Vehicle door control method, device and equipment and storage medium

Abstract

The invention relates to a vehicle door control method, device and equipment and a storage medium. The vehicle door control method comprises the steps that in response to the opening action of a target vehicle door when a target vehicle stops, the vehicle door opening degree of the target vehicle door is controlled to reach a first opening degree threshold value; acquiring first surrounding environment information of the target vehicle door when the vehicle door opening degree reaches a first opening degree threshold value, performing collision detection on the target vehicle door based on the first surrounding environment information, and generating a first detection result; and under the condition that the first detection result is that the potential collision object exists in the target vehicle door, the vehicle door opening degree of the target vehicle door is forbidden to continue to be opened from the first opening degree threshold value, and / or an alarm prompt for forbidding opening of the vehicle door is sent out. According to the method provided by the invention, vehicle safety accidents caused by collision with external obstacles after the vehicle door is opened can be effectively avoided, the vehicle safety is improved, and the personal safety and the property safety are also ensured to a certain extent.

Description

Technical Field

[0001] The present invention relates to the field of vehicle safety technology, and in particular to a vehicle door control method, device, equipment and storage medium. Background Art

[0002] Nowadays, vehicles have become one of the main means of transportation, and vehicle safety is of vital importance. Especially when the driver and passengers open the door to get out after parking, it is very easy to cause sudden traffic accidents caused by the rear vehicles not paying attention to the rear vehicles opening and closing the door at will, which seriously affects the vehicle safety and also threatens the personal safety and property safety. Therefore, it is urgent to provide a door control method that can avoid sudden traffic accidents caused by hitting the door. Summary of the invention

[0003] In order to solve the above technical problems, the embodiments of the present disclosure provide a vehicle door control method, device, equipment and storage medium.

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

[0005] In response to an opening action of a target door when the target vehicle stops, controlling the door opening of the target door to reach a first opening threshold;

[0006] Acquire first surrounding environment information of the target door when the door opening reaches a first opening threshold, perform collision detection of the target door based on the first surrounding environment information, and generate a first detection result;

[0007] When the first detection result indicates that there is a potential collision object at the target door, the door opening of the target door is prohibited from continuing to open from the first opening threshold, and / or an alarm is issued to prohibit the door from being opened.

[0008] Optionally, performing collision detection of a target door based on the first surrounding environment information and generating a first detection result includes:

[0009] Perform obstacle detection according to the first surrounding environment information to generate a second detection result; wherein the second detection result includes obstacle information of at least one obstacle existing around the target door;

[0010] Determine whether there is an obstacle within a preset safety distance of the target door according to the second detection result;

[0011] If there is no obstacle within the preset safety distance of the target door, a first detection result is generated that there is no potential collision object with the target door; alternatively, if there is an obstacle within the preset safety distance of the target door, a collision detection of the target door is performed based on the obstacle information to generate a first detection result.

[0012] Optionally, performing collision detection of the target door according to the obstacle information to generate a first detection result includes:

[0013] Obtaining target obstacle information of a target obstacle located within a preset safety distance; the obstacle information includes an obstacle type of the target obstacle and a current distance between the target obstacle and the target door;

[0014] In the case where the obstacle type of the target obstacle is a moving obstacle, a first detection result is generated according to the current distance, the current moving speed of the target obstacle in the target obstacle information, and the collision condition corresponding to the moving obstacle; or,

[0015] When the obstacle type of the target obstacle is a fixed obstacle, a first detection result is generated according to the current distance and the collision condition corresponding to the fixed obstacle.

[0016] Optionally, after prohibiting the door opening of the target door from continuing to open from the first opening threshold, the method further includes:

[0017] Continue to obtain second surrounding environment information of the target door when the door opening reaches the first opening threshold;

[0018] Performing collision detection on the target door according to the second surrounding environment information to generate a third detection result;

[0019] When the third detection result indicates that there is no potential collision object at the target door, the door opening of the target door is controlled to continue opening from the first opening threshold to the second opening threshold.

[0020] Optionally, after controlling the door opening of the target door to continue opening from the first opening threshold to the second opening threshold, the method further includes:

[0021] Acquiring third surrounding environment information that the door opening reaches a second opening threshold, and performing collision detection of the target door based on the third surrounding environment information to generate a fourth detection result;

[0022] When the fourth detection result indicates that there is no potential collision object at the target door, the door opening of the target door is controlled to continue opening from the second opening threshold.

[0023] Optionally, before obtaining the first surrounding environment information of the target door when the door opening reaches the first opening threshold, the method further includes:

[0024] Obtaining the maintenance time of the door opening reaching the first opening threshold;

[0025] Detect the opening action of the target door;

[0026] Acquiring first surrounding environment information of the target door when the door opening reaches a first opening threshold, including:

[0027] When the maintenance time exceeds the set time threshold and the opening action of the target door is not detected, the first surrounding environment information of the target door is obtained.

[0028] Optionally, the target door is equipped with a door opening limiter, which is used to control the door opening degree of the target door. The target door is controlled to open when the door opening limiter is in an unlocked state, and is prohibited from opening when the door opening limiter is in a locked state.

[0029] Optionally, when the first detection result is that there is no potential collision object in the target door, the method further includes:

[0030] Controlling the door opening of the target door to continue opening from a first opening threshold to a second opening threshold;

[0031] Generate a door opening signal, and control the preset lights configured for the target vehicle to flash and / or the audio equipment to broadcast a door opening prompt voice according to the door opening signal, so as to remind the users inside the target vehicle and the users outside the vehicle around the target vehicle that the target door is open, wherein the preset lights are located on the same side as the target door.

[0032] In a second aspect, an embodiment of the present disclosure provides a vehicle control device, including:

[0033] a first door control unit, configured to control the door opening of the target door to reach a first opening threshold in response to an opening action of the target door when the target vehicle stops;

[0034] a collision detection unit, configured to obtain first surrounding environment information of a target door when the door opening reaches a first opening threshold, perform collision detection of the target door based on the first surrounding environment information, and generate a first detection result;

[0035] The second door control unit is used to prohibit the door opening of the target door from continuing to open from the first opening threshold when the first detection result shows that there is a potential collision object in the target door, and / or issue an alarm prompt prohibiting the door from opening.

[0036] In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

[0037] Memory;

[0038] Processor; and

[0039] Computer programs;

[0040] The computer program is stored in the memory and is configured to be executed by the processor to implement the vehicle door control method as described above.

[0041] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above-mentioned vehicle door control method are implemented.

[0042] The present application provides a door control method, including: in response to the opening action of the target door when the target vehicle stops, controlling the door opening of the target door to reach a first opening threshold; obtaining the first surrounding environment information of the target door when the door opening reaches the first opening threshold, performing collision detection of the target door based on the first surrounding environment information, and generating a first detection result; when the first detection result indicates that there is a potential collision object in the target door, prohibiting the door opening of the target door from continuing to open from the first opening threshold, and / or issuing an alarm prompt prohibiting the door from being opened. The method provided by the present application can effectively avoid vehicle safety accidents caused by collision with external obstacles after the door is opened, improve vehicle safety, and to a certain extent ensure personal safety and property safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 A schematic flow chart of a vehicle door control method provided by an embodiment of the present disclosure;

[0046] Figure 2 A schematic diagram of an application scenario provided by an embodiment of the present disclosure;

[0047] Figure 3 A schematic flow chart of another vehicle door control method provided by an embodiment of the present disclosure;

[0048] Figure 4 A schematic diagram of the structure of a door control device provided by an embodiment of the present disclosure;

[0049] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0050] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0051] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0052] At present, safety accidents such as opening doors and hitting obstacles or pedestrians or non-motorized vehicles occur frequently due to negligence of drivers and passengers or their inability to accurately judge the environment outside the car.

[0053] Regarding the door safety issue, the existing solutions are, on the one hand, to determine whether there is a moving object behind by using images or radar sensors, thereby locking the door and preventing it from being unlocked, and on the other hand, to use alarms to remind people outside the car to take shelter, thereby avoiding traffic accidents. However, the former solution can only control the movement before the door is opened through the door lock. When the door lock is released, if the door is opened and the driver and passengers do not get out of the car for a while because they are packing up or talking to people inside the car, and the environment outside the car is changing, it will be risky to continue to increase the door opening and get out of the car. As for the latter solution, the warning can only play a limited role. People outside the car or moving objects who do not hear the warning sound or do not have time to dodge will cause a collision accident.

[0054] In view of the above technical problems, the disclosed embodiments provide a vehicle control method, which uses sensors such as cameras and radars to identify obstacles around the vehicle and vehicles coming from behind, and cooperates with the door opening limiter to lock the door opening at any position. Even after the door lock is successfully unlocked, the risk in the door opening process can be avoided. For example, when the sensor receives that the obstacle is smaller than the safe door opening distance or does not meet the conditions for continuing to open the door, the limiter is locked in time. After the danger is eliminated, it is prompted that the door can continue to be opened, thereby avoiding the door from hitting external obstacles during the opening process to cause safety accidents, effectively improving vehicle safety, and further ensuring personal safety and property safety. This is described in detail through one or more of the following embodiments.

[0055] The vehicle control method provided by the embodiment of the present disclosure can be applied to the scene of opening the door of a car in a stopped state. The method can be executed by a vehicle control device, which can be implemented by software and / or hardware, and the device can be integrated in an electronic device. Among them, the electronic device can include but is not limited to mobile terminals such as smart phones, laptops, digital broadcast receivers, personal digital assistants (PDAs), tablet computers (Tablet Personal Computers, Tablet PCs), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), wearable devices, etc., and fixed terminals such as digital televisions, desktop computers, smart home devices, etc.

[0056] Figure 1 A schematic flow chart of a door control method provided by an embodiment of the present disclosure, specifically comprising the following steps: Figure 1 The following steps are shown:

[0057] S101. In response to an opening action of a target door when a target vehicle stops, controlling the door opening of the target door to reach a first opening threshold.

[0058] The first opening threshold is used to indicate that the target door is in a safe unlocked state without any collision risk.

[0059] It is understandable that after the target vehicle is in a stopped state, that is, after it has stopped safely, the driver and passengers in the vehicle open the target door on the target vehicle, and in response to the opening action of the target door, the target door is controlled to open, and the door opening reaches a preset first opening threshold, and the door is locked, and at the same time, it is determined whether the door can continue to be opened, wherein, at the first opening threshold, the target door is in a safe unlocked state where there is no risk of collision with obstacles outside the vehicle, that is, in response to the door opening action, the door is unlocked so that the door opening reaches the first opening threshold and ensures that the door is in a safe state, wherein the first opening threshold may be 5 degrees. In addition, in response to the opening action, collision detection is performed according to the surrounding environment information of the target door, and in the absence of a potential collision object, the door opening is controlled to reach the first opening threshold to ensure that there is no risk of collision when the door is at the first opening threshold.

[0060] The target door is equipped with a door opening limiter, which is used to control the door opening degree of the target door. The target door is controlled to be opened when the door opening limiter is in an unlocked state, and is prohibited from being opened when the door opening limiter is in a locked state.

[0061] It is understandable that the target door is equipped with a door stopper, which is used to control the door opening and can lock the door opening at any position, for example, locking the door at the first opening threshold. When the door stopper is in the unlocked state, the door can be controlled to open, and when the door stopper is in the locked state, the door is prohibited from opening, that is, the door cannot be controlled to open, so as to avoid the occurrence of safety accidents caused by the driver and passengers not observing the surrounding environment in time and continuing to open the door.

[0062] For example, see Figure 2 , Figure 2 A schematic diagram of an application scenario provided by an embodiment of the present disclosure, Figure 2 The vehicle shown is in a stopped state. After the driver 1 performs the opening action of the door 1, the door opening of the door 1 is controlled to reach a first opening threshold. In this case, the collision detection is continued to determine whether to continue to open the door 1 from the first opening threshold, that is, whether there is a collision risk if the door is continued to be opened. If it is determined according to the detection result that there is a potential collision object 1 approaching the door 1, the door 1 is locked.

[0063] S102, obtaining first surrounding environment information of the target door when the door opening reaches a first opening threshold, performing collision detection of the target door based on the first surrounding environment information, and generating a first detection result.

[0064] It is understandable that, based on the above S101, when the target door is in a safe unlocked state, that is, when the door is at the first opening threshold, the environmental information around the target vehicle is obtained, which can be specifically obtained through sensors deployed on the target vehicle, wherein the environmental information around the vehicle includes the first surrounding environment information of the target door, and the first surrounding environment information is collected in real time after the door is safely unlocked. After collecting the first surrounding environment information, collision detection of the target door is performed based on the first surrounding environment information, and a first detection result is generated. Collision detection refers to detecting whether there is a potential obstacle that collides with the target door during the process of opening the target door or before it is closed, that is, detecting and predicting whether a safety accident such as a door collision will occur when the door is opened at this time. Among them, the first detection result is that there is no potential collision object for the target door or there is at least one potential collision object for the target door.

[0065] Optionally, performing collision detection of the target door based on the first surrounding environment information and generating a first detection result may be specifically implemented through the following steps:

[0066] Obstacle detection is performed based on the first surrounding environment information to generate a second detection result; wherein the second detection result includes obstacle information of at least one obstacle existing around the target door; whether there is an obstacle within a preset safety distance of the target door is determined based on the second detection result; if there is no obstacle within the preset safety distance of the target door, a first detection result is generated that there is no potential collision object for the target door; or, if there is an obstacle within the preset safety distance of the target door, collision detection of the target door is performed based on the obstacle information to generate a first detection result.

[0067] It is understandable that after obtaining the first surrounding environment information, obstacle detection of the target door is performed according to the first surrounding environment information to generate a second detection result. The obstacle detection range can be a range composed of a preset safety distance with the target door as the center. Door collision accidents are very likely to occur within this range. Among them, the second detection result is that there is no obstacle within the preset safety distance of the target door, or there is at least one obstacle within the preset safety distance of the target door. Subsequently, it is determined whether there is an obstacle within the preset safety distance of the target door according to the second detection result. If there is no obstacle within the preset safety distance, it means that there is no collision risk for the target door. If there is an obstacle within the preset safety distance, it means that there is a collision risk for the target door. After the second detection result is generated, if it is determined according to the second detection result that there is no collision risk if the door is continued to be opened at this time, then a first detection result is generated that there is no potential collision object for the target door; alternatively, if it is determined according to the second detection result that there is a collision risk if the door is opened at this time, it is necessary to continue to perform collision detection on the target door according to the obstacle information included in the second detection result to generate the first detection result, that is, to make a more accurate collision risk judgment based on the obstacle information, wherein collision detection refers to detecting whether an obstacle within a preset safety range and the target door has a collision risk with the target door. For example, if the obstacle within the preset safety range is on the other side of the target door, then it is judged that there is no collision risk between it and the target door, that is, there is no potential collision object for the target door. For another example, if the obstacle within the preset safety range and the target door are on the same side, then it is judged that there is a collision risk between it and the target door, and the obstacle is a potential collision object for the target door.

[0068] Optionally, performing collision detection of the target door according to the obstacle information to generate a first detection result includes:

[0069] Obtain target obstacle information of a target obstacle located within a preset safety distance; the target obstacle information includes an obstacle type of the target obstacle and a current distance between the target obstacle and a target door; when the obstacle type of the target obstacle is a mobile obstacle, generate a first detection result according to the current distance, the current moving speed of the target obstacle in the target obstacle information, and a collision condition corresponding to the mobile obstacle; or, when the obstacle type of the target obstacle is a fixed obstacle, generate the first detection result according to the current distance and the collision condition corresponding to the fixed obstacle.

[0070] It can be understood that when it is determined that there is an obstacle within the preset safety distance of the target door, at least one obstacle within the range is used as a target obstacle, and the target obstacle information of the target obstacle is obtained from the second detection result, wherein the target obstacle information includes the obstacle type, the current distance between the target obstacle and the target door, and the current moving speed of the target obstacle. The obstacle type includes fixed obstacles and mobile obstacles. Fixed obstacles refer to obstacles that are not currently moving, and mobile obstacles refer to obstacles that are currently moving. The obstacle type is not fixed. For example, fixed obstacles are stationary vehicles or fences parked in parking spaces, and mobile obstacles are pedestrians, moving non-motorized vehicles, etc. For each target obstacle, when the target obstacle is a moving obstacle, it is determined whether the current distance and the current moving speed meet the first collision condition corresponding to the moving obstacle, that is, if the target door is opened at this time, and the target obstacle travels toward the target door at the current distance and the current moving speed, whether it will collide with the target door. The first collision condition includes that the current distance is greater than a first preset distance threshold and the current speed is less than a preset speed threshold, or the collision condition may further include that the current time is greater than a preset time threshold, the current time is calculated based on the current distance and the current moving speed, the current time represents the time when the moving obstacle moves to the target door, and the preset time threshold may be obtained based on the completion time of the relevant driver and passenger of the target vehicle completing the getting off action. If the current distance, the current moving speed and / or the current time meet the first collision condition, a first detection result is generated that there is no potential collision object for the target door, or if any of the current distance, the current moving speed and the current time does not meet the first collision condition, a first detection result is generated that there is a potential collision object for the target door. In the case where the obstacle type of the target obstacle is a fixed obstacle, a first detection result is generated according to the current distance and the second collision condition corresponding to the fixed obstacle. The second collision condition may be that the current distance is greater than a second preset distance threshold. The second preset distance threshold may be greater than the maximum opening of the target door, or greater than the door opening when the driver and passenger get off the target door. If the current distance satisfies the second collision condition, a first detection result is generated that there is no potential collision object at the target door, or if the current distance does not satisfy the second collision condition, a first detection result is generated that there is a potential collision object at the target door. It is understandable that the number of target obstacles is not limited. For each target obstacle, further judgment is made based on the obstacle type to generate the first detection result of each target obstacle. In the case where multiple target obstacles are detected, multiple first detection results are comprehensively considered to generate a comprehensive first detection result. For example, if any of the multiple detection results is "there is a potential collision object", the comprehensive detection result is "there is a potential collision object", and the door control is subsequently performed based on the comprehensive detection result.

[0071] It is understandable that after generating the first detection result of each target obstacle, the risk type can be further determined based on the first detection result. For example, the risk type includes a first collision risk and a second collision risk. The first collision risk is for opening the door of a fixed obstacle and hitting the obstacle. The second collision risk is for a moving object approaching from the rear of a mobile obstacle. Other possible risk types are not limited and can be determined according to user needs.

[0072] S103: When the first detection result indicates that there is a potential collision object at the target door, prohibiting the door opening of the target door from continuing to open from the first opening threshold.

[0073] It is understandable that, based on the above S102, when the first detection result is that there is no potential collision object in the target door, the generated first control instruction is used to control the target door to continue to open from the first opening threshold to the second opening threshold, wherein the second opening threshold is greater than the first opening threshold. When the first detection result is that there is a potential collision object in the target door, the generated first control instruction is used to prohibit the target door from continuing to open from the first opening threshold. The first control instruction in this case is specifically used to control the locking of the door stopper. When the door stopper is locked, the door cannot be opened. In other words, the driver and passenger perform the door opening operation, that is, unlock the door stopper. When the door stopper is unlocked, the door is opened to the first opening threshold, and the surrounding environment is obtained to determine whether the door can continue to be opened. If a second control instruction is generated to prohibit the door from being opened, the door limiter is locked to prohibit the door from being opened, or the driver and passenger unlocks the door limiter when opening the door, and locks the door limiter after opening the door to the first opening threshold, and at the same time obtains the surrounding environment information to determine whether the door can continue to be opened, and can also issue an alarm to prohibit the door from being opened, to remind the driver and passenger not to open the door at this time because there is a risk of collision, and not to open the door. If a first control instruction is generated to open the door, the door limiter is unlocked to open the door, that is, when obtaining the surrounding environment information to determine whether the door can continue to be opened, the door limiter can be in an unlocked state or a locked state, which is determined by the user's needs and will not be elaborated here. At the same time, a prompt message that the door can be opened can also be issued to remind the driver and passenger that the door can be opened at this time.

[0074] Optionally, when the first detection result is that there is no potential collision object in the target door, the method further includes:

[0075] The door opening of the target door is controlled to continue opening from the first opening threshold to the second opening threshold.

[0076] It can be understood that controlling the door opening of the target door to continue opening from the first opening threshold value indicates that the target door has entered the opening process. During the opening process of the target door, the surrounding environment information of the target door is obtained in real time. It can also be understood that when the door opening reaches the first opening threshold value, the surrounding environment information before and after a certain moment when the first opening threshold value is reached is obtained. The first opening threshold value can be determined with 5 degrees as a cycle. For example, the first opening threshold value can be 5 degrees, and the second opening threshold value can be 10 degrees.

[0077] Optionally, after prohibiting the door opening of the target door from continuing to open from the first opening threshold, the method further includes:

[0078] Continue to obtain second surrounding environment information of the target door when the door opening reaches the first opening threshold; perform collision detection on the target door according to the second surrounding environment information to generate a third detection result; when the third detection result is that there is no potential collision object on the target door, control the door opening of the target door to continue to open from the first opening threshold to the second opening threshold.

[0079] It is understandable that after the door is prohibited from opening from the first opening threshold, when the door opening reaches the first opening threshold, the surrounding environment information is continued to be detected to determine whether it can continue to open from the first opening threshold to the second opening threshold. In the process of fully opening the door, multiple opening thresholds can be set, that is, the door opening process is divided into multiple stages, and each stage must be performed after real-time collision detection before the door can continue to open. The second opening threshold can be understood as the next stage of the first opening threshold.

[0080] It is understandable that, based on the above example, when the door opening is opened from 5 degrees to 10 degrees, the second surrounding environment information collected around the moment when the door opening is 5 degrees is obtained, and whether to continue to open from 10 degrees is further determined based on the second surrounding environment information. The process of performing collision detection of the target door based on the second surrounding environment information and generating the third detection result is referred to the above embodiment and will not be described in detail here. In the case where the third detection result is that there is a collision object in the target door, that is, during the process of opening the door, there is an emergency with a risk of collision. In this case, the door opening limiter is locked to prohibit the target door from continuing to open from the first opening threshold. Alternatively, in the case where the third detection result is that there is no collision object in the target door, that is, during the process of opening the door, there is no emergency with a risk of collision. In this case, the door opening limiter is in an unlocked state, and the door opening of the target door is controlled to continue to open from the first opening threshold to the second opening threshold.

[0081] Optionally, after prohibiting the door opening of the target door from continuing to open from the second opening threshold, the method further includes:

[0082] Acquire third surrounding environment information of the target door, and perform collision detection of the target door based on the third surrounding environment information to generate a fourth detection result; when the fourth detection result is that there is no potential collision object in the target door, control the door opening of the target door to continue opening from the second opening threshold.

[0083] It is understandable that after locking the door opening limiter to prohibit the target door from continuing to open from the second opening threshold, the door can be kept open, and the third surrounding environment information of the target door can continue to be obtained. The target door can also be closed, and the above-mentioned door opening operation can be restarted later. If the door opening of the door is maintained at the second opening threshold, the third surrounding environment information will continue to be obtained, and a collision detection of the target door is performed based on the third surrounding environment information to generate a fourth detection result. The generation process of the fourth detection result refers to the above embodiment and will not be repeated here. In the case where the fourth detection result is that there is no potential collision object for the target door, the target door is controlled to continue to open from the second opening threshold. It is understandable that during the door opening process, the surrounding environment information is detected in real time and it is determined in real time whether there is a potential collision object for the door, so that the door can be locked in time through the door opening limiter to avoid collision accidents.

[0084] Optionally, when the first detection result is that there is no potential collision object in the target door, the method further includes:

[0085] Generate a door opening signal, and control the preset lights configured for the target vehicle to flash and / or the audio equipment to broadcast a door opening prompt voice according to the door opening signal, so as to remind the users inside the target vehicle and the users outside the vehicle around the target vehicle that the target door is open, wherein the preset lights are located on the same side as the target door.

[0086] It is understandable that when the first detection result is that there is no potential collision object for the target door, or when the door is opened, or when the door opening limiter is unlocked, a door opening signal is generated, and the door opening signal is used to start relevant components to remind people inside and outside the car that the target door is about to open and they should pay attention to avoid it. Specifically, the door opening signal can control the preset lights configured for the target vehicle to flash, and / or control the audio equipment to broadcast the door opening prompt voice to warn surrounding pedestrians, motor vehicles and passengers in the car to pay attention to door opening safety, which plays a role in assisting risk avoidance. Among them, the preset lights can be taillights, width lights and other lamps, and the preset lights can be on the same side as the target door to remind users outside the car of the door to be opened.

[0087] Optionally, before obtaining the first surrounding environment information of the target door when the door opening reaches the first opening threshold, the method further includes:

[0088] Obtain the maintenance time of the door opening reaching the first opening threshold; detect the opening action of the target door; when the maintenance time exceeds the set time threshold and the opening action of the target door is not detected, obtain the first surrounding environment information of the target door.

[0089] It is understandable that when the door opening reaches the first opening threshold, the maintenance time of the first opening threshold is counted. In one possible situation, when the driver and passengers open the door to the first opening threshold, they do not take any action on the door, that is, they do not continue to open the door. They may chat with other people, which causes the door opening to be maintained at the first opening threshold for a long time. In this case, if the maintenance time exceeds the set time threshold, it is necessary to perform collision detection of the door again. The maintenance time can be understood as the safe time to continue opening the door from the first opening threshold. Alternatively, in the above situation, after the user finishes chatting, he directly opens the door. In response to the door opening action, it is also necessary to perform collision detection in the first time, and then control the door opening or prohibit the door opening according to the real-time detection result.

[0090] A vehicle control method provided by an embodiment of the present disclosure controls a vehicle door through a door opening limiter. In response to a door opening action of a driver or passenger in the vehicle for a target door, the door opening limiter controls the door opening to a first opening threshold to unlock the door. At the same time, in response to a generated door unlocking signal, the method detects environmental information around the vehicle, and performs obstacle detection based on the environmental information. It determines whether there is a collision risk with the target door by the type of obstacle, the distance of the obstacle from the target door, and the movement speed of the obstacle. In the case of a collision risk, it prompts the wind direction type and broadcasts the detected situation, such as the door opening hitting an obstacle and a moving object approaching from the rear, to remind the user in the vehicle not to open the door. At the same time, the door opening limiter is locked to prevent the person in the vehicle from opening the door without hearing the prompt information. Subsequently, real-time detection is performed based on the surrounding environment information. When there is no risk, the door opening limiter is unlocked and the user is prompted to continue to open the door safely. During the door opening process, that is, before the user has completed getting off the vehicle and closing the door, it is necessary to continue to detect collision risks. Once there is a collision risk, the door opening limiter will be locked at any time to prevent the door from continuing to open until the risk is eliminated or the driver and passengers have completed getting off the vehicle and closed the door.

[0091] Based on the above embodiments, Figure 3 A flow chart of another vehicle door control method provided by an embodiment of the present disclosure, specifically including the following steps: Figure 3 The following steps are shown:

[0092] (1) The vehicle is stopped; (2) The driver or passenger opens the door; (3) The door is opened to the safety opening threshold to unlock the door, and the door unlocking signal is transmitted to the controller; (4) The controller controls the radar, infrared, and visual sensors to detect the surrounding environment information, and locks the limiter so that the door cannot be opened; (5) The controller makes a collision risk judgment based on the surrounding environment information, and announces the risk type if there is a collision risk. If there is no collision risk, the limiter is unlocked and the door continues to be opened while detecting the surrounding environment information; (6) After announcing the risk type, the controller continues to detect the surrounding environment information and keeps the limiter locked. If there is no collision risk, the limiter is unlocked and the door continues to be opened. The above steps (5) and (6) are repeated until the driver or passenger completes the action of getting off the vehicle and closes the door.

[0093] Figure 4 The structure diagram of a vehicle door control device provided by an embodiment of the present disclosure is shown in FIG. The vehicle door control device provided by an embodiment of the present disclosure can execute the processing flow provided by an embodiment of the vehicle door control method, such as Figure 4 As shown, the door control device 400 includes a first door control unit 401, a collision detection unit 402 and a second door control unit 403, wherein:

[0094] A first door control unit 401, configured to control the door opening of the target door to reach a first opening threshold in response to an opening action of the target door when the target vehicle stops;

[0095] A collision detection unit 402, configured to obtain first surrounding environment information of a target door when the door opening reaches a first opening threshold, perform collision detection of the target door based on the first surrounding environment information, and generate a first detection result;

[0096] The second door control unit 403 is used to prohibit the door opening of the target door from continuing to open from the first opening threshold when the first detection result shows that there is a potential collision object in the target door, and / or issue an alarm prompt prohibiting the door from opening.

[0097] Optionally, the collision detection unit 402 is used to:

[0098] Perform obstacle detection according to the first surrounding environment information to generate a second detection result; wherein the second detection result includes obstacle information of at least one obstacle existing around the target door;

[0099] Determine whether there is an obstacle within a preset safety distance of the target door according to the second detection result;

[0100] If there is no obstacle within the preset safety distance of the target door, a first detection result is generated that there is no potential collision object with the target door; alternatively, if there is an obstacle within the preset safety distance of the target door, a collision detection of the target door is performed based on the obstacle information to generate a first detection result.

[0101] Optionally, the collision detection unit 402 is used to:

[0102] Obtaining target obstacle information of a target obstacle located within a preset safety distance; the obstacle information includes an obstacle type of the target obstacle and a current distance between the target obstacle and the target door;

[0103] In the case where the obstacle type of the target obstacle is a moving obstacle, a first detection result is generated according to the current distance, the current moving speed of the target obstacle in the target obstacle information, and the collision condition corresponding to the moving obstacle; or,

[0104] When the obstacle type of the target obstacle is a fixed obstacle, a first detection result is generated according to the current distance and the collision condition corresponding to the fixed obstacle.

[0105] Optionally, the door control device 400 is also used for:

[0106] Continue to obtain second surrounding environment information of the target door when the door opening reaches the first opening threshold;

[0107] Performing collision detection on the target door according to the second surrounding environment information to generate a third detection result;

[0108] When the third detection result indicates that there is no potential collision object at the target door, the door opening of the target door is controlled to continue opening from the first opening threshold to the second opening threshold.

[0109] Optionally, the door control device 400 is also used for:

[0110] Acquiring third surrounding environment information of the target door, and performing collision detection of the target door based on the third surrounding environment information to generate a fourth detection result;

[0111] When the fourth detection result indicates that there is no potential collision object at the target door, the door opening of the target door is controlled to continue opening from the second opening threshold.

[0112] The target door is equipped with a door opening limiter, which is used to control the door opening degree of the target door. The target door is controlled to be opened when the door opening limiter is in an unlocked state, and is prohibited from being opened when the door opening limiter is in a locked state.

[0113] Optionally, the door control device 400 is also used for:

[0114] Obtaining the maintenance time of the door opening reaching the first opening threshold;

[0115] Detect the opening action of the target door;

[0116] When the maintenance time exceeds the set time threshold and the opening action of the target door is not detected, the first surrounding environment information of the target door is obtained.

[0117] The first opening threshold is used to indicate that the target door is in a safe unlocked state without any collision risk.

[0118] Optionally, the door control device 400 is also used for:

[0119] Controlling the door opening of the target door to continue opening from a first opening threshold to a second opening threshold;

[0120] Generate a door opening signal, and control the preset lights configured for the target vehicle to flash and / or the audio equipment to broadcast a door opening prompt voice according to the door opening signal, so as to remind the users inside the target vehicle and the users outside the vehicle around the target vehicle that the target door is open, wherein the preset lights are located on the same side as the target door.

[0121] Figure 4 The door control device of the illustrated embodiment can be used to execute the technical solution of the above-mentioned method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0122] Figure 5 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure. Figure 5 , which shows a schematic diagram of the structure of an electronic device 500 suitable for implementing the embodiment of the present disclosure. The electronic device 500 in the embodiment of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle terminals (such as vehicle navigation terminals), wearable electronic devices, etc., and fixed terminals such as digital TVs, desktop computers, smart home devices, etc. Figure 5 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0123] like Figure 5As shown, the electronic device 500 may include a processing device 501 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 to a random access memory (RAM) 503 to implement the door control method of the embodiment described in the present disclosure. In the RAM 503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0124] Typically, the following devices may be connected to the I / O interface 505: an input device 506 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 508 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 509. The communication device 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 5 The electronic device 500 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0125] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart, thereby implementing the door control method as described above. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 509, or installed from the storage device 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0126] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0127] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0128] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0129] Optionally, when the above one or more programs are executed by the electronic device, the electronic device may also execute other steps described in the above embodiments.

[0130] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0131] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0132] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0133] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0134] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0135] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or gateway that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or gateway. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or gateway that includes the elements.

[0136] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A door control method, characterized in that: include: In response to an opening action of a target door when the target vehicle stops, controlling the door opening of the target door to reach a first opening threshold; Acquire first surrounding environment information of the target door when the door opening reaches the first opening threshold, perform collision detection of the target door based on the first surrounding environment information, and generate a first detection result; When the first detection result indicates that there is a potential collision object in the target door, the door opening of the target door is prohibited from continuing to open from the first opening threshold, and / or an alarm is issued to prohibit the door from being opened.

2. The method according to claim 1, characterized in that The performing collision detection of the target door based on the first surrounding environment information and generating a first detection result includes: Performing obstacle detection according to the first surrounding environment information to generate a second detection result; wherein the second detection result includes obstacle information of at least one obstacle existing around the target door; Determining whether there is an obstacle within a preset safety distance of the target door according to the second detection result; If there is no obstacle within the preset safety distance of the target door, a first detection result is generated that there is no potential collision object for the target door; alternatively, if there is an obstacle within the preset safety distance of the target door, a collision detection of the target door is performed based on the obstacle information to generate the first detection result.

3. The method according to claim 2, characterized in that The performing collision detection of the target door according to the obstacle information to generate the first detection result includes: Obtaining target obstacle information of a target obstacle located within the preset safety distance; the target obstacle information includes the obstacle type of the target obstacle and the current distance between the target obstacle and the target door; In the case where the obstacle type of the target obstacle is a moving obstacle, generating the first detection result according to the current distance, the current moving speed of the target obstacle in the target obstacle information, and the collision condition corresponding to the moving obstacle; or, In a case where the obstacle type of the target obstacle is a fixed obstacle, the first detection result is generated according to the current distance and a collision condition corresponding to the fixed obstacle.

4. The method according to claim 1, characterized in that: After prohibiting the door opening of the target door from continuing to open from the first opening threshold, the method further includes: Continuing to obtain second surrounding environment information of the target door when the door opening reaches the first opening threshold; performing collision detection of the target door according to the second surrounding environment information to generate a third detection result; When the third detection result indicates that there is no potential collision object at the target door, the door opening of the target door is controlled to continue opening from the first opening threshold to a second opening threshold.

5. The method according to claim 1, characterized in that Before acquiring the first surrounding environment information of the target door when the door opening reaches the first opening threshold, the method further includes: Obtaining the maintenance time of the door opening reaching the first opening threshold; Detecting an opening action of the target door; The obtaining of first surrounding environment information of the target door when the door opening reaches a first opening threshold comprises: When the maintaining time exceeds a set time threshold and the opening action of the target door is not detected, first surrounding environment information of the target door is acquired.

6. The method according to claim 1, characterized in that The first opening threshold is used to indicate that the target door is in a safe unlocking state without collision risk; The target door is equipped with a door opening limiter, which is used to control the door opening degree of the target door. The target door can be controlled to open when the door opening limiter is in an unlocked state, and the target door is prohibited from opening when the door opening limiter is in a locked state.

7. The method according to claim 1, characterized in that When the first detection result is that there is no potential collision object on the target door, the method further includes: Controlling the door opening of the target door to continue opening from the first opening threshold to a second opening threshold; Generate a door opening signal, and control the preset lights configured for the target vehicle to flash and / or the audio equipment to broadcast a door opening prompt voice according to the door opening signal, so as to remind the users inside the target vehicle and the users outside the vehicle around the target vehicle that the target door is open, wherein the preset lights are located on the same side as the target door.

8. A door control device, characterized in that: include: a first door control unit, configured to control the door opening of the target door to reach a first opening threshold in response to an opening action of the target door when the target vehicle stops; a collision detection unit, configured to obtain first surrounding environment information of the target door when the door opening reaches the first opening threshold, perform collision detection of the target door based on the first surrounding environment information, and generate a first detection result; The second door control unit is used to prohibit the door opening of the target door from continuing to open from the first opening threshold when the first detection result is that there is a potential collision object at the target door, and / or issue an alarm prompt prohibiting the door from opening.

9. An electronic device, characterized in that: include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement the vehicle door control method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the vehicle door control method according to any one of claims 1 to 7 are implemented.

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