identifying pedestrians or vehicles to control the door's opening and closing width. However, based on current real-life conditions, a method for separating pedestrians and vehicles is adopted, namely, a small gate is installed at one end of the electric telescopic door to allow pedestrians, bicycles, and electric vehicles to pass through.

[0004] In summary, in life, the target scenario of electric telescopic doors is the passage of motor vehicles, so it is necessary to develop a personalized control method for the door based on vehicle recognition. Summary of the Invention

[0005] In order to solve the problem in the above background technology that it is difficult to accurately mark unqualified areas when measuring the size of cookware, the present invention provides a gate control method based on vehicle recognition.

[0006] To achieve the above objectives, the present invention provides the following technical solutions: A gate control method based on vehicle identification for controlling an electric telescopic door, comprising the following steps: identifying the vehicle width and predicting the vehicle entry trajectory;

[0007] According to the vehicle width, the electric telescopic door opening length d is obtained;

[0008] The position coordinates of the electric telescopic door opening are obtained according to the vehicle entry trajectory, and the opening length d is corrected using the position coordinates so that the electric telescopic door can be opened at the position coordinates.

[0009] Preferably, the area in front of the electric telescopic door is gridded to form grid coordinates, the vehicle's entry trajectory is captured by a camera, the vehicle trajectory is predicted by the vehicle's entry posture, and mapped into the grid coordinates of the area in front of the door, and finally vertically projected to the corresponding area of the electric telescopic door, which is the vehicle's entry trajectory.

[0010] Preferably, if the public road outside the door area in front of the electric telescopic door and the entry and exit direction of the electric telescopic door are on the same axis, the vehicle's driving direction and the grille position occupied by the front wheels in the door area are directly collected to determine the vehicle's entry trajectory.

[0011] Preferably, if the public road outside the door area in front of the electric telescopic door is perpendicular to the entry and exit direction of the electric telescopic door, it is determined that the vehicle needs to turn before entering the door area in front of the door, the turning trajectory of the vehicle is predicted, and the position of the vehicle arriving at the grid coordinates is obtained according to the turning trajectory, thereby determining the entry trajectory of the vehicle.

[0012] Preferably, when the vehicle turns and enters the grid coordinates, the vehicle trajectory is continuously captured and the vehicle's entry trajectory is predicted. If the vehicle is traveling in a straight line, the vehicle's entry trajectory is determined by extending along the vehicle's side line to the horizontal axis of the grid coordinates where the electric telescopic door is located. If the vehicle is traveling in an arc path, the vehicle trajectory is predicted to the horizontal coordinate of the vehicle's side line where the front of the vehicle is parallel to the horizontal axis of the grid coordinates, and extended to the horizontal axis where the electric telescopic door is located, thereby determining the vehicle's entry trajectory.

[0013] Preferably, the position coordinates of the electric telescopic door opening are corrected according to the path of the vehicle after entering the electric telescopic door. The specific correction goal is that the curvature of the turning trajectory of the vehicle within the grid coordinates and after entering the electric telescopic door is as smooth as possible.

[0014] Preferably, by capturing the vehicle turning trajectory and the vehicle's trajectory within the grid coordinates, training the trajectory statistical probability model, and combining the driver's data to obtain the driver's driving habits, the position coordinates of the electric telescopic door opening are corrected based on the driver's driving habits.

[0015] Preferably, a first warning area is divided at the front end of the grid coordinates close to the public road. When the vehicle turns and enters the grid coordinates, if the vehicle does not change the wheel steering angle when entering the first warning area or before, it is determined that the vehicle has no intention of entering the electric telescopic door.

[0016] Preferably, a second warning area is defined as an area where the vertical axis of the grid coordinate is close to the electric telescopic door and the horizontal axis is far away from the center of the electric telescopic door. If the vehicle cannot reach the middle position of the single-sided electric telescopic door at one time along the minimum turning radius within this area, the single-sided electric telescopic door where the vehicle is located will be directly controlled to open to a position flush with the outer side of the vehicle front.

[0017] Preferably, before a vehicle enters the grid coordinates, the license plate is captured by a camera to determine the vehicle information, so as to determine whether the vehicle is a visitor vehicle or a resident vehicle.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention determines the opening length of the electric telescopic door by detecting the vehicle width and predicting the vehicle's entry trajectory, and corrects the opening length of the electric telescopic door to ensure that the vehicle can pass through the electric telescopic door safely and smoothly, while avoiding additional loss and waste of electricity caused by excessive extension and retraction of the electric telescopic door. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall concept of the present invention;

[0021] Figure 2 A schematic diagram of a motion posture simulation of a vehicle of the present invention during steering;

[0022] Figure 3 Schematic diagram of the vehicle steering trajectory of the present invention.

[0023] Figure 4 This is a schematic diagram of the door opening position planning according to the predicted path after the vehicle enters the door. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] like Figure 1 As shown, the present invention provides a gate control method based on vehicle recognition. This embodiment is mainly aimed at the control of electric telescopic doors. In current practical applications, single-opening electric telescopic doors and double-opening electric telescopic doors are more common. The double-opening electric telescopic door is referred to Figure 1 As shown, there are two heads for driving the door body to slide in opposite directions, head A and head B. Compared with the single-opening electric telescopic door, the double-opening electric telescopic door can be used for a larger door width. This embodiment is mainly for the application of double-opening electric telescopic doors.

[0026] First, the initial idea of this embodiment is to identify the width of vehicles, such as motorized tricycles, cars, off-road vehicles, trucks, and engineering vehicles, and thereby determine the opening width of the electric telescopic door to ensure that the vehicles can pass safely and quickly.

[0027] On this basis, this embodiment takes into account the use of electric telescopic doors, especially double-opening electric telescopic doors, where the door width is very large and there is a large area in front of the door. When a vehicle enters this area in front of the door, it will present different postures, which are manifested as different body directions, different head directions and movement trends. If the door opening strategy is formulated based solely on the body width, it will cause driving discomfort to vehicles in different postures. Therefore, on this basis, it is necessary to consider the position where the electric telescopic door opens.

[0028] That is, the control method of this embodiment includes the following steps: identifying the vehicle width and predicting the vehicle entry trajectory;

[0029] According to the vehicle width, the electric telescopic door opening length d is obtained;

[0030] The position coordinates of the electric telescopic door opening are obtained according to the vehicle entry trajectory, and the opening length d is corrected using the position coordinates so that the electric telescopic door can be opened at the position coordinates.

[0031] For example, with a double-opening electric telescopic door, if the intersection of the two locomotives is used as the zero point, a door opening at least 2000mm wide opens to the right of the zero point, and locomotive A needs to reach a position coordinate of 4000mm. There are two possible scenarios: In the first scenario, locomotive A slides directly to the right 4000mm. In the second scenario, locomotive A slides 4000mm to the right and locomotive B slides 2000mm to the right. Redundancy can be configured at both ends of a two-way electric telescopic door to facilitate this operation. In some scenarios, the second scenario is used to prevent unrecognized intruders.

[0032] To facilitate algorithm recognition and calculation, the area in front of the electric telescopic door is gridded to form grid coordinates. The camera is used to capture the trajectory of the vehicle entering, and the vehicle trajectory is predicted based on the vehicle's entry posture. The trajectory is mapped to the grid coordinates of the area in front of the door and finally projected vertically to the corresponding area of the electric telescopic door. The corresponding area is the vehicle's entry trajectory.

[0033] There are two main scenarios for vehicle input trajectories. The first is when the public road outside the electric telescopic door is coaxial with the entrance and exit directions of the electric telescopic door, meaning the public road is directly opposite the electric telescopic door. In this case, as the vehicle enters, the vehicle's entry trajectory is determined by directly collecting the vehicle's direction of travel and the grille position occupied by the front wheels within the area in front of the door, or by identifying the vehicle's outer edges on both sides. Based on this entry trajectory, the electric telescopic door expands the opening width to both sides by a distance between half a vehicle width and a full vehicle width.

[0034] The second situation is Figure 1As shown, the public road outside the gate area of the electric telescopic door is perpendicular to the entrance and exit direction of the electric telescopic door. In this case, the vehicle needs to turn before entering the gate area.

[0035] Therefore, it is necessary to predict the turning trajectory of the vehicle, obtain the position of the vehicle reaching the grid coordinates based on the turning trajectory, and further determine the vehicle's entry trajectory.

[0036] Reference to the prediction principle of turning trajectory Figure 2 as well as Figure 3 As shown, taking the turning trajectory of a four-wheeled vehicle as an example, the vehicle as a whole travels along an arc, relying on the front wheel steering angles X1 and X2 and the rear wheel drive to achieve turning control. X1 and X2 are usually different values. If the wheelbase is L, the rear wheel track is T (L and T can be directly obtained by identifying the vehicle model information), and the turning radius is R, then their mathematical relationship is:

[0037] X2= ;

[0038] X1= .

[0039] The turning radius R is calculated using the two front wheel steering angles X1 and X2, and the trajectory of each wheel of the vehicle can be determined based on trigonometric functions and the right triangle theorem.

[0040] In existing technology, the front wheel steering angle of a turning vehicle can be obtained through image recognition. Alternatively, the starting path of the vehicle's turn can be directly analyzed to determine the turning center, thereby obtaining the turning radius R and inferring the steering angle. Such technologies are relatively common in the field of intelligent driving and will not be described in detail in this embodiment.

[0041] By predicting the turning trajectory of the vehicle on the public road, the starting position of the vehicle after entering the grid coordinate can be obtained.

[0042] According to typical driving habits, after a vehicle enters the gate area, its wheels turn straight and it drives toward the front of the vehicle. The vehicle's sideline extends to the horizontal axis of the grid coordinates of the electric telescopic gate, determining the vehicle's entry track. In this step, the speed of the front of the vehicle is controlled based on the vehicle's speed to ensure direct entry without waiting. After the front of the vehicle is opened, the driver will not change the vehicle's direction. However, if the vehicle reaches the front of the vehicle or is about to reach the front of the vehicle while the front of the vehicle is still moving, the driver may choose to change the vehicle's direction, which will place a new computational burden on the control system. Therefore, if the vehicle enters the gate area and drives in a straight line, the relationship between vehicle speed and front of the vehicle movement speed is considered and corrections are made.

[0043] In another case, after the vehicle enters the grid coordinates of the area in front of the gate, the vehicle continues to travel in an arc. In this case, it may be due to improper operation by the driver, or the driver may be adjusting the position of the vehicle. In either case, it is sufficient to further predict the vehicle trajectory. The next time the front of the vehicle is parallel to the horizontal axis of the grid coordinates, the horizontal coordinates made by the double-sided side lines of the vehicle body are extended and mapped to the horizontal axis where the electric telescopic gate is located, which is the entry trajectory of the vehicle. At this time, the electric telescopic gate can open a gap of appropriate width at the entry trajectory. In this step, it is also necessary to control the moving speed of the nose. It is best to complete the sliding before the front of the vehicle is straightened. Because the nose completes the sliding, it will give the driver feedback to help the driver make corresponding operational judgments.

[0044] In addition, this embodiment also takes into account the extreme position of the vehicle. Figure 1 As shown, the area with the vertical axis of the grid coordinates close to the electric telescopic door and the horizontal axis away from the center of the electric telescopic door is designated as the second warning zone 1. This zone is determined based on the vehicle's wheelbase and minimum turning radius. The standard for this is that if a vehicle within this zone cannot reach the center of the single-sided electric telescopic door within the minimum turning radius, the single-sided electric telescopic door on the vehicle's side will be directly opened to a position flush with the outside of the vehicle's front. This is particularly useful for extra-long vehicles or semi-trailers, which require multiple turns to adjust their position due to length limitations. When such vehicles are in the second warning zone, the single-sided electric telescopic door on the vehicle's side is directly opened to a position flush with the outside of the vehicle's front, or directly opened to its maximum position. Furthermore, even for smaller vehicles, reaching this position could be due to driver error or a roadblock, so the door can be directly opened to the front of the vehicle to allow for quick passage.

[0045] In summary, this embodiment also considers the residential area where people and vehicles are separated. After entering the door, the vehicle can be directly placed in the underground garage on both sides. Therefore, for resident vehicles, its trajectory after entering the door can be determined. The idea of this embodiment is to correct the opening position of the electric telescopic door by predicting the operation of the vehicle after entering the door. The goal of the correction is to make the vehicle enter the destination behind the door (such as a garage) as smoothly as possible. Try to turn as little as possible or make the turning angle smaller. Figure 4 As shown, the vehicle enters the door area from the side (not facing the front of the engine), and the vehicle turns left or right after entering the door. If the vehicle enters the door area from the right, enters the electric telescopic door and turns left to enter the garage, after the vehicle enters the door area, the position where the vehicle enters the door area is predicted, and a 30°-50° inclined trajectory is directly drawn from that position. The intersection of this trajectory and the electric telescopic door is the entry trajectory, that is, Figure 4The trajectory indicated by number 4. If the vehicle enters the front door area from the right, passes through the electric telescopic door, and then turns right to enter the garage, after the vehicle's entry position is predicted, a trajectory is drawn directly from that position to the electric telescopic door. The intersection of this trajectory and the electric telescopic door is the entry trajectory.

[0046] Based on the above, the vehicle's turning trajectory and its trajectory within the grid coordinates are captured to train a trajectory statistical probability model. This is then combined with driver data (which can be identified through camera-generated imagery) to derive the driver's driving habits. This information is then used to adjust the position coordinates for the electric telescopic door's opening position. Each entry trajectory is weighted based on the driver's stance and habits, such as faster passage through the electric telescopic door, smoother passage, and reduced steering angle, to select the entry trajectory that best suits the driver.

[0047] In summary, this embodiment also requires that the license plate be captured by the camera before the vehicle enters the grid coordinates to determine the vehicle information, so as to determine whether the vehicle is a visitor vehicle or a resident vehicle. Since visitor vehicles need to be registered or directly denied entry, the control method of this embodiment is not used. In addition, even if it is a resident vehicle, it may "pass by the door without entering". So refer to Figure 1 As shown, a first warning area 2 is defined at the front of the grid coordinates near the public road. If a vehicle turns into the grid coordinates and does not change its steering angle before or after entering the first warning area 2, the vehicle is determined not to have intended to enter the electric retractable door. This is because vehicles typically adjust their steering angles to straighten their front after turning into the grid coordinates. If the steering angle is not adjusted, the vehicle may be using the area in front of the door as a U-turn, so it is determined not to have intended to enter.

[0048] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0049] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A gate control method based on vehicle recognition for controlling an electric telescopic door, comprising the following steps: identifying the vehicle width and predicting the vehicle entry trajectory; According to the vehicle width, the electric telescopic door opening length d is obtained; The position coordinates of the electric telescopic door opening are obtained according to the vehicle entry trajectory, and the opening length d is corrected using the position coordinates so that the electric telescopic door can be opened at the position coordinates; The area in front of the electric telescopic door is gridded to form grid coordinates. The vehicle's entry trajectory is captured using a camera. The vehicle's entry trajectory is predicted based on the vehicle's entry posture and mapped into the grid coordinates of the area in front of the door. Finally, it is vertically projected onto the corresponding area of the electric telescopic door. The corresponding area is the vehicle's entry trajectory. If the public road outside the door area of the electric telescopic door is on the same axis as the entrance and exit direction of the electric telescopic door, the vehicle's driving direction and the grille position occupied by the front wheels in the door area are directly collected to determine the vehicle's entry trajectory; If the public road outside the area in front of the electric telescopic door is perpendicular to the entry and exit direction of the electric telescopic door, it is determined that the vehicle needs to turn to enter the area in front of the door, and the vehicle's turning trajectory is predicted. The position of the vehicle at the grid coordinate is obtained based on the turning trajectory, thereby determining the vehicle's entry trajectory; When the vehicle turns and enters the grid coordinates, the vehicle trajectory is continuously captured and the vehicle's entry trajectory is predicted. If the vehicle is traveling in a straight line, the vehicle's entry trajectory is determined by extending the trajectory along the vehicle's sideline to the horizontal axis of the grid coordinates where the electric telescopic gate is located. If the vehicle is traveling in an arc, the vehicle's entry trajectory is determined by predicting the vehicle's sideline horizontal coordinate where the front of the vehicle is parallel to the horizontal axis of the grid coordinates, and extending the trajectory to the horizontal axis where the electric telescopic gate is located. By capturing the vehicle's turning trajectory and the vehicle's trajectory within the grid coordinates, a trajectory statistical probability model is trained. Combined with the driver's data, the driver's driving habits are obtained. Based on the driver's driving habits, the position coordinates of the electric telescopic door opening are corrected; The principle of turning trajectory prediction is as follows: the vehicle as a whole travels along an arc, and turning control is achieved by relying on the front wheel steering angles X1 and X2 and the drive of the rear wheels. X1 and X2 usually have different values. The wheelbase is L, the rear wheel track is T, and the turning radius is R. Their mathematical relationship is: X2= ; X1= ； The turning radius R is calculated using the two front wheel steering angles X1 and X2, and the trajectory of each wheel of the vehicle is determined based on trigonometric functions and the right triangle theorem.

2. A gate control method based on vehicle identification according to claim 1, characterized in that: According to the path of the vehicle after entering the electric telescopic door, the position coordinates of the electric telescopic door opening are corrected.

3. The gate control method based on vehicle identification according to claim 1, characterized in that: The front end of the grid coordinates close to the public road is divided into a first warning area (2). When a vehicle turns and enters the grid coordinates, if the vehicle does not change its wheel steering angle when entering the first warning area (2) or before, it is determined that the vehicle has no intention of entering the electric telescopic door.

4. The gate control method based on vehicle recognition according to claim 3, characterized in that: The area where the vertical axis of the grid coordinate is close to the electric telescopic door and the horizontal axis is far from the center of the electric telescopic door is divided into a second warning area (1). If the vehicle cannot reach the middle position of the single-sided electric telescopic door at one time along the minimum turning radius within this area, the single-sided electric telescopic door where the vehicle is located will be directly controlled to open to a position flush with the outer side of the vehicle front.

5. The gate control method based on vehicle identification according to claim 1, characterized in that: Before a vehicle enters the grid coordinates, the license plate is captured by a camera to determine the vehicle information to determine whether the vehicle is a visitor vehicle or a resident vehicle.

Images