Intelligent vehicle door control method and related device

Abstract

The invention discloses a vehicle door intelligent control method and a related device, and the method comprises the steps that a door opening instruction for a target vehicle door is received, and the target vehicle door is any vehicle door of a target vehicle; acquiring a target environment image near the target vehicle door of the target vehicle; potential dangerous objects in the target environment image are marked, and the dangerous objects comprise static objects and / or moving objects; target vehicle door control parameters of the target vehicle door are determined according to the dangerous object; the target vehicle door control parameters comprise whether door opening is allowed or not; and the target vehicle door is opened according to the target vehicle door control parameters. By adopting the embodiment of the invention, the safety of the vehicle door can be ensured when the vehicle door is opened.

Description

Technical Field

[0001] The present application relates to the field of intelligent automobile technology or automation control technology, and in particular to a vehicle door intelligent control method and related devices. Background Art

[0002] With the rapid development of new energy vehicles, cars are becoming more and more popular and more and more intelligent. At present, cars can not only be controlled by voice, but also can automatically reverse into the garage. However, at present, the control of car doors is not intelligent enough. For example, when opening the door, you may accidentally hit objects outside the car (such as other vehicles, pedestrians, etc.). Therefore, how to ensure the safety of the car door when the vehicle door is opened needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a vehicle door intelligent control method and related devices, which can ensure the safety of the vehicle door when the vehicle door is opened.

[0004] In a first aspect, an embodiment of the present application provides a vehicle door intelligent control method, the method comprising:

[0005] Receiving a door opening instruction for a target door, wherein the target door is any door of a target vehicle;

[0006] Acquire a target environment image near the target door of the target vehicle;

[0007] Marking potential dangerous objects in the target environment image, wherein the dangerous objects include stationary objects and / or moving objects;

[0008] determining a target door control parameter of the target door according to the dangerous object;

[0009] The target door is opened according to the target door control parameter.

[0010] In a second aspect, an embodiment of the present application provides a vehicle door intelligent control device, the device comprising: a receiving unit, an acquiring unit, a marking unit, a determining unit and a door opening unit, wherein:

[0011] The receiving unit is used to receive a door opening instruction for a target door, where the target door is any door of the target vehicle;

[0012] The acquisition unit is used to acquire a target environment image near the target door of the target vehicle;

[0013] The marking unit is used to mark potential dangerous objects in the target environment image, and the dangerous objects include stationary objects and / or moving objects;

[0014] The determining unit is used to determine the target door control parameter of the target door according to the dangerous object;

[0015] The door opening unit is used to open the target door according to the target door control parameter.

[0016] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program comprises instructions for executing some or all of the steps described in the method described in the first aspect of the embodiment of the present application.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, wherein the computer program is executed by a processor to implement part or all of the steps described in the method described in the first aspect of the embodiment of the present application.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the method described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0019] Implementing the embodiments of the present application has the following beneficial effects:

[0020] It can be seen that the intelligent door control method and related devices described in the embodiments of the present application receive a door opening command for a target door, where the target door is any door of a target vehicle, obtain a target environmental image near a target door of the target vehicle, mark potential dangerous objects in the target environmental image, where the dangerous objects include stationary objects and / or moving objects, and determine target door control parameters of the target door based on the dangerous objects; the target door control parameters include whether door opening is allowed, and the target door is opened based on the target door control parameters. In this way, when opening the door, potential dangerous objects can be identified through environmental images, and the door opening authorization authority can be dynamically controlled based on the dangerous objects, thereby ensuring the safety of the door when the vehicle door is opened.

[0021] These and other aspects of the present application will become more clearly understood in the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0023] Figure 1 It is a flow chart of a vehicle door intelligent control method provided by an embodiment of the present application;

[0024] Figure 2 It is a flow chart of another vehicle door intelligent control method provided by an embodiment of the present application;

[0025] Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0026] Figure 4 It is a structural schematic diagram of a vehicle door intelligent control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] The following are detailed descriptions of each.

[0029] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0030] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0031] Below, some terms in this application are explained to facilitate understanding by those skilled in the art.

[0032] In the embodiment of the present application, the electronic device may include at least one of the following: a vehicle domain controller, a vehicle-mounted terminal, a driving recorder, etc., which are not limited here.

[0033] In the embodiment of the present application, the dangerous object can be understood as an object that poses a potential danger to the opening of the target door, for example, a vehicle next to the target door.

[0034] The embodiments of the present application are described in detail below.

[0035] like Figure 1 As shown, Figure 1 : is a flow chart of a vehicle door intelligent control method provided by an embodiment of the present application, the method comprising:

[0036] 101. Receive a door opening instruction for a target door, where the target door is any door of a target vehicle.

[0037] In the embodiment of the present application, the target door may include any door of the target vehicle.

[0038] In a specific implementation, a door opening command for a target door may be received, and when responding to the door opening command, the door may not be opened directly.

[0039] Optionally, the following steps may also be included:

[0040] 11. Detect the target touch parameters for the door opening button;

[0041] 12. When the target touch parameter is successfully compared with the preset touch parameter, the step of receiving the door opening instruction for the target door is executed.

[0042] The preset touch parameters may include at least one of the following: number of touches, touch frequency, touch duration, touch strength, touch area, etc., which are not limited here.

[0043] In a specific implementation, the target touch parameters for the door opening button can be detected. When the target touch parameters are successfully compared with the preset touch parameters, the step of receiving the door opening command for the target door is executed. Otherwise, no door opening command is generated.

[0044] 102. Acquire a target environment image near the target door of the target vehicle.

[0045] In an embodiment of the present application, cameras may be set around or on the chassis of the target vehicle, through which the target environment image near the target door may be acquired; alternatively, a radar or ultrasonic sensor may be used to acquire the target environment image near the target door.

[0046] 103. Mark potential dangerous objects in the target environment image, where the dangerous objects include stationary objects and / or moving objects.

[0047] The dangerous objects include stationary objects and / or moving objects. The stationary objects may include at least one of the following: stationary vehicles, walls, ridges, stones, plants, stone piers, concrete pillars, etc., which are not limited here. The moving objects may include at least one of the following: people, animals, vehicles, etc., which are not limited here.

[0048] In the embodiment of the present application, objects in the target environment image may be identified to obtain potential dangerous objects in the target environment image, and the potential dangerous objects in the target environment image may also be marked.

[0049] 104. Determine a target door control parameter of the target door according to the dangerous object.

[0050] In the embodiment of the present application, corresponding door control parameters can be set for different dangerous objects, wherein the door control parameters can include at least one of the following: door opening amplitude, door opening speed, door opening duration, etc., which are not limited here. That is, the door opening amplitude, door opening speed, and door opening duration can be dynamically controlled based on the marked dangerous objects, which can not only delay the door opening or refuse to open the door, but also ensure the door opening amplitude to avoid the door opening amplitude being too large and colliding with other vehicles.

[0051] 105. Open the target door according to the target door control parameter.

[0052] In the embodiment of the present application, the target door can be opened according to the target door control parameters, so that the door opening safety can be guaranteed.

[0053] Optionally, the target door control parameter includes a target door opening amplitude;

[0054] When the dangerous object includes the stationary object, the above step 104, determining the target door control parameter of the target door according to the dangerous object, may include the following steps:

[0055] 41. Determine the shortest distance between the stationary object and the target door;

[0056] 42. When the shortest distance is greater than a first preset distance, determine that door opening is allowed, and determine the target door opening amplitude corresponding to the shortest distance.

[0057] The first preset distance may be preset or set by the system by default. For example, the first preset distance may be related to a target body size parameter of a passenger at the door position.

[0058] Among them, the body shape parameters may include at least one of the following: height, weight, waist circumference, stride length, etc., which are not limited here.

[0059] Specifically, the target body parameters of the passenger at the target door position can be obtained, and the mapping relationship between the preset body parameters and the door opening width can be determined based on the mapping relationship. The mapping relationship between the preset distance and the door opening width can also be pre-stored to determine the maximum door opening width corresponding to the shortest distance. The target door opening width is between the minimum door opening width and the maximum door opening width. That is, the appropriate door opening width can be adapted according to different people to ensure that passengers can get off the vehicle smoothly and avoid door collisions.

[0060] Of course, it is also possible to obtain the target wearing condition parameters of the passenger at the target door position, and the target body shape parameters of the passenger at the target door position, and according to the mapping relationship between the preset body shape parameters and the door opening width, the reference minimum door opening width corresponding to the target body shape parameters can be determined based on the mapping relationship, and the target optimization parameters corresponding to the target wearing condition parameters can also be determined. Specifically, the mapping relationship between the preset wearing condition parameters and the optimization parameters can be pre-stored, and then the target optimization parameters corresponding to the target wearing condition parameters can be determined based on the mapping relationship, and the reference minimum door opening width can be optimized using the target optimization parameters to obtain the actual minimum door opening width. In this way, not only can the appropriate door opening width be adapted according to different people, but the door opening width can also be dynamically optimized based on the passengers' wearing conditions to ensure that passengers can get off the vehicle smoothly and comfortably, and to avoid door collisions.

[0061] The target wearing condition parameters may include at least one of the following: shoe thickness, trouser length, shoe style, anti-slip performance of the sole, shoe dirt resistance, top wearing condition, whether a backpack is worn, etc., which are not limited here.

[0062] In a specific implementation, a sensor may be used to determine the shortest distance between a stationary object and a target door. The sensor may include at least one of the following: a depth camera, an ultrasonic sensor, a laser sensor, a radar, etc., which are not limited here. When the shortest distance is greater than a first preset distance, it may be determined that the door is allowed to be opened, and a target door opening range corresponding to the shortest distance may be determined. In this way, a suitable door opening range may be adapted to ensure that passengers can get off the vehicle smoothly and avoid door collisions.

[0063] Furthermore, the following steps may be included:

[0064] When the shortest distance is less than or equal to the first preset distance, it is determined that the door is not allowed to be opened, and a voice prompt is given to prompt the target vehicle to be moved, or to prompt the user to get off from another door.

[0065] In an embodiment of the present application, when the shortest distance is less than or equal to the first preset distance, it means that the passenger cannot get off the vehicle smoothly, and a voice prompt can be given to prompt the moving target vehicle, or to prompt the passenger to get off from other doors, that is, the door opening will not be authorized, thereby realizing intelligent door opening control.

[0066] Optionally, when the shortest distance is less than or equal to the first preset distance, the following steps may also be included:

[0067] S1. Determine a target distance difference between the first preset distance and the shortest distance;

[0068] S2. Acquire first attribute information of the stationary object;

[0069] S3, obtaining target vehicle attribute information of the target vehicle and the current environment image of the target vehicle;

[0070] S4, according to the first attribute information, the target vehicle attribute information and the target vehicle movement parameter of the current environment image;

[0071] S5. Control the target vehicle to move according to the target vehicle movement parameters.

[0072] Among them, the first attribute information may include at least one of the following: the outer contour of the stationary object, the position of the stationary object, the volume of the stationary object, the hardness of the stationary object, the object type of the stationary object, the height of the stationary object, the length of the stationary object, the width of the stationary object, etc., which are not limited here.

[0073] Among them, the target vehicle attribute information of the target vehicle may include at least one of the following: the spatial model of the target vehicle, the position of the target vehicle, the weight of the target vehicle, the footprint of the target vehicle, the orientation of the target vehicle, the chassis height of the target vehicle, etc., which are not limited here.

[0074] The current environment image of the target vehicle may be an environment image around the target vehicle.

[0075] Among them, the target vehicle movement parameters may include at least one of the following: the moving speed of the target vehicle, the moving route of the target vehicle, the moving trajectory of the target vehicle, the moving direction of the target vehicle, the moving distance of the target vehicle, etc., which are not limited here.

[0076] In an embodiment of the present application, when the shortest distance is less than or equal to the first preset distance, the target distance difference between the first preset distance and the shortest distance can be determined, that is, the target distance difference = the first preset distance - the shortest distance, and the first attribute information of the stationary object can be obtained, and the target vehicle attribute information of the target vehicle and the current environmental image of the target vehicle can also be obtained. Then, the target vehicle movement parameters of the first attribute information, the target vehicle attribute information and the current environmental image can be obtained. Then, the corresponding movement parameters can be reasonably planned in combination with the stationary object, the vehicle itself and the surrounding conditions, and then the target vehicle can be controlled to move according to the target vehicle movement parameters. In this way, when the shortest distance is less than or equal to the first preset distance, it means that it is impossible to ensure that the passengers can get off the vehicle smoothly. Then, the corresponding movement parameters can be reasonably planned in combination with the stationary object, the vehicle itself and the surrounding conditions to control the movement of the target vehicle, so that the target vehicle reserves a reasonable door opening range, thereby ensuring that the passengers can get off the vehicle smoothly, thereby improving the intelligence of the vehicle.

[0077] Optionally, when the shortest distance is greater than the preset distance, the following steps may also be included:

[0078] A1. Determine the ground image outside the target door;

[0079] A2. Detecting whether the road surface outside the target vehicle door is a preset type of ground through the ground image, wherein the preset type of ground includes at least one of the following: a waterlogged road surface, a muddy road surface, a slippery road surface, a dirty road surface, a collapsed road surface, and a dangerous road surface;

[0080] A3. When the road surface outside the target vehicle door is the preset type of ground, a voice prompt message is played, wherein the voice prompt message is used to prompt the user to observe the ground environment.

[0081] Among them, the preset type of ground can be pre-set or system default, and the preset type of ground includes at least one of the following: flooded road surface, muddy road surface, slippery road surface, dirty road surface, collapsed road surface, dangerous road surface, etc., which are not limited here. The dangerous road surface may include at least one of the following: glass slag road surface, melted asphalt road surface, etc., which are not limited here. The slippery road surface may include at least one of the following: icy road surface, snowy road surface, etc., which are not limited here.

[0082] In an embodiment of the present application, the ground image outside the target door can also be determined by the camera, that is, the ground image can be used to detect whether the road surface outside the target door is a preset type of ground. When the road surface outside the target door is a preset type of ground, a voice prompt message can be played. The voice prompt message is used to prompt the user to observe the ground environment, thereby ensuring the safety of passengers getting off the vehicle and improving the user experience.

[0083] Optionally, when the road surface outside the target vehicle door is the preset type of ground, the following steps may also be included:

[0084] A4. Determine the distribution of reference objects in the preset type of ground through the ground image;

[0085] A5. Obtaining target body shape parameters and target clothing condition parameters of the passenger at the target door position;

[0086] A6. Determine a foothold position distribution image of the passenger at the target door position according to the distribution condition, the target body shape parameter and the target clothing condition parameter;

[0087] A7. generating a walking route according to the foothold location distribution image;

[0088] A8. Projecting the walking route onto the road surface outside the target door to guide the passenger at the target door position to get off the vehicle smoothly.

[0089] Among them, different preset types of ground may correspond to different reference objects, and the reference object may include at least one of the following: a puddle, mud, a slippery area, a dirty area, a collapsed area, and an area covered by dangerous objects.

[0090] The distribution situation may include at least one of the following: distribution density, distribution depth map, distribution width map, distribution level, etc., which are not limited here. The distribution level can be used to express the distribution degree of the reference object or the degree of influence on the passengers.

[0091] The target body shape parameters may include at least one of the following: height, weight, waist circumference, stride length, clothing, etc., which are not limited here. To a certain extent, clothing can also affect body shape changes.

[0092] The target wearing condition parameters may include at least one of the following: shoe thickness, trouser length, shoe style, anti-slip performance of the sole, shoe dirt resistance, etc., which are not limited here.

[0093] The target vehicle may further include a projection device.

[0094] In an embodiment of the present application, the distribution of reference objects in a preset type of ground can be determined through ground images, that is, the distribution of reference objects can be identified using ground images, and the target body shape parameters and target dressing condition parameters of the passenger at the target door position can also be obtained, and the foothold position distribution image of the passenger at the target door position is determined based on the distribution, target body shape parameters and target dressing condition parameters. Different body shape parameters correspond to different step lengths, and then, based on the characteristics of the passengers themselves and the actual environment, the positions that can be landed can be planned, and these positions can be combined into a foothold position distribution image, and then a walking route can be generated based on the foothold position distribution image, and then a projection device can be used to project the walking route onto the road surface outside the target door to guide the passenger at the target door position to get off smoothly. In this way, the corresponding foothold can be determined in combination with the reference objects in the ground environment and the characteristics of the passengers themselves, so as to generate a walking route based on the foothold position, and the projected walking route guides the passengers to walk along the walking route to ensure that the passengers get off smoothly and safely, thereby improving the intelligence of the vehicle.

[0095] Optionally, when the dangerous object includes the moving object, the following steps may also be included:

[0096] B1. Determine the current position, current moving trajectory, and current moving speed of the moving object;

[0097] B2. determining the estimated movement trajectory of the moving object in a preset time period according to the target door opening time, the current position, the current movement trajectory and the current movement speed; the preset time period includes the current moment and the moment corresponding to the door opening time after the current moment;

[0098] B3, estimating the door opening trajectory of the target vehicle door within the time required for the target door opening;

[0099] B4, according to the minimum distance between the estimated moving trajectory and the door opening trajectory of the target door;

[0100] B5. When the minimum distance is greater than a second preset distance, executing the step of opening the target door according to the target door control parameter.

[0101] The second preset distance can be preset or set by system default. The preset time period can be preset or set by system default, and the preset time period includes the current moment and the moment corresponding to the time required to open the door after the current moment. Of course, it can also include the moment corresponding to the time required to open the door after the current moment + the moment corresponding to t, where t is the specified time length, and t can be preset or set by system default.

[0102] In a specific implementation, when the dangerous object includes a moving object, the current position, current moving trajectory, and current moving speed of the moving object can be determined. The estimated moving trajectory of the moving object in a preset time period can also be determined based on the target door opening time duration, the current position, the current moving trajectory, and the moving speed. Then, the door opening trajectory of the target door within the target door opening time duration can be estimated. The two trajectories can be mapped in the same coordinate system based on the minimum distance between the estimated moving trajectory and the door opening trajectory of the target door, and then the minimum distance can be obtained. When the minimum distance is greater than the second preset distance, it can be confirmed that the door opening is allowed, and the step of opening the target door according to the target door control parameters is executed. In this way, when there is a moving object, the safety of opening the door can be analyzed based on the door opening trajectory and the trajectory of the moving object. In this way, the door opening safety can be guaranteed.

[0103] Optionally, the following steps may also be included:

[0104] C1. determining the target behavior type of the mobile object;

[0105] C2. When the target behavior type is a preset behavior type, the first default distance is determined as the second preset distance; the preset behavior type includes looking straight ahead behavior.

[0106] Among them, the preset behavior type can be preset or the system defaults, the first default distance can also be preset or the system defaults, of course, different environmental parameters can also correspond to different default distances, and the environmental parameters can include at least one of the following: weather, temperature, oxygen content, atmospheric pressure, visibility, etc., which are not limited here. The current environmental parameters can be obtained, and the mapping relationship between the preset environmental parameters and the default distance can be pre-stored, and then the first default distance corresponding to the current environmental parameters can be determined based on the mapping relationship. The target behavior type can include at least one of the following: looking around, playing with mobile phones, making phone calls, closing eyes, wearing headphones, etc., which are not limited here.

[0107] In the embodiment of the present application, the preset behavior type includes looking straight ahead behavior, that is, a behavior image of the moving object can be obtained, and the target behavior type of the moving object can be determined based on the behavior image. When the target behavior type is the preset behavior type, it means that the moving object has noticed the situation in front, and the first default distance can be determined as the second preset distance. In this way, the safety of opening the door can be guaranteed.

[0108] Optionally, the following steps may also be included:

[0109] C3. When the target behavior type is not the preset behavior type, determining the distance between the moving object and the target door, and determining a reference time length between the distance and the current moving speed;

[0110] C4. When the difference between the reference duration and the target duration required for door opening is greater than a preset threshold, execute the step of determining the estimated moving trajectory of the moving object in a preset time period based on the target duration required for door opening, the current position, the current moving trajectory and the current moving speed.

[0111] The preset threshold value may be preset or set by system default.

[0112] In an embodiment of the present application, when the target behavior type is not a preset behavior type, the distance between the moving object and the target vehicle door is determined, and a reference time between the distance and the current moving speed is determined. When the difference between the reference time and the target door opening time is greater than a preset threshold, it means that the moving object cannot touch the vehicle door during the door opening stage. Then, the step of determining the estimated moving trajectory of the moving object in the preset time period based on the target door opening time, the current position, the current moving trajectory and the current moving speed can be executed. In this way, the door opening safety can be guaranteed.

[0113] It can be seen that the intelligent door control method described in the embodiment of the present application receives a door opening command for a target door, where the target door is any door of a target vehicle, obtains a target environment image near the target door of the target vehicle, marks potential dangerous objects in the target environment image, and the dangerous objects include stationary objects and / or moving objects. The target door control parameters of the target door are determined according to the dangerous objects; the target door control parameters include whether the door is allowed to be opened, and the target door is opened according to the target door control parameters. In this way, when opening the door, the potential dangerous object can be identified through the environmental image, and the door opening authorization authority can be dynamically controlled based on the dangerous object. Therefore, the door safety can be ensured when the vehicle door is opened.

[0114] With the above Figure 1 For the embodiments shown, please refer to Figure 2 , Figure 2 FIG. 1 is a flow chart of a vehicle door intelligent control method provided by an embodiment of the present application. As shown in the figure, the vehicle door intelligent control method includes:

[0115] 201. Receive a door opening instruction for a target door, where the target door is any door of a target vehicle.

[0116] 202. Acquire a target environment image near the target door of the target vehicle.

[0117] 203. Mark potential dangerous objects in the target environment image, where the dangerous objects include stationary objects and / or moving objects.

[0118] 204. Determine a target door control parameter of the target door according to the dangerous object; the target door control parameter includes whether to allow the door to be opened.

[0119] 205. Open the target door according to the target door control parameter.

[0120] 206. In the case where the moving object exists, determine a target vehicle light control parameter corresponding to the target vehicle door.

[0121] 207. During the opening process of the target door, control the corresponding headlight to operate according to the target headlight control parameter.

[0122] The specific description of the above steps 201 to 207 can be referred to as follows: Figure 1 The corresponding steps of the described vehicle door intelligent control method will not be repeated here.

[0123] In the embodiment of the present application, the target headlight control parameter may include at least one of the following: the number of headlights, the headlight number, the headlight flashing frequency, the headlight brightness, the headlight color, etc., which are not limited here.

[0124] In a specific implementation, different doors may correspond to different headlight control parameters, that is, the mapping relationship between the doors and the headlight control parameters may be pre-set, and then, in the presence of a moving object, the target headlight control parameters corresponding to the target door may be determined based on the mapping relationship, and during the opening process of the target door, the corresponding headlights may be controlled to work according to the target headlight control parameters, that is, in the presence of a moving object, the target headlight control parameters corresponding to the target door may be determined, and during the opening process of the target door, the corresponding headlights may be controlled to work according to the target headlight control parameters, so that the moving object is prompted to stay away from the door, thereby ensuring the safety of people and vehicles.

[0125] It can be seen that the intelligent door control method described in the embodiment of the present application receives a door opening instruction for a target door, where the target door is any door of a target vehicle, obtains a target environment image near the target door of the target vehicle, marks potential dangerous objects in the target environment image, and the dangerous objects include stationary objects and / or moving objects. The target door control parameters of the target door are determined according to the dangerous objects; the target door control parameters include whether door opening is allowed, and the target door is opened according to the target door control parameters. In the presence of a moving object, the target headlight control parameters corresponding to the target door are determined. During the target door opening process, the corresponding headlights are controlled to work according to the target headlight control parameters. In this way, when opening the door, potential dangerous objects can be identified through the environmental image, and the door opening authorization authority can be dynamically controlled based on the dangerous objects. Therefore, the door safety can be ensured when the vehicle door is opened.

[0126] In accordance with the above embodiment, please refer to Figure 3 , Figure 3 : is a structural diagram of an electronic device provided in an embodiment of the present application. As shown in the figure, the electronic device includes a processor, a memory, a communication interface, and one or more programs. The one or more programs are stored in the memory and configured to be executed by the processor. In the embodiment of the present application, the program includes instructions for executing the following steps:

[0127] Receiving a door opening instruction for a target door, wherein the target door is any door of a target vehicle;

[0128] Acquire a target environment image near the target door of the target vehicle;

[0129] Marking potential dangerous objects in the target environment image, wherein the dangerous objects include stationary objects and / or moving objects;

[0130] Determine the target door control parameter of the target door according to the dangerous object; the target door control parameter includes whether to allow the door to be opened;

[0131] The target door is opened according to the target door control parameter.

[0132] Optionally, the target door control parameter also includes a target door opening amplitude;

[0133] When the dangerous object includes the stationary object, in determining the target door control parameter of the target door according to the dangerous object, the program includes instructions for executing the following steps:

[0134] determining the shortest distance between the stationary object and the target door;

[0135] When the shortest distance is greater than a first preset distance, it is determined that the door is allowed to be opened, and the target door opening amplitude corresponding to the shortest distance is determined.

[0136] Optionally, the program further includes instructions for executing the following steps:

[0137] When the shortest distance is less than or equal to the first preset distance, it is determined that the door is not allowed to be opened, and a voice prompt is given to prompt the target vehicle to be moved, or to prompt the user to get off from another door.

[0138] Optionally, when the shortest distance is greater than the preset distance, the program further includes instructions for executing the following steps:

[0139] Determine the ground image outside the target door;

[0140] Detecting whether the road surface outside the target vehicle door is a preset type of ground through the ground image, wherein the preset type of ground includes at least one of the following: a waterlogged road surface, a muddy road surface, a slippery road surface, a dirty road surface, a collapsed road surface, and a dangerous road surface;

[0141] When the road surface outside the target vehicle door is the preset type of ground, a voice prompt message is played, wherein the voice prompt message is used to prompt the user to observe the ground environment.

[0142] Optionally, when the dangerous object includes the moving object, the program further includes instructions for executing the following steps:

[0143] Determine the current position, current moving trajectory, and current moving speed of the moving object;

[0144] Determine the estimated movement trajectory of the moving object in a preset time period according to the target door opening time, the current position, the current movement trajectory and the current movement speed; the preset time period includes the current moment and the moment corresponding to the door opening time after the current moment;

[0145] estimating the door opening trajectory of the target vehicle door within the time required for the target door opening;

[0146] According to the minimum distance between the estimated moving trajectory and the door opening trajectory of the target door;

[0147] When the minimum distance is greater than the second preset distance, it is confirmed that the door is allowed to be opened, and the step of opening the target door according to the target door control parameter is performed.

[0148] Optionally, the program further includes instructions for executing the following steps:

[0149] determining a target behavior type of the mobile object;

[0150] When the target behavior type is a preset behavior type, the first default distance is determined as the second preset distance; the preset behavior type includes looking straight ahead behavior.

[0151] Optionally, the program further includes instructions for executing the following steps:

[0152] When the target behavior type is not the preset behavior type, determining the distance between the moving object and the target door, and determining a reference time length between the distance and the current moving speed;

[0153] When the difference between the reference duration and the target door opening duration is greater than a preset threshold, the step of determining the estimated moving trajectory of the moving object in a preset time period based on the target door opening duration, the current position, the current moving trajectory and the current moving speed is executed.

[0154] It can be seen that the electronic device described in the embodiment of the present application receives a door opening instruction for a target door, where the target door is any door of a target vehicle, obtains a target environment image near a target door of the target vehicle, marks potential dangerous objects in the target environment image, where the dangerous objects include stationary objects and / or moving objects, and determines target door control parameters of the target door based on the dangerous objects; the target door control parameters include whether door opening is allowed, and the target door is opened based on the target door control parameters. In this way, when opening the door, potential dangerous objects can be identified through environmental images, and the door opening authorization authority can be dynamically controlled based on the dangerous objects, thereby ensuring the safety of the door when the vehicle door is opened.

[0155] Figure 4 4 is a functional unit block diagram of the vehicle door intelligent control device 400 involved in the embodiment of the present application. The vehicle door intelligent control device 400 includes: a receiving unit 401, an acquiring unit 402, a marking unit 403, a determining unit 404 and a door opening unit 405, wherein:

[0156] The receiving unit 401 is used to receive a door opening instruction for a target door, where the target door is any door of a target vehicle;

[0157] The acquisition unit 402 is used to acquire a target environment image near the target door of the target vehicle;

[0158] The marking unit 403 is used to mark potential dangerous objects in the target environment image, and the dangerous objects include stationary objects and / or moving objects;

[0159] The determining unit 404 is used to determine the target door control parameter of the target door according to the dangerous object;

[0160] The door opening unit 405 is used to open the target door according to the target door control parameter.

[0161] Optionally, the target door control parameter also includes a target door opening amplitude;

[0162] When the dangerous object includes the stationary object, in determining the target door control parameter of the target door according to the dangerous object, the determining unit 404 is specifically configured to:

[0163] determining the shortest distance between the stationary object and the target door;

[0164] When the shortest distance is greater than a first preset distance, it is determined that the door is allowed to be opened, and the target door opening amplitude corresponding to the shortest distance is determined.

[0165] Optionally, the vehicle door intelligent control device 400 is further specifically used for:

[0166] When the shortest distance is less than or equal to the first preset distance, it is determined that the door is not allowed to be opened, and a voice prompt is given to prompt the target vehicle to be moved, or to prompt the user to get off from another door.

[0167] Optionally, when the shortest distance is greater than the preset distance, the vehicle door intelligent control device 400 is further specifically used for:

[0168] Determine the ground image outside the target door;

[0169] Detecting whether the road surface outside the target vehicle door is a preset type of ground through the ground image, wherein the preset type of ground includes at least one of the following: a waterlogged road surface, a muddy road surface, a slippery road surface, a dirty road surface, a collapsed road surface, and a dangerous road surface;

[0170] When the road surface outside the target vehicle door is the preset type of ground, a voice prompt message is played, wherein the voice prompt message is used to prompt the user to observe the ground environment.

[0171] Optionally, when the dangerous object includes the moving object, the vehicle door intelligent control device 400 is further specifically used for:

[0172] Determine the current position, current moving trajectory, and current moving speed of the moving object;

[0173] Determine the estimated movement trajectory of the moving object in a preset time period according to the target door opening time, the current position, the current movement trajectory and the current movement speed; the preset time period includes the current moment and the moment corresponding to the door opening time after the current moment;

[0174] estimating the door opening trajectory of the target vehicle door within the time required for the target door opening;

[0175] According to the minimum distance between the estimated moving trajectory and the door opening trajectory of the target door;

[0176] When the minimum distance is greater than the second preset distance, it is confirmed that the door is allowed to be opened, and the step of opening the target door according to the target door control parameter is performed.

[0177] Optionally, the vehicle door intelligent control device 400 is further specifically used for:

[0178] determining a target behavior type of the mobile object;

[0179] When the target behavior type is a preset behavior type, the first default distance is determined as the second preset distance; the preset behavior type includes looking straight ahead behavior.

[0180] Optionally, the vehicle door intelligent control device 400 is further specifically used for:

[0181] When the target behavior type is not the preset behavior type, determining the distance between the moving object and the target door, and determining a reference time length between the distance and the current moving speed;

[0182] When the difference between the reference duration and the target door opening duration is greater than a preset threshold, the step of determining the estimated moving trajectory of the moving object in a preset time period based on the target door opening duration, the current position, the current moving trajectory and the current moving speed is executed.

[0183] It can be seen that the intelligent door control device described in the embodiment of the present application receives a door opening instruction for a target door, where the target door is any door of a target vehicle, obtains a target environment image near a target door of the target vehicle, marks potential dangerous objects in the target environment image, where the dangerous objects include stationary objects and / or moving objects, and determines target door control parameters of the target door based on the dangerous objects; the target door control parameters include whether door opening is allowed, and the target door is opened based on the target door control parameters. In this way, when opening the door, potential dangerous objects can be identified through environmental images, and the door opening authorization authority can be dynamically controlled based on the dangerous objects, thereby ensuring the safety of the door when the vehicle door is opened.

[0184] It can be understood that the functions of each program module of the vehicle door intelligent control device of this embodiment can be specifically implemented according to the method in the above method embodiment. The specific implementation process can refer to the relevant description of the above method embodiment, which will not be repeated here.

[0185] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes an electronic device.

[0186] The embodiment of the present application also provides a computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes an electronic device.

[0187] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0188] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0189] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0190] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0191] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0192] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or CD-ROM and other media that can store program codes.

[0193] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a magnetic disk or an optical disk, etc.

[0194] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle door intelligent control method, characterized in that: The method comprises: Receiving a door opening instruction for a target door, wherein the target door is any door of a target vehicle; Acquire a target environment image near the target door of the target vehicle; Marking potential dangerous objects in the target environment image, wherein the dangerous objects include stationary objects and / or moving objects; Determine the target door control parameter of the target door according to the dangerous object; the target door control parameter includes whether to allow the door to be opened; The target door is opened according to the target door control parameter.

2. The method according to claim 1, characterized in that The target door control parameters also include a target door opening amplitude; When the dangerous object includes the stationary object, determining the target door control parameter of the target door according to the dangerous object includes: determining the shortest distance between the stationary object and the target door; When the shortest distance is greater than a first preset distance, it is determined that the door is allowed to be opened, and the target door opening amplitude corresponding to the shortest distance is determined.

3. The method according to claim 2, characterized in that The method further comprises: When the shortest distance is less than or equal to the first preset distance, it is determined that the door is not allowed to be opened, and a voice prompt is given to prompt the target vehicle to be moved, or to prompt the user to get off from another door.

4. The method according to claim 2 or 3, characterized in that: When the shortest distance is greater than the preset distance, the method further includes: Determine the ground image outside the target door; Detecting whether the road surface outside the target vehicle door is a preset type of ground through the ground image, wherein the preset type of ground includes at least one of the following: a waterlogged road surface, a muddy road surface, a slippery road surface, a dirty road surface, a collapsed road surface, and a dangerous road surface; When the road surface outside the target vehicle door is the preset type of ground, a voice prompt message is played, wherein the voice prompt message is used to prompt the user to observe the ground environment.

5. The method according to claim 2 or 3, characterized in that: When the dangerous object includes the moving object, the method further includes: Determine the current position, current moving trajectory, and current moving speed of the moving object; Determine the estimated movement trajectory of the moving object in a preset time period according to the target door opening time, the current position, the current movement trajectory and the current movement speed; the preset time period includes the current moment and the moment corresponding to the door opening time after the current moment; estimating the door opening trajectory of the target vehicle door within the time required for the target door opening; According to the minimum distance between the estimated moving trajectory and the door opening trajectory of the target door; When the minimum distance is greater than the second preset distance, it is confirmed that the door is allowed to be opened, and the step of opening the target door according to the target door control parameter is performed.

6. The method according to claim 5, characterized in that The method further comprises: determining a target behavior type of the mobile object; When the target behavior type is a preset behavior type, the first default distance is determined as the second preset distance; the preset behavior type includes looking straight ahead behavior.

7. The method according to claim 6, characterized in that The method further comprises: When the target behavior type is not the preset behavior type, determining the distance between the moving object and the target door, and determining a reference time length between the distance and the current moving speed; When the difference between the reference duration and the target door opening duration is greater than a preset threshold, the step of determining the estimated moving trajectory of the moving object in a preset time period based on the target door opening duration, the current position, the current moving trajectory and the current moving speed is executed.

8. A vehicle door intelligent control device, characterized in that: The device comprises: a receiving unit, an acquiring unit, a marking unit, a determining unit and a door opening unit, wherein: The receiving unit is used to receive a door opening instruction for a target door, where the target door is any door of the target vehicle; The acquisition unit is used to acquire a target environment image near the target door of the target vehicle; The marking unit is used to mark potential dangerous objects in the target environment image, and the dangerous objects include stationary objects and / or moving objects; The determining unit is used to determine the target door control parameter of the target door according to the dangerous object; The door opening unit is used to open the target door according to the target door control parameter.

9. An electronic device, characterized in that: The method comprises a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for executing the steps in the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 7.

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