Vehicle door opening control method, device and equipment

Abstract

The invention provides a vehicle door opening control method, device and equipment, and the method comprises the steps: obtaining a first coordinate of a key point on a to-be-opened vehicle door under a first coordinate system, and obtaining a second coordinate of an obstacle detected by a radar sensor under the first coordinate system; based on the first coordinate of the key point and the second coordinate of the obstacle, determining a first distance between the obstacle and the first straight line and a second distance between the obstacle and the second straight line, and determining a smaller value of the first distance and the second distance as a target distance; based on the first coordinate of the key point and the second coordinate of the obstacle, the target maximum height from the to-be-opened vehicle door to the ground is determined, and the height difference value between the target maximum height and the height of the obstacle is calculated; if the target distance is smaller than a first threshold value, and the height difference value is smaller than a second threshold value, the vehicle door to be opened is braked; otherwise, the to-be-opened vehicle door is allowed to be opened. Through the technical scheme of the invention, the complexity of obstacle detection can be reduced, and the obstacle detection precision is higher.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular to a method, device and equipment for controlling the opening of a vehicle door. Background Art

[0002] Butterfly doors are butterfly doors. They move by lifting up and rotating outward, making the door look like a butterfly spreading its wings. This design prevents the door from hitting the ground or other obstacles when it is opened, increasing the convenience of getting in and out of the vehicle. Butterfly doors have a high degree of freedom and can be opened to a large angle, making it easier for passengers to get in and out of the vehicle.

[0003] When opening the butterfly door, it is necessary to consider whether the surrounding environment allows the door to be fully opened to avoid hitting other vehicles or objects. Based on this, an obstacle avoidance radar can be installed, which can be installed in the lower door trim or on the door handle to automatically detect obstacles around the door.

[0004] However, due to the complex geometric movement relationship of the butterfly door, even if the obstacle around the door is detected by the obstacle avoidance radar, it is impossible to know whether the obstacle collides with the door and the collision cannot be handled. Summary of the invention

[0005] The present application provides a method for controlling the opening of a vehicle door, the method comprising:

[0006] Obtain the first coordinate of the key point on the door to be opened in the first coordinate system, and obtain the second coordinate of the obstacle detected by the radar sensor in the first coordinate system; wherein the key points include the first key point, the second key point and the third key point; wherein the first coordinate system takes the first key point as the origin, the axis passing through the origin and perpendicular to the ground as the z-axis, the axis passing through the origin and located in the door plane and parallel to the ground as the x-axis, and the axis passing through the origin and perpendicular to the xoz plane as the y-axis;

[0007] Based on the first coordinates of the key point and the second coordinates of the obstacle, determine a first distance between the obstacle and a first straight line and a second distance between the obstacle and a second straight line, and determine the smaller value of the first distance and the second distance as the target distance; wherein the first straight line is a straight line formed by the first key point and the second key point, and the second straight line is a straight line formed by the second key point and the third key point;

[0008] Based on the first coordinate of the key point and the second coordinate of the obstacle, determining the target maximum height from the door to be opened to the ground, and calculating the height difference between the target maximum height and the obstacle height;

[0009] If the target distance is less than a first threshold value and the height difference is less than a second threshold value, the door to be opened is braked; otherwise, the door to be opened is allowed to be opened.

[0010] The present application provides a control device for opening a vehicle door, the device comprising:

[0011] an acquisition module, used for acquiring a first coordinate of a key point on the door to be opened in a first coordinate system, and acquiring a second coordinate of an obstacle detected by the radar sensor in the first coordinate system; the key points include a first key point, a second key point and a third key point; the first coordinate system takes the first key point as an origin, an axis passing through the origin and perpendicular to the ground as a z-axis, an axis passing through the origin and located in the door plane and parallel to the ground as an x-axis, and an axis passing through the origin and perpendicular to the xoz plane as a y-axis;

[0012] a determination module, configured to determine, based on the first coordinates of the key point and the second coordinates of the obstacle, a first distance between the obstacle and a first straight line and a second distance between the obstacle and a second straight line, and determine the smaller value of the first distance and the second distance as a target distance; the first straight line is a straight line formed by the first key point and the second key point, and the second straight line is a straight line formed by the second key point and a third key point; based on the first coordinates of the key point and the second coordinates of the obstacle, determine a target maximum height from the door to be opened to the ground, and calculate a height difference between the target maximum height and the obstacle height;

[0013] The control module is used for braking the door to be opened if the target distance is less than a first threshold value and the height difference is less than a second threshold value; otherwise, allowing the door to be opened to be opened.

[0014] The present application provides an electronic device, comprising: a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor; wherein the processor is used to execute the machine-executable instructions to implement a control method for opening a vehicle door.

[0015] The present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, a control method for opening a vehicle door is implemented.

[0016] The present application provides a machine-readable storage medium, which stores machine-executable instructions that can be executed by a processor; wherein the processor is used to execute the machine-executable instructions to implement the vehicle door opening control method of the above-mentioned example of the present application.

[0017] It can be seen from the above technical solutions that in the embodiment of the present application, by obtaining the first coordinate of the key point on the door to be opened in the first coordinate system, and obtaining the second coordinate of the obstacle detected by the radar sensor in the first coordinate system, the key point of the door and the obstacle can be converted to a fixed coordinate system, so that obstacle detection (detecting whether the obstacle collides with the door) can be performed in the fixed coordinate system, which can reduce the complexity of obstacle detection, and the obstacle detection accuracy is higher, and it is known whether the obstacle collides with the door (that is, whether the door collides with the obstacle during the door opening process). If a collision may occur, the door to be opened is braked (that is, the door is no longer opened) to avoid a collision. The target distance and the maximum target height can be calculated according to the projection relationship between the obstacle and the door edge point (that is, the key point on the door to be opened), and whether the obstacle collides with the door is detected based on the target distance and the maximum target height, and the calculation complexity is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a flow chart of a method for controlling the opening of a vehicle door in one embodiment of the present application;

[0019] Figure 2A-2E is a schematic diagram of a coordinate system involved in one implementation of the present application;

[0020] Figure 3 is a flow chart of a method for controlling the opening of a vehicle door in one embodiment of the present application;

[0021] Figure 4A is a schematic diagram of coordinate system conversion in one embodiment of the present application;

[0022] Figure 4B is a schematic diagram of converting radar rectangular coordinates to S3 coordinates in one embodiment of the present application;

[0023] Figure 4C is a schematic diagram of conversion between the second coordinate system and the first coordinate system in one embodiment of the present application;

[0024] Figure 5 is a schematic diagram of the distance between an obstacle and a first straight line in one embodiment of the present application;

[0025] Figure 6 is a schematic diagram of a maximum target height in one embodiment of the present application;

[0026] Figure 7 is a schematic structural diagram of a door opening control device in one embodiment of the present application;

[0027] Figure 8 It is a hardware structure diagram of an electronic device in one embodiment of the present application. DETAILED DESCRIPTION

[0028] In the embodiment of the present application, a method for controlling the opening of a vehicle door is proposed, which can be applied to an electronic device, which can be a vehicle-mounted terminal or other device, and is not limited thereto, and can be used to control the opening of a vehicle door. Figure 1 FIG. 4 is a flow chart of the method, which may include:

[0029] Step 101, obtain the first coordinate of the key point on the door to be opened in the first coordinate system, and obtain the second coordinate of the obstacle detected by the radar sensor in the first coordinate system. The key point may include the first key point, the second key point and the third key point; the first coordinate system may take the first key point as the origin, the axis passing through the origin and perpendicular to the ground as the z-axis, the axis passing through the origin and located in the door plane and parallel to the ground as the x-axis, and the axis passing through the origin and perpendicular to the xoz plane as the y-axis.

[0030] Step 102: Based on the first coordinates of the key point and the second coordinates of the obstacle, determine a first distance between the obstacle and the first straight line and a second distance between the obstacle and the second straight line, and determine the smaller value of the first distance and the second distance as the target distance. The first straight line may be a straight line formed by the first key point and the second key point, and the second straight line may be a straight line formed by the second key point and the third key point.

[0031] Step 103: Based on the first coordinates of the key point and the second coordinates of the obstacle, determine the target maximum height from the door to be opened to the ground, and calculate the height difference between the target maximum height and the obstacle height.

[0032] Step 104: If the target distance is less than the first threshold value and the height difference is less than the second threshold value, the door to be opened is braked. Otherwise, if the target distance is not less than the first threshold value and / or the height difference is not less than the second threshold value, the door to be opened is allowed to be opened, i.e., the door to be opened is continued to be opened.

[0033] Exemplarily, the door to be opened may be a non-sliding door, and the non-sliding door may include but is not limited to a butterfly door and a gull-wing door, etc., and there is no restriction on the type of the non-sliding door. The radar sensor may be deployed on the door to be opened. For example, if the door to be opened is located on the left side of the vehicle, the first key point may be the lower left corner point of the door to be opened, the second key point may be the lower right corner point of the door to be opened, and the third key point may be the upper right corner point of the door to be opened; or, if the door to be opened is located on the right side of the vehicle, the first key point may be the lower right corner point of the door to be opened, the second key point may be the lower left corner point of the door to be opened, and the third key point may be the upper left corner point of the door to be opened.

[0034] Exemplarily, obtaining the first coordinate of the key point on the door to be opened in the first coordinate system and obtaining the second coordinate of the obstacle detected by the radar sensor in the first coordinate system may include but are not limited to:

[0035] Based on the first angle between the rotation axis of the door to be opened and the ground, the second angle between the rotation axis and the door plane in the door closed state, the door opening angle of the door to be opened, the coordinates of the key point in the third coordinate system and the coordinates of the center of the rotation axis in the first coordinate system, the first coordinates of the key point in the first coordinate system are determined; wherein the third coordinate system is obtained by rotating the second coordinate system around the z-axis by the door opening angle; wherein the second coordinate system takes the center of the rotation axis as the origin, the rotation axis as the z-axis, the axis passing through the origin, perpendicular to the rotation axis and located in the door plane as the x-axis, and the axis passing through the origin and perpendicular to the xoz plane as the y-axis; based on the first angle, the second angle, the door opening angle, the coordinates of the radar sensor in the third coordinate system, the obstacle information of the obstacle and the coordinates of the center of the rotation axis in the first coordinate system, the second coordinates of the obstacle in the first coordinate system are determined; wherein the obstacle information includes the distance, azimuth and pitch angle corresponding to the obstacle.

[0036] Exemplarily, the first coordinate of the key point in the first coordinate system may be determined by the following formula:

[0037]

[0038] Exemplarily, the second coordinate of the obstacle in the first coordinate system may be determined by the following formula:

[0039]

[0040] Among them, β represents the first angle, γ represents the second angle, α represents the door opening angle, (x Pi ,y Pi ,z Pi ) S3 Indicates the coordinates of the key point in the third coordinate system, (x O ,y O ,z O ) S1 represents the coordinates of the center of the rotation axis in the first coordinate system, represents the coordinates of the radar sensor in the third coordinate system, R represents the distance corresponding to the obstacle, θ represents the azimuth corresponding to the obstacle, Indicates the pitch angle corresponding to the obstacle;

[0041] also, represents the first coordinate of the key point in the first coordinate system, (x, y, z) S1 Represents the second coordinate of the obstacle in the first coordinate system.

[0042] Exemplarily, determining a first distance between the obstacle and the first straight line and a second distance between the obstacle and the second straight line based on the first coordinate of the key point and the second coordinate of the obstacle may include, but is not limited to:

[0043] Based on the first coordinate of the first key point, the first coordinate of the second key point and the second coordinate of the obstacle, a vertical distance between the obstacle and the first straight line is calculated, and the vertical distance is determined as the first distance; or, based on the first coordinate of the first key point and the second coordinate of the obstacle, a distance between the obstacle and the first key point is calculated, and the distance is determined as the first distance; or, based on the first coordinate of the second key point and the second coordinate of the obstacle, a distance between the obstacle and the second key point is calculated, and the distance is determined as the first distance;

[0044] Based on the first coordinate of the second key point, the first coordinate of the third key point and the second coordinate of the obstacle, the vertical distance between the obstacle and the second straight line is calculated, and the vertical distance is determined as the second distance; or, based on the first coordinate of the second key point and the second coordinate of the obstacle, the distance between the obstacle and the second key point is calculated, and the distance is determined as the second distance; or, based on the first coordinate of the third key point and the second coordinate of the obstacle, the distance between the obstacle and the third key point is calculated, and the distance is determined as the second distance.

[0045] For example, if 0≤|P 0 A|cosψ≤|P 0 P 1 |, then the vertical distance between the obstacle and the first straight line is determined as the first distance; or, if |P 0 A|cosψ<0, the distance between the obstacle and the first key point is determined as the first distance; or, if |P 0 A|cosψ>|P 0 P 1 |, then the distance between the obstacle and the second key point is determined as the first distance; wherein, For example, if 0≤|P 2 A|cosζ≤|P 2 P 1 |, then the vertical distance between the obstacle and the second straight line is determined as the second distance; or, if |P 2 A|cosζ<0, the distance between the obstacle and the second key point is determined as the second distance; or, if |P 2 A|cosζ>|P 2 P 1 |, then the distance between the obstacle and the third key point is determined as the second distance; where, P 0 represents the first key point, P 1 represents the second key point, P 2represents the third key point, and A represents an obstacle.

[0046] Exemplarily, based on the first coordinates of the key point and the second coordinates of the obstacle, the target maximum height from the door to be opened to the ground is determined, which may include but is not limited to: if the target distance is the first distance, the first slope and the first intercept corresponding to the first straight line may be determined based on the first coordinates of the first key point and the first coordinates of the second key point; the target maximum height is determined based on the first slope, the first intercept and the second coordinates of the obstacle; or, the target maximum height may be determined based on the first coordinates of the first key point; or, the target maximum height may be determined based on the first coordinates of the second key point. In addition, if the target distance is the second distance, the second slope and the second intercept corresponding to the second straight line may be determined based on the first coordinates of the second key point and the first coordinates of the third key point; the target maximum height is determined based on the second slope, the second intercept and the second coordinates of the obstacle; or, the target maximum height may be determined based on the first coordinates of the second key point; or, the target maximum height may be determined based on the first coordinates of the third key point.

[0047] Exemplarily, if the target distance is the first distance, the following formula is used to determine the maximum height of the target: If 0≤|P 0 A|cosψ≤|P 0 P 1 |, then h = k 1 x A +b 1 ; If |P 0 A|cosψ<0, then If |P 0 A|cosψ>|P 0 P 1 |, then in, If the target distance is the second distance, the following formula is used to determine the maximum height of the target: If 0≤|P 2 A|cosζ≤|P 2 P 1 |, then h = k 2 x A +b 2 ; If |P 2 A|cosζ<0, then If |P 2 A|cosζ>|P 2 P 1 |, then in,

[0048] In the above formula, P 0 represents the first key point, P 1 represents the second key point, P 2represents the third key point, A represents the obstacle; h represents the maximum height of the target, k 1 represents the first slope, b 1 represents the first intercept, k 2 represents the second slope, b 2 represents the second intercept, x A Indicates the x coordinate value of the obstacle in the second coordinate, z p0 Represents the z coordinate value of the first coordinate of the first key point, z p1 Indicates the z coordinate value of the second key point in the first coordinate, z p2 Indicates the z-coordinate value of the first coordinate of the third keypoint.

[0049] It can be seen from the above technical solutions that in the embodiment of the present application, by obtaining the first coordinate of the key point on the door to be opened in the first coordinate system, and obtaining the second coordinate of the obstacle detected by the radar sensor in the first coordinate system, the key point of the door and the obstacle can be converted to a fixed coordinate system, so that obstacle detection (detecting whether the obstacle collides with the door) can be performed in the fixed coordinate system, which can reduce the complexity of obstacle detection, and the obstacle detection accuracy is higher, and it is known whether the obstacle collides with the door (that is, whether the door collides with the obstacle during the door opening process). If a collision may occur, the door to be opened is braked (that is, the door is no longer opened) to avoid a collision. The target distance and the maximum target height can be calculated according to the projection relationship between the obstacle and the door edge point (that is, the key point on the door to be opened), and whether the obstacle collides with the door is detected based on the target distance and the maximum target height, and the calculation complexity is low.

[0050] The technical solution of the embodiment of the present application is described below in conjunction with specific application scenarios.

[0051] Before introducing the technical solutions of the embodiments of the present application, the concepts involved in the present application are first introduced.

[0052] Butterfly doors: Butterfly doors are a type of butterfly doors. The movement of the butterfly doors is to lift up and rotate outward, making the door look like a butterfly spreading its wings when opened. This design prevents the door from hitting the ground or other obstacles when opened, increasing the convenience of getting in and out of the vehicle. The butterfly door has a high degree of freedom and can be opened to a large angle, making it easier for passengers to get in and out of the vehicle.

[0053] When opening the butterfly door, it is necessary to consider whether the surrounding environment allows the door to be fully opened to avoid hitting other vehicles or objects. Based on this, a radar sensor can be installed as an obstacle avoidance radar, and the radar sensor can be installed in the lower door trim or on the door handle to automatically detect obstacles around the door. Obviously, each door can be equipped with a radar sensor separately. The radar sensor can be a millimeter wave radar or other types of radar, and there is no restriction on this.

[0054] Door model: From the structure of the door, it can be seen that the butterfly door is an irregular shape. In order to facilitate the calculation of the positional relationship between the door and the obstacle, only a few key points on the outer contour of the door are selected for calculation. The position of each key point relative to the rotation axis is known and accurate. Several key points on the outer contour of the door can be used as the door model, see Figure 2A The figure shows the structure of the door model.

[0055] exist Figure 2A In the figure, the left door is used as an example for explanation, and the rotation axis represents the rotation axis of the door, that is, the door rotates around the rotation axis. P0 represents the lower left corner point on the door, P1 represents the lower right corner point on the door, and P2 represents the upper right corner point on the door. As for P3 and P4, there is no limitation in this embodiment.

[0056] First coordinate system: The first coordinate system can also be called S1 coordinate system. The first coordinate system is a fixed coordinate system, that is, the first coordinate system will not change. Figure 2B The figure shows a schematic diagram of the first coordinate system.

[0057] The first coordinate system takes the lower left corner point P0 as the origin (for the left door, the lower left corner point is the origin; for the right door, the lower right corner point is the origin). The first coordinate system takes the axis passing through the origin P0 and perpendicular to the ground as the z-axis, and the z-axis is positive upward. The first coordinate system takes the axis passing through the origin P0, located in the door plane and parallel to the ground as the x-axis, and the direction of the x-axis toward the rear of the car is positive. The axis passing through the origin P0 and perpendicular to the xoz plane (i.e., the xoz plane composed of the x-axis, the origin, and the z-axis) is the y-axis, and the y-axis is positive toward the inside of the car.

[0058] Second coordinate system: The second coordinate system can also be called S2 coordinate system. The second coordinate system is a fixed coordinate system, that is, the second coordinate system will not change. Figure 2C The figure shows a schematic diagram of the second coordinate system.

[0059] The second coordinate system takes the center O of the rotation axis as its origin (i.e., the axis O is its origin), and the rotation axis as its z axis, with the z axis pointing upwards. The second coordinate system takes the axis that passes through the origin O, is perpendicular to the rotation axis, and is located in the door plane as its x axis, with the x axis pointing toward the rear of the vehicle being positive. The second coordinate system takes the axis that passes through the origin O, is perpendicular to the xoz plane (i.e., the xoz plane is composed of the x axis, the origin, and the z axis) as its y axis, with the y axis pointing toward the interior of the vehicle being positive.

[0060] See also Figure 2B and Figure 2C As shown, the second coordinate system and the first coordinate system are not in the same vertical plane, that is, there is a certain angle between the second coordinate system and the first coordinate system.

[0061] The third coordinate system: The third coordinate system can also be called the S3 coordinate system or the door coordinate system. The third coordinate system is a follow-up coordinate system, that is, the third coordinate system is not a fixed coordinate system. The third coordinate system is obtained by rotating the second coordinate system around the z-axis to the negative direction of the y-axis. Figure 2D As shown, it is a schematic diagram of the relative relationship between the second coordinate system and the third coordinate system. The second coordinate system is the O-xyz coordinate system, and the third coordinate system is the O-x1y1z coordinate system. The angle between the second coordinate system and the third coordinate system can be α, and α represents the door opening angle. That is to say, the third coordinate system is obtained by rotating the second coordinate system around the z-axis by the door opening angle α.

[0062] Obviously, during the door opening process, the door opening angle α will change, so the third coordinate system is not a fixed coordinate system, but a follow-up coordinate system related to the door opening angle α. For example, when the door opening angle α is 2 degrees, the third coordinate system is obtained by rotating the second coordinate system around the z axis by 2 degrees. When the door opening angle α is 5 degrees, the third coordinate system is obtained by rotating the second coordinate system around the z axis by 5 degrees, and so on.

[0063] Radar coordinate system: The origin of the radar coordinate system coincides with the center of the radar. The radar center refers to the center of the radar sensor. The y-axis of the radar coordinate system coincides with the normal direction. The x-axis of the radar coordinate system is opposite to the connector direction, with positive on the left and negative on the right. The z-axis of the radar coordinate system conforms to the right-hand rule, and the positive half of the z-axis belongs to the positive pitch direction. In the radar coordinate system, the x-axis usually points to the front of the radar sensor, the y-axis points to the left, and the z-axis points up.

[0064] See also Figure 2E The figure shows a schematic diagram of the radar coordinate system. The black dot represents the obstacle (i.e., the center of the obstacle), the distance between the obstacle and the radar sensor is R, and θ represents the azimuth angle corresponding to the obstacle. Indicates the pitch angle corresponding to the obstacle. When the radar sensor detects an obstacle, the obstacle information corresponding to the obstacle can be obtained, and the obstacle information includes distance R, azimuth angle θ and pitch angle

[0065] For example, the radar sensor can be installed in the lower door trim or door handle, and the radar sensor can automatically detect obstacles around the door. Since the obstacle is detected by the radar sensor, the obstacle is usually tracked in the radar coordinate system. However, since the movement trajectory of the radar sensor is nonlinear during the door opening process, even if the obstacle is stationary, the trajectory of the obstacle detected by the radar sensor is also a curve, which undoubtedly increases the difficulty and complexity of obstacle tracking.

[0066] In view of the above findings, in an embodiment of the present application, the complexity of obstacle tracking is reduced through coordinate transformation, and obstacles in the door key points and radar coordinate system are transformed into a fixed coordinate system (such as the S1 coordinate system), so that target tracking and prediction are performed in the fixed coordinate system, and obstacle tracking accuracy is higher.

[0067] In the embodiment of the present application, a control method for opening a vehicle door is proposed. The method is used to realize the control of opening a vehicle door. For the convenience of distinction, the vehicle door to be opened (or the vehicle door being opened) can be called the vehicle door to be opened. The vehicle door to be opened can be the vehicle door located on the left side of the vehicle, and the vehicle door to be opened can also be the vehicle door located on the right side of the vehicle. For example, the vehicle door to be opened can be a non-sliding door, and the non-sliding door can include but is not limited to a butterfly door and a gull-wing door, etc., and there is no restriction on the type of the non-sliding door.

[0068] The control method for opening a vehicle door can be applied to an electronic device, which can be any device deployed on a vehicle, such as a vehicle-mounted terminal or other types of vehicle-mounted control devices. There is no limitation to this, as long as it can control the vehicle door to be opened.

[0069] See also Figure 3 FIG. 4 is a flow chart of the method, which may include:

[0070] Step 301: Obtain the first coordinates of the key point on the door to be opened in the first coordinate system.

[0071] For example, there may be multiple key points on the door to be opened, and these key points are key points on the outer contour of the door, that is, these key points are edge points on the outer contour of the door. Figure 2A As shown, the structure of a vehicle door model is shown, and the vehicle door model includes multiple key points on the outer contour of the vehicle door.

[0072] Taking the three key points on the car door to be opened as an example, these three key points are called the first key point, the second key point and the third key point, that is, the first coordinate of the first key point in the first coordinate system, the first coordinate of the second key point in the first coordinate system and the first coordinate of the third key point in the first coordinate system are obtained.

[0073] For example, if the door to be opened is located on the left side of the vehicle, the first key point is the lower left corner point of the door to be opened, such as Figure 2A The lower left corner point P0 in the figure, the second key point is the lower right corner point on the door to be opened, such as Figure 2A The lower right corner point P1 in the figure, the third key point is the upper right corner point on the door to be opened, such as Figure 2A Alternatively, if the door to be opened is located on the right side of the vehicle, the first key point is the lower right corner of the door to be opened, the second key point is the lower left corner of the door to be opened, and the third key point is the upper left corner of the door to be opened. The positional relationship of these key points is the same as Figure 2A Similar, no further elaboration.

[0074] For example, for each key point on the door to be opened, it is necessary to obtain the first coordinate of the key point in the first coordinate system, and the first coordinate system takes the first key point as the origin (for the door to be opened on the left side of the vehicle, the first coordinate system takes the lower left corner as the origin, and for the door to be opened on the right side of the vehicle, the first coordinate system takes the lower right corner as the origin). The first coordinate system takes the axis passing through the origin and perpendicular to the ground as the z-axis, the first coordinate system takes the axis passing through the origin in the door plane and parallel to the ground as the x-axis, and the first coordinate system takes the axis passing through the origin and perpendicular to the xoz plane as the y-axis, see Figure 2B The figure shows a schematic diagram of the first coordinate system.

[0075] Exemplarily, for each key point on the door to be opened, the first coordinate of the key point in the first coordinate system can be determined based on the first angle between the rotation axis of the door to be opened and the ground, the second angle between the rotation axis and the door plane in the door closed state, the door opening angle of the door to be opened, the coordinates of the key point in the third coordinate system, and the coordinates of the center of the rotation axis in the first coordinate system. Of course, the first coordinate of the key point in the first coordinate system can also be determined based on some parameters of the first angle, the second angle, the door opening angle, the coordinates of the key point in the third coordinate system, and the coordinates of the center of the rotation axis in the first coordinate system. There is no limitation to this, as long as the first coordinate of the key point can be obtained based on the above parameters.

[0076] In a possible implementation, based on the above parameters, the following formula (1) can be used to determine the first coordinate of the key point in the first coordinate system. Of course, formula (1) is only an example, and there is no limitation on the method of determining the first coordinate. Formula (1) can be deformed to determine the first coordinate, or some parameters of formula (1) can be used to determine the first coordinate, as long as the first coordinate of the key point can be obtained.

[0077]

[0078] In formula (1), β represents the first angle between the rotation axis of the door to be opened and the ground. The first angle β can be obtained from the structural data. For example, the rotation axis of the door to be opened is fixed. Therefore, the first angle β between the rotation axis and the ground is a known value, and the first angle β can be obtained.

[0079] γ represents the second angle between the rotation axis and the door plane in the door closed state, and the second angle γ can be obtained from the structural data. For example, since the rotation axis is fixed and the door plane in the door closed state is also fixed, the second angle γ between the rotation axis and the door plane is a known value, and the second angle γ can be obtained.

[0080] α represents the opening angle of the door to be opened. The door opening angle α can be obtained based on the vehicle body signal. During the door opening process, the door opening angle α will change. Therefore, each time the first coordinate is obtained, it is necessary to first obtain the door opening angle α at the current moment. For example, the door opening angle α can be 2 degrees, 5 degrees, 10 degrees, etc.

[0081] represents the coordinates of key point i in the third coordinate system, represents the first coordinate of key point i in the first coordinate system. For example, when i is 1, Represents the coordinates of the first key point in the third coordinate system. At this time, represents the first coordinate of the first key point in the first coordinate system, that is, the first coordinate of the first key point is obtained. In addition, when i is 2, represents the coordinates of the second key point in the third coordinate system, represents the first coordinate of the second key point in the first coordinate system, that is, the first coordinate of the second key point is obtained. In addition, when i is 3, Represents the coordinates of the third key point in the third coordinate system, It represents the first coordinate of the third key point in the first coordinate system, that is, the first coordinate of the third key point is obtained.

[0082] The third coordinate system is obtained by rotating the second coordinate system around the z-axis by the door opening angle α, and the second coordinate system takes the center of the rotation axis as the origin, the rotation axis as the z-axis, the axis passing through the origin, perpendicular to the rotation axis and located in the door plane as the x-axis, and the axis passing through the origin and perpendicular to the xoz plane as the y-axis. Figure 2C As shown, a second coordinate system is shown, see Figure 2D As shown, the relative relationship between the second coordinate system and the third coordinate system is shown.

[0083] Since the third coordinate system is the door coordinate system, that is, the third coordinate system established for the door to be opened, the coordinates of the key point i in the third coordinate system can be determined based on the relative position between the key point i and the origin of the third coordinate system. Obviously, since the origin of the third coordinate system is known and the position of the key point i on the door to be opened is known, the relative position between the key point i and the origin of the third coordinate system is fixed, and the coordinates of the key point i in the third coordinate system can be obtained.

[0084] Although the third coordinate system is a slave coordinate system, the third coordinate system is obtained by rotating the second coordinate system around the z-axis by the door opening angle α. However, no matter how much the door opening angle α is, the key point i will also change as the door opens, and the relative position between the key point i and the origin of the third coordinate system will not change. Therefore, the coordinate of the key point i in the third coordinate system will not change, and the coordinate is a known fixed value.

[0085] (x O ,y O ,z O ) S1 Represents the coordinates of the center of the rotation axis in the first coordinate system. Since the positional relationships between the center of the rotation axis, the first key point, the second key point, and the third key point are all known, when the first coordinate system is established with the first key point as the origin, since the positional relationship between the center of the rotation axis and the first key point is known, the positional relationship between the center of the rotation axis and the origin of the first coordinate system can be obtained, and then the coordinates of the center of the rotation axis in the first coordinate system can be obtained, that is, the coordinates are a known fixed value.

[0086] In summary, based on formula (1), the first coordinates of the first key point in the first coordinate system, the first coordinates of the second key point in the first coordinate system, and the first coordinates of the third key point in the first coordinate system are obtained.

[0087] Step 302: Obtain the second coordinates of the obstacle detected by the radar sensor in the first coordinate system.

[0088] For example, a radar sensor can be deployed on the door to be opened, and the radar sensor can be installed in the lower door trim or on the door handle, and the radar sensor can automatically detect obstacles around the door. The radar sensor can be a millimeter wave radar or other types of radar, and there is no limitation on this.

[0089] For example, the radar sensor can detect obstacles around the door to be opened, and the information about the obstacle detected by the radar sensor may include the distance R, the azimuth angle θ, the pitch angle See also Figure 2E shown.

[0090] For obstacles detected by the radar sensor, it is necessary to obtain the second coordinates of the obstacle in the first coordinate system. For example, the second coordinates of the obstacle in the first coordinate system can be obtained based on the first angle between the rotation axis of the door to be opened and the ground, the second angle between the rotation axis and the door plane in the door closed state, the door opening angle to be opened, the coordinates of the radar sensor in the third coordinate system, the obstacle information of the obstacle (such as the obstacle information including the distance R, azimuth angle θ and pitch angle corresponding to the obstacle) and the obstacle information of the obstacle. ) and the coordinates of the center of the rotation axis in the first coordinate system, determine the second coordinates of the obstacle in the first coordinate system. Of course, the second coordinates of the obstacle in the first coordinate system can also be determined based on the first angle, the second angle, the door opening angle, the coordinates of the radar sensor in the third coordinate system, the obstacle information and some parameters of the coordinates of the center of the rotation axis in the first coordinate system. There is no limitation to this, as long as the second coordinates of the obstacle can be obtained based on the above parameters.

[0091] In a possible implementation, based on the above parameters, the following formula (2) can be used to determine the second coordinate of the obstacle in the first coordinate system. Of course, formula (2) is only an example, and there is no limitation on the method of determining the second coordinate. Formula (2) can be deformed to determine the second coordinate, or some parameters of formula (2) can be used to determine the second coordinate, as long as the second coordinate of the obstacle can be obtained.

[0092]

[0093] In formula (2), β represents the first angle between the rotation axis of the door to be opened and the ground, γ represents the second angle between the rotation axis and the door plane in the door closed state, and α represents the door opening angle of the door to be opened. The introduction of the first angle, the second angle and the door opening angle can be found in step 301 and will not be repeated here.

[0094] Represents the coordinates of the radar sensor in the third coordinate system. Since the third coordinate system is the door coordinate system, that is, the third coordinate system established for the door to be opened, the coordinates of the radar sensor in the third coordinate system can be determined based on the relative position between the radar sensor and the origin of the third coordinate system for the radar sensor deployed on the door to be opened. Obviously, since the origin of the third coordinate system is known and the position of the radar sensor on the door to be opened is known, the relative position between the radar sensor and the origin of the third coordinate system is fixed, and the coordinates of the radar sensor in the third coordinate system can be known.

[0095] Although the third coordinate system is a slave coordinate system, the third coordinate system is obtained by rotating the second coordinate system around the z-axis by the door opening angle α. However, no matter how much the door opening angle α is, the radar sensor will also change as the door opens, and the relative position between the radar sensor and the origin of the third coordinate system will not change. Therefore, the coordinates of the radar sensor in the third coordinate system will not change, and the coordinates are known fixed values.

[0096] R represents the distance corresponding to the obstacle, θ represents the azimuth corresponding to the obstacle, Indicates the pitch angle corresponding to the obstacle, distance R, azimuth θ and pitch angle is obstacle information, which is detected by the radar sensor. After each obstacle information is detected, the second coordinate of the obstacle in the first coordinate system can be determined based on the currently detected obstacle information using formula (2).

[0097] (x O ,y O ,z O ) S1 Indicates the coordinates of the center of the rotation axis in the first coordinate system. For example, when the first coordinate system is established with the first key point as the origin, since the positional relationship between the center of the rotation axis and the first key point is known, the positional relationship between the center of the rotation axis and the origin of the first coordinate system can be obtained, and then the coordinates of the center of the rotation axis in the first coordinate system can be obtained, that is, the coordinates are a known fixed value.

[0098] In formula (2), (x, y, z) S1 Indicates the second coordinate of the obstacle in the first coordinate system.

[0099] In summary, based on formula (2), the second coordinate of the obstacle in the first coordinate system is obtained.

[0100] The following describes the derivation process of formula (1) and formula (2) in combination with specific application scenarios.

[0101] See also Figure 4A The figure shows a schematic diagram of coordinate system transformation (coordinate transformation). Through a series of coordinate transformations, the complexity of the radar detection model during the opening process of the door to be opened is reduced. Through the coordinate transformation, the motion model is only related to the motion form of the obstacle and has nothing to do with the motion of the door to be opened.

[0102] First, the radar polar coordinates are converted to radar rectangular coordinates. For example, the obstacle information (i.e., point cloud) detected by the radar sensor may include the distance R, azimuth angle θ, and pitch angle The distance R, azimuth θ and elevation angle is the radar polar coordinate, that is, the coordinate point in the polar coordinate system. On this basis, the obstacle information in the polar coordinate system (distance R, azimuth angle θ and pitch angle ) is converted into radar rectangular coordinates (x, y, z) in a rectangular coordinate system. For example, the radar polar coordinates can be converted into radar rectangular coordinates using formula (3). Of course, formula (3) is only an example and is not limited to this.

[0103]

[0104] Then, the radar rectangular coordinates are converted to S3 coordinates in the third coordinate system (door coordinate system or S3 coordinate system). For example, see Figure 4B The figure below is a schematic diagram of converting the radar rectangular coordinates to S3 coordinates. is known, that is Figure 4B R 2 , then the position of obstacle T in the third coordinate system can be expressed as Based on this, formula (4) can be used to convert the radar rectangular coordinates into S3 coordinates (S3 coordinates are the coordinates of the obstacle in the third coordinate system). Of course, formula (4) is only an example and is not limited to this.

[0105]

[0106] Then, the S3 coordinates in the third coordinate system are converted to the S2 coordinates in the second coordinate system (S2 coordinate system), and the S2 coordinates are the coordinates of the obstacle in the second coordinate system. For example, the third coordinate system is obtained by rotating the second coordinate system around the z-axis by the door opening angle α. The positive and negative values ​​of α conform to the right-hand rule. The direction of the four fingers holding the z-axis is the positive direction of the angle. In this embodiment, the door opening angle is positive in the direction of the door to be opened. Since the third coordinate system is obtained by rotating the second coordinate system around the z-axis by the door opening angle α, the S3 coordinates in the third coordinate system can be converted to the S2 coordinates in the second coordinate system using formula (5), and there is no restriction on this.

[0107]

[0108] Then, the S2 coordinates in the second coordinate system are converted to the S1 coordinates in the first coordinate system (S1 coordinate system), and the S1 coordinates are the coordinates of the obstacle in the first coordinate system, that is, the second coordinates of the obstacle in the first coordinate system. For example, see Figure 4C , which is a schematic diagram of the conversion relationship between the second coordinate system and the first coordinate system. The conversion process from the second coordinate system to the first coordinate system includes one translation and two rotations.

[0109] For example, first translate the origin of the first coordinate system to the center of the rotation axis, and then rotate S2(O-x2y2z2) around the x2 axis by γ to S2'(O-x2y1z1), where γ is the angle between the rotation axis and the door plane when the door is closed, obtained from the structural data. Then, rotate S2'(O-x2y1z1) around the y1 axis by β to S1'(O-xy1z is equivalent to O-xyz), where β is the angle between the rotation axis and the horizontal ground, obtained from the structural data. Then, translate S1'(O-xyz) to S1(P0-xyz), and the translation amount is the distance from the center of the rotation axis to P0, obtained from the structural data.

[0110] Based on the above conversion process, combined with formula (3), formula (4) and formula (5), the second coordinate (i.e., S1 coordinate) of the obstacle in the first coordinate system can be obtained. For example, formula (2) can be used to obtain the conversion relationship from the point cloud in the radar coordinate system to the S1 coordinate in the first coordinate system.

[0111] Continue to see Figure 4A As shown, for the key points of the door (such as the first key point, the second key point and the third key point), the S3 coordinates of the key points in the third coordinate system (S3 coordinate system) can be determined. The S3 coordinates in the third coordinate system are converted to the S2 coordinates in the second coordinate system (S2 coordinate system), and the S2 coordinates are the coordinates of the key points in the second coordinate system. The S2 coordinates in the second coordinate system are converted to the S1 coordinates in the first coordinate system (S1 coordinate system), and the S1 coordinates are the first coordinates of the key points in the first coordinate system. For example, formula (1) can be used to obtain the conversion relationship from the key points to the S1 coordinates in the first coordinate system.

[0112] In formula (1) and formula (2), α is the door opening (door opening angle), which is obtained from the vehicle body signal. β is the angle of S2' rotating around the y1 axis to S1'. γ is the angle of S2 rotating around the x2 axis to S2'. (x O ,y O ,z O ) S1 is the position of the rotation axis center O in the S1 coordinate system, that is, OP 0 Vector. (x R2 ,y R2 ,z R2 ) S3 is the position of the radar in the S3 coordinate system, that is, OR 2 Vector. (x Pi ,y Pi ,z Pi ) S3 is the position of the key point of the door in the S3 coordinate system, that is, OP iCoordinates of each point. The above variables are all known quantities and are related to the door structure. Through the above coordinate transformation, the coordinates of the obstacle in the S1 coordinate system can be obtained. Regardless of the state of the door, measurement processing (processing the point cloud information received by the radar) and detection can be performed in the S1 coordinate system.

[0113] Step 303: Based on the first coordinates of the key point and the second coordinates of the obstacle, determine a first distance between the obstacle and a first straight line, where the first straight line is a straight line formed by the first key point and the second key point.

[0114] For example, if the door to be opened is located on the left side of the vehicle, the first straight line is the lower left corner point ( Figure 2A The lower left corner point P0) and the lower right corner point ( Figure 2A If the door to be opened is located on the right side of the vehicle, the first straight line is a straight line formed by the lower right corner point and the lower left corner point.

[0115] Exemplarily, based on the first coordinate of the first key point, the first coordinate of the second key point and the second coordinate of the obstacle, the vertical distance between the obstacle and the first straight line can be calculated, and the vertical distance is determined as the first distance between the obstacle and the first straight line. Alternatively, based on the first coordinate of the first key point and the second coordinate of the obstacle, the distance between the obstacle and the first key point can be calculated, and the distance between the obstacle and the first key point is determined as the first distance between the obstacle and the first straight line. Alternatively, based on the first coordinate of the second key point and the second coordinate of the obstacle, the distance between the obstacle and the second key point can be calculated, and the distance between the obstacle and the second key point is determined as the first distance between the obstacle and the first straight line.

[0116] For example, see Figure 5 As shown, it is a schematic diagram of the distance between the obstacle and the first straight line (second straight line). 0 P 1 is the outer edge straight line of the door to be opened, which is the position where it is easy to collide with obstacles. Therefore, the door to be opened and the obstacle can be projected onto the xoy plane to obtain the distance from the obstacle to the first straight line P. 0 P 1 Obviously, since the second coordinate of the obstacle in the first coordinate system and the first coordinate of each key point in the first coordinate system are known, the first distance between the obstacle and the first straight line can be determined based on the first coordinate of each key point and the second coordinate of the obstacle.

[0117] See also Figure 5As shown, for the perpendicular line between the obstacle and the first straight line, if the intersection of the perpendicular line and the first straight line is located on the first straight line, such as the obstacle is located at the position of point A, the perpendicular distance between the obstacle and the first straight line is calculated, and the perpendicular distance is determined as the first distance between the obstacle and the first straight line. Or, if the intersection of the perpendicular line and the first straight line is located on the extension line from P1 to P0, the distance between the obstacle and the first key point P0 is calculated, and the distance between the obstacle and the first key point P0 is determined as the first distance between the obstacle and the first straight line. Or, if the intersection of the perpendicular line and the first straight line is located on the extension line from P0 to P1, such as the obstacle is located at the position of point B, the distance between the obstacle and the second key point P1 is calculated, and the distance between the obstacle and the second key point P1 is determined as the first distance between the obstacle and the first straight line.

[0118] In one possible implementation, if 0≤|P 0 A|cosψ≤|P 0 P 1 |, it means that the intersection of the vertical line and the first straight line is on the first straight line. Therefore, the vertical distance between the obstacle and the first straight line can be determined as the first distance, and the vertical distance between the obstacle and the first straight line can be expressed as There is no restriction on how this vertical distance is determined. 0 A|cosψ<0, which means that the intersection of the vertical line and the first straight line is located on the extension line from P1 to P0. Therefore, the distance between the obstacle and the first key point P0 can be determined as the first distance, and the distance between the obstacle and the first key point P0 can be expressed as |AP 0 |. Or, if |P 0 A|cosψ>|P 0 P 1 |, it means that the intersection of the vertical line and the first straight line is located on the extension line from P0 to P1. Therefore, the distance between the obstacle and the second key point P1 can be determined as the first distance, and the distance between the obstacle and the second key point P1 can be expressed as |AP 1 |.

[0119] In the above process, P0 may represent the first key point, P1 may represent the second key point, A may represent an obstacle, and ψ may represent the angle of A-P0-P1.

[0120] In the above process, two physical quantities are involved: the projection from the point to the edge and the distance from the point to the edge. According to the cosine theorem, the projection of A on the first straight line is Based on the cosine theorem, if 0≤|P 0 A|cosψ≤|P 0 P 1|, it means that the intersection of the vertical line and the first straight line is on the first straight line. If |P 0 A|cosψ<0 means that the intersection of the vertical line and the first straight line is located on the extension line from P1 to P0. 0 A|cosψ>|P 0 P 1 |, indicating that the intersection of the perpendicular line and the first straight line is located on the extension line from P0 to P1.

[0121] Step 304: Based on the first coordinates of the key point and the second coordinates of the obstacle, determine a second distance between the obstacle and a second straight line, where the second straight line is a straight line formed by the second key point and the third key point.

[0122] For example, if the door to be opened is located on the left side of the vehicle, the second straight line is the lower right corner point ( Figure 2A The lower right corner point P1) and the upper right corner point ( Figure 2A If the door to be opened is located on the right side of the vehicle, the second straight line is a straight line formed by the lower left corner point and the upper left corner point.

[0123] Exemplarily, based on the first coordinate of the second key point, the first coordinate of the third key point and the second coordinate of the obstacle, the vertical distance between the obstacle and the second straight line can be calculated, and the vertical distance is determined as the second distance between the obstacle and the second straight line. Alternatively, based on the first coordinate of the second key point and the second coordinate of the obstacle, the distance between the obstacle and the second key point can be calculated, and the distance between the obstacle and the second key point is determined as the second distance between the obstacle and the second straight line. Alternatively, based on the first coordinate of the third key point and the second coordinate of the obstacle, the distance between the obstacle and the third key point can be calculated, and the distance between the obstacle and the third key point is determined as the second distance between the obstacle and the second straight line.

[0124] For example, see Figure 5 As shown, the second straight line P 2 P 1 is the outer edge straight line of the door to be opened, which is the position where it is easy to collide with obstacles. Therefore, it is necessary to find the distance from the obstacle to the second straight line P 2 P 1 Obviously, since the second coordinates of the obstacle in the first coordinate system and the first coordinates of each key point in the first coordinate system are known, the second distance between the obstacle and the second straight line can be determined.

[0125] See also Figure 5As shown, for the perpendicular line between the obstacle and the second straight line, if the intersection of the perpendicular line and the second straight line is located on the second straight line, such as the obstacle is located at the position of point C, the perpendicular distance between the obstacle and the second straight line is calculated, and the perpendicular distance is determined as the second distance. If the intersection of the perpendicular line and the second straight line is located on the extension line from P1 to P2, the distance between the obstacle and the third key point P2 is calculated, and the distance between the obstacle and the third key point P2 is determined as the second distance. If the intersection of the perpendicular line and the second straight line is located on the extension line from P2 to P1, such as the obstacle is located at the position of point B, the distance between the obstacle and the second key point P1 is calculated, and the distance between the obstacle and the second key point P1 is determined as the second distance.

[0126] In one possible implementation, if 0≤|P 2 A|cosζ≤|P 2 P 1 |, it means that the intersection of the vertical line and the second straight line is on the second straight line. Therefore, the vertical distance between the obstacle and the second straight line can be determined as the second distance, and the vertical distance between the obstacle and the second straight line can be expressed as There is no restriction on how this vertical distance is determined. 2 A|cosζ<0, it means that the intersection of the vertical line and the second straight line is located on the extension line from P2 to P1. Therefore, the distance between the obstacle and the second key point P1 can be determined as the second distance, and the distance between the obstacle and the second key point P1 can be expressed as |AP 1 |. Or, if |P 2 A|cosζ>|P 2 P 1 |, it means that the intersection of the vertical line and the second straight line is located on the extension line from P1 to P2. Therefore, the distance between the obstacle and the third key point P2 can be determined as the second distance, and the distance between the obstacle and the third key point P2 can be expressed as |AP 2 |.

[0127] In the above process, P1 may represent the second key point, P2 may represent the third key point, A may represent an obstacle, and ζ may represent the angle of A-P2-P1.

[0128] Step 305: Determine the smaller value of the first distance and the second distance as the target distance.

[0129] For example, if the first distance is smaller than the second distance, the target distance may be the first distance; if the first distance is larger than the second distance, the target distance may be the second distance; if the first distance is equal to the second distance, the target distance may be the first distance or the second distance.

[0130] Step 306: Determine the target maximum height from the door to be opened to the ground based on the first coordinates of the key points (such as the first key point, the second key point and the third key point) and the second coordinates of the obstacle.

[0131] Exemplarily, during the opening process of the door to be opened, the target maximum height from the door to be opened to the ground can be determined. The target maximum height is the height from a specified position point on the door to be opened to the ground, and the specified position point is the position point corresponding to the x-coordinate value (i.e., the horizontal coordinate value) of the obstacle.

[0132] For example, project the key points and obstacles of the door to be opened onto the xoz plane. Based on the x-coordinate value of the obstacle (i.e., the x-coordinate value in the second coordinate), if the x-coordinate value corresponds to the first straight line (or the second straight line), that is, the x-coordinate value is the same as the x-coordinate value of a certain position point on the first straight line, then the position point is used as the designated position point. If the x-coordinate value corresponds to the extension line from the second key point P1 to the first key point P0, that is, the x-coordinate value is the same as the x-coordinate value of a certain position point on the extension line, then the first key point P0 is used as the designated position point. If the x-coordinate value corresponds to the extension line from the first key point P0 to the second key point P1, then the second key point P1 is used as the designated position point. Obviously, after knowing the designated position point, the height from the designated position point to the ground can be used as the target maximum height, recorded as the target maximum height h.

[0133] See also Figure 6 As shown, it is a schematic diagram for the target maximum height, A is an obstacle. Obviously, the x-coordinate value of obstacle A is the same as the x-coordinate value of position point A1 on the first straight line. Therefore, position point A1 is taken as the designated position point, and the height from position point A1 to the ground is taken as the target maximum height h.

[0134] In a possible implementation, if the target distance is the first distance, that is, the direction in which the obstacle is close to the first straight line, the first slope and the first intercept corresponding to the first straight line can be determined based on the first coordinate of the first key point and the first coordinate of the second key point; the maximum height of the target can be determined based on the first slope, the first intercept and the second coordinate of the obstacle. Alternatively, the maximum height of the target can be determined based on the first coordinate of the first key point. Alternatively, the maximum height of the target can be determined based on the first coordinate of the second key point.

[0135] For example, if 0≤|P 0 A|cosψ≤|P 0 P 1|, it means that the intersection of the perpendicular line (the perpendicular line between the obstacle and the first straight line) and the first straight line is on the first straight line, that is, the x coordinate value of the obstacle is the same as the x coordinate value of a certain position point on the first straight line, and this position point can be used as the designated position point. Based on this, the following formula can be used to determine the target maximum height h from the designated position point to the ground: h = k 1 x A +b 1 In the above formula, x A Indicates the x-coordinate value of the obstacle in the second coordinate. This x-coordinate value is equal to the x-coordinate value of the specified position point. 1 represents the first slope, b 1 Represents the first intercept. Obviously, by substituting the x-coordinate value of the specified position point into the formula, the target maximum height h from the specified position point to the ground can be obtained.

[0136] About the first slope k 1 and the first intercept b 1 The determination method is that since the first slope k 1 and the first intercept b 1 It is for the slope and intercept of the first straight line, and the first straight line is composed of the first key point and the second key point. Therefore, based on the first coordinate of the first key point and the first coordinate of the second key point, the first slope and the first intercept corresponding to the first straight line can be determined, and there is no restriction on this determination process.

[0137] For example, if |P 0 A|cosψ<0 means that the intersection of the vertical line and the first straight line is located on the extension line from P1 to P0, that is, the x-coordinate value of the obstacle is the same as the x-coordinate value of a certain point on the extension line (the extension line from the second key point P1 to the first key point P0), and the first key point P0 can be used as the designated position point. Based on this, the following formula can be used to determine the target maximum height h from the designated position point to the ground: z p0 The z coordinate value in the first coordinate of the first key point is represented. In other words, the maximum height h of the target can be determined directly based on the z coordinate value in the first coordinate of the first key point.

[0138] For example, if |P 0 A|cosψ>|P 0 P 1 |, it means that the intersection of the vertical line and the first straight line is located on the extension line from P0 to P1, that is, the x coordinate value of the obstacle is the same as the x coordinate value of a certain position point on the extension line (the extension line from the first key point P0 to the second key point P1), and the second key point P1 can be used as the designated position point. Based on this, the following formula can be used to determine the target maximum height h from the designated position point to the ground: zp1 The z coordinate value in the first coordinate of the second key point is represented. In other words, the maximum height h of the target can be determined directly based on the z coordinate value in the first coordinate of the second key point.

[0139] In the above process, P0 may represent the first key point, P1 may represent the second key point, A may represent an obstacle, and ψ may represent the angle of A-P0-P1.

[0140] In a possible implementation, if the target distance is the second distance, that is, the direction in which the obstacle is close to the second straight line, the second slope and the second intercept corresponding to the second straight line can be determined based on the first coordinate of the second key point and the first coordinate of the third key point; the target maximum height can be determined based on the second slope, the second intercept and the second coordinate of the obstacle. Alternatively, the target maximum height can be determined based on the first coordinate of the second key point. Alternatively, the target maximum height can be determined based on the first coordinate of the third key point.

[0141] For example, if 0≤|P 2 A|cosζ≤|P 2 P 1 |, it means that the intersection of the perpendicular line (the perpendicular line between the obstacle and the second straight line) and the second straight line is on the second straight line, that is, the x coordinate value of the obstacle is the same as the x coordinate value of a certain position point on the second straight line, and this position point can be used as the designated position point. Based on this, the following formula can be used to determine the target maximum height h from the designated position point to the ground: h = k 2 x A +b 2 In the above formula, x A Indicates the x-coordinate value of the obstacle in the second coordinate. This x-coordinate value is equal to the x-coordinate value of the specified position point. 2 represents the second slope, b 2 Represents the second intercept. Obviously, by substituting the x-coordinate value of the specified position point into the formula, the target maximum height h from the specified position point to the ground can be obtained.

[0142] About the second slope k 2 and the second intercept b 2 The determination method can determine the second slope and the second intercept corresponding to the second straight line based on the first coordinates of the second key point and the first coordinates of the third key point.

[0143] For example, if |P 2A|cosζ<0 means that the intersection of the vertical line and the second straight line is located on the extension line from P1 to P2, that is, the x-coordinate value of the obstacle is the same as the x-coordinate value of a point on the extension line (the extension line from the second key point P1 to the third key point P2), and the third key point P2 can be used as the designated position point. Based on this, the following formula can be used to determine the target maximum height h from the designated position point to the ground: z p2 The z coordinate value in the first coordinate of the third key point is represented. In other words, the maximum height h of the target can be determined directly based on the z coordinate value in the first coordinate of the third key point.

[0144] For example, if |P 2 A|cosζ>|P 2 P 1 |, it means that the intersection of the vertical line and the second straight line is located on the extension line from P2 to P1, that is, the x coordinate value of the obstacle is the same as the x coordinate value of a certain position point on the extension line (the extension line from the third key point P2 to the second key point P1), and the second key point P1 can be used as the designated position point. Based on this, the following formula can be used to determine the target maximum height h from the designated position point to the ground: z p1 The z coordinate value in the first coordinate of the second key point is represented. In other words, the maximum height h of the target can be determined directly based on the z coordinate value in the first coordinate of the second key point.

[0145] In the above process, P1 may represent the second key point, P2 may represent the third key point, A may represent an obstacle, and ζ may represent the angle of A-P2-P1.

[0146] Step 307: Calculate the height difference between the maximum height of the target and the height of the obstacle.

[0147] For example, the obstacle height may be the z coordinate value in the second coordinate of the obstacle, which indicates the height of the obstacle and may be recorded as z a , so the height difference can be hz a .

[0148] Step 308: If the target distance is less than the first threshold value and the height difference is less than the second threshold value, the door to be opened is braked, that is, the door to be opened is prohibited from continuing to open, so as to avoid the door to be opened from colliding with an obstacle. In addition, if the target distance is not less than the first threshold value and / or the height difference is not less than the second threshold value, the door to be opened is allowed to be opened, that is, the door to be opened is continued to be opened.

[0149] For example, if the target distance is less than a first threshold value (which can be configured based on experience, such as 30 cm, 35 cm, 40 cm, etc.), it means that the door to be opened is close to the obstacle in the horizontal plane and may collide with it in the horizontal plane. However, due to the characteristics of the door to be opened being lifted upward and rotated outward, it cannot be determined that the door to be opened has collided with the obstacle only when the target distance is less than the first threshold value.

[0150] If the height difference is less than a second threshold value (which can be configured based on experience, such as 30cm, 35cm, 40cm, etc.), it means that the door to be opened is close to the obstacle at the height level, and a collision may occur at the height level. Similarly, based on the characteristics of the door to be opened being lifted upward and rotated outward, it cannot be determined that the door to be opened has collided with the obstacle only when the height difference value is less than the second threshold value.

[0151] Based on the above analysis, in this embodiment, only when the target distance is less than the first threshold and the height difference is less than the second threshold at the same time, it is determined that the door to be opened may collide with the obstacle. Therefore, the door to be opened can be braked, that is, the door to be opened is prohibited from continuing to open to avoid a collision.

[0152] On the contrary, if the target distance is not less than the first threshold value, and / or the height difference is not less than the second threshold value, it is determined that the door to be opened will not collide with the obstacle, and the door to be opened is allowed to continue to be opened.

[0153] It can be seen from the above technical solutions that in the embodiment of the present application, the key points of the door and the obstacles can be converted to a fixed coordinate system, so that obstacle detection can be performed in the fixed coordinate system, which can reduce the complexity of obstacle detection, and the obstacle detection accuracy is higher, and it is known whether the obstacle collides with the door. If a collision may occur, the door to be opened is braked to avoid the collision. The target distance and the maximum target height can be calculated according to the projection relationship between the obstacle and the edge point of the door, and whether the obstacle collides with the door is detected based on the target distance and the maximum target height, and the calculation complexity is low. The door can be opened in a safe situation, and an alarm can be provided in the case of a collision risk, and the door can be braked. After the door is opened, it is a plane with a certain angle in the three-dimensional space. The door in the three-dimensional coordinate system is converted to the ground coordinate system and the vertical coordinate system, and the target distance is calculated according to the projection relationship between the obstacle and the key point, and the calculation complexity is low. The target distance in the ground coordinate system and the maximum target height in the vertical coordinate system are combined for collision detection.

[0154] Based on the same application concept as the above method, the present application embodiment proposes a control device for opening a vehicle door, see Figure 7 FIG. 1 is a schematic diagram of the structure of the device, wherein the device comprises:

[0155] The acquisition module 71 is used to acquire the first coordinate of the key point on the door to be opened in the first coordinate system, and acquire the second coordinate of the obstacle detected by the radar sensor in the first coordinate system; the key point includes the first key point, the second key point and the third key point; the first coordinate system takes the first key point as the origin, the axis passing through the origin and perpendicular to the ground as the z-axis, the axis passing through the origin and located in the door plane and parallel to the ground as the x-axis, and the axis passing through the origin and perpendicular to the xoz plane as the y-axis;

[0156] The determination module 72 is used to determine a first distance between the obstacle and a first straight line and a second distance between the obstacle and a second straight line based on the first coordinate of the key point and the second coordinate of the obstacle, and determine the smaller value of the first distance and the second distance as the target distance; the first straight line is a straight line formed by the first key point and the second key point, and the second straight line is a straight line formed by the second key point and the third key point; based on the first coordinate of the key point and the second coordinate of the obstacle, determine the target maximum height from the door to be opened to the ground, and calculate the height difference between the target maximum height and the obstacle height;

[0157] The control module 73 is configured to brake the door to be opened if the target distance is less than a first threshold value and the height difference is less than a second threshold value; otherwise, allow the door to be opened to be opened.

[0158] Exemplarily, the door to be opened is a non-sliding door, and the non-sliding door includes a butterfly door, and the radar sensor is deployed on the door to be opened. Exemplarily, if the door to be opened is located on the left side of the vehicle, the first key point is the lower left corner point of the door to be opened, the second key point is the lower right corner point of the door to be opened, and the third key point is the upper right corner point of the door to be opened; or, if the door to be opened is located on the right side of the vehicle, the first key point is the lower right corner point of the door to be opened, the second key point is the lower left corner point of the door to be opened, and the third key point is the upper left corner point of the door to be opened.

[0159] Exemplarily, the acquisition module 71 acquires the first coordinate of the key point on the door to be opened in the first coordinate system, and acquires the second coordinate of the obstacle detected by the radar sensor in the first coordinate system, and is specifically used to: determine the first coordinate of the key point in the first coordinate system based on the first angle between the rotation axis of the door to be opened and the ground, the second angle between the rotation axis and the door plane in the door closed state, the door opening angle of the door to be opened, the coordinate of the key point in the third coordinate system and the coordinate of the center of the rotation axis in the first coordinate system; the third coordinate system is obtained by rotating the second coordinate system around the z-axis by the door opening angle; The second coordinate system takes the center of the rotation axis as its origin, the rotation axis as the z-axis, the axis passing through the origin, perpendicular to the rotation axis and located in the door plane as the x-axis, and the axis passing through the origin and perpendicular to the xoz plane as the y-axis; based on the first angle, the second angle, the door opening angle, the coordinates of the radar sensor in the third coordinate system, the obstacle information of the obstacle and the coordinates of the center of the rotation axis in the first coordinate system, the second coordinates of the obstacle in the first coordinate system are determined; wherein the obstacle information includes the distance, azimuth and pitch angle corresponding to the obstacle.

[0160] The acquisition module 71 uses the following formula to determine the first coordinate of the key point in the first coordinate system:

[0161]

[0162] The acquisition module 71 uses the following formula to determine the second coordinate of the obstacle in the first coordinate system:

[0163]

[0164] Wherein, β represents the first angle, γ represents the second angle, and α represents the door opening angle. represents the coordinates of the key point in the third coordinate system, (x O ,y O ,z O ) S1 represents the coordinates of the center of the rotation axis in the first coordinate system, represents the coordinates of the radar sensor in the third coordinate system, R represents the distance corresponding to the obstacle, θ represents the azimuth corresponding to the obstacle, Indicates the pitch angle corresponding to the obstacle; represents the first coordinate of the key point in the first coordinate system, (x, y, z) S1 Represents the second coordinate of the obstacle in the first coordinate system.

[0165] Exemplarily, when the determination module 72 determines the first distance between the obstacle and the first straight line and the second distance between the obstacle and the second straight line based on the first coordinate of the key point and the second coordinate of the obstacle, it is specifically used to: calculate the vertical distance between the obstacle and the first straight line based on the first coordinate of the first key point, the first coordinate of the second key point and the second coordinate of the obstacle, and determine the vertical distance as the first distance; or, calculate the distance between the obstacle and the first key point based on the first coordinate of the first key point and the second coordinate of the obstacle, and determine the distance as the first distance; or, calculate the distance between the obstacle and the second key point based on the first coordinate of the second key point and the second coordinate of the obstacle, and determine the distance as the first distance;

[0166] Based on the first coordinate of the second key point, the first coordinate of the third key point and the second coordinate of the obstacle, the vertical distance between the obstacle and the second straight line is calculated, and the vertical distance is determined as the second distance; or, based on the first coordinate of the second key point and the second coordinate of the obstacle, the distance between the obstacle and the second key point is calculated, and the distance is determined as the second distance; or, based on the first coordinate of the third key point and the second coordinate of the obstacle, the distance between the obstacle and the third key point is calculated, and the distance is determined as the second distance.

[0167] Exemplarily, the determination module 72 is further configured to: 0 A|cosψ≤|P 0 P 1 |, then the vertical distance between the obstacle and the first straight line is determined as the first distance; or, if |P 0 A|cosψ<0, the distance between the obstacle and the first key point is determined as the first distance; or, if P 0 A|cosψ>|P 0 P 1 |, then the distance between the obstacle and the second key point is determined as the first distance; wherein, If 0≤|P 2 A|cosζ≤|P 2 P 1 |, then the vertical distance between the obstacle and the second straight line is determined as the second distance; or, if |P 2 A|cosζ<0, the distance between the obstacle and the second key point is determined as the second distance; or, if |P 2 A|cosζ>|P 2 P 1|, then the distance between the obstacle and the third key point is determined as the second distance; wherein, Among them, P 0 For representing the first key point, P 1 For the second key point, P 2 is used to represent the third key point, and A is used to represent the obstacle.

[0168] Exemplarily, when determining the target maximum height from the door to be opened to the ground based on the first coordinate of the key point and the second coordinate of the obstacle, the determination module 72 is specifically used to: if the target distance is the first distance, determine the first slope and the first intercept corresponding to the first straight line based on the first coordinate of the first key point and the first coordinate of the second key point; determine the target maximum height based on the first slope, the first intercept and the second coordinate of the obstacle; or, determine the target maximum height based on the first coordinate of the first key point; or, determine the target maximum height based on the first coordinate of the second key point; if the target distance is the second distance, determine the second slope and the second intercept corresponding to the second straight line based on the first coordinate of the second key point and the first coordinate of the third key point; determine the target maximum height based on the second slope, the second intercept and the second coordinate of the obstacle; or, determine the target maximum height based on the first coordinate of the second key point; or, determine the target maximum height based on the first coordinate of the third key point.

[0169] Exemplarily, the determination module 72 is further configured to determine the maximum height of the target by using the following formula if the target distance is the first distance: 0 A|cosψ≤|P 0 P 1 |, then h = k 1 x A +b 1 If P 0 A|cosψ<0, then If |P 0 A|cosψ>|P 0 P 1 |, then in,

[0170] Alternatively, if the target distance is the second distance, the maximum target height is determined using the following formula: 2 A|cosζ≤|P 2 P 1 |, then h = k 2 x A +b2 ; If |P 2 A|cosζ<0, then If P 2 A|cosζ>|P 2 P 1 |, then in, Among them, P 0 represents the first key point, P 1 represents the second key point, P 2 represents the third key point, A represents the obstacle, h represents the maximum height of the target, k 1 represents the first slope, b 1 represents the first intercept, k 2 represents the second slope, b 2 represents the second intercept, x A represents the x coordinate value of the obstacle in the second coordinate, z p0 Represents the z coordinate value of the first coordinate of the first key point, z p1 Indicates the z coordinate value of the second key point in the first coordinate, z p2 Indicates the z-coordinate value of the first coordinate of the third keypoint.

[0171] Based on the same application concept as the above method, an electronic device is proposed in the embodiment of the present application, see Figure 8 As shown, the electronic device includes: a processor 81 and a machine-readable storage medium 82, the machine-readable storage medium 82 stores machine-executable instructions that can be executed by the processor 81; the processor 81 is used to execute the machine-executable instructions to implement the control method for opening the vehicle door in the above example of the present application.

[0172] Based on the same application concept as the above method, the embodiment of the present application also provides a machine-readable storage medium, on which a number of computer instructions are stored. When the computer instructions are executed by the processor, the control method for opening the door disclosed in the above example of the present application can be implemented. It should be noted that the operations such as data acquisition and processing in the technical solution of this specification are all performed with the knowledge and authorization of the relevant users. Among them, the above-mentioned machine-readable storage medium can be any electronic, magnetic, optical or other physical storage device, which can contain or store information, such as executable instructions, data, etc. For example, the machine-readable storage medium can be: RAM (Radom Access Memory), volatile memory, non-volatile memory, flash memory, storage drive (such as hard disk drive), solid state hard disk, any type of storage disk, or similar storage medium, or a combination thereof.

[0173] Based on the same application concept as the above method, an embodiment of the present application provides a computer program product, including a computer program; when the computer program is executed by a processor, the above-mentioned vehicle door opening control method is implemented.

[0174] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for controlling the opening of a vehicle door, characterized in that: The method comprises: Obtain the first coordinate of the key point on the door to be opened in the first coordinate system, and obtain the second coordinate of the obstacle detected by the radar sensor in the first coordinate system; wherein the key points include the first key point, the second key point and the third key point; wherein the first coordinate system takes the first key point as the origin, the axis passing through the origin and perpendicular to the ground as the z-axis, the axis passing through the origin and located in the door plane and parallel to the ground as the x-axis, and the axis passing through the origin and perpendicular to the xoz plane as the y-axis; Based on the first coordinates of the key point and the second coordinates of the obstacle, determine a first distance between the obstacle and a first straight line and a second distance between the obstacle and a second straight line, and determine the smaller value of the first distance and the second distance as the target distance; wherein the first straight line is a straight line formed by the first key point and the second key point, and the second straight line is a straight line formed by the second key point and the third key point; Based on the first coordinate of the key point and the second coordinate of the obstacle, determining the target maximum height from the door to be opened to the ground, and calculating the height difference between the target maximum height and the obstacle height; If the target distance is less than a first threshold value and the height difference is less than a second threshold value, the door to be opened is braked; otherwise, the door to be opened is allowed to be opened.

2. The method according to claim 1, characterized in that The door to be opened is a non-sliding door, and the radar sensor is deployed on the door to be opened; If the door to be opened is located on the left side of the vehicle, the first key point is the lower left corner point of the door to be opened, the second key point is the lower right corner point of the door to be opened, and the third key point is the upper right corner point of the door to be opened; or, If the door to be opened is located on the right side of the vehicle, the first key point is the lower right corner point of the door to be opened, the second key point is the lower left corner point of the door to be opened, and the third key point is the upper left corner point of the door to be opened.

3. The method according to claim 1, characterized in that The step of obtaining a first coordinate of a key point on the door to be opened in a first coordinate system and obtaining a second coordinate of an obstacle detected by the radar sensor in the first coordinate system includes: Based on the first angle between the rotation axis of the door to be opened and the ground, the second angle between the rotation axis and the door plane in the door closed state, the door opening angle of the door to be opened, the coordinates of the key point in the third coordinate system and the coordinates of the center of the rotation axis in the first coordinate system, the first coordinates of the key point in the first coordinate system are determined; wherein the third coordinate system is obtained by rotating the door opening angle around the z-axis in the second coordinate system; wherein the second coordinate system takes the center of the rotation axis as the origin, the rotation axis as the z-axis, the axis passing through the origin, perpendicular to the rotation axis and located in the door plane as the x-axis, and the axis passing through the origin and perpendicular to the xoz plane as the y-axis; Based on the first angle, the second angle, the door opening angle, the coordinates of the radar sensor in the third coordinate system, the obstacle information of the obstacle and the coordinates of the center of the rotation axis in the first coordinate system, determine the second coordinates of the obstacle in the first coordinate system; wherein the obstacle information includes the distance, azimuth and pitch angle corresponding to the obstacle.

4. The method according to claim 3, characterized in that The first coordinate of the key point in the first coordinate system is determined using the following formula: The second coordinate of the obstacle in the first coordinate system is determined using the following formula: Wherein, β represents the first angle, γ represents the second angle, and α represents the door opening angle. represents the coordinates of the key point in the third coordinate system, (x O ,y O ,z O ) S1 represents the coordinates of the center of the rotation axis in the first coordinate system, represents the coordinates of the radar sensor in the third coordinate system, R represents the distance corresponding to the obstacle, θ represents the azimuth corresponding to the obstacle, represents the pitch angle corresponding to the obstacle; represents the first coordinate of the key point in the first coordinate system, (x,y,z) S1 Represents the second coordinate of the obstacle in the first coordinate system.

5. The method according to claim 1, characterized in that The determining, based on the first coordinate of the key point and the second coordinate of the obstacle, a first distance between the obstacle and the first straight line and a second distance between the obstacle and the second straight line comprises: Based on the first coordinate of the first key point, the first coordinate of the second key point and the second coordinate of the obstacle, a vertical distance between the obstacle and the first straight line is calculated, and the vertical distance is determined as the first distance; or, based on the first coordinate of the first key point and the second coordinate of the obstacle, a distance between the obstacle and the first key point is calculated, and the distance is determined as the first distance; or, based on the first coordinate of the second key point and the second coordinate of the obstacle, a distance between the obstacle and the second key point is calculated, and the distance is determined as the first distance; Based on the first coordinate of the second key point, the first coordinate of the third key point and the second coordinate of the obstacle, the vertical distance between the obstacle and the second straight line is calculated, and the vertical distance is determined as the second distance; or, based on the first coordinate of the second key point and the second coordinate of the obstacle, the distance between the obstacle and the second key point is calculated, and the distance is determined as the second distance; or, based on the first coordinate of the third key point and the second coordinate of the obstacle, the distance between the obstacle and the third key point is calculated, and the distance is determined as the second distance.

6. The method according to claim 5, characterized in that The method further comprises: If 0≤|P0A|cosψ≤|P0P1|, the vertical distance between the obstacle and the first straight line is determined as the first distance; or, if |P0A|cosψ<0, the distance between the obstacle and the first key point is determined as the first distance; or, if |P0A|cosψ>|P0P1|, the distance between the obstacle and the second key point is determined as the first distance; wherein, If 0≤|P2A|cosζ≤|P2P1|, the vertical distance between the obstacle and the second straight line is determined as the second distance; or, if |P2A|cosζ<0, the distance between the obstacle and the second key point is determined as the second distance; or, if |P2A|cosζ>|P2P1|, the distance between the obstacle and the third key point is determined as the second distance; wherein, Among them, P0 is used to represent the first key point, P1 is used to represent the second key point, P2 is used to represent the third key point, and A is used to represent the obstacle.

7. The method according to claim 1, characterized in that The step of determining a target maximum height from the door to be opened to the ground based on the first coordinate of the key point and the second coordinate of the obstacle includes: If the target distance is the first distance, determining the first slope and the first intercept corresponding to the first straight line based on the first coordinate of the first key point and the first coordinate of the second key point; determining the maximum height of the target based on the first slope, the first intercept and the second coordinate of the obstacle; or determining the maximum height of the target based on the first coordinate of the first key point; or determining the maximum height of the target based on the first coordinate of the second key point; If the target distance is the second distance, the second slope and the second intercept corresponding to the second straight line are determined based on the first coordinates of the second key point and the first coordinates of the third key point; the maximum height of the target is determined based on the second slope, the second intercept and the second coordinates of the obstacle; or, the maximum height of the target is determined based on the first coordinates of the second key point; or, the maximum height of the target is determined based on the first coordinates of the third key point.

8. The method according to claim 7, characterized in that The method further comprises: If the target distance is the first distance, the maximum height of the target is determined by the following formula: If 0≤|P0A|cosψ≤|P0P1|, then h=k1x A +b1; if |P0A|cosψ<0, then If |P0A|cosψ>|P0P1|, then in, If the target distance is the second distance, the maximum height of the target is determined by the following formula: If 0≤|P2A|cosζ≤|P2P1|, then h=k2x A +b2; if P2A|cosζ<0, then If |P2A|cosζ>|P2P1|, then in, Wherein, P0 represents the first key point, P1 represents the second key point, P2 represents the third key point, A represents the obstacle, h represents the maximum height of the target, k1 represents the first slope, b1 represents the first intercept, k2 represents the second slope, b2 represents the second intercept, x represents the A represents the x coordinate value of the obstacle in the second coordinate, z p0 Represents the z coordinate value of the first coordinate of the first key point, z p1 Indicates the z coordinate value of the second key point in the first coordinate, z p2 Indicates the z-coordinate value of the first coordinate of the third keypoint.

9. A control device for opening a vehicle door, characterized in that: The device comprises: an acquisition module, used for acquiring a first coordinate of a key point on the door to be opened in a first coordinate system, and acquiring a second coordinate of an obstacle detected by the radar sensor in the first coordinate system; the key points include a first key point, a second key point and a third key point; the first coordinate system takes the first key point as an origin, an axis passing through the origin and perpendicular to the ground as a z-axis, an axis passing through the origin and located in the door plane and parallel to the ground as an x-axis, and an axis passing through the origin and perpendicular to the xoz plane as a y-axis; a determination module, configured to determine, based on the first coordinates of the key point and the second coordinates of the obstacle, a first distance between the obstacle and a first straight line and a second distance between the obstacle and a second straight line, and determine the smaller value of the first distance and the second distance as a target distance; the first straight line is a straight line formed by the first key point and the second key point, and the second straight line is a straight line formed by the second key point and a third key point; based on the first coordinates of the key point and the second coordinates of the obstacle, determine a target maximum height from the door to be opened to the ground, and calculate a height difference between the target maximum height and the obstacle height; The control module is used for braking the door to be opened if the target distance is less than a first threshold value and the height difference is less than a second threshold value; otherwise, allowing the door to be opened to be opened.

10. An electronic device, characterized in that: include: a processor and a machine-readable storage medium storing machine-executable instructions executable by the processor; The processor is used to execute machine executable instructions to implement the method described in any one of claims 1-8.

Images