A control method, device and equipment for opening a vehicle door

Abstract

The application provides a control method, device and equipment for opening a vehicle door, which comprises the following steps: obtaining a first coordinate of a key point on a to-be-opened vehicle door in a first coordinate system, and obtaining a second coordinate of an obstacle detected by a radar sensor in the first coordinate system; determining 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 determining a smaller value of the first distance and the second distance as a target distance; determining a target maximum height of the to-be-opened vehicle door to the ground based on the first coordinate of the key point and the second coordinate of the obstacle, and calculating a height difference between the target maximum height and the height of the obstacle; if the target distance is smaller than a first threshold value and the height difference is smaller than a second threshold value, braking the to-be-opened vehicle door; otherwise, allowing the to-be-opened vehicle door to be opened. Through the technical scheme of the application, the complexity of obstacle detection can be reduced, and the obstacle detection accuracy is higher.

Description

TECHNICAL FIELD

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

[0002] Butterfly doors are a type of butterfly door. The movement of the butterfly door is to lift upward and rotate outward, so that the door looks like a butterfly spreading its wings when it is opened. This design makes the door not touch the ground or other obstacles when it is opened, increasing the convenience of entering and exiting the vehicle. Butterfly doors have high degrees of freedom and can be opened to a large angle, making it easier for passengers to enter and exit the vehicle.

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

[0004] However, due to the complex geometric motion relationship of the butterfly door, even if the obstacle avoidance radar detects obstacles around the door, it cannot determine whether the obstacles collide with the door, and cannot handle the collision. SUMMARY

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

[0006] 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 a radar sensor in the first coordinate system; wherein the key point includes a first key point, a second key point and a third key point; wherein the first coordinate system takes the first key point as the origin, takes an axis perpendicular to the ground passing through the origin as the z-axis, takes an axis parallel to the ground passing through the origin on the door plane as the x-axis, and takes an axis perpendicular to the xoz plane passing through the origin as the y-axis;

[0007] determining 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 determining the smaller value of the first distance and the second distance as the target distance; wherein the first straight line is a straight line composed of the first key point and the second key point, and the second straight line is a straight line composed of the second key point and the third key point;

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

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

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

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

[0012] A determination module is configured 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 a 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 the third key point; a target maximum height of the to-be-opened door from the ground is determined based on the first coordinate of the key point and the second coordinate of the obstacle, and a height difference value between the target maximum height and an obstacle height is calculated.

[0013] A control module is configured to brake the to-be-opened door if the target distance is less than a first threshold value and the height difference value is less than a second threshold value; otherwise, the to-be-opened door is allowed to be opened.

[0014] The application provides an electronic device, comprising a processor and a machine readable storage medium, the machine readable storage medium stores machine executable instructions capable of being executed by the processor; wherein the processor is configured to execute the machine executable instructions to implement a control method for opening a door.

[0015] The application provides a computer program product, the computer program product comprises a computer program, the computer program is executed by a processor to implement a control method for opening a door.

[0016] The application provides a machine readable storage medium, the machine readable storage medium stores machine executable instructions capable of being executed by a processor; wherein the processor is configured to execute the machine executable instructions to implement a control method for opening a door according to the examples of the application.

[0017] As can be seen from the above technical solutions, in this embodiment, by obtaining the first coordinates of the key points on the door to be opened in the first coordinate system and the second coordinates of the obstacle detected by the radar sensor in the first coordinate system, both the key points of the door and the obstacle can be transformed into a fixed coordinate system. This allows for obstacle detection (detecting whether the obstacle collides with the door) in the fixed coordinate system, reducing the complexity of obstacle detection, increasing its accuracy, and determining whether the obstacle collides with the door (i.e., whether the door collides with the obstacle during opening). If a collision is possible, the door to be opened is braked (i.e., the door is no longer opened), thus avoiding a collision. The target distance and maximum target height can be calculated based on the projection relationship between the obstacle and the edge points of the door (i.e., the key points on the door to be opened), and the collision detection is based on the target distance and maximum target height, resulting in low computational complexity. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating a door opening control method according to one embodiment of this application;

[0019] Figures 2A-2E This is a schematic diagram of the coordinate system involved in one embodiment of this application;

[0020] Figure 3 This is a flowchart illustrating a door opening control method according to one embodiment of this application;

[0021] Figure 4A This is a schematic diagram of coordinate system transformation in one embodiment of this application;

[0022] Figure 4B This is a schematic diagram illustrating the transformation of radar rectangular coordinates to S3 coordinates in one embodiment of this application;

[0023] Figure 4C This is a schematic diagram illustrating the transformation between the second coordinate system and the first coordinate system in one embodiment of this application;

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

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

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

[0027] Figure 8 This is a hardware structure diagram of an electronic device according to one embodiment of this application. Detailed Implementation

[0028] The application embodiment proposes a control method for opening a vehicle door, which can be applied to an electronic device, which can be a vehicle terminal or other device, and is not limited to this, and is used to control the opening of the vehicle door. Referring to Figure 1 The method can include the following steps:

[0029] In step 101, the first coordinates of the key points on the to-be-opened door in the first coordinate system are obtained, and the second coordinates of the obstacles detected by the radar sensor in the first coordinate system are obtained. The key points can include a first key point, a second key point, and a third key point. The first coordinate system can have 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 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] In step 102, based on the first coordinates of the key points and the second coordinates of the obstacles, the first distance between the obstacles and the first straight line and the second distance between the obstacles and the second straight line are determined, and the smaller value of the first distance and the second distance is determined as the target distance. The first straight line can be a straight line composed of the first key point and the second key point, and the second straight line can be a straight line composed of the second key point and the third key point.

[0031] In step 103, based on the first coordinates of the key points and the second coordinates of the obstacles, the target maximum height of the to-be-opened door to the ground is determined, and the height difference between the target maximum height and the height of the obstacle is calculated.

[0032] In 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 to-be-opened door 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 to-be-opened door is allowed to be opened, i.e., the to-be-opened door is continued to be opened.

[0033] For example, the to-be-opened door can be a non-flat opening door, which can include but is not limited to a butterfly door and a European wing door, and the type of the non-flat opening door is not limited. The radar sensor can be deployed on the to-be-opened door. For example, if the to-be-opened door is located on the left side of the vehicle, the first key point can be the lower left corner point on the to-be-opened door, the second key point can be the lower right corner point on the to-be-opened door, and the third key point can be the upper right corner point on the to-be-opened door. Alternatively, if the to-be-opened door is located on the right side of the vehicle, the first key point can be the lower right corner point on the to-be-opened door, the second key point can be the lower left corner point on the to-be-opened door, and the third key point can be the upper left corner point on the to-be-opened door.

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

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

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

[0037]

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

[0039]

[0040] wherein β represents the first included angle, γ represents the second included angle, α represents the door opening angle, (x Pi ,y Pi ,z Pi ) S3 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 angle corresponding to the obstacle, represents the elevation angle corresponding to the obstacle.

[0041] In addition, 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] For example, determining the first distance of the obstacle to the first straight line and the second distance of the obstacle to the second straight line based on the first coordinates of the key points and the second coordinates of the obstacle can include but is not limited to:

[0043] Based on the first coordinates of the first key point, the first coordinates of the second key point and the second coordinates of the obstacle, a perpendicular distance of the obstacle to the first straight line is calculated, and the perpendicular distance is determined as the first distance; or, based on the first coordinates of the first key point and the second coordinates 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 coordinates of the second key point and the second coordinates 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 coordinates of the second key point, the first coordinates of the third key point and the second coordinates of the obstacle, a perpendicular distance of the obstacle to the second straight line is calculated, and the perpendicular distance is determined as the second distance; or, based on the first coordinates of the second key point and the second coordinates of the obstacle, a 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 coordinates of the third key point and the second coordinates of the obstacle, a 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≤|P0A|cosψ≤|P0P1|, the perpendicular distance of the obstacle to 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, For example, if 0≤|P2A|cosζ≤|P2P1|, the perpendicular distance of the obstacle to 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, P0 represents the first key point, P1 represents the second key point, P2 represents the third key point, and A represents the obstacle.

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

[0047] Exemplarily, if the target distance is the first distance, the target maximum height is determined by the following formula: if 0≤|P0A|cosψ≤|P0P1|, then h=k1x+b1; if |P0A|cosψ<0, then h=k1x+b1+|P0P1|cosψ; if |P0A|cosψ>|P0P1|, then h=k1x+b1+|P0P1|. A wherein, If the target distance is the second distance, the target maximum height is determined by the following formula: if 0≤|P2A|cosζ≤|P2P1|, then h=k2x+b2; if |P2A|cosζ<0, then h=k2x+b2+|P2P1|cosζ; if |P2A|cosζ>|P2P1|, then h=k2x+b2+|P2P1|. A wherein,

[0048] In the above formula, P0 represents the first key point, P1 represents the second key point, P2 represents the third key point, and A represents the obstacle; h represents the target maximum height, k1 represents the first slope, b1 represents the first intercept, k2 represents the second slope, b2 represents the second intercept, x A represents the x coordinate value in the second coordinates of the obstacle, z p0 represents the z coordinate value in the first coordinates of the first key point, z p1 represents the z coordinate value in the first coordinates of the second key point, z p2 represents the z coordinate value in the first coordinates of the third key point.

[0049] ​​​​As can be seen from the above technical solutions, in this embodiment, by obtaining the first coordinates of the key points on the door to be opened in the first coordinate system and the second coordinates of the obstacle detected by the radar sensor in the first coordinate system, both the key points of the door and the obstacle can be transformed into a fixed coordinate system. This allows for obstacle detection (detecting whether the obstacle collides with the door) in the fixed coordinate system, reducing the complexity of obstacle detection, increasing its accuracy, and determining whether the obstacle collides with the door (i.e., whether the door collides with the obstacle during opening). If a collision is possible, the door to be opened is braked (i.e., the door is no longer opened), thus avoiding a collision. The target distance and maximum target height can be calculated based on the projection relationship between the obstacle and the edge points of the door (i.e., the key points on the door to be opened), and the collision detection is based on the target distance and maximum target height, resulting in low computational complexity.

[0050] The technical solutions of the embodiments of this application will be described below in conjunction with specific application scenarios.

[0051] Before introducing the technical solutions of the embodiments of this application, the concepts involved in this application will be introduced first.

[0052] Butterfly doors: Butterfly doors are a type of car door that opens by lifting upwards and rotating outwards, resembling butterfly wings. This design prevents the doors from hitting the ground or other obstacles when opening, increasing ease of entry and exit. Butterfly doors offer a high degree of freedom, opening to a large angle for easier passenger access.

[0053] When opening butterfly doors, it's necessary to consider whether the surrounding environment allows the doors to open fully to avoid collisions with other vehicles or objects. Based on this, radar sensors can be installed as obstacle avoidance radars. These sensors can be installed inside the lower door trim panel or on the door handle, automatically detecting obstacles around the door. Obviously, each door can have its own radar sensor installed. The radar sensor can be millimeter-wave radar or other types of radar; there are no restrictions.

[0054] Door Model: As can be seen from the door's structure, the butterfly door is an irregular shape. To facilitate calculating the positional relationship between the door and obstacles, 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 precise. These key points on the outer contour of the door can be used as the door model; see [link / reference]. Figure 2A The image shown is a structural schematic diagram of a car door model.

[0055] exist Figure 2AIn this example, the left-side door is used as an example. The rotation axis refers to the rotation axis of the door, that is, the door rotates around this rotation axis. P0 represents the lower left corner of the door, P1 represents the lower right corner of the door, and P2 represents the upper right corner of the door. P3 and P4 are not restricted in this embodiment.

[0056] First coordinate system: The first coordinate system, also known as the S1 coordinate system, is a fixed coordinate system, meaning it does not change. See also Figure 2B The diagram shown is a schematic of the first coordinate system.

[0057] The first coordinate system has its origin at the lower left corner point P0 (for the left door, the origin is the lower left corner; for the right door, the origin is the lower right corner). The first coordinate system has its z-axis as the axis passing through the origin P0 and perpendicular to the ground, with the z-axis pointing upwards as positive. The first coordinate system has its x-axis as the axis passing through the origin P0, located on the door plane, and parallel to the ground, with the x-axis pointing towards the rear of the vehicle as positive. The first coordinate system has its y-axis as 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), with the y-axis pointing inwards as positive.

[0058] Second coordinate system: The second coordinate system, also known as the S2 coordinate system, is a fixed coordinate system, meaning it does not change. See also Figure 2C The diagram shown is a schematic of the second coordinate system.

[0059] The second coordinate system has its origin at the center O of the rotation axis (i.e., the axis center O is the origin). The second coordinate system has the rotation axis as its z-axis, with the z-axis pointing upwards as positive. The second coordinate system has its x-axis as the axis passing through the origin O, perpendicular to the rotation axis, and located on the door plane, with the x-axis pointing towards the rear of the vehicle as positive. The second coordinate system has its y-axis as the axis passing through the origin O and perpendicular to the xoz plane (i.e., the xoz plane composed of the x-axis, the origin, and the z-axis), with the y-axis pointing inwards as positive.

[0060] See 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] Third coordinate system: The third coordinate system, also known as the S3 coordinate system or the door coordinate system, is a moving coordinate system, meaning it is not a fixed coordinate system. It is obtained by rotating the second coordinate system around the z-axis in the negative y-axis direction. See also Figure 2DThe diagram shows the relative relationship between the second and third coordinate systems. 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 and third coordinate systems can be α, where α represents the door opening angle. In other words, the third coordinate system is obtained by rotating the second coordinate system around the z-axis by the door opening angle α.

[0062] Clearly, the opening angle α changes during the opening of the car door. Therefore, the third coordinate system is not a fixed coordinate system, but a moving coordinate system that is related to the opening angle α. For example, when the opening angle α is 2 degrees, the third coordinate system is obtained by rotating the second coordinate system by 2 degrees around the z-axis; when the opening angle α is 5 degrees, the third coordinate system is obtained by rotating the second coordinate system by 5 degrees around the z-axis, and so on.

[0063] Radar Coordinate System: The origin of the radar coordinate system coincides with the radar center, which 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 direction of the connector, with positive on the left and negative on the right. The z-axis of the radar coordinate system follows the right-hand rule, with the positive z-axis corresponding to the positive elevation direction. In the radar coordinate system, the x-axis typically points in front of the radar sensor, the y-axis to the left, and the z-axis upwards.

[0064] See Figure 2E The diagram shows a schematic of the radar coordinate system. Black dots represent obstacles (i.e., the center of the obstacle), the distance between the obstacle and the radar sensor is R, and θ represents the azimuth angle of the obstacle. This represents the elevation angle corresponding to the obstacle. When the radar sensor detects an obstacle, it can obtain obstacle information, which includes the range R, azimuth θ, and elevation angle.

[0065] For example, radar sensors can be installed inside the lower trim panel of the door or at the door handle to automatically detect obstacles around the door. Since obstacles are detected by radar sensors, they are typically tracked in a radar coordinate system. However, because the movement trajectory of the radar sensor is non-linear during door opening, even if the obstacle is stationary, the trajectory detected by the radar sensor is still a curve. This undoubtedly increases the difficulty and complexity of obstacle tracking.

[0066] In response to the above findings, this application embodiment reduces the complexity of obstacle tracking by transforming coordinates. The key points of the vehicle door and obstacles in the radar coordinate system are transformed to a fixed coordinate system (such as the S1 coordinate system), thereby enabling target tracking and prediction in the fixed coordinate system, resulting in higher obstacle tracking accuracy.

[0067] The embodiment of the present application provides a vehicle door opening control method, which is used for controlling the opening of a vehicle door. In order to distinguish, the vehicle door to be opened (or the vehicle door being opened) can be referred to as a to-be-opened vehicle door. The to-be-opened vehicle door can be a vehicle door located on the left side of the vehicle, or a vehicle door located on the right side of the vehicle. For example, the to-be-opened vehicle door can be a non-flat opening vehicle door, which can include but is not limited to a butterfly door and a European wing door, and the type of the non-flat opening vehicle door is not limited.

[0068] The vehicle door opening control method can be applied to an electronic device, which can be any device deployed on a vehicle, such as a vehicle terminal or other types of vehicle control devices, which are not limited as long as the to-be-opened vehicle door can be controlled.

[0069] Referring to Figure 3 , a flowchart of the method is shown, which can include the following steps.

[0070] In step 301, a first coordinate of a key point on the to-be-opened vehicle door in a first coordinate system is obtained.

[0071] For example, a plurality of key points can exist on the to-be-opened vehicle door, which are key points on the outer contour of the vehicle door, i.e., the key points are edge points on the outer contour of the vehicle door. Referring to Figure 2A , the structure of a vehicle door model is shown, which includes a plurality of key points on the outer contour of the vehicle door.

[0072] Taking three key points on the to-be-opened vehicle door as an example, the three key points are referred to as a first key point, a second key point and a third key point, i.e., a first coordinate of the first key point in the first coordinate system, a first coordinate of the second key point in the first coordinate system and a first coordinate of the third key point in the first coordinate system are obtained.

[0073] For example, if the to-be-opened vehicle door is located on the left side of the vehicle, the first key point is a lower left corner point on the to-be-opened vehicle door, such as the lower left corner point P0 in Figure 2A , the second key point is a lower right corner point on the to-be-opened vehicle door, such as the lower right corner point P1 in Figure 2A , and the third key point is an upper right corner point on the to-be-opened vehicle door, such as the upper right corner point P2 in Figure 2A . Alternatively, if the to-be-opened vehicle door is located on the right side of the vehicle, the first key point is a lower right corner point on the to-be-opened vehicle door, the second key point is a lower left corner point on the to-be-opened vehicle door, and the third key point is an upper left corner point on the to-be-opened vehicle door. The positional relationship of the key points is similar to that in Figure 2A , and details are not repeated.

[0074] For example, for each key point on the to-be-opened door, the first coordinate of the key point in the first coordinate system needs to be obtained, and the first coordinate system takes the first key point as the origin (for the to-be-opened door on the left side of the vehicle, the first coordinate system takes the lower left corner point as the origin, and for the to-be-opened door on the right side of the vehicle, the first coordinate system takes the lower right corner point 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 and located 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 FIG. 1 for a schematic diagram of the first coordinate system. Figure 2B

[0075] For example, for each key point on the to-be-opened door, 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 to-be-opened door 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 to-be-opened door, 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 part of the parameters, such as 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. This is not limited, 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 first coordinate of the key point in the first coordinate system can be determined by using the following formula (1). Of course, formula (1) is only an example, and the determination method of the first coordinate is not limited. Formula (1) can be modified to determine the first coordinate, or part of the 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 to-be-opened door and the ground, which can be obtained from the structure data. For example, the rotation axis of the to-be-opened door is fixed, so 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, which can be obtained from the structure 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] ​Alpha represents the door opening angle of the to-be-opened door, and the door opening angle alpha can be obtained based on the vehicle body signal. During the door opening process, the door opening angle alpha changes, and therefore, the door opening angle alpha at the current time needs to be obtained each time the first coordinate is obtained. For example, the door opening angle alpha can be 2 degrees, 5 degrees, 10 degrees, etc.

[0081] represents the coordinate of the key point i in the third coordinate system, represents the first coordinate of the key point i in the first coordinate system. For example, when i is 1, represents the coordinate of the first key point in the third coordinate system, and 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 coordinate 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 coordinate of the third key point in the third coordinate system, 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 about the z-axis by the door opening angle alpha, and the second coordinate system has the center of the rotation axis as the origin, has the rotation axis as the z-axis, has the axis perpendicular to the rotation axis and located in the door plane passing through the origin as the x-axis, and has the axis perpendicular to the xoz plane passing through the origin as the y-axis. Referring to Figure 2C , the second coordinate system is shown, and referring to Figure 2D , 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 is established for the to-be-opened door, therefore, for the key point i on the to-be-opened door, the coordinate 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 to-be-opened door is known, the relative position between the key point i and the origin of the third coordinate system is fixed, and the coordinate of the key point i in the third coordinate system can be obtained.

[0084] Although the third coordinate system is a follow-up coordinate system, the third coordinate system is obtained by rotating the second coordinate system about the z-axis by the door opening angle alpha, but no matter what the door opening angle alpha is, the key point i will change with the opening of the door, 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, which 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 relationship of 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 of the center of the rotation axis and the first key point is known, the positional relationship of 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 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.

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

[0088] Exemplarily, a radar sensor can be deployed on the to-be-opened door, which can be installed in the door trim or the door handle, and automatically detect the obstacles around the door. The radar sensor can be a millimeter wave radar or other types of radar, which is not limited.

[0089] Exemplarily, the radar sensor can detect the obstacles around the to-be-opened door, and the information detected by the radar sensor can include distance R, azimuth angle θ and elevation angle Referring to Figure 2E .

[0090] For the obstacle detected by the radar sensor, the second coordinates of the obstacle in the first coordinate system need to be obtained. For example, based on the first angle between the rotation axis of the to-be-opened door 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 to-be-opened door, 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, the azimuth angle θ and the elevation angle of the obstacle corresponding to the obstacle information) 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. Of course, based on part of the parameters of 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 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 can also be determined, which is not limited 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 second coordinate of the obstacle in the first coordinate system can be determined by using formula (2) as follows, of course, formula (2) is only an example, and the manner of determining the second coordinate is not limited, formula (2) can be deformed to determine the second coordinate, or part of the 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 a first angle between the rotation axis of the to-be-opened door and the ground, γ represents a second angle between the rotation axis and the door plane in the door closed state, and α represents a door opening angle of the to-be-opened door. For details of the first angle, the second angle and the door opening angle, refer to step 301, and details are not repeated here.

[0094] represents the coordinate 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 is established for the to-be-opened door, for the radar sensor deployed on the to-be-opened door, the coordinate 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. Apparently, since the origin of the third coordinate system is known and the position of the radar sensor on the to-be-opened door is known, the relative position between the radar sensor and the origin of the third coordinate system is fixed, and the coordinate of the radar sensor in the third coordinate system can be obtained.

[0095] Although the third coordinate system is a follow-up coordinate system, the third coordinate system is obtained by rotating the second coordinate system around the z axis by the door opening angle α, but no matter what the door opening angle α is, the radar sensor will change with the opening of the door, and the relative position between the radar sensor and the origin of the third coordinate system will not change, so the coordinate of the radar sensor in the third coordinate system will not change, and the coordinate is a known fixed value.

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

[0097] (x O ,y O ,z O ) S1This represents the coordinates of the center of the rotation axis in the first coordinate system. For example, when establishing the first coordinate system 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 thus the coordinates of the center of the rotation axis in the first coordinate system can be obtained, that is, this coordinate is a known fixed value.

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

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

[0100] The derivation process of formulas (1) and (2) will be explained below in conjunction with specific application scenarios.

[0101] See Figure 4A The diagram illustrates coordinate transformation. Through a series of coordinate transformations, the complexity of the radar detection model during the opening process of the car door is reduced. The coordinate transformation ensures that the motion model is only related to the motion of the obstacle and independent of the motion of the car door.

[0102] First, the radar polar coordinates are transformed to radar Cartesian coordinates. For example, obstacle information (i.e., point cloud) detected by the radar sensor can include range R, azimuth θ, and elevation angle. And distance R, azimuth θ, and elevation angle These are radar polar coordinates, i.e., coordinates in a polar coordinate system. Based on this, obstacle information (range R, azimuth θ, and elevation angle) can be obtained in the polar coordinate system. The radar polar coordinates can be converted to radar rectangular coordinates (x, y, z) in a rectangular coordinate system. For example, formula (3) can be used to convert the radar polar coordinates to radar rectangular coordinates. Of course, formula (3) is just an example and is not a limitation.

[0103]

[0104] Then, the radar Cartesian coordinates are transformed to S3 coordinates in a third coordinate system (door coordinate system or S3 coordinate system). For example, see... Figure 4B The diagram shown illustrates the transformation of radar rectangular coordinates to S3 coordinates. The coordinates of the radar sensor in the third coordinate system are shown. It is known, that is Figure 4B Given R2 in the coordinate system, 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 to S3 coordinates (S3 coordinates are the coordinates of the obstacle in the third coordinate system). Of course, formula (4) is only an example, and this is not limited.

[0105]

[0106] Then, the S3 coordinates in the third coordinate system are converted to S2 coordinates in the second coordinate system (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, and the positive and negative of α comply with the right-hand rule, and the direction of the four fingers holding the z axis is the positive direction of the angle. In this embodiment, the opening direction of the door to be opened is positive. Since the third coordinate system is obtained by rotating the second coordinate system around the z axis by the door opening angle α, formula (5) can be used to convert the S3 coordinates in the third coordinate system to the S2 coordinates in the second coordinate system, and this is not limited.

[0107]

[0108] Then, the S2 coordinates in the second coordinate system are converted to S1 coordinates in the first coordinate system (S1 coordinates are the coordinates of the obstacle in the first coordinate system, i.e., the second coordinates of the obstacle in the first coordinate system). For example, as shown in Figure 4C The conversion relationship between the second coordinate system and the first coordinate system is shown in the figure. The conversion process from the second coordinate system to the first coordinate system includes one translation and two rotations.

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

[0110] Based on the above conversion process, combined with formula (3), formula (4) and formula (5), the second coordinates of the obstacle in the first coordinate system (i.e., S1 coordinates) 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 coordinates in the first coordinate system.

[0111] Continuing to refer to Figure 4AAs shown, for key points on the car door (such as the first, second, and third key points), 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 then transformed to the S2 coordinates in the second coordinate system (S2 coordinate system), where the S2 coordinates are the coordinates of the key points in the second coordinate system. The S2 coordinates in the second coordinate system are then transformed to the S1 coordinates in the first coordinate system (S1 coordinate system), where 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 transformation relationship between the key points and the S1 coordinates in the first coordinate system.

[0112] In formulas (1) and (2), α is the door opening angle, obtained from the vehicle body signal. β is the angle by which S2' rotates about the y1 axis to S1'. γ is the angle by which S2 rotates about the x2 axis to S2'. (x O ,y O ,z O ) S1 It is the position of the rotation axis center O in the S1 coordinate system, i.e., the OP0 vector. (x R2 ,y R2 ,z R2 ) S3 This is the radar's position in the S3 coordinate system, i.e., the OR2 vector. (x Pi ,y Pi ,z Pi ) S3 It is the location of the key point of the door in the S3 coordinate system, i.e., OP. i Coordinates of each point. All of these variables are 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 points and the second coordinates of the obstacle, determine the first distance between the obstacle and the first straight line, where the first straight line is the 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, then 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 The first straight line is formed by the lower right corner point P1. If the door to be opened is located on the right side of the vehicle, then the first straight line is formed by the lower right corner point and the lower left corner point.

[0115] For example, 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 perpendicular distance between the obstacle and the first straight line can be calculated, and the perpendicular 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, referring to FIG. 6, the first distance between the obstacle and the first straight line is determined as the perpendicular distance between the obstacle and the first straight line. Figure 5 For example, referring to FIG. 6, the first distance between the obstacle and the first straight line is determined as the perpendicular distance between the obstacle and the first straight line.

[0117] For example, referring to FIG. 6, the first distance between the obstacle and the first straight line is determined as the perpendicular distance between the obstacle and the first straight line. Figure 5 For example, referring to FIG. 6, the first distance between the obstacle and the first straight line is determined as the perpendicular distance between the obstacle and the first straight line.

[0118] For example, referring to FIG. 6, the first distance between the obstacle and the first straight line is determined as the perpendicular distance between the obstacle and the first straight line. The determination of the vertical distance is not limited. Alternatively, if |P0A|cosψ<0, it indicates that the intersection of the vertical line and the first straight line is on the extension line from P1 to P0, and thus 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 represented as |AP0|. Alternatively, if |P0A|cosψ>|P0P1|, it indicates that the intersection of the vertical line and the first straight line is on the extension line from P0 to P1, and thus 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 represented as |AP1|.

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

[0120] In the above process, two physical quantities are involved: the projection of a point to a side and the distance of a point to a side. According to the cosine theorem, the projection of A on the first straight line is According to the cosine theorem, if 0≤|P0A|cosψ≤|P0P1|, it indicates that the intersection of the vertical line and the first straight line is on the first straight line, if |P0A|cosψ<0, it indicates that the intersection of the vertical line and the first straight line is on the extension line from P1 to P0, and if |P0A|cosψ>|P0P1|, it indicates that the intersection of the vertical line and the first straight line is on the extension line from P0 to P1.

[0121] Step 304, based on the first coordinates of the key points and the second coordinates of the obstacle, determining a second distance between the obstacle and a second straight line, the second straight line being a straight line composed of the second key point and the third key point.

[0122] For example, if the to-be-opened door is located on the left side of the vehicle, the second straight line is a straight line composed of the right lower corner point (P1 in FIG. 4) and the right upper corner point (P2 in FIG. 4). If the to-be-opened door is located on the right side of the vehicle, the second straight line is a straight line composed of the left lower corner point and the left upper corner point. Figure 2A Figure 2A

[0123] ​​For example, 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 perpendicular distance between the obstacle and the second straight line can be calculated, and the perpendicular 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, referring to FIG. 2, the second straight line P2P1 is the outer edge straight line of the door to be opened, and is a position where collision with the obstacle is likely to occur. Therefore, the second distance between the obstacle and the second straight line P2P1 needs to be calculated. Figure 5 As shown in FIG. 2, the second straight line P2P1 is the outer edge straight line of the door to be opened, and is a position where collision with the obstacle is likely to occur. Therefore, the second distance between the obstacle and the second straight line P2P1 needs to be calculated.

[0125] For example, referring to FIG. 2, the second straight line P2P1 is the outer edge straight line of the door to be opened, and is a position where collision with the obstacle is likely to occur. Therefore, the second distance between the obstacle and the second straight line P2P1 needs to be calculated. Figure 5 As shown in FIG. 2, the second straight line P2P1 is the outer edge straight line of the door to be opened, and is a position where collision with the obstacle is likely to occur. Therefore, the second distance between the obstacle and the second straight line P2P1 needs to be calculated.

[0126] In a possible implementation, if 0≤|P2A|cosζ≤|P2P1|, it indicates that the intersection point of the perpendicular and the second straight line is on the second straight line. Therefore, the perpendicular distance between the obstacle and the second straight line can be determined as the second distance, and the perpendicular distance between the obstacle and the second straight line can be represented as The determination of the vertical distance is not limited. Alternatively, if |P2A|cosζ<0, it indicates that the intersection of the vertical line and the second straight line is on the extension line from P2 to P1, and thus 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 represented as |AP1|. Alternatively, if |P2A|cosζ>|P2P1|, it indicates that the intersection of the vertical line and the second straight line is on the extension line from P1 to P2, and thus 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 represented as |AP2|.

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

[0128] Step 305: determining 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 can be the first distance, if the first distance is greater than the second distance, the target distance can be the second distance, and if the first distance is equal to the second distance, the target distance can be the first distance or the second distance.

[0130] Step 306: determining the target maximum height of the to-be-opened door from 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] For example, in the opening process of the to-be-opened door, the target maximum height of the to-be-opened door from the ground can be determined, and the target maximum height is the height of a specified position point on the to-be-opened door from the ground, and the specified position point is a position point corresponding to the x coordinate value (i.e., the horizontal coordinate value) of the obstacle.

[0132] For example, the key points of the door to be opened and the obstacle are projected to the xoz plane, and based on the x coordinate value (i.e. the x coordinate value in the second coordinate) of the obstacle, if the x coordinate value corresponds to the first straight line (or the second straight line), i.e. the x coordinate value is the same as the x coordinate value of a position point on the first straight line, the position point is taken as the specified position point. If the x coordinate value corresponds to the extension line in the direction from the second key point P1 to the first key point P0, i.e. the x coordinate value is the same as the x coordinate value of a position point on the extension line, the first key point P0 is taken as the specified position point. If the x coordinate value corresponds to the extension line in the direction from the first key point P0 to the second key point P1, the second key point P1 is taken as the specified position point. Obviously, after the specified position point is obtained, the height of the specified position point from the ground can be taken as the target maximum height, denoted as target maximum height h.

[0133] Referring to Figure 6 Fig. 4 shows a schematic diagram for the target maximum height, A is an obstacle, and obviously, the x coordinate value of the obstacle A is the same as the x coordinate value of the position point A1 on the first straight line, so the position point A1 is taken as the specified position point, and the height of the position point A1 from the ground is taken as the target maximum height h.

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

[0135] For example, if 0≤|P0A|cosψ≤|P0P1|, it means that the intersection point of the perpendicular line (the perpendicular line of the obstacle and the first straight line) and the first straight line is on the first straight line, i.e. the x coordinate value of the obstacle is the same as the x coordinate value of a position point on the first straight line, and the position point can be taken as the specified position point. Based on this, the target maximum height h of the specified position point from the ground can be determined by using the following formula: h=k1x A +b1. In the above formula, x A represents the x coordinate value in the second coordinates of the obstacle, which is equal to the x coordinate value of the specified position point, k1 represents the first slope, and b1 represents the first intercept. Obviously, by substituting the x coordinate value of the specified position point into the formula, the target maximum height h of the specified position point from the ground can be obtained.

[0136] The first slope k1 and the first intercept b1 are determined based on the first coordinates of the first key point and the second coordinates of the second key point.

[0137] For example, if |P0A|cosψ<0, it indicates that the intersection of the perpendicular 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 position 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 taken as the specified position point. Based on this, the target maximum height h of the specified position point to the ground can be determined by using the following formula: z p0 The z coordinate value in the first coordinates of the first key point is used to determine the target maximum height h.

[0138] For example, if |P0A|cosψ>|P0P1|, it indicates that the intersection of the perpendicular 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 taken as the specified position point. Based on this, the target maximum height h of the specified position point to the ground can be determined by using the following formula: z p1 The z coordinate value in the first coordinates of the second key point is used to determine the target maximum height h.

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

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

[0141] For example, if 0≤|P2A|cosζ≤|P2P1|, it indicates that the intersection point of the perpendicular line (the perpendicular line of the obstacle and the second straight line) and the second straight line is located 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 the position point can be taken as the specified position point. Based on this, the target maximum height h of the specified position point to the ground can be determined by using the following formula: h=k2x+b2. In the above formula, x represents the x coordinate value in the second coordinate of the obstacle, which is equal to the x coordinate value of the specified position point, k2 represents the second slope, and b2 represents the second intercept. Obviously, by substituting the x coordinate value of the specified position point into the formula, the target maximum height h of the specified position point to the ground can be obtained. A +b2. In the above formula, x A represents the x coordinate value in the second coordinate of the obstacle, which is equal to the x coordinate value of the specified position point, k2 represents the second slope, and b2 represents the second intercept. Obviously, by substituting the x coordinate value of the specified position point into the formula, the target maximum height h of the specified position point to the ground can be obtained.

[0142] As to the determination manner of the second slope k2 and the second intercept b2, 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.

[0143] For example, if |P2A|cosζ<0, it indicates that the intersection point of the perpendicular line and the second straight line is located on the extension line in the direction from P1 to P2, 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 in the direction from the second key point P1 to the third key point P2), and the third key point P2 can be taken as the specified position point. Based on this, the target maximum height h of the specified position point to the ground can be determined by using the following formula: z p2 represents the z coordinate value in the first coordinate of the third key point, that is, the target maximum height h can be directly determined based on the z coordinate value in the first coordinate of the third key point.

[0144] For example, if |P2A|cosζ>|P2P1|, it indicates that the intersection point of the perpendicular line and the second straight line is located on the extension line in the direction 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 in the direction from the third key point P2 to the second key point P1), and the second key point P1 can be taken as the specified position point. Based on this, the target maximum height h of the specified position point to the ground can be determined by using the following formula: z p1 represents the z coordinate value in the first coordinate of the second key point, that is, the target maximum height h can be directly determined based on the z coordinate value in the first coordinate of the second key point.

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

[0146] Step 307, calculate the height difference between the target maximum height and the obstacle height.

[0147] For example, the obstacle height can be the z coordinate value in the second coordinate of the obstacle, representing the height of the obstacle, which can be denoted as z a Therefore, the height difference can be h-z a .

[0148] Step 308, if the target distance is less than the first threshold, and the height difference is less than the second threshold, the to-be-opened door is braked, that is, the to-be-opened door is prohibited to continue to open, so as to avoid collision between the to-be-opened door and the obstacle. In addition, if the target distance is not less than the first threshold, and / or, the height difference is not less than the second threshold, the to-be-opened door is allowed to be opened, that is, the to-be-opened door continues to be opened.

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

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

[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 to-be-opened door may collide with the obstacle, so the to-be-opened door can be braked, that is, the to-be-opened door is prohibited to continue to open, so as to avoid collision.

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

[0153] It can be seen from the above technical solutions that in the embodiments of the present application, the vehicle door key points and the obstacles can be converted to a fixed coordinate system, so that obstacle detection is performed in the fixed coordinate system, the complexity of obstacle detection can be reduced, the obstacle detection accuracy is higher, and it is known whether the obstacle collides with the vehicle door. If a collision is possible, the vehicle door to be opened is braked, so as to avoid a collision. The target distance and the target maximum height can be calculated according to the projection relationship of the obstacle and the vehicle door edge point, the target distance and the target maximum height are used to detect whether the obstacle collides with the vehicle door, and the calculation complexity is low. The vehicle door can be opened in a safe condition, an alarm can be provided in a collision risk condition, and the vehicle door is braked. After the vehicle door is opened, it is a plane with a certain angle in the three-dimensional space. The vehicle door in the three-dimensional coordinate system is converted to the ground coordinate system and the vertical coordinate system. The target distance is calculated according to the projection relationship of the obstacle and the key point, and the calculation complexity is low. The target distance in the ground coordinate system and the target maximum height in the vertical coordinate system are comprehensively used for collision detection.

[0154] Based on the same application concept as the above method, the embodiments of the present application propose a control device for opening a vehicle door, as shown in Figure 7 The device includes:

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

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

[0157] The control module 73 is configured to brake the vehicle 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, and otherwise, allow the vehicle door to be opened.

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

[0159] Exemplarily, the obtaining module 71 obtains the first coordinate of the key point on the to-be-opened door in the first coordinate system and obtains the second coordinate of the obstacle detected by the radar sensor in the first coordinate system, specifically by: determining the first coordinate of the key point in the first coordinate system based on a first included angle between a rotation axis of the to-be-opened door and the ground, a second included angle between the rotation axis and a door plane in a door closed state, an opening angle of the to-be-opened door, coordinates of the key point in a third coordinate system, and coordinates of a center of the rotation axis in the first coordinate system; the third coordinate system is obtained by rotating a second coordinate system about the z axis by the opening angle; the second coordinate system takes the center of the rotation axis as an origin, takes the rotation axis as the z axis, takes an axis that passes through the origin, is perpendicular to the rotation axis, and is located on the door plane as the x axis, and takes an axis that passes through the origin, is perpendicular to the xoz plane, and is the y axis; determining the second coordinate of the obstacle in the first coordinate system based on the first included angle, the second included angle, the opening angle, coordinates of the radar sensor in the third coordinate system, obstacle information of the obstacle, and the coordinates of the center of the rotation axis in the first coordinate system; wherein the obstacle information comprises a distance, an azimuth angle, and a pitch angle corresponding to the obstacle.

[0160] The obtaining module 71 determines the first coordinate of the key point in the first coordinate system by using the following formula:

[0161]

[0162] The obtaining module 71 determines the second coordinate of the obstacle in the first coordinate system by using the following formula:

[0163]

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

[0165] For example, when the determining 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 coordinates of the key points and the second coordinate of the obstacle, the determining module 72 is specifically configured to: calculate a perpendicular 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 perpendicular distance as the first distance; or calculate a 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 a 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] calculate a perpendicular distance between the obstacle and the second straight line 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, and determine the perpendicular distance as the second distance; or calculate a 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 second distance; or calculate a distance between the obstacle and the third key point based on the first coordinate of the third key point and the second coordinate of the obstacle, and determine the distance as the second distance.

[0167] For example, the determining module 72 is further configured to: if 0≤|P0A|cosψ≤|P0P1|, determine the perpendicular distance between the obstacle and the first straight line as the first distance; or if |P0A|cosψ<0, determine the distance between the obstacle and the first key point as the first distance; or if |P0A|cosψ>|P0P1|, determine the distance between the obstacle and the second key point 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, Wherein, 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.

[0168] For example, the determining module 72 determines the target maximum height of the to-be-opened vehicle door from the ground based on the first coordinates of the key points and the second coordinates of the obstacle, specifically: if the target distance is the first distance, the first slope and the first intercept corresponding to the first straight line are 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 is determined based on the first coordinates of the first key point; or, the target maximum height is determined based on the first coordinates 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 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 is determined based on the first coordinates of the second key point; or, the target maximum height is determined based on the first coordinates of the third key point.

[0169] For example, the determining module 72 is further configured to, if the target distance is the first distance, determine the target maximum height by using the following formula: if 0≤|P0A|cosψ≤|P0P1|, h=k1x A +b1; if |P0A|cosψ<0, h=k1x if |P0A|cosψ>|P0P1|, h=k1x Wherein,

[0170] Or, if the target distance is the second distance, the target maximum height is determined by using the following formula: if 0≤|P2A|cosζ≤|P2P1|, h=k2x A +b2; if |P2A|cosζ<0, h=k2x if |P2A|cosζ>|P2P1|, h=k2x Wherein, 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 A represents the x coordinate value in the second coordinate of the obstacle, z p0 represents the z coordinate value in the first coordinate of the first key point, z p1 represents the z coordinate value in the first coordinate of the second key point, z p2 represents the z coordinate value in the first coordinate of the third key point.

[0171] Based on the same application concept as the above method, an electronic device is provided in the embodiments of the present application, as shown in Figure 8 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 realize the control method of the vehicle door opening of the above examples of the present application.

[0172] Based on the same application concept as the above method, the embodiments of the present application also provide a machine readable storage medium, the machine readable storage medium stores a plurality of computer instructions, when the computer instructions are executed by a processor, the control method of the vehicle door opening disclosed in the above examples of the present application can be realized. It should be noted that the data acquisition, processing and other operations in the technical solutions of the present application are executed under the condition that the relevant user knows and obtains the authorization. Among them, the above 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, random access memory), volatile memory, non-volatile memory, flash memory, storage drive (such as hard disk drive), solid state disk, any type of storage disk, or similar storage medium, or combination thereof.

[0173] Based on the same application concept as the above method, the embodiments of the present application provide a computer program product, including a computer program; the computer program is executed by a processor to realize the control method of the vehicle door opening.

[0174] The above only describes the embodiments of the present application and is not used to limit the present application. The present application can have various changes and variations for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the scope of claims of the present application.

Claims

1. A method of controlling opening of a vehicle door, characterized by, The method comprises: obtaining first coordinates of key points on a to-be-opened door in a first coordinate system, and obtaining second coordinates of an obstacle detected by a radar sensor in the first coordinate system; wherein the key points comprise a first key point, a second key point and a third key point; wherein the first coordinate system takes the first key point as an origin, takes an axis passing through the origin and perpendicular to the ground as a z axis, takes an axis passing through the origin and located on a door plane and parallel to the ground as an x axis, and takes an axis passing through the origin and perpendicular to the xoz plane as a y axis; determining 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 coordinates of the key points and the second coordinates of the obstacle, and determining a smaller value of the first distance and the second distance as a target distance; wherein the first straight line is a straight line composed of the first key point and the second key point, and the second straight line is a straight line composed of the second key point and the third key point; determining a target maximum height of the to-be-opened door from the ground based on the first coordinates of the key points and the second coordinates of the obstacle, and calculating a height difference value between the target maximum height and an obstacle height; if the target distance is less than a first threshold value and the height difference value is less than a second threshold value, braking the to-be-opened door; otherwise, allowing the to-be-opened door to be opened; wherein the to-be-opened door is a non-side-hinged door, and the radar sensor is arranged on the to-be-opened door; if the to-be-opened door is located on a left side of a vehicle, the first key point is a lower left corner point on the to-be-opened door, the second key point is a lower right corner point on the to-be-opened door, and the third key point is an upper right corner point on the to-be-opened door; or, if the to-be-opened door is located on a right side of the vehicle, the first key point is a lower right corner point on the to-be-opened door, the second key point is a lower left corner point on the to-be-opened door, and the third key point is an upper left corner point on the to-be-opened door.

2. The method of claim 1, wherein the obtaining of the first coordinates of the key points on the to-be-opened door in the first coordinate system and the obtaining of the second coordinates of the obstacle detected by the radar sensor in the first coordinate system comprise: determining the first coordinates of the key points in the first coordinate system based on a first included angle between a rotation axis of the to-be-opened door and the ground, a second included angle between the rotation axis and a door plane in a door closed state, an opening angle of the to-be-opened door, coordinates of the key points in a third coordinate system, and coordinates of a center of the rotation axis in the first coordinate system; wherein the third coordinate system is obtained by rotating a second coordinate system about a z axis by the opening angle; wherein the second coordinate system takes a center of the rotation axis as an origin, takes the rotation axis as a z axis, takes an axis passing through the origin and perpendicular to the rotation axis and located on a door plane as an x axis, and takes an axis passing through the origin and perpendicular to the xoz plane as a y axis. determine a second coordinate of the obstacle in the first coordinate system based on the first included angle, the second included angle, the door opening angle, the coordinate of the radar sensor in the third coordinate system, obstacle information of the obstacle, and a coordinate of a center of the rotation axis in the first coordinate system, wherein the obstacle information comprises a distance, an azimuth angle, and a pitch angle corresponding to the obstacle.

3. The method of claim 2, wherein, a first coordinate of the key point in the first coordinate system is determined using the following formula: a second coordinate of the obstacle in the first coordinate system is determined using the following formula: wherein β represents the first included angle, γ represents the second included angle, and a 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, and θ represents the azimuth angle corresponding to the obstacle, represents the pitch angle corresponding to the obstacle; representing first coordinates of the key points in the first coordinate system, (x, y, z) S1 representing a second coordinate of the obstacle in the first coordinate system.

4. The method of claim 1, wherein, determining 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 comprises: calculating a perpendicular 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 determining the perpendicular distance as the first distance; or calculating a 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 determining the distance as the first distance; or calculating a 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 determining the distance as the first distance; calculating a perpendicular distance between the obstacle and the second straight line 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, and determining the perpendicular distance as the second distance; or calculating a 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 determining the distance as the second distance; or calculating a distance between the obstacle and the third key point based on the first coordinate of the third key point and the second coordinate of the obstacle, and determining the distance as the second distance.

5. The method of claim 4, wherein, 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, wherein 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.

6. The method of claim 1, wherein, determining a target maximum height of the to-be-opened vehicle door from the ground based on the first coordinate of the key point and the second coordinate of the obstacle comprises: if the target distance is the first distance, determining a first slope and a 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 target maximum height based on the first slope, the first intercept, and the second coordinate of the obstacle, or determining the target maximum height based on the first coordinate of the first key point, or determining the target maximum height based on the first coordinate of the second key point; If the target distance is the second distance, a second slope and a second intercept corresponding to the second straight line are determined based on the first coordinate of the second key point and the first coordinate of the third key point; the target maximum height is determined based on the second slope, the second intercept and the second coordinate of the obstacle; or, the target maximum height is determined based on the first coordinate of the second key point; or, the target maximum height is determined based on the first coordinate of the third key point.

7. The method of claim 6, wherein, The method further comprises: If the target distance is the first distance, the target maximum height is determined using the following equation: if 0≤|P0A|cosψ≤|P0P1|, then h=k1x+b1; if |P0A|cosψ<0, then h=k1x+b1+|P0P1| A If |P0A|cosψ>|P0P1|, then h=k1x+b1+|P0P1| If |P0A|cosψ>|P0P1|, then h=k1x+b1+|P0P1| wherein If the target distance is the second distance, the target maximum height is determined using the following equation: if 0≤|P2A|cosζ≤|P2P1|, then h=k2x+b2; if |P2A|cosζ<0, then h=k2x+b2+|P2P1| A If |P2A|cosζ<0, then h=k2x+b2+|P2P1| If |P2A|cosζ>|P2P1|, then h=k2x+b2+|P2P1| wherein wherein P0 represents a first key point, P1 represents a second key point, P2 represents a 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 A represents an x coordinate value in the second coordinate of the obstacle, z p0 represents a z coordinate value in the first coordinate of the first key point, z p1 represents a z coordinate value in the first coordinate of the second key point, z p2 represents a z coordinate value in the first coordinate of the third key point.

8. A control device for opening a vehicle door, characterized in that, The device comprises: The acquisition module is configured to acquire a first coordinate of a key point on a to-be-opened door in a first coordinate system and a second coordinate of an obstacle detected by a radar sensor in the first coordinate system; the key point comprises 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, takes an axis passing through the origin and perpendicular to the ground as a z axis, takes an axis passing through the origin and located on a door plane and parallel to the ground as an x axis, and takes an axis passing through the origin and perpendicular to the xoz plane as a y axis; The determination module is configured 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 a 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 the third key point; a target maximum height of the to-be-opened door to the ground is determined based on the first coordinate of the key point and the second coordinate of the obstacle, and a height difference between the target maximum height and an obstacle height is calculated; The control module is configured to brake the to-be-opened door if the target distance is less than a first threshold value and the height difference is less than a second threshold value; otherwise, the to-be-opened door is allowed to be opened. The to-be-opened door is a non-side-hinged door, and the radar sensor is arranged on the to-be-opened door; if the to-be-opened door is located on a left side of a vehicle, the first key point is a lower left corner point on the to-be-opened door, the second key point is a lower right corner point on the to-be-opened door, and the third key point is an upper right corner point on the to-be-opened door; or, If the to-be-opened door is located on a right side of a vehicle, the first key point is a lower right corner point on the to-be-opened door, the second key point is a lower left corner point on the to-be-opened door, and the third key point is an upper left corner point on the to-be-opened door.

9. An electronic device, comprising: The device comprises: The processor and a machine readable storage medium, the machine readable storage medium stores machine executable instructions capable of being executed by the processor; The processor is configured to execute the machine executable instructions to implement the method in any one of claims 1-7.

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