Vehicle door anti-collision method and device and storage medium

Abstract

The invention discloses a vehicle door anti-collision method and device and a storage medium, and relates to the technical field of automobiles. The height difference between the highest point of the upper edge of the road shoulder and the lowest point of the lower edge of the vehicle door is obtained; judging whether a collision risk exists between the vehicle door and the road shoulder or not according to the height difference; and if the collision risk exists, adjusting the height of the suspension, the inclination angle of the suspension or the opening angle threshold value of the vehicle door. The height of the suspension, the inclination angle of the suspension or the opening angle threshold value of the vehicle door is adjusted according to the height difference between the highest point of the upper edge of the road shoulder and the lowest point of the lower edge of the vehicle door, the vehicle door is overall higher than the road shoulder, or a certain included angle is kept between the vehicle door and the road shoulder when the vehicle door is opened, and therefore the vehicle door is prevented from colliding with the road shoulder when opened; the vehicle door is protected from being damaged.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a vehicle door anti-collision method, device and storage medium. Background Art

[0002] When opening traditional car doors, since they only have fixed opening positions, it is often difficult for the driver or passenger to accurately judge the distance between the door and the curb when opening the door, which can easily cause the door to hit the curb, causing damage or deformation. Vehicles equipped with air suspension will automatically lower the suspension when parking, making it more likely to hit the curb.

[0003] In related technologies, cameras or auxiliary mirrors are usually installed on the vehicle's rearview mirror to assist the driver in observing the distance between the car door and the curb, so as to prevent the car door from hitting the curb when the driver opens the door. However, in conditions of low visibility, the driver sometimes cannot accurately and clearly see the curb near the car door, resulting in the risk of the car door still hitting the curb. Summary of the Invention

[0004] The present application provides a vehicle door anti-collision method, device and storage medium, which can prevent the vehicle door from hitting the curb when opening by adjusting the suspension height, the suspension tilt angle or the door opening angle threshold, thereby protecting the vehicle door from damage.

[0005] In a first aspect, an embodiment of the present application provides a vehicle door anti-collision method, the method comprising:

[0006] Identify the road shoulder near the car door;

[0007] Obtaining a height difference between a highest point of an upper edge of the road shoulder and a lowest point of a lower edge of the vehicle door;

[0008] Based on the height difference, determine whether there is a collision risk between the vehicle door and the road shoulder; if so, adjust the height of the suspension, the tilt angle of the suspension, or the opening angle threshold of the vehicle door.

[0009] This method adjusts the height of the suspension, the inclination angle of the suspension, or the opening angle threshold of the door according to the height difference between the highest point of the upper edge of the curb and the lowest point of the lower edge of the door, so that the door is generally higher than the curb, or the door maintains a certain angle with the curb when opened, thereby preventing the door from hitting the curb when opening and protecting the door from damage.

[0010] In combination with the first aspect, in one embodiment, obtaining the height difference between the highest point of the upper edge of the road shoulder and the lowest point of the lower edge of the vehicle door includes:

[0011] Establishing a spatial coordinate system based on the center point of the vehicle door;

[0012] Obtaining the first spatial coordinate of the highest point of the upper edge of the shoulder;

[0013] Obtaining a second spatial coordinate of the lowest point of the lower edge of the vehicle door;

[0014] According to the first spatial coordinate and the second spatial coordinate, a height difference between a highest point of an upper edge of the road shoulder and a lowest point of a lower edge of the vehicle door is obtained.

[0015] In combination with the first aspect, in one embodiment, determining whether there is a collision risk between the vehicle door and the road shoulder based on the height difference includes:

[0016] If the height difference is greater than zero, there is a risk of collision between the vehicle door and the road shoulder;

[0017] If the height difference is less than or equal to zero, there is no collision risk between the vehicle door and the road shoulder.

[0018] In combination with the first aspect, in one embodiment, when there is a risk of collision between the vehicle door and the road shoulder, the method further includes:

[0019] Collision warning information is displayed on the vehicle's display screen.

[0020] In combination with the first aspect, in one embodiment, adjusting the height of the suspension includes:

[0021] The suspension is controlled to lower a distance equal to the height difference.

[0022] In combination with the first aspect, in one embodiment, adjusting the tilt angle of the suspension includes:

[0023] Obtaining the angle between the lower edge of the vehicle door and the upper edge of the road shoulder;

[0024] According to the included angle, the suspension is controlled to tilt until the lower edge of the vehicle door is parallel to the upper edge of the road shoulder.

[0025] In conjunction with the first aspect, in one embodiment, adjusting the opening angle threshold of the vehicle door includes:

[0026] Obtaining the horizontal distance between the highest point of the upper edge of the road shoulder and the lowest point of the lower edge of the vehicle door;

[0027] The opening angle threshold of the vehicle door is adjusted according to the width of the vehicle door and the horizontal distance.

[0028] In combination with the first aspect, in one embodiment, before adjusting the opening angle threshold of the vehicle door, the method further includes:

[0029] If the door opening angle threshold is not within the preset opening angle range, the direction and distance of the vehicle's required displacement are determined based on the horizontal distance and the door's width, and displayed on the vehicle's display screen.

[0030] In a second aspect, an embodiment of the present application provides a vehicle door anti-collision device based on any of the above methods, the device comprising:

[0031] Recognition module, used to identify the road shoulder near the vehicle door;

[0032] a height difference acquisition module, configured to acquire a height difference between a highest point of an upper edge of the road shoulder and a lowest point of a lower edge of the vehicle door;

[0033] a collision detection module, configured to determine whether there is a collision risk between the vehicle door and the road shoulder based on the height difference;

[0034] The adjustment module is used to adjust the height of the suspension, the tilt angle of the suspension or the opening angle threshold of the vehicle door.

[0035] In a third aspect, an embodiment of the present application provides a storage medium on which a computer program is stored, and when the computer program is processed by a processor, the steps in any of the above methods are implemented.

[0036] The beneficial effects of the technical solutions provided in the embodiments of the present application include:

[0037] This application adjusts the height of the suspension, the inclination angle of the suspension or the opening angle threshold of the door according to the height difference between the highest point of the upper edge of the curb and the lowest point of the lower edge of the door, so that the door is generally higher than the curb, or the door maintains a certain angle with the curb when opened, thereby preventing the door from hitting the curb when opening and protecting the door from damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a flow chart of a vehicle door anti-collision method according to an embodiment of the present application;

[0039] Figure 2 This is a schematic structural diagram of a vehicle door anti-collision device according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] First, some technical terms in this application are explained to facilitate those skilled in the art to understand this application.

[0042] Door opening angle: The door opening angle is the angle between the door hinge axis and the plane in which the door opens. As the door opens from a closed position, this angle gradually increases until it reaches its maximum opening position. The opening angles of front and rear doors vary due to their different positions and uses in the vehicle.

[0043] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0044] First, please refer to Figure 1 , Figure 1 This is a flow chart of a vehicle door anti-collision method according to an embodiment of the present application. The vehicle door anti-collision method provided in this embodiment includes the following steps:

[0045] Step S1: Identify the road shoulder near the vehicle door.

[0046] Step S2: Obtain the height difference between the highest point of the upper edge of the road shoulder and the lowest point of the lower edge of the vehicle door.

[0047] Step S3: Based on the height difference, determine whether there is a collision risk between the vehicle door and the road shoulder. If so, proceed to step S4; if not, end the process.

[0048] Step S4: adjusting the height of the suspension, the tilt angle of the suspension, or the opening angle threshold of the door.

[0049] It should be noted that the car door will always be locked before this method ends.

[0050] This method adjusts the height of the suspension, the inclination angle of the suspension, or the opening angle threshold of the door according to the height difference between the highest point of the upper edge of the curb and the lowest point of the lower edge of the door, so that the door is generally higher than the curb, or the door maintains a certain angle with the curb when opened, thereby preventing the door from hitting the curb when opening and protecting the door from damage.

[0051] In some embodiments, before the above step S1, the following steps are included:

[0052] The vehicle-mounted camera or vehicle-mounted sensor monitors the passenger's status to determine whether the passenger is ready to get off the vehicle. If so, the door anti-collision method is activated.

[0053] Specifically, the vehicle uses onboard cameras or sensors to collect information about the passenger's body language, gaze direction, and conversation content, and then uses a pre-set pattern recognition model to determine whether the passenger is ready to get off the vehicle. The pre-set pattern recognition model includes a body language recognition model, a gaze direction recognition model, and a speech recognition model.

[0054] The body language recognition model can identify body language features such as a passenger's posture and gestures to determine whether the passenger is ready to get off the bus. For example, if a passenger leans forward with their feet pointing toward the door, the body language recognition model can identify the passenger's readiness to get off. The gaze direction recognition model can identify the passenger's eye features and gaze direction, and determine whether the passenger is looking at the door or door handle to determine whether the passenger is ready to get off the bus. The speech recognition model can convert the passenger's conversation into text, analyze the text using natural language processing technology, and identify keywords or phrases related to getting off the bus. For example, if a passenger mentions their upcoming destination during conversation, the speech recognition model can identify the passenger's readiness to get off the bus.

[0055] It should be noted that this step is to adjust the door opening height and suspension height in advance when the passengers are preparing to get off the vehicle, so as to reduce the risk of door impact.

[0056] In some embodiments, in step S1 above, identifying the road shoulder near the vehicle door includes the following steps:

[0057] The position and shape information of the road shoulder are obtained through the vehicle-mounted ultrasonic sensor and lidar.

[0058] The above-mentioned shoulder position information is specifically the relative position information between the shoulder and the vehicle door, including the horizontal distance between the highest point of the shoulder's upper edge and the lowest point of the vehicle door's lower edge, and the angle between the upper edge of the shoulder and the lower edge of the vehicle door. The above-mentioned shoulder shape information is specifically the three-dimensional modeling of the shoulder, including parameters such as the shoulder's height, width, and surface curvature.

[0059] In this embodiment, the ultrasonic sensor is installed on the vehicle door or the side of the vehicle body to transmit ultrasonic signals to the road shoulder near the vehicle door, and obtain the relative position information between the road shoulder and the vehicle door by calculating the time difference between the transmission and reception of the ultrasonic signal.

[0060] LiDAR is also mounted on the vehicle door or side of the vehicle, emitting a laser beam toward the roadside near the door and receiving the reflected laser signal. By processing the reflected laser signal, a 3D model of the roadside can be constructed, thereby obtaining information about its shape.

[0061] In some embodiments, in step S2, obtaining the height difference between the highest point of the upper edge of the road shoulder and the lowest point of the lower edge of the vehicle door comprises the following steps:

[0062] S21: Establishing a spatial coordinate system based on the center point of the vehicle door.

[0063] S22: Obtain the first spatial coordinates of the highest point of the upper edge of the shoulder.

[0064] S23: Obtain the second spatial coordinate of the lowest point of the lower edge of the vehicle door.

[0065] S24: Calculate the height difference between the highest point of the upper edge of the road shoulder and the lowest point of the lower edge of the vehicle door based on the first spatial coordinate and the second spatial coordinate.

[0066] Specifically, in this embodiment, a three-dimensional space coordinate system is first established with the center point of the vehicle door as the origin. The X axis, Y axis, and Z axis of the coordinate system represent the front-back direction, left-right direction, and up-down direction of the vehicle, respectively.

[0067] Then, a laser radar is used to scan the road shoulder near the vehicle door to obtain the first spatial coordinates of the highest point on the upper edge of the road shoulder. The first spatial coordinates include the coordinate values ​​of the three directions of the X-axis, Y-axis, and Z-axis in the above three-dimensional spatial coordinate system.

[0068] Then, the second spatial coordinates of the lowest point of the lower edge of the door are obtained through the vehicle-mounted sensor. The second spatial coordinates also include coordinate values ​​in the three directions of the X-axis, Y-axis, and Z-axis in the above three-dimensional spatial coordinate system.

[0069] Finally, by calculating the difference between the first spatial coordinate and the second spatial coordinate in the Z-axis direction, the height difference between the highest point of the upper edge of the shoulder and the lowest point of the lower edge of the door can be obtained.

[0070] In a more specific embodiment, the first spatial coordinate is (X1, Y1, Z1), the second spatial coordinate is (X2, Y2, Z2), and the height difference ΔH between the highest point of the upper edge of the shoulder and the lowest point of the lower edge of the door is Z1-Z2.

[0071] In some embodiments, in the above step S21 , other reference objects may be used as the origin of the spatial coordinate system according to the actual usage of the vehicle.

[0072] Specifically, when a vehicle is parked on the side of the road with obvious marking lines (such as parking spaces and lane lines), a point on the marking line (such as the vertex of the parking space rectangle) can be selected as the origin of the spatial coordinate system. Based on the position of the marking line, the height difference between the highest point of the upper edge of the shoulder and the lowest point of the lower edge of the door can be calculated more quickly.

[0073] In some embodiments, in step S3, judging whether there is a collision risk between the vehicle door and the road shoulder based on the height difference includes the following two situations:

[0074] If the height difference is greater than zero, there is a risk of collision between the vehicle door and the road shoulder.

[0075] If the height difference is less than or equal to zero, there is no risk of collision between the vehicle door and the road shoulder.

[0076] It's important to note that when a car door opens, its lower edge moves outward along a circular arc. If the lowest point of the door's lower edge is not lower than the highest point of the curb's upper edge—that is, the height difference is less than or equal to zero—the door will not collide with the curb. Conversely, if the lowest point of the door's lower edge is lower than the highest point of the curb's upper edge, that is, the height difference is greater than zero, then as the door opens, the two will come into contact, creating a collision risk.

[0077] In some embodiments, when there is a risk of collision between the vehicle door and the road shoulder, the following steps are further included:

[0078] Collision warning information is displayed on the vehicle's display screen.

[0079] In this embodiment, the collision warning information includes the horizontal distance between the lowest point of the lower edge of the vehicle door and the highest point of the upper edge of the road shoulder, as well as the direction and distance the vehicle needs to move. For example, if there is a risk of collision between the vehicle door and the left side of the road shoulder, the collision warning information will indicate the direction and distance the vehicle needs to move to the right.

[0080] In some embodiments, in the above step S4, adjusting the height of the suspension includes the following steps:

[0081] The suspension is controlled to lower a distance equal to the height difference mentioned above.

[0082] In this embodiment, the suspension is lowered a distance equal to the height difference using an existing air suspension system or hydraulic lift system. During the suspension lowering process, the air suspension system or hydraulic lift system must precisely control the suspension lowering speed to avoid impact or damage to the vehicle. After the suspension is lowered, onboard sensors verify the actual suspension lowering distance. If the actual suspension lowering distance does not equal the height difference, the air suspension system or hydraulic lift system will re-control the suspension raising or lowering until the actual suspension lowering distance equals the height difference.

[0083] In some embodiments, in step S4, adjusting the tilt angle of the suspension includes the following steps:

[0084] First, the angle between the lower edge of the vehicle door and the upper edge of the road shoulder is obtained.

[0085] Afterwards, according to the angle, the suspension is controlled to tilt until the lower edge of the door is parallel to the upper edge of the road shoulder.

[0086] It should be noted that since the lower edge of the car door and the upper edge of the shoulder are not straight lines in the absolute sense, before executing this method, it is necessary to perform linear fitting on multiple sampling points collected on the lower edge of the car door and the upper edge of the shoulder to obtain two corresponding straight lines, and then calculate the angle between the two straight lines as the angle between the lower edge of the car door and the upper edge of the shoulder.

[0087] In this embodiment, the existing air suspension system or hydraulic lift system controls suspension tilt until the lower edge of the vehicle door is parallel to the upper edge of the curb. During the suspension tilt process, the air suspension system or hydraulic lift system must precisely control the suspension tilt rate to avoid impact or damage to the vehicle. After the suspension tilts, onboard sensors verify the actual suspension tilt angle. If the lower edge of the vehicle door is still not parallel to the upper edge of the curb after the suspension tilt, the air suspension system or hydraulic lift system re-controls suspension tilt until the lower edge of the vehicle door is parallel to the upper edge of the curb.

[0088] In some embodiments, in step S4, adjusting the door opening angle threshold comprises the following steps:

[0089] First, the horizontal distance between the highest point of the upper edge of the road shoulder and the lowest point of the lower edge of the vehicle door is obtained.

[0090] Afterwards, the opening angle threshold of the door is adjusted according to the width of the door and the horizontal distance.

[0091] It should be noted that when the car door is opening, the lowest point of its lower edge will move along a circular arc trajectory. Trigonometric functions are used to calculate the horizontal and vertical positions of the lowest point of the lower edge of the car door when it is opened to different angles. The maximum angle at which the lowest point of the lower edge of the car door does not collide with the curb is found, which is the door opening angle threshold.

[0092] Specifically, the door opening angle threshold is adjusted using the door check. For lever-type door checkers, rotating the adjustment screw clockwise or counterclockwise changes the door's opening resistance, thereby adjusting the door's opening angle threshold. For hydraulic or pneumatic door checkers, adjusting the pressure valve inside the checker changes the door's opening resistance, thereby adjusting the door's opening angle threshold.

[0093] In some embodiments, in the above step S4, before adjusting the door opening angle threshold, the following steps are further included:

[0094] If the opening angle threshold of the above-mentioned door is not within the preset opening angle range, the direction and distance of the vehicle's required displacement are determined based on the above-mentioned horizontal distance and the width of the above-mentioned door, and displayed on the vehicle display screen.

[0095] In some embodiments, in step S4 above, the method further includes the following steps:

[0096] The suspension height, suspension tilt angle, or the aforementioned door opening angle threshold are adjusted based on the vehicle's monitored suspension system status information. The suspension system status information includes spring height and shock absorber damping.

[0097] It's important to note that the state of the suspension system directly impacts vehicle stability and safety. Suspension system anomalies, such as reduced spring height or increased shock absorber damping, can cause the vehicle to tilt or jolt, affecting the proper opening and closing of doors. Furthermore, changes in the suspension height or tilt angle can reduce the distance between the door and the curb when opening, increasing the probability of collision. By monitoring the suspension system and adjusting the door opening angle or suspension height, this ensures that the door opening is not obstructed by vehicle tilt, improving passenger safety when entering and exiting the vehicle.

[0098] In some embodiments, in step S4, the method further includes the following steps:

[0099] According to the status information of the door hinge monitored by the vehicle, the height of the suspension, the tilt angle of the suspension or the opening angle threshold of the above-mentioned door is adjusted.

[0100] It's important to note that door hinges are crucial components connecting the door to the vehicle body, allowing the door to open and close within a certain range of angles. As a vehicle ages, door hinges gradually wear out, potentially causing the door to open awkwardly, or even jam or make unusual noises. By monitoring the status of the door hinges and adjusting the suspension height, suspension tilt, or the aforementioned door opening angle thresholds, the risk of door impacts caused by hinge wear can be effectively reduced.

[0101] In some embodiments, in step S4 above, the method further includes the following steps:

[0102] According to the wind force and wind direction information monitored by the vehicle, the height of the suspension, the tilt angle of the suspension or the opening angle threshold of the above-mentioned door are adjusted.

[0103] It should be noted that in strong winds, strong winds may cause the door to deviate from its intended trajectory and strike the curb when it is opened. By monitoring wind speed and direction, adjustments to the suspension height, suspension tilt, or the aforementioned door opening angle threshold can effectively prevent the door from striking the curb. For example, if the detected wind speed is higher than a preset value and the door is opening in the opposite direction of the wind, the door opening angle threshold may be lowered to prevent the door from losing control and striking the curb due to excessive wind.

[0104] In some embodiments, after the above step S4 is completed, the above method further includes the following steps:

[0105] The height of the adjusted suspension, the tilt angle of the suspension, or the opening angle threshold of the above-mentioned door and the corresponding height difference are uploaded to the cloud server.

[0106] It should be noted that the cloud server will classify and analyze the same type of door collision scenarios based on the uploaded data, and summarize the basic door collision prevention strategy through the preset big data model and send it to the vehicle side, so that the vehicle can respond quickly the next time it encounters a similar door collision scenario.

[0107] Second, please refer to Figure 2 , Figure 2 This is a schematic diagram of the structure of the vehicle door anti-collision device according to an embodiment of the present application. The vehicle door anti-collision device provided in this embodiment includes the following modules:

[0108] The recognition module is used to recognize the road shoulder near the vehicle door.

[0109] The height difference acquisition module is used to obtain the height difference between the highest point of the upper edge of the above-mentioned shoulder and the lowest point of the lower edge of the above-mentioned door.

[0110] The collision detection module is used to determine whether there is a collision risk between the vehicle door and the road shoulder based on the height difference.

[0111] The adjustment module is used to adjust the height of the suspension, the tilt angle of the suspension or the opening angle threshold of the above-mentioned door.

[0112] This device identifies the curb near the vehicle door through an identification module, obtains the height difference between the highest point of the upper edge of the curb and the lowest point of the lower edge of the vehicle door through a height difference acquisition module, determines whether there is a collision risk between the vehicle door and the curb based on the height difference through a collision detection module, and adjusts the height of the suspension, the inclination angle of the suspension or the opening angle threshold of the vehicle door based on the height difference between the highest point of the upper edge of the curb and the lowest point of the lower edge of the vehicle door through an adjustment module, so that the vehicle door is generally higher than the curb, or maintains a certain angle with the curb when the vehicle door is opened, thereby avoiding the vehicle door from hitting the curb when opening and protecting the vehicle door from damage.

[0113] In some embodiments, the recognition module includes a camera, a laser radar, an ultrasonic radar, and an inertial navigation system. The camera is used to capture high-resolution images of the roadside shoulder to assist in identifying its location and shape. The laser radar is installed at the front and rear of the vehicle to scan the vehicle's surroundings, thereby obtaining three-dimensional location and shape information of the roadside shoulder. The ultrasonic radar is installed at the edge of the vehicle door to measure the horizontal distance between the door and the roadside shoulder. The inertial navigation system is used to provide the vehicle's own position, speed, and attitude information, and is also used to calculate the relative position of the door and the roadside shoulder.

[0114] It should be noted that varying weather and lighting conditions may affect the performance of a single recognition method. For example, a camera may not accurately identify roadside shoulders in bright sunlight or in low light, and lidar may be subject to interference in rain or snow. This recognition module combines multiple recognition methods to ensure roadside shoulder recognition in a variety of environments.

[0115] In some embodiments, the adjustment module calculates the optimal suspension height, suspension tilt angle, or the aforementioned door opening angle threshold based on the information transmitted by the height difference acquisition module and the collision detection module using a preset adjustment algorithm and strategy. The adjustment module then issues adjustment commands to the air suspension system or hydraulic lift system, which then adjusts the suspension or door accordingly.

[0116] The air suspension system consists of an air compressor, air dryer, air reservoir, flow control solenoid valve, front and rear suspension control solenoid valves, air springs, and connecting piping. When the vehicle's height needs to be adjusted, the air compressor delivers compressed air to the air reservoir. Air is then fed into or out of the air springs via the flow control solenoid valve and front and rear suspension control solenoid valves, adjusting the suspension's height or tilt angle. An air pressure sensor monitors the air pressure in the air springs in real time and feeds this pressure back to the control module, enabling more precise suspension adjustments.

[0117] The hydraulic lifting system adjusts the height or tilt of the suspension by raising or lowering the hydraulic cylinder. When receiving an adjustment command, the hydraulic system supplies or releases hydraulic oil to the cylinder, thereby changing the extension and retraction length of the cylinder. By controlling the flow and pressure of the hydraulic oil, precise suspension adjustment is achieved.

[0118] In a third aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0119] The computer-readable storage medium of the present application stores a vehicle door anti-collision program, wherein when the vehicle door anti-collision program is executed by a processor, the steps of the vehicle door anti-collision method as described above are implemented.

[0120] Among them, the method implemented when the vehicle door anti-collision program is executed can refer to the various embodiments of the vehicle door anti-collision method of this application, and will not be repeated here.

[0121] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0122] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0123] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0124] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0125] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0126] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of the present application.

[0127] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle door anti-collision method, characterized in that: The method comprises: Identify the road shoulder near the car door; Obtaining a height difference between a highest point of an upper edge of the road shoulder and a lowest point of a lower edge of the vehicle door; According to the height difference, determine whether there is a collision risk between the vehicle door and the road shoulder; if so, adjust the height of the suspension, the tilt angle of the suspension or the opening angle threshold of the vehicle door.

2. The vehicle door anti-collision method according to claim 1, characterized in that: The step of obtaining the height difference between the highest point of the upper edge of the road shoulder and the lowest point of the lower edge of the vehicle door comprises: Establishing a spatial coordinate system based on the center point of the door; Obtaining the first spatial coordinates of the highest point of the upper edge of the shoulder; Obtaining the second spatial coordinates of the lowest point of the lower edge of the vehicle door; According to the first spatial coordinate and the second spatial coordinate, the height difference between the highest point of the upper edge of the road shoulder and the lowest point of the lower edge of the vehicle door is obtained.

3. The vehicle door anti-collision method according to claim 1, characterized in that: The determining, based on the height difference, whether there is a collision risk between the vehicle door and the road shoulder includes: If the height difference is greater than zero, there is a risk of collision between the vehicle door and the road shoulder; If the height difference is less than or equal to zero, there is no risk of collision between the vehicle door and the road shoulder.

4. The vehicle door anti-collision method according to claim 3, characterized in that: When there is a risk of collision between the vehicle door and the road shoulder, the method further includes: Collision warning information is displayed on the vehicle's display screen.

5. The vehicle door anti-collision method according to claim 1, characterized in that: The step of adjusting the height of the suspension comprises: The suspension is controlled to be lowered a distance equal to the height difference.

6. The vehicle door anti-collision method according to claim 1, characterized in that: Adjust the suspension tilt angle, including: Obtaining the angle between the lower edge of the vehicle door and the upper edge of the road shoulder; According to the included angle, the suspension is controlled to tilt until the lower edge of the door is parallel to the upper edge of the road shoulder.

7. The vehicle door anti-collision method according to claim 1, characterized in that: Adjusting the opening angle threshold of the door includes: Obtaining the horizontal distance between the highest point of the upper edge of the shoulder and the lowest point of the lower edge of the door; The opening angle threshold of the door is adjusted according to the width of the door and the horizontal distance.

8. The vehicle door anti-collision method according to claim 7, characterized in that: Before adjusting the opening angle threshold of the vehicle door, the method further includes: If the opening angle threshold of the vehicle door is not within the preset opening angle range, the direction and distance of the required displacement of the vehicle are determined according to the horizontal distance and the width of the vehicle door, and displayed on the vehicle display screen.

9. A vehicle door anti-collision device based on the method according to any one of claims 1 to 8, characterized in that: The device comprises: A recognition module, used to recognize the road shoulder near the vehicle door; A height difference acquisition module, used to acquire the height difference between the highest point of the upper edge of the shoulder and the lowest point of the lower edge of the door; A collision detection module, used for determining whether there is a collision risk between the vehicle door and the road shoulder according to the height difference; The adjustment module is used to adjust the height of the suspension, the tilt angle of the suspension or the opening angle threshold of the vehicle door.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is processed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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