Vehicle door opening warning method and device, computer device, and storage medium

Abstract

The application discloses a vehicle door opening warning method and device, computer equipment and a storage medium. The method comprises the following steps: when the vehicle is in a parking state, acquiring a rear row audio and video in the vehicle; detecting whether the rear row passenger has an intention to open the door; if so, determining the body shape of the rear row passenger by using image technology; acquiring a door opening side video and projecting it in the vehicle; acquiring rear corner radar data; calculating the lateral distance and longitudinal distance of each object on the door opening side, and determining the collision object and the corresponding lateral distance and longitudinal distance; determining the speed of the collision object and the collision time; and controlling the door opening angle according to the collision time, the lateral distance, the door size and the body shape of the rear row passenger. The method of the application can efficiently and directly prompt the rear row passenger, prevent accidents, avoid any door opening warning in the vehicle when the corner radar fails, control the door opening angle, meet the needs of the passenger getting off and preventing collision, and enhance the practicability.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicle technology, and more specifically to a vehicle door opening warning method, device, computer equipment and storage medium. Background Art

[0002] With the continuous development of the Internet, automobile technology is also constantly improving. Today's cars are very different from those in the past. Today's cars are becoming more and more intelligent, and people's demand for automobile technology is getting higher and higher. Moreover, with the improvement of people's living standards, every household has a private car. With the continuous popularization of vehicles, parking safety has also received more and more attention from people.

[0003] Regarding door opening after parking, today's smart cars are all equipped with a door opening warning function. Existing door opening warnings mainly rely on audible alarms and optical signals emitted by the instrument panel to provide door opening warnings. However, these alarms are less effective for rear passengers, resulting in frequent traffic accidents caused by failure to observe rear door openings. The current door opening warning function mainly collects signals through rear corner radar, but this radar has a low recognition rate for low-speed pedestrians, making it unable to issue timely warnings when pedestrians pass by. In addition, when the corner radar fails, the door opening warning function will also fail. Moreover, the existing door opening warning function can only control the full opening or closing of the car door, which is not very practical.

[0004] Therefore, it is necessary to design a new method to efficiently and directly alert rear passengers to prevent accidents. At the same time, it can also avoid any door opening warning in the car when the corner radar fails, and can control the door opening angle to meet the needs of passengers getting off the car and preventing collisions, thereby enhancing practicality. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects of the prior art and provide a vehicle door opening warning method, device, computer equipment and storage medium.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a vehicle door opening warning method, comprising:

[0007] When the vehicle is parked, obtain the rear audio and video;

[0008] Detecting whether a rear passenger intends to open the door based on the rear audio and video in the vehicle;

[0009] If the rear passenger intends to open the door, image technology is used to determine the rear passenger's body shape;

[0010] Get the door opening side video and project it inside the car;

[0011] Acquire rear corner radar data;

[0012] According to the door opening side video and the rear corner radar data, the lateral distance and longitudinal distance of each object on the door opening side are calculated, and the collision object and corresponding lateral distance and longitudinal distance are determined;

[0013] According to the rear corner radar data, the speed of the collision object is determined, the acceleration is determined in combination with the collision object and corresponding longitudinal distance, and the collision time is determined according to the acceleration, speed and longitudinal distance;

[0014] According to the collision time, the lateral distance, the door size and the body shape of the rear passenger, the door opening angle control is performed.

[0015] Further technical solutions thereof are that the rear passenger's intention of opening the door is detected according to the rear passenger audio video in the vehicle, including:

[0016] According to the rear passenger audio video in the vehicle, the action analysis of the rear passenger is performed by using optical flow analysis, and / or the keywords in the rear passenger audio video in the vehicle are detected by using sound to determine whether there is an intention of opening the door.

[0017] Further technical solutions thereof are that the body shape of the rear passenger is determined by using image technology, including:

[0018] The face image and the sitting posture image of the rear passenger are obtained;

[0019] The sitting posture image is analyzed by using image processing technology to preliminarily determine the body shape;

[0020] The face image of the rear passenger is analyzed to determine the facial features, and the body shape of the rear passenger is determined in combination with the preliminarily determined body shape.

[0021] Further technical solutions thereof are that the lateral distance and longitudinal distance of each object on the door opening side are calculated according to the door opening side video and the rear corner radar data, and the collision object and corresponding lateral distance and longitudinal distance are determined, including:

[0022] The lateral distance, angle and longitudinal distance between the door and each object on the door opening side are calculated according to the rear corner radar data to obtain first data;

[0023] The lateral distance and longitudinal distance between the door and each object on the door opening side are calculated according to the door opening side video to obtain second data;

[0024] The final lateral distance and longitudinal distance of each object on the door opening side are determined according to the first data and the second data;

[0025] The object with the smallest lateral distance in the final lateral distance of each object on the door opening side is determined as the collision object, and the corresponding lateral distance and longitudinal distance are obtained.

[0026] A further technical solution is that the final lateral distance and longitudinal distance of each object on the door opening side are determined according to the first data and the second data, and the method comprises:

[0027] The minimum value of the lateral distance and the longitudinal distance of each object on the door opening side in the first data and the second data is taken to obtain the final lateral distance and longitudinal distance of each object on the door opening side.

[0028] A further technical solution is that the door opening angle is controlled according to the collision time, the lateral distance, the door size and the body shape of the rear passenger, and the method comprises:

[0029] It is judged whether the collision time is less than a set time length.

[0030] If the collision time is less than the set time length, the door is normally opened.

[0031] If the collision time is not less than the set time length, the door opening angle is controlled according to the lateral distance, the door size and the body shape of the rear passenger.

[0032] A further technical solution is that the door opening angle is controlled according to the lateral distance, the door size and the body shape of the rear passenger, and the method comprises:

[0033] The maximum angle at which the door can be safely opened is calculated according to the lateral distance and the door size.

[0034] It is judged whether the maximum angle is greater than a door opening angle threshold corresponding to the body shape of the passenger.

[0035] If the maximum angle is greater than the door opening angle threshold corresponding to the body shape of the passenger, the opening angle of the door is controlled to be the maximum angle.

[0036] If the maximum angle is not greater than the door opening angle threshold corresponding to the body shape of the passenger, the opening angle of the door is controlled to be zero.

[0037] The application further provides a vehicle door opening early warning device, which comprises:

[0038] An audio and video acquisition unit is configured to acquire rear-row audio and video in a vehicle when the vehicle is in a parking state.

[0039] An intention detection unit is configured to detect whether a rear passenger has a door opening intention according to the rear-row audio and video in the vehicle.

[0040] A body shape determination unit is configured to determine the body shape of the rear passenger by using an image technology.

[0041] A projection unit is configured to acquire a door opening side video and project the door opening side video in the vehicle.

[0042] A radar data acquisition unit is configured to acquire rear corner radar data.

[0043] a distance determination unit configured to calculate the lateral distance and longitudinal distance of each object on the door opening side according to the video on the door opening side and the rear corner radar data, and determine a collision object and corresponding lateral distance and longitudinal distance;

[0044] a collision time determination unit configured to determine the speed of the collision object according to the rear corner radar data, determine the acceleration in combination with the collision object and corresponding longitudinal distance, and determine the collision time according to the acceleration, speed and longitudinal distance;

[0045] an angle control unit configured to perform door opening angle control according to the collision time, the lateral distance, the door size and the body shape of the rear passenger.

[0046] The application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the above method when executing the computer program.

[0047] The application further provides a storage medium storing a computer program, wherein the computer program is executed by a processor to implement the above method.

[0048] Compared with the prior art, the application has the following beneficial effects: the rear passenger video is obtained by the in-vehicle camera, the door opening intention of the passenger is detected, the face and sitting posture image of the passenger is analyzed to determine the body shape, the video on the door opening side and the rear corner radar data are obtained, the distance, speed and acceleration of the object are calculated, the potential collision object is identified, the door opening safety is evaluated based on the detection data and calculation results, if there is a collision risk, the most suitable door opening angle is calculated according to the lateral distance, the door size and the body shape of the rear passenger to ensure that the passenger can safely get off without causing an accident, the rear passenger is efficiently and directly prompted to prevent accidents, and the opening angle of the door can be controlled to meet the needs of passenger getting off and preventing collision, and the practicability is enhanced.

[0049] The application will be further described below in combination with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0051] Figure 1An application scenario diagram of the vehicle door opening warning method provided by the embodiment of the present application is shown in the figure.

[0052] Figure 2 A flow diagram of the vehicle door opening warning method provided by the embodiment of the present application is shown in the figure.

[0053] Figure 3 A sub-flow diagram of the vehicle door opening warning method provided by the embodiment of the present application is shown in the figure.

[0054] Figure 4 A sub-flow diagram of the vehicle door opening warning method provided by the embodiment of the present application is shown in the figure.

[0055] Figure 5 A sub-flow diagram of the vehicle door opening warning method provided by the embodiment of the present application is shown in the figure.

[0056] Figure 6 A sub-flow diagram of the vehicle door opening warning method provided by the embodiment of the present application is shown in the figure.

[0057] Figure 7 A schematic block diagram of the vehicle door opening warning device provided by the embodiment of the present application is shown in the figure.

[0058] Figure 8 A schematic block diagram of the body size determination unit of the vehicle door opening warning device provided by the embodiment of the present application is shown in the figure.

[0059] Figure 9 A schematic block diagram of the collision time determination unit of the vehicle door opening warning device provided by the embodiment of the present application is shown in the figure.

[0060] Figure 10 A schematic block diagram of the angle control unit of the vehicle door opening warning device provided by the embodiment of the present application is shown in the figure.

[0061] Figure 11 A schematic block diagram of the safety control sub-unit of the vehicle door opening warning device provided by the embodiment of the present application is shown in the figure.

[0062] Figure 12 A schematic block diagram of the computer device provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0063] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0064] It should be understood that the terms "comprise" and "comprising" when used in this specification and the appended claims specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0065] It should also be understood that the terms used in the present specification and the appended claims are merely for the purpose of describing particular embodiments and do not intend to limit the present application. As used in the present specification and the appended claims, singular forms "a," "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.

[0066] It should be further understood that the term "and / or" used in the present specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0067] Please refer to Figure 1 and Figure 2 , Figure 1 The application scenario schematic diagram of the vehicle door opening warning method provided by the embodiments of the present application. Figure 2 The schematic flowchart of the vehicle door opening warning method provided by the embodiments of the present application. The vehicle door opening warning method is applied to a central controller of an automobile, and the central controller of the automobile is connected with an intelligent driving controller, a chassis controller, a cabin control machine and a vehicle body controller through a bus, wherein the intelligent driving controller is connected with a side-view camera and a millimeter wave radar; the chassis controller is connected with a wheel speed sensor, the cabin controller is connected with a projector, and the vehicle body controller is connected with a door opening and closing motor, and the millimeter wave radar is a rear corner radar. In addition, the intelligent driving controller is also connected with an in-vehicle camera. When the vehicle is parked, whether the rear passengers have an intention to open the door is monitored, and the door opening angle is controlled according to the passenger body shape and the door opening side video. By obtaining radar data and video, the distance, speed and acceleration of the object on the door opening side are calculated, and the collision risk is judged. If the collision risk is detected, the door opening angle is adjusted to ensure safety, efficient and direct prompt to the rear passengers is realized, the accident is prevented, at the same time, when the corner radar fails, there is no any door opening warning in the vehicle, and the door opening angle can be controlled, the needs of passengers getting off and preventing collision are met, and the practicability is enhanced.

[0068] Figure 2 The flowchart of the vehicle door opening warning method provided by the embodiments of the present application. As shown in Figure 2 The method comprises the following steps S110 to S180.

[0069] S110, when the vehicle is in a parked state, obtaining in-vehicle rear row audio video.

[0070] In this embodiment, first, whether the vehicle is in a parking state is detected by a wheel speed sensor. Specifically, when the wheel speed detected by the wheel speed sensor is zero, it indicates that the current vehicle is in a parking state. Then, the in-vehicle camera and the rear microphone are used to obtain the in-vehicle rear audio and video to determine whether the rear passenger has an intention to open the door. Specifically, the in-vehicle camera can be used to capture the corresponding audio and video.

[0071] S120, detecting whether the rear passenger has an intention to open the door according to the in-vehicle rear audio and video.

[0072] In this embodiment, the motion of the rear passenger is analyzed by using optical flow analysis according to the in-vehicle rear audio and video, and / or the keywords in the in-vehicle rear audio and video are detected to determine whether there is an intention to open the door.

[0073] Specifically, the intention of the rear passenger to open the door is determined by using the optical flow analysis technology combined with the images in the audio and video. The overall process includes: first, extracting consecutive front and rear two frames of images from the audio and video, which are used to capture the motion change in time and provide basic data for subsequent analysis; then, the images are preprocessed, including denoising and grayscale processing, to improve the analysis accuracy. Specifically, the filter technology (such as Gaussian filter) is applied to reduce the noise in the image to improve the accuracy of the optical flow calculation. The color image is converted to a grayscale image to reduce data complexity and enhance algorithm processing efficiency, because the optical flow algorithm is usually more efficient in processing grayscale images. Second, the Farneback algorithm is used to calculate the optical flow field between the preprocessed images. This algorithm generates a motion vector (optical flow) for each pixel point by comparing the pixel points of the front and rear two frames of images, which represents the movement of the pixel in time. Third, the moving track of each pixel point is tracked according to the direction and size of the optical flow vector. These tracks reveal the movement pattern and direction of the object or occupant. Finally, the calculated motion track is analyzed to determine whether there is an intention to open the door. By identifying specific movement patterns (such as the obvious deviation of the rear passenger towards the door direction), it can be determined whether the door is ready to be opened.

[0074] The optical flow analysis method can accurately capture subtle motion changes, improve recognition accuracy, achieve efficient real-time processing, and respond to occupant actions in a timely manner. Denoising and grayscale processing reduce interference factors in image data, improve system stability and reliability.

[0075] In addition, the in-vehicle camera is used to monitor the motion of the rear passenger, such as observing whether the body of the rear passenger is deviated to one side or whether the hand is stretched towards the door direction. The rear microphone can also be used to identify the keywords of the rear passenger, such as "bye", "goodbye" or "get off", to determine whether the rear passenger has an intention to open the door.

[0076] S130. If the rear passenger intends to open the door, use imaging technology to determine the rear passenger's body shape.

[0077] In this embodiment, the body shape of the rear passengers refers to the body shape characteristics of the rear passengers.

[0078] In one embodiment, see Figure 3 , the above-mentioned step S130 may include steps S131 to S133.

[0079] S131. Acquire facial images and sitting posture images of rear passengers.

[0080] In this embodiment, facial and sitting posture images of the rear passenger are captured from audio and video. The rear passenger's body type is determined based on the facial features and sitting posture dimensions, and the minimum door opening angle is determined based on the body type. The sitting posture image includes the rear passenger's entire body.

[0081] S132: Analyze the sitting posture image using image processing technology to preliminarily determine the body shape.

[0082] In this embodiment, the Canny algorithm is used to detect edges in the occupant image. This algorithm uses multiple steps, such as Gaussian smoothing, gradient calculation, non-maximum suppression, and double thresholding, to identify edge information in the seated image. This edge information helps to clearly define the occupant's outline, thereby accurately identifying the occupant's body shape in the seated image. Next, the edge information extracted by the Canny algorithm is used to identify the relative position of the occupant and the seat. For example, by analyzing the relative position of the occupant's outline and the seat, a preliminary assessment of the occupant's body shape can be made. This includes determining whether the occupant's body shape is completely within the seat or extends beyond the seat's boundaries. Combined with the seated image, the occupant's sitting posture and body shape characteristics are analyzed. These features include the body's outline, width, and height, which can be used to determine the occupant's body shape and thus provide a preliminary determination of the body shape.

[0083] S133: Analyze the facial image of the rear passenger to determine facial features, and combine the facial features with the initially determined body shape to determine the body shape of the rear passenger.

[0084] In this embodiment, key facial features (such as the tip of the nose, the edges of the eyes, and the edges of the face) are identified in the rear passenger's facial image. The distances and relative positions of these features can be used to further analyze body type. The distances between these features are calculated. For example, the distance from the tip of the nose to the edge of the face is measured. This measurement can provide information about facial dimensions and aid in body type classification.

[0085] In addition, in this embodiment, through machine learning, the distance from the nose tip to the cheek edge is used as the key feature of the training model to classify facial features, thereby assigning different facial features to different body shape categories.

[0086] Then, according to the facial features and the preliminary determined body type, a pre-labeled weight ratio is used for body type classification. The weight ratio is based on actual data and labeled criteria, including the combination of facial size and preliminary determined body type.

[0087] The classification criteria for the rear passenger body type include: small body type, medium body type, and large body type.

[0088] Small body type: for example, the distance from the tip of the nose to the edge of the face is short, and the body shape is relatively compact.

[0089] Medium body type: for example, the distance from the tip of the nose to the edge of the face is in the middle range, and the body shape is moderate.

[0090] Large body type: for example, the distance from the tip of the nose to the edge of the face is long, and the body shape is relatively large.

[0091] Through the processing and analysis of facial images and sitting posture images, combined with Canny edge detection and facial feature measurement technology, the body type of the passenger can be accurately determined.

[0092] Of course, in other embodiments, the passenger body type can also be determined by a seat pressure sensor. The passenger weight is detected by the seat pressure sensor, and converted into the body type according to the set weight and body type correspondence.

[0093] S140, acquire the opening door side video and project in the vehicle.

[0094] In this embodiment, when the rear passenger has an opening door intention, the projector rotating mechanism rotates the projector to the corresponding window, and at the same time closes the window, and projects the side view camera of the opening door side shot by the camera outside the vehicle onto the window.

[0095] Specifically, the video collected by the side view camera corresponding to the opening door side is transmitted to the cabin domain controller, and is projected onto the window by the projector. If there are fast passing vehicles or pedestrians in the video, the video frame is processed with flashing red mark for warning the rear passenger.

[0096] If the rear corner radar fails, the passenger can be prompted by in-vehicle projection and audio to remind him to pay attention to potential collision objects. Specifically, the video stream of the opening door side is captured by the in-vehicle camera. Even if the radar fails, the camera can still provide visual information about the environment outside the door. Through the projection device inside the vehicle, the real-time video or image captured by the camera is projected onto the window. The projection content should include potential collision objects and safety prompt information, to ensure that the passenger can clearly see the possible danger. Before the door is about to open, the projection device can display warning signs such as "attention to obstacles" or "please check the outside of the door", to attract the attention of the passenger.

[0097] When the system detects a radar fault, a preset warning sound or voice prompt can be automatically started, such as "rear corner radar fault, please pay attention to the obstacles outside the door". Ensure that the audio prompt has sufficient volume and frequency so that the passenger can hear it when the door is opened. At the same time, the audio prompt should not conflict with other sounds in the vehicle, ensuring the warning effect.

[0098] S150, obtain rear corner radar data.

[0099] In this embodiment, the rear corner radar data includes the distance and speed, direction of each object on the door opening side from the rear corner radar arranged at the rear corner of the vehicle.

[0100] S160, calculate the lateral distance and longitudinal distance of each object on the door opening side according to the door opening side video and the rear corner radar data, and determine the collision object and the corresponding lateral distance and longitudinal distance.

[0101] In this embodiment, the lateral distance and longitudinal distance of each object on the door opening side refer to the lateral distance and longitudinal distance of each object on the door opening side from the door.

[0102] In an embodiment, referring to Figure 4 The above step S160 can include steps S161-S164.

[0103] S161, calculate the lateral distance, angle and longitudinal distance of the door and each object on the door opening side according to the rear corner radar data to obtain first data.

[0104] In this embodiment, the first data refers to the lateral distance, angle and longitudinal distance of the door and each object on the door opening side, wherein the lateral distance refers to the lateral distance between the door and each object on the door opening side. The angle refers to the angle between the door and each object on the door opening side. The longitudinal distance refers to the longitudinal distance between the door and each object on the door opening side.

[0105] The rear corner radar calculates the lateral distance by the time difference between the transmitted wave and the reflected wave, calculates the straight line distance, calculates the angle of the target and the vehicle according to the phase difference between the transmitted wave and the reflected wave, and calculates the lateral distance and longitudinal distance according to the trigonometric function.

[0106] The rear corner radar has high accuracy in detecting the distance and angle of the object, and can provide accurate information about the area near the door. It helps to understand the environment of the door opening area and identify potential collision objects.

[0107] S162, calculate the lateral distance and longitudinal distance of the door and each object on the door opening side according to the door opening side video to obtain second data.

[0108] In this embodiment, the second data refers to the lateral distance and longitudinal distance of the door and each object on the door opening side calculated according to the door opening side video.

[0109] wherein the lateral distance refers to the lateral distance between the door and each object on the opening side in the opening side video. The longitudinal distance refers to the longitudinal distance between the door and each object on the opening side in the opening side video.

[0110] The lateral and longitudinal distances of the target object are calculated according to the relative coordinates of the target object in the front and rear frames in the opening side video.

[0111] The video data can provide real-time visual information, which helps to supplement and verify the radar data. Dynamic changes of the object can be captured, and real-time spatial information can be obtained.

[0112] S163, determining the final lateral distance and longitudinal distance of each object on the opening side according to the first data and the second data.

[0113] In this embodiment, the minimum value of the lateral distance and the longitudinal distance of each object on the opening side in the first data and the second data is taken to obtain the final lateral distance and longitudinal distance of each object on the opening side. Thus, the object information closest to the door is obtained. This method can improve the accuracy of collision detection and ensure that the object most likely to collide is identified first when the door is opened, thereby providing more reliable safety warnings.

[0114] S164, determining the object with the minimum lateral distance among the final lateral distances of each object on the opening side as the collision object, and obtaining the corresponding lateral distance and longitudinal distance.

[0115] In this embodiment, the object closest to the door is found from the final lateral distance data, and it is determined as the potential collision object.

[0116] Finding the object closest to the door can prioritize these objects as potential collision objects, improving the effectiveness of safety warnings. Focusing on the most dangerous objects helps to take timely action.

[0117] S170, determining the speed of the collision object according to the rear corner radar data, determining the acceleration in combination with the collision object and the corresponding longitudinal distance, and determining the collision time according to the acceleration, the speed and the longitudinal distance.

[0118] Determining the object with the minimum lateral distance among the final lateral distances of each object on the opening side as the collision object, and obtaining the corresponding lateral distance and longitudinal distance. In this embodiment, the speed and acceleration of the collision object are calculated based on the lateral distance and the longitudinal distance of the collision object; the predicted collision time is calculated in combination with the longitudinal distance, the speed and the acceleration.

[0119] Specifically, Sy = Vt + 0.5at 2The predicted collision time is calculated, wherein Sy is the longitudinal distance, V is the speed, a is the acceleration, and t is the predicted collision time.

[0120] S180, door opening angle control is performed according to the collision time, the lateral distance, a door size, and a rear passenger body shape.

[0121] In an embodiment, referring to Figure 5 The step S180 can include steps S181-S183.

[0122] S181, it is determined whether the collision time is less than a set time length.

[0123] In the embodiment, when the collision time is less than the door opening time length, i.e., the collision object has left the door opening area at the time of door opening, the door opening time length can be set to about 3s, which can be set according to actual conditions, and then the door is normally opened, otherwise, the door opening angle control is performed according to the lateral distance.

[0124] S182, if the collision time is less than the set time length, the door is normally opened.

[0125] Specifically, when the collision time is less than the set time length, the door can be normally opened; when the collision time is not less than the set time length, the door opening angle control needs to be performed.

[0126] The normal opening of the door means that the door can be completely opened without controlling the opening angle of the door.

[0127] S183, if the collision time is not less than the set time length, the door opening angle control is performed according to the lateral distance, the door size, and the rear passenger body shape.

[0128] In an embodiment, referring to Figure 6 The step S183 can include steps S1831-S1834.

[0129] S1831, a maximum angle at which the door can be safely opened is calculated according to the lateral distance and the door size.

[0130] In the embodiment, the maximum angle at which the door can be safely opened means the angle at which the door is opened without colliding with the collision object.

[0131] Specifically, the maximum angle at which the door can be safely opened is θ max = arcsin (Sx / W), wherein W is the door length and Sx is the lateral distance.

[0132] S1832, it is determined whether the maximum angle is greater than a door opening angle threshold value corresponding to the passenger body shape.

[0133] In the embodiment, the passenger body type corresponding door opening angle threshold refers to the pre-set door opening angle corresponding to different body types to meet the passenger's getting-off requirement.

[0134] According to the door opening size, the opening width of the door is set to 35cm for small body type, 50cm for medium body type, and 65cm for large body type, and the values can be calibrated; the opening width of the door is converted into the passenger body type corresponding door opening angle threshold by using trigonometric function.

[0135] S1833, if the maximum angle is greater than the passenger body type corresponding door opening angle threshold, the opening angle of the door is controlled to be the maximum angle.

[0136] In the embodiment, when the maximum angle is greater than the passenger body type corresponding door opening angle threshold, the opening angle of the door is adjusted to the maximum angle, which ensures that there is no collision with the collision object during the opening process, and meets the passenger's opening requirement.

[0137] S1834, if the maximum angle is not greater than the passenger body type corresponding door opening angle threshold, the opening angle of the door is controlled to be zero.

[0138] In the embodiment, if the maximum angle is not greater than the passenger body type corresponding door opening angle threshold, i.e. the door cannot be safely opened to meet the requirement of the passenger body type. In this case, the door will be locked to avoid accidental collision or unsafe opening, i.e. the opening angle of the door is controlled to be zero, and the door is locked at this time.

[0139] If the rear passenger has no door opening intention, the process is ended.

[0140] The method of the embodiment can project the video captured by the side-view camera onto the side window of the door through in-cabin projection technology, and directly warn the rear passengers by marking a red border or projecting warning signs. By introducing the DOW (Door Open Warning) function, it ensures that the passengers in each area of the vehicle can clearly receive warning information. This function improves the visibility and coverage of the warning, avoiding safety hazards caused by failure to discover obstacles or oncoming vehicles in time when the door is opened. Not only does the projector in the vehicle serve entertainment functions, but it can also be used as a tool for door opening warning and information display. This expansion takes advantage of the versatility of projection equipment to provide additional safety and convenience for vehicle owners, such as projecting videos captured by side-view cameras or other important information onto the window. Integrating in-cabin devices with intelligent driving systems enables intelligent control and functional linkage. This linkage can enhance the overall intelligence of the vehicle, making it more adaptable and intelligent in various driving scenarios, thereby enhancing the product's competitiveness. The smallest door opening angle is calculated based on the body size of different passengers to ensure that the door can meet the actual needs of the passengers when it is opened. In actual operation, the door can be partially opened to accommodate the needs of passengers of different sizes, improving the system's practicality and flexibility, and significantly enhancing its practicality.

[0141] The vehicle door opening warning method described above obtains the rear passenger video through the in-vehicle camera, detects the passenger's intention to open the door, analyzes the passenger's facial and sitting posture images to determine their body size, obtains the video on the door opening side and the rear corner radar data, calculates the distance, speed and acceleration of the object, identifies potential collision objects, and based on the detection data and calculation results, assesses whether the door can be safely opened. If there is a collision risk, the most suitable door opening angle is calculated based on the lateral distance, door size, and rear passenger body size to ensure that the passengers can safely exit the vehicle without causing an accident. This method efficiently and directly alerts the rear passengers to prevent accidents, and also avoids the lack of any door opening warning in the event of a corner radar failure. It can control the door opening angle to meet the needs of passengers to exit the vehicle and prevent collisions, enhancing practicality.

[0142] Figure 7 is a schematic block diagram of a vehicle door opening warning device 300 provided by an embodiment of the present application. As shown in Figure 7 Corresponding to the above vehicle door opening warning method, the present application also provides a vehicle door opening warning device 300. The vehicle door opening warning device 300 includes units for executing the above vehicle door opening warning method, and the device can be configured in a server. Specifically, please refer to Figure 7The vehicle door opening warning device 300 comprises an audio and video acquisition unit 301, an intention detection unit 302, a body size determination unit 303, a projection unit 304, a radar data acquisition unit 305, a distance determination unit 306, a collision time determination unit 307, and an angle control unit 308.

[0143] The audio and video acquisition unit 301 is configured to acquire audio and video of a rear row of the vehicle when the vehicle is in a parked state. The intention detection unit 302 is configured to detect whether a passenger in the rear row has an intention to open the door based on the audio and video of the rear row. The body size determination unit 303 is configured to determine the body size of the passenger in the rear row using image technology. The projection unit 304 is configured to acquire a door opening side video and project it in the vehicle. The radar data acquisition unit 305 is configured to acquire rear corner radar data. The distance determination unit 306 is configured to calculate the lateral distance and longitudinal distance of each object on the door opening side based on the door opening side video and the rear corner radar data, and determine a collision object and corresponding lateral distance and longitudinal distance. The collision time determination unit 307 is configured to determine the speed of the collision object based on the rear corner radar data, determine the acceleration in combination with the collision object and corresponding longitudinal distance, and determine the collision time based on the acceleration, speed, and longitudinal distance. The angle control unit 308 is configured to control the opening angle of the door based on the collision time, the lateral distance, the size of the door, and the body size of the passenger in the rear row.

[0144] In an embodiment, the intention detection unit 302 is configured to analyze the motion of the passenger in the rear row using optical flow analysis based on the audio and video of the rear row of the vehicle, and / or detect keywords in the audio and video of the rear row of the vehicle to determine whether there is an intention to open the door.

[0145] In an embodiment, as shown in Figure 8 The body size determination unit 303 comprises an image acquisition subunit 3031, a sitting posture analysis subunit 3032, and a face analysis subunit 3033.

[0146] The image acquisition subunit 3031 is configured to acquire a face image and a sitting posture image of the passenger in the rear row. The sitting posture analysis subunit 3033 is configured to analyze the sitting posture image using image processing technology to preliminarily determine the body size. The face analysis subunit 3033 is configured to analyze the face image of the passenger in the rear row to determine facial features, and determine the body size of the passenger in the rear row in combination with the preliminarily determined body size.

[0147] In an embodiment, as shown in Figure 9 The distance determination unit 306 comprises a first calculation subunit 3061, a second calculation subunit 3062, a final determination subunit 3063, and a collision object determination subunit 3064.

[0148] The first calculation subunit 3061 is used to calculate the lateral distance, angle and longitudinal distance between the vehicle door and each object on the door opening side based on the rear angle radar data to obtain first data; the second calculation subunit 3062 is used to calculate the lateral distance and longitudinal distance between the vehicle door and each object on the door opening side based on the door opening side video to obtain second data; the final determination subunit 3063 is used to determine the final lateral distance and longitudinal distance of each object on the door opening side based on the first data and the second data; the collision object determination subunit 3064 is used to determine that the object with the smallest lateral distance among the final objects on the door opening side is the collision object, and obtain the corresponding lateral distance and longitudinal distance.

[0149] In one embodiment, the final determination subunit 3063 is used to take the minimum value of the horizontal distance and the vertical distance of each object on the door opening side in the first data and the second data to obtain the final horizontal distance and the vertical distance of each object on the door opening side.

[0150] In one embodiment, if Figure 10 As shown, the angle control unit 308 includes a judgment subunit 3081 , a normal opening subunit 3082 and a safety control subunit 3083 .

[0151] The judgment subunit 3081 is used to judge whether the collision time is less than the set time; the normal opening subunit 3082 is used to open the door normally if the collision time is less than the set time; the safety control subunit 3083 is used to control the door opening angle according to the lateral distance, door size and rear passenger body shape if the collision time is not less than the set time.

[0152] In one embodiment, if Figure 11 As shown, the safety control subunit 3083 includes a maximum angle calculation subunit 30831 , an angle judgment subunit 30832 , an opening angle control subunit 30833 and a locking subunit 30834 .

[0153] The maximum angle calculation subunit 30831 is used to calculate the maximum angle at which the door can be safely opened based on the lateral distance and the door size; the angle judgment subunit 30832 is used to judge whether the maximum angle is greater than the door opening angle threshold corresponding to the passenger body size; the opening angle control subunit 30833 is used to control the opening angle of the door to the maximum angle if the maximum angle is greater than the door opening angle threshold corresponding to the passenger body size; the locking subunit 30834 is used to control the opening angle of the door to zero if the maximum angle is not greater than the door opening angle threshold corresponding to the passenger body size.

[0154] It should be noted that the specific implementation process of the vehicle door opening warning device 300 and each unit can be clearly understood by those skilled in the art, and can refer to the corresponding description in the foregoing method embodiments. For the convenience and brevity of description, it will not be repeated here.

[0155] The vehicle door opening warning device 300 described above can be implemented in the form of a computer program, which can run on a computer device as shown in the figure. Figure 12

[0156] Please refer to Figure 12 , Figure 12 is a schematic block diagram of a computer device provided by an embodiment of the present application. The computer device 500 can be a server, wherein the server can be a stand-alone server or a server cluster composed of multiple servers.

[0157] Referring to Figure 12 , the computer device 500 includes a processor 502, a memory, and a network interface 505 connected through a system bus 501, wherein the memory can include a non-volatile storage medium 503 and an internal memory 504.

[0158] The non-volatile storage medium 503 can store an operating system 5031 and a computer program 5032. The computer program 5032 includes program instructions which, when executed, can cause the processor 502 to perform a vehicle door opening warning method.

[0159] The processor 502 is configured to provide computing and control capabilities to support the operation of the entire computer device 500.

[0160] The internal memory 504 provides an environment for the running of the computer program 5032 in the non-volatile storage medium 503, which, when executed by the processor 502, can cause the processor 502 to perform a vehicle door opening warning method.

[0161] The network interface 505 is configured to perform network communication with other devices. Those skilled in the art can understand that Figure 10 the structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device 500 to which the scheme of the present application is applied. The specific computer device 500 can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0162] The processor 502 is configured to run the computer program 5032 stored in the memory to implement the following steps:

[0163] ​When the vehicle is in a parking state, an in-vehicle rear-row sound video is acquired; whether a rear-row passenger has a door opening intention is detected according to the in-vehicle rear-row sound video; if the rear-row passenger has the door opening intention, a body type of the rear-row passenger is determined by using an image technology; a door opening side video is acquired and in-vehicle projection is performed; rear corner radar data is acquired; a transverse distance and a longitudinal distance of each object on the door opening side are calculated according to the door opening side video and the rear corner radar data, and a collision object and corresponding transverse and longitudinal distances are determined; a speed of the collision object is determined according to the rear corner radar data, an acceleration is determined in combination with the collision object and the corresponding longitudinal distance, and a collision time is determined according to the acceleration, the speed and the longitudinal distance; and a door opening angle is controlled according to the collision time, the transverse distance, a door size and the body type of the rear-row passenger.

[0164] In an embodiment, when implementing the step of detecting whether the rear-row passenger has the door opening intention according to the in-vehicle rear-row sound video, the processor 502 specifically implements the following steps:

[0165] The action of the rear-row passenger is analyzed by using optical flow analysis according to the in-vehicle rear-row sound video, and / or a keyword in the in-vehicle rear-row sound video is detected by using sound to determine whether there is the door opening intention.

[0166] In an embodiment, when implementing the step of determining the body type of the rear-row passenger by using the image technology, the processor 502 specifically implements the following steps:

[0167] A face image and a sitting posture image of the rear-row passenger are acquired; the sitting posture image is analyzed by using an image processing technology to preliminarily determine the body type; the face image of the rear-row passenger is analyzed to determine facial features, and the body type of the rear-row passenger is determined in combination with the preliminarily determined body type.

[0168] In an embodiment, when implementing the step of calculating the transverse distance and the longitudinal distance of each object on the door opening side according to the door opening side video and the rear corner radar data, and determining the collision object and corresponding transverse and longitudinal distances, the processor 502 specifically implements the following steps:

[0169] The transverse distance, the angle and the longitudinal distance between the door and each object on the door opening side are calculated according to the rear corner radar data to obtain first data; the transverse distance and the longitudinal distance between the door and each object on the door opening side are calculated according to the door opening side video to obtain second data; the final transverse distance and the longitudinal distance of each object on the door opening side are determined according to the first data and the second data; the object with the minimum transverse distance in the final transverse distance of each object on the door opening side is determined as the collision object, and the corresponding transverse and longitudinal distances are obtained.

[0170] In an embodiment, the processor 502 implements the step of determining the final lateral distance and longitudinal distance of each object on the door opening side according to the first data and the second data as follows:

[0171] Taking the minimum value of the lateral distance and the longitudinal distance of each object on the door opening side in the first data and the second data to obtain the final lateral distance and the final longitudinal distance of each object on the door opening side. In an embodiment, the processor 502 implements the step of controlling the door opening angle according to the lateral distance, the door size and the body type of the rear passenger as follows:

[0172] Determining whether the collision time is less than a set time length; if the collision time is less than the set time length, the door is normally opened; if the collision time is not less than the set time length, the door opening angle is controlled according to the lateral distance, the door size and the body type of the rear passenger.

[0173] In an embodiment, the processor 502 implements the step of controlling the door opening angle according to the lateral distance, the door size and the body type of the rear passenger as follows:

[0174] Calculating the maximum angle at which the door can be safely opened according to the lateral distance and the door size; determining whether the maximum angle is greater than the door opening angle threshold corresponding to the body type of the passenger; if the maximum angle is greater than the door opening angle threshold corresponding to the body type of the passenger, the opening angle of the door is controlled to be the maximum angle; if the maximum angle is not greater than the door opening angle threshold corresponding to the body type of the passenger, the opening angle of the door is controlled to be zero.

[0175] It should be understood that, in the embodiments of the present application, the processor 502 can be a central processing unit (CPU), and the processor 502 can also be 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. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0176] Those skilled in the art can understand that all or part of the processes in the method of implementing the above embodiments can be completed by instructing the relevant hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the above-mentioned embodiments of the method.

[0177] Therefore, the present application also provides a storage medium. The storage medium can be a computer readable storage medium. The storage medium stores a computer program, wherein the computer program is executed by a processor to make the processor execute the following steps:

[0178] When the vehicle is in a parked state, an in-vehicle rear-row sound video is acquired; whether a rear-row passenger has a door opening intention is detected according to the in-vehicle rear-row sound video; if the rear-row passenger has the door opening intention, a body type of the rear-row passenger is determined by using an image technology; a door opening side video is acquired and in-vehicle projection is performed; rear corner radar data is acquired; transverse and longitudinal distances of each object on the door opening side are calculated, and a collision object and corresponding transverse and longitudinal distances are determined according to the door opening side video and the rear corner radar data; a speed of the collision object is determined according to the rear corner radar data, an acceleration is determined in combination with the collision object and the corresponding longitudinal distance, and a collision time is determined according to the acceleration, the speed and the longitudinal distance; and a door opening angle is controlled according to the collision time, the transverse distance, a door size and the body type of the rear-row passenger.

[0179] In an embodiment, when the processor executes the computer program to implement the step of detecting whether the rear-row passenger has the door opening intention according to the in-vehicle rear-row sound video, the following steps are implemented:

[0180] The action of the rear-row passenger is analyzed by using optical flow analysis according to the in-vehicle rear-row sound video, and / or keywords in the in-vehicle rear-row sound video are detected by using sound to determine whether there is a door opening intention.

[0181] In an embodiment, when the processor executes the computer program to implement the step of determining the body type of the rear-row passenger by using the image technology, the following steps are implemented:

[0182] A face image and a sitting posture image of the rear-row passenger are acquired; the sitting posture image is analyzed by using an image processing technology to preliminarily determine the body type; the face image of the rear-row passenger is analyzed to determine facial features, and the body type of the rear-row passenger is determined in combination with the preliminarily determined body type.

[0183] In an embodiment, the processor, when executing the computer program to implement the step of calculating the lateral distance, longitudinal distance of each object on the opening side according to the opening side video and the rear corner radar data, and determining the collision object and corresponding lateral distance, longitudinal distance, implements the following steps:

[0184] calculating the lateral distance, angle and longitudinal distance of each object on the opening side according to the rear corner radar data to obtain first data; calculating the lateral distance and longitudinal distance of each object on the opening side according to the opening side video to obtain second data; determining the final lateral distance, longitudinal distance of each object on the opening side according to the first data and second data; determining the object with the minimum lateral distance in the final lateral distance of each object on the opening side as the collision object, and obtaining the corresponding lateral distance, longitudinal distance.

[0185] In an embodiment, the processor, when executing the computer program to implement the step of determining the final lateral distance, longitudinal distance of each object on the opening side according to the first data and second data, implements the following steps:

[0186] taking the minimum value of the lateral distance, longitudinal distance of each object on the opening side in the first data and second data to obtain the final lateral distance, longitudinal distance of each object on the opening side.

[0187] In an embodiment, the processor, when executing the computer program to implement the step of controlling the opening angle of the door according to the collision time, the lateral distance, the size of the door and the body shape of the rear passenger, implements the following steps:

[0188] determining whether the collision time is less than a set time length; if the collision time is less than the set time length, normally opening the door; if the collision time is not less than the set time length, controlling the opening angle of the door according to the lateral distance, the size of the door and the body shape of the rear passenger.

[0189] In an embodiment, the processor, when executing the computer program to implement the step of controlling the opening angle of the door according to the lateral distance, the size of the door and the body shape of the rear passenger, implements the following steps:

[0190] calculating the maximum angle at which the door can be safely opened according to the lateral distance and the size of the door; determining whether the maximum angle is greater than the door opening angle threshold corresponding to the body shape of the passenger; if the maximum angle is greater than the door opening angle threshold corresponding to the body shape of the passenger, controlling the opening angle of the door to be the maximum angle; if the maximum angle is not greater than the door opening angle threshold corresponding to the body shape of the passenger, controlling the opening angle of the door to be zero.

[0191] The storage medium can be a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various computer readable storage media that can store program codes.

[0192] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in the above description in a general manner. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0193] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of each unit is only a logical functional division, and actual implementation can have another division manner. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0194] The steps in the method embodiments of the present application can be adjusted, combined and reduced in sequence according to actual needs. The units in the device embodiments of the present application can be combined, divided and reduced according to actual needs. In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0195] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art, or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a terminal or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0196] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle door opening warning method, characterized by, The application relates to a vehicle door opening angle control method and device. When the vehicle is in a parking state, in-vehicle rear-row sound video is acquired; Whether the rear-row passenger has a door opening intention is detected according to the in-vehicle rear-row sound video; If the rear-row passenger has a door opening intention, the body shape of the rear-row passenger is determined by using image technology; A door opening side video is acquired and in-vehicle projection is performed; Rear corner radar data is acquired; The lateral distance and longitudinal distance of each object on the door opening side are calculated according to the door opening side video and the rear corner radar data, and the collision object and the corresponding lateral distance and longitudinal distance are determined; The speed of the collision object is determined according to the rear corner radar data, the acceleration is determined in combination with the collision object and the corresponding longitudinal distance, and the collision time is determined according to the acceleration, the speed and the longitudinal distance; The door opening angle control is performed according to the collision time, the lateral distance, the door size and the body shape of the rear-row passenger.

2. The vehicle door opening warning method according to claim 1, characterized by, The detection of whether the rear-row passenger has a door opening intention according to the in-vehicle rear-row sound video comprises: Motion analysis of the rear-row passenger is performed by using light flow analysis according to the in-vehicle rear-row sound video, and / or key words in the in-vehicle rear-row sound video are detected by using sound to determine whether there is a door opening intention.

3. The vehicle door opening warning method according to claim 1, characterized by, The determination of the body shape of the rear-row passenger by using image technology comprises: A face image and a sitting posture image of the rear-row passenger are acquired; The sitting posture image is analyzed by using image processing technology to preliminarily determine the body shape; The face image of the rear-row passenger is analyzed to determine the face features, and the body shape of the rear-row passenger is determined in combination with the preliminarily determined body shape.

4. The vehicle door opening warning method according to claim 1, characterized by, The calculation of the lateral distance and longitudinal distance of each object on the door opening side according to the door opening side video and the rear corner radar data comprises: The lateral distance, angle and longitudinal distance of the door and each object on the door opening side are calculated according to the rear corner radar data to obtain first data; The lateral distance and longitudinal distance of the door and each object on the door opening side are calculated according to the door opening side video to obtain second data; The final lateral distance and longitudinal distance of each object on the door opening side are determined according to the first data and the second data; The object with the minimum lateral distance in the final lateral distance and longitudinal distance of each object on the door opening side is determined as the collision object, and the corresponding lateral distance and longitudinal distance are obtained.

5. The vehicle door opening warning method according to claim 4, characterized by, The determination of the final lateral distance and longitudinal distance of each object on the door opening side according to the first data and the second data comprises: The minimum value of the lateral distance and longitudinal distance of each object on the door opening side in the first data and the second data is taken to obtain the final lateral distance and longitudinal distance of each object on the door opening side.

6. The vehicle door opening warning method according to claim 1, characterized by The door opening angle control according to the collision time, the lateral distance, the door size and the body shape of the rear-row passenger comprises: Whether the collision time is less than a set time length is judged; If the collision time is less than the set time length, the door is normally opened; If the collision time is not less than the set time length, the door opening angle control is performed according to the lateral distance, the door size and the body shape of the rear-row passenger.

7. The vehicle door opening warning method according to claim 6, characterized by, The door opening angle control according to the lateral distance, the door size and the body shape of the rear-row passenger comprises: The maximum angle at which the door can be safely opened is calculated according to the lateral distance and the door size; determining whether the maximum angle is greater than a door opening angle threshold corresponding to the passenger body type; if the maximum angle is greater than the door opening angle threshold corresponding to the passenger body type, controlling the opening angle of the door to be the maximum angle; if the maximum angle is not greater than the door opening angle threshold corresponding to the passenger body type, controlling the opening angle of the door to be zero.

8. A vehicle door opening warning device characterized by comprising: The method comprises: an audio and video acquisition unit configured to acquire audio and video of a rear row of passengers in a vehicle when the vehicle is in a parked state; an intention detection unit configured to detect whether the rear row of passengers has an intention to open the door according to the audio and video of the rear row of passengers in the vehicle; a body type determination unit configured to determine the body type of the rear row of passengers using image technology; a projection unit configured to acquire a door opening side video and project the door opening side video in the vehicle; a radar data acquisition unit configured to acquire rear corner radar data; a distance determination unit configured to calculate the lateral distance and longitudinal distance of each object on the door opening side according to the door opening side video and the rear corner radar data, and determine a collision object and corresponding lateral distance and longitudinal distance; a collision time determination unit configured to determine the speed of the collision object according to the rear corner radar data, determine the acceleration in combination with the collision object and corresponding longitudinal distance, and determine the collision time according to the acceleration, speed and longitudinal distance; an angle control unit configured to control the opening angle of the door according to the collision time, the lateral distance, the size of the door and the body type of the rear row of passengers.

9. A computer device, comprising: The computer device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A storage medium, characterized by The storage medium stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

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