Vehicle door control method, vehicle and computer readable storage medium

Abstract

The invention discloses a vehicle door control method, a vehicle and a computer readable storage medium, and the control method comprises the following steps: obtaining a vehicle door opening instruction, determining a target vehicle part according to a triggering source of the vehicle door opening instruction, detecting a target obstacle on the outer side of a vehicle door through the target vehicle part, and controlling the opening motion of the vehicle door according to the detection result of the target obstacle. Thus, the target obstacle which is located on the outer side of the vehicle door and can hinder the vehicle door from moving can be detected through the target vehicle part, detection of the target obstacle is achieved, and therefore the risk that the vehicle door collides with the target obstacle when the vehicle door executes the opening action can be reduced to a certain degree; the target vehicle part can be determined according to the trigger source of the vehicle door opening instruction to detect the target obstacle, so that detection of the target obstacle can be associated with the trigger source of the vehicle door opening instruction, and the detection precision of the target obstacle is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle doors, and in particular to a vehicle door control method, a vehicle and a computer-readable storage medium. Background Art

[0002] In the related art, in order to meet the needs of users, vehicles are equipped with automatic door opening systems, which realize automatic opening and closing of doors through automatic control systems and electric actuators. However, during the automatic opening process of the doors, the doors may collide with obstacles such as roadblocks on the outside, causing damage to the doors and affecting vehicle safety. Summary of the invention

[0003] The present application provides a vehicle door control method, a vehicle, and a computer-readable storage medium.

[0004] A vehicle door control method provided in an embodiment of the present application includes:

[0005] Get the door opening command;

[0006] Determining target vehicle parts according to a trigger source of the door opening command;

[0007] Detecting a target obstacle outside a vehicle door through the target vehicle component, wherein the target obstacle can hinder movement of the vehicle door;

[0008] The opening movement of the vehicle door is controlled according to the detection result of the target obstacle.

[0009] Thus, in the implementation mode of the present application, the target obstacle located outside the door and capable of hindering the movement of the door can be detected by the target vehicle component, thereby realizing the detection of the target obstacle, which can reduce the risk of the door colliding with the target obstacle when the door is opened to a certain extent. In addition, in the implementation mode of the present application, the target vehicle component can be determined according to the trigger source of the door opening command to detect the target obstacle, so that the detection of the target obstacle can be associated with the trigger source of the door opening command, thereby further improving the detection accuracy of the target obstacle.

[0010] In certain embodiments of the present application, the vehicle includes a first door opening component disposed on the outside of the vehicle, and determining the target vehicle component according to the trigger source of the door opening instruction includes:

[0011] When the trigger source is the first door opening component, a first vehicle radar, a vehicle camera and a parking assistance device are determined as the target vehicle components.

[0012] Thus, in the embodiment of the present application, when the trigger source is the first door opening component arranged on the outside of the vehicle, the target obstacle on the outside of the door can be detected by the first vehicle radar, the vehicle camera and the parking assistance device, thereby completing the detection of the target obstacle. Compared with the method of using the first vehicle radar, the vehicle camera and a single component in the parking assistance device to detect the target obstacle, the accuracy of detecting the target obstacle is higher, and the occurrence of missed detection due to the detection blind spot of a single component can be avoided.

[0013] In certain embodiments of the present application, the detecting a target obstacle outside a vehicle door by using the target vehicle component includes:

[0014] detecting the target obstacle by the first vehicle radar;

[0015] In the case where the target obstacle is not detected by the first vehicle radar, detecting the target obstacle by using an image of the external environment captured by the vehicle camera;

[0016] When the target obstacle is not detected by the vehicle exterior environment image, the target obstacle is detected by the parking assistance device.

[0017] In this way, in the embodiment of the present application, the target obstacle outside the vehicle can be detected in sequence by the first vehicle radar, the vehicle camera, and the parking assistance device, so that the detection accuracy of the target obstacle can be guaranteed.

[0018] In certain embodiments of the present application, the vehicle includes a second door opening component disposed inside the vehicle cabin space, and the determining of the target vehicle component according to the trigger source of the door opening instruction includes:

[0019] When the trigger source is the second door opening component or the target control device, the second vehicle radar, the first vehicle radar, the vehicle camera and the parking assistance device are determined as the target vehicle components.

[0020] In this way, in the embodiment of the present application, when the trigger source is the second door opening component, the target obstacle outside the vehicle can be detected in sequence by the second vehicle radar, the first vehicle radar, the vehicle camera and the parking assistance device, so that the detection accuracy of the target obstacle can be guaranteed. Compared with the method of using the second vehicle radar, the first vehicle radar, the vehicle camera and a single component of the parking assistance device to detect the target obstacle, the detection accuracy of the target obstacle is higher, and the occurrence of missed detection due to the detection blind spot of a single component can be avoided.

[0021] In certain embodiments of the present application, the detecting a target obstacle outside a vehicle door by using the target vehicle component includes:

[0022] detecting the target obstacle by using the first vehicle radar when the door opening warning signal emitted by the second vehicle radar is not obtained;

[0023] In the case where the target obstacle is not detected by the first vehicle radar, detecting the target obstacle by using an image of the external environment captured by the vehicle camera;

[0024] When the target obstacle is not detected by the vehicle exterior environment image, the target obstacle is detected by the parking assistance device.

[0025] Thus, in the embodiment of the present application, the target obstacle outside the vehicle can be detected in sequence by the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assistance device, so that the detection accuracy of the target obstacle can be guaranteed.

[0026] In certain embodiments of the present application, when the target obstacle is not detected by the first vehicle radar, detecting the target obstacle by using the image of the external environment captured by the vehicle camera includes:

[0027] If the target obstacle is not detected by the first vehicle radar and a heartbeat data packet corresponding to the vehicle camera is obtained, the target obstacle is detected by an image of the external environment captured by the vehicle camera at the current moment; and / or

[0028] When the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is not obtained, the target obstacle is detected by using the image of the external environment taken by the vehicle camera before the last power-off.

[0029] Thus, in an embodiment of the present application, when the heartbeat data packet corresponding to the vehicle camera is obtained, the target obstacle can be detected by using the image of the outside environment taken by the vehicle camera at the current moment, and / or when the heartbeat data packet corresponding to the vehicle camera is not obtained, the target obstacle can be detected by using the image of the outside environment taken by the vehicle camera before the last power-off, thereby ensuring robust detection of the target obstacle.

[0030] In certain embodiments of the present application, when the target obstacle is not detected by the first vehicle radar and a heartbeat data packet corresponding to the vehicle camera is obtained, detecting the target obstacle through an image of the external environment captured by the vehicle camera at the current moment includes:

[0031] When the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, the image of the external environment taken by the vehicle camera before the last power-off is deleted, and the target obstacle is detected by the image of the external environment taken by the vehicle camera at the current moment.

[0032] Thus, in the implementation mode of the present application, the images of the external environment taken by the vehicle camera before the last power-off can be deleted to avoid ineffective use of the vehicle storage resources by the images of the external environment taken by the vehicle camera before the last power-off.

[0033] In certain embodiments of the present application, controlling the opening movement of the vehicle door according to the detection result of the target obstacle includes:

[0034] When the target obstacle is detected by at least one of the target vehicle components, controlling the door to be opened temporarily; and / or

[0035] When the target obstacle is not detected by the plurality of target vehicle components, the door opening action is controlled to start or continue.

[0036] Thus, in the embodiment of the present application, the door opening action can be controlled to be paused when a target obstacle is detected by at least one target vehicle component, and / or the door opening action can be controlled to start or continue when a target obstacle is not detected by multiple target vehicle components, thereby ensuring the safe execution of the door opening action.

[0037] An embodiment of the present application provides a vehicle, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned vehicle door control method is implemented.

[0038] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the above-mentioned vehicle door control method is implemented.

[0039] The vehicle and computer-readable storage medium provided in the embodiments of the present application can detect a target obstacle located on the outside of a vehicle door and capable of hindering the movement of the vehicle door through a target vehicle component, thereby achieving detection of the target obstacle, which can reduce the risk of the vehicle door colliding with the target obstacle when the vehicle door performs an opening action to a certain extent. In addition, in the embodiments of the present application, the target vehicle component can be determined according to the trigger source of the door opening command to detect the target obstacle, so that the detection of the target obstacle can be associated with the trigger source of the door opening command, thereby further improving the detection accuracy of the target obstacle.

[0040] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0042] Figure 1 A schematic flow chart of a method for controlling a vehicle door in certain embodiments of the present application;

[0043] Figure 2 A schematic flow chart of a method for controlling a vehicle door in certain embodiments of the present application;

[0044] Figure 3 A schematic flow chart of a method for controlling a vehicle door in certain embodiments of the present application;

[0045] Figure 4 A schematic diagram of application scenarios in certain embodiments of the present application;

[0046] Figure 5 A schematic diagram of application scenarios in certain embodiments of the present application;

[0047] Figure 6 A schematic diagram of an application scenario in certain embodiments of the present application. DETAILED DESCRIPTION

[0048] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0049] In related technologies, in order to ensure the safety of the door opening and closing process, the automatic door opening system generally needs to use a variety of sensors to detect and identify obstacles. However, due to the limitations of various sensors, the system has blind spots or insufficient perception, and cannot completely avoid safety hazards. For example, ultrasonic radar has high position sensitivity and can effectively identify most colorless obstacles or obstacles in the calibrated position, but the detection effect of ultrasonic radar is weak when there are high reflectivity materials or objects entering and exiting the blind spot.

[0050] Based on the above problems you may encounter, please refer to Figure 1 , the embodiment of the present application provides a method for controlling a vehicle door, comprising:

[0051] 01: Get the door opening command;

[0052] 02: Determine the target vehicle parts based on the trigger source of the door opening command;

[0053] 03: Detecting a target obstacle on the outside of a door through a target vehicle component, wherein the target obstacle can hinder the movement of the door;

[0054] 04: Control the door opening movement based on the detection results of the target obstacle.

[0055] The embodiment of the present application provides a control device for a vehicle door. The control method for a vehicle door of the embodiment of the present application can be implemented by the control device for a vehicle door of the embodiment of the present application. Specifically, the control device includes an acquisition module, a determination module, a detection module and a control module. Among them, the acquisition module is used to obtain a vehicle door opening instruction. The determination module is used to determine a target vehicle component according to a trigger source of the vehicle door opening instruction. The detection module is used to detect a target obstacle on the outside of the vehicle door through the target vehicle component, wherein the target obstacle can hinder the movement of the vehicle door. The control module is used to control the opening movement of the vehicle door according to the detection result of the target obstacle.

[0056] The embodiment of the present application also provides a vehicle, which includes a memory and a processor. The control method of the vehicle door of the embodiment of the present application can be implemented by the vehicle of the embodiment of the present application. Specifically, a computer program is stored in the memory, and the processor is used to obtain a door opening instruction, and to determine a target vehicle component according to a trigger source of the door opening instruction, and to detect a target obstacle outside the door through the target vehicle component, wherein the target obstacle can hinder the movement of the door, and to control the opening movement of the door according to the detection result of the target obstacle.

[0057] Specifically, in an embodiment of the present application, the vehicle (or the control device of the door) can, when obtaining a door opening command, determine the target vehicle component for detecting the target obstacle on the outside of the door according to the trigger source of the door opening command, and then detect whether there is a target obstacle on the outside of the door that can hinder the movement of the door through the target vehicle component, and control the opening movement of the door according to the detection result of the target obstacle to reduce the risk of collision between the door and the target obstacle.

[0058] Thus, in the implementation mode of the present application, the target obstacle located outside the door and capable of hindering the movement of the door can be detected by the target vehicle component, thereby realizing the detection of the target obstacle, which can reduce the risk of the door colliding with the target obstacle when the door is opened to a certain extent. In addition, in the implementation mode of the present application, the target vehicle component can be determined according to the trigger source of the door opening command to detect the target obstacle, so that the detection of the target obstacle can be associated with the trigger source of the door opening command, thereby further improving the detection accuracy of the target obstacle.

[0059] Among them, it can be understood that the door opening command in the implementation mode of the present application can be understood as an operation command triggered by the user for controlling the opening of the door, such as an operation command for the user to actively control the opening of the door through a mobile terminal, a vehicle central control screen and other components.

[0060] It can also be understood that in the embodiments of the present application, the trigger source of the door opening instruction can be understood as the device on which the user triggers the door opening instruction. For example, when the user triggers the door opening instruction through a mobile terminal to control the door opening, the trigger source of the door opening instruction is the mobile terminal. For another example, when the user speaks a voice such as "Xiao P, open the door" to the vehicle's central control screen to trigger the door opening instruction, the trigger source of the door opening instruction is the vehicle's central control screen.

[0061] Also, in the implementation manner of the present application, the target obstacle refers to an obstacle that can affect the opening action of the vehicle door, including but not limited to pedestrians, vehicles behind, vehicles in front, roadblocks outside the vehicle door, etc.

[0062] In addition, in the embodiments of the present application, the vehicle can detect the target obstacle outside the door in different orders or with different target vehicle parts according to different trigger sources. For example, in one example, the vehicle can determine at least two of ultrasonic radar, surround view camera, parking radar and millimeter wave radar as target vehicle parts to detect the target obstacle according to the type of trigger source.

[0063] In certain embodiments of the present application, the vehicle includes a first door opening component disposed on the outside of the vehicle, and step 02 includes:

[0064] When the trigger source is the first door opening component, the first vehicle radar, the vehicle camera and the parking assistance device are determined as target vehicle components.

[0065] The determination module of the implementation mode of the present application is also used to determine the first vehicle radar, the vehicle camera and the parking assistance device as target vehicle components when the trigger source is the first door opening component.

[0066] The processor of the embodiment of the present application is also used to determine the first vehicle radar, the vehicle camera and the parking assistance device as target vehicle components when the trigger source is the first door opening component.

[0067] Specifically, in the implementation manner of the present application, when the trigger source is a first door opening component disposed on the outside of the vehicle, the vehicle may determine the first vehicle radar, the vehicle camera, and the parking assistance device as target vehicle components.

[0068] In one example, the first door opening component refers to a door opening source located on the outside of the vehicle, including but not limited to non-remote switches such as buttons, door handles, and PE switches arranged on the outside of the vehicle.

[0069] In one example, the first vehicle radar is a laser radar installed on the door. It is understandable that during the door opening process, the ultrasonic radar can cover the FOV (field of view) range of the door opening path. At the same time, the ultrasonic radar has a high position sensitivity, so it can effectively identify most colorless or given position obstacles, but it does not play a big role when there are high reflectivity materials or objects entering and exiting the blind spot.

[0070] In one example, the vehicle camera includes a surround view camera mounted on the rearview mirror of the vehicle. It is understood that the vehicle can use the visual capability of the surround view camera to supplement the recognition of objects that are difficult to detect by ultrasonic radar, such as highly reflective objects or visually confusing obstacles, to avoid detection blind spots.

[0071] In one example, the parking aid includes parking radar.

[0072] Thus, in the embodiment of the present application, when the trigger source is the first door opening component arranged on the outside of the vehicle, the target obstacle on the outside of the door can be detected by the first vehicle radar, the vehicle camera and the parking assistance device, thereby completing the detection of the target obstacle. Compared with the method of using the first vehicle radar, the vehicle camera and a single component in the parking assistance device to detect the target obstacle, the accuracy of detecting the target obstacle is higher, and the occurrence of missed detection due to the detection blind spot of a single component can be avoided.

[0073] See also Figure 2 In certain embodiments of the present application, the above step 03 includes:

[0074] 030: Detecting a target obstacle through a first vehicle radar;

[0075] 031: When the target obstacle is not detected by the first vehicle radar, the target obstacle is detected by using the vehicle external environment image captured by the vehicle camera;

[0076] 032: When the target obstacle is not detected by the external environment image, the parking assistance device detects the target obstacle.

[0077] The detection module of the embodiment of the present application is also used to detect the target obstacle through the first vehicle radar, and to detect the target obstacle through the external environment image taken by the vehicle camera when the target obstacle is not detected by the first vehicle radar, and to detect the target obstacle through the parking assistance device when the target obstacle is not detected by the external environment image.

[0078] The processor of the embodiment of the present application is also used to detect the target obstacle through the first vehicle radar, and to detect the target obstacle through the external environment image taken by the vehicle camera when the target obstacle is not detected by the first vehicle radar, and to detect the target obstacle through the parking assistance device when the target obstacle is not detected by the external environment image.

[0079] Specifically, in the implementation mode of the present application, the vehicle can detect the target obstacle outside the door in sequence through the first vehicle radar, the vehicle camera and the parking assistance device, so that the detection of the target obstacle can be achieved according to the power-on order and importance of each target component.

[0080] It is understandable that the user may start the vehicle to complete the travel needs and trigger the door opening command through the first door opening component, or trigger the door opening command through non-remote switches such as buttons, door handles, PE switches, etc. set on the outside of the vehicle. Therefore, in this case, the vehicle can detect whether there is a target obstacle outside the door through the first vehicle radar, vehicle camera and parking assistance device in this order according to the power-on sequence of the first vehicle radar, vehicle camera and parking assistance device, and the importance of these three components.

[0081] Further, in the embodiment of the present application, the vehicle can first detect whether there is a target obstacle outside the door through the first vehicle radar, and if so, the door opening movement is suspended. If not, the target obstacle is detected through the vehicle camera.

[0082] Next, when the first vehicle radar detects that there is no target obstacle outside the door, the vehicle camera uses the vehicle environment image captured to detect whether there is a target obstacle outside the door. If the vehicle environment image shows that there is at least one target obstacle outside the door, the door opening movement is paused. If the vehicle environment image shows that there is no target obstacle outside the door, the parking assistance device detects the target obstacle.

[0083] Next, when the image of the external environment shows that there is no target obstacle outside the door, a three-dimensional model map can be constructed through parking (i.e., parking mapping). That is, an obstacle model similar to a pure white pillar is established through the parking radar to continuously detect, identify and track the target obstacle, thereby improving the accuracy of sensor collaboration.

[0084] Finally, if there is a danger point in the 3D model image constructed by the parking radar, it means that there is a target obstacle outside the door, so the door opening movement is suspended. Conversely, if there is no danger point in the 3D model image constructed by the parking radar, it means that there is no target obstacle outside the door, so the door opening movement is controlled to start or continue.

[0085] In one example, when the first vehicle radar detects that there is no obstacle outside the vehicle within a preset time period (such as within 3 seconds), the vehicle detects the target obstacle through the vehicle camera.

[0086] In this way, in the embodiment of the present application, the target obstacle outside the vehicle can be detected in sequence by the first vehicle radar, the vehicle camera, and the parking assistance device, so that the detection accuracy of the target obstacle can be guaranteed.

[0087] In certain embodiments of the present application, the vehicle includes a second door opening component disposed inside the vehicle cabin space, and step 02 includes:

[0088] When the trigger source is the second door opening component or the target control device, the second vehicle radar, the first vehicle radar, the vehicle camera and the parking assistance device are determined as target vehicle components.

[0089] The determination module of the implementation mode of the present application is also used to determine the second vehicle radar, the first vehicle radar, the vehicle camera and the parking assistance device as target vehicle components when the trigger source is the second door opening component or the target control device.

[0090] The processor of the embodiment of the present application is also used to determine the second vehicle radar, the first vehicle radar, the vehicle camera and the parking assistance device as target vehicle components when the trigger source is the second door opening component or the target control device.

[0091] Specifically, in the implementation manner of the present application, the vehicle may determine the second vehicle radar, the first vehicle radar, the vehicle camera and the parking assistance device as target obstacles when the trigger source is the second door opening component or the target control device.

[0092] In one example, the second door opening component is a door handle disposed inside the vehicle cabin.

[0093] In one example, the second door opening component is a central control screen. When the user interacts with the central control screen through voice, touch screen clicks, etc. to trigger the door opening command, the trigger source of the door opening command is the central control screen.

[0094] In one example, the target control device refers to a mobile terminal equipped with an application (Application, App) capable of generating a door opening instruction.

[0095] In one example, the target control device is a vehicle remote control key, or car key.

[0096] In one example, the second vehicle radar is a millimeter-wave radar installed on the rear side of the vehicle. It is understandable that compared with laser radar, the vehicle can use millimeter-wave radar to identify moving obstacles at a longer distance and issue early warnings for risks that may be encountered during the door opening process. The high-precision moving target determination function of the millimeter-wave radar can greatly increase the safety of the door opening action.

[0097] In one example, the first vehicle radar is a laser radar installed on the door. It is understandable that during the door opening process, the ultrasonic radar can cover the FOV (field of view) range of the door opening path. At the same time, the ultrasonic radar has a high position sensitivity, so it can effectively identify most colorless or given position obstacles, but it does not play a big role when there are high reflectivity materials or objects entering and exiting the blind spot.

[0098] In one example, the vehicle camera includes a surround view camera mounted at the vehicle rearview mirror. It is understood that the vehicle can use the visual capability of the surround view camera to supplement the recognition of objects that are difficult to detect by ultrasonic radar, such as highly reflective objects or visually confusing obstacles, to avoid detection blind spots.

[0099] In one example, the parking aid includes parking radar.

[0100] In this way, in the embodiment of the present application, when the trigger source is the second door opening component, the target obstacle outside the vehicle can be detected in sequence by the second vehicle radar, the first vehicle radar, the vehicle camera and the parking assistance device, so that the detection accuracy of the target obstacle can be guaranteed. Compared with the method of using the second vehicle radar, the first vehicle radar, the vehicle camera and a single component of the parking assistance device to detect the target obstacle, the detection accuracy of the target obstacle is higher, and the occurrence of missed detection due to the detection blind spot of a single component can be avoided.

[0101] See also Figure 3 In certain embodiments of the present application, step 03 includes:

[0102] 033: Detecting a target obstacle by using the first vehicle radar when no door opening warning signal is received from the second vehicle radar;

[0103] 034: When the target obstacle is not detected by the first vehicle radar, the target obstacle is detected by using the vehicle external environment image captured by the vehicle camera;

[0104] 035: When the target obstacle is not detected by the external environment image, the parking assistance device detects the target obstacle.

[0105] The detection module of the implementation mode of the present application is also used to detect the target obstacle through the first vehicle radar when the door opening warning signal emitted by the second vehicle radar is not obtained, and to detect the target obstacle through the external environment image taken by the vehicle camera when the target obstacle is not detected by the first vehicle radar, and to detect the target obstacle through the parking assistance device when the target obstacle is not detected by the external environment image.

[0106] The processor of the embodiment of the present application is also used to detect the target obstacle through the first vehicle radar when the door opening warning signal emitted by the second vehicle radar is not obtained, and to detect the target obstacle through the external environment image taken by the vehicle camera when the target obstacle is not detected by the first vehicle radar, and to detect the target obstacle through the parking assistance device when the target obstacle is not detected by the external environment image.

[0107] Specifically, in the implementation manner of the present application, the vehicle can detect the target obstacle outside the door through the second vehicle radar, the first vehicle radar, the vehicle camera and the parking assistance device in sequence.

[0108] It is understandable that the user may have completed his travel needs and parked when triggering the door opening command through the second door opening component or the target control device. Therefore, in this case, the vehicle can detect whether there is a target obstacle outside the door through the first vehicle radar, the vehicle camera and the parking assistance device in turn according to the importance of these four components.

[0109] Furthermore, in the embodiment of the present application, the vehicle can first determine whether the millimeter wave radar sends a DOW (Door Open Warning) signal. If the millimeter wave radar sends a DOW signal at the current moment, it is determined that there is a target obstacle outside the vehicle, and the door opening movement is suspended. If the millimeter wave radar does not send a DOW signal at the current moment, the target obstacle is detected by the first vehicle radar.

[0110] Then, the first vehicle radar is used to detect whether there is a target obstacle outside the door, and if so, the door opening movement is suspended. If not, the vehicle camera is used to detect the target obstacle.

[0111] Next, when the first vehicle radar detects that there is no target obstacle outside the vehicle, the vehicle camera uses the vehicle environment image captured to detect whether there is a target obstacle outside the door. If the vehicle environment image shows that there is at least one target obstacle outside the door, the door opening movement is paused. If the vehicle environment image shows that there is no target obstacle outside the door, the parking assistance device detects the target obstacle.

[0112] Next, when the image of the external environment shows that there is no target obstacle outside the door, a three-dimensional model map can be constructed through parking (i.e., parking mapping). That is, an obstacle model similar to a pure white pillar is established through the parking radar to continuously detect, identify and track the target obstacle, thereby improving the accuracy of sensor collaboration.

[0113] Finally, if there is a danger point in the 3D model image constructed by the parking radar, it means that there is a target obstacle outside the door, so the door opening movement is suspended. Conversely, if there is no danger point in the 3D model image constructed by the parking radar, it means that there is no target obstacle outside the door, so the door opening movement is controlled to start or continue.

[0114] In one example, when the first vehicle radar detects that there is no obstacle outside the vehicle within a preset time period (such as within 3 seconds), the vehicle detects the target obstacle through the vehicle camera.

[0115] Thus, in the embodiment of the present application, the target obstacle outside the vehicle can be detected in sequence by the second vehicle radar, the first vehicle radar, the vehicle camera, and the parking assistance device, so that the detection accuracy of the target obstacle can be guaranteed.

[0116] In certain embodiments of the present application, step 031 or step 034 includes:

[0117] If the target obstacle is not detected by the first vehicle radar and a heartbeat data packet corresponding to the vehicle camera is obtained, the target obstacle is detected by an image of the external environment captured by the vehicle camera at the current moment; and / or

[0118] When the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is not obtained, the target obstacle is detected by the image of the external environment taken by the vehicle camera before the last power-off.

[0119] The detection module of the implementation mode of the present application is also used to detect the target obstacle through the image of the external environment taken by the vehicle camera at the current moment when the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, and / or to detect the target obstacle through the image of the external environment taken by the vehicle camera before the last power-off when the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is not obtained.

[0120] The processor of the embodiment of the present application is also used to detect the target obstacle through the image of the external environment taken by the vehicle camera at the current moment when the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, and / or to detect the target obstacle through the image of the external environment taken by the vehicle camera before the last power-off when the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is not obtained.

[0121] Specifically, in the embodiment of the present application, when the vehicle detects that there is no target obstacle outside the door through the first vehicle radar, it can be determined whether the vehicle camera is normally powered on and working normally, that is, whether the vehicle camera regularly sends a heartbeat data packet. It can be understood that if the vehicle camera regularly sends a heartbeat data packet, it means that the vehicle camera is powered on and in a normal working state, and if the vehicle camera does not regularly send a heartbeat data packet, it means that the vehicle camera is powered off or is not in a normal working state.

[0122] Furthermore, when the vehicle camera periodically sends heartbeat data packets, or in other words, when the heartbeat data packets corresponding to the vehicle camera are obtained, the vehicle camera is now powered on and in normal working condition, so the vehicle can directly shoot the direction of the outside of the door through the vehicle camera to obtain the image of the outside environment at the current moment, and detect whether there is a target obstacle outside the door based on the image of the outside environment.

[0123] In contrast, when the vehicle camera does not send heartbeat data packets regularly, or in other words, when the heartbeat data packet corresponding to the vehicle camera is not obtained, the vehicle camera has been powered off or is not in normal working condition. Therefore, the vehicle can directly read the vehicle camera's shooting direction toward the outside of the door before the last power-off to obtain the image of the outside environment before power-off, and detect whether there is a target obstacle outside the door based on the image of the outside environment.

[0124] Thus, in an embodiment of the present application, when the heartbeat data packet corresponding to the vehicle camera is obtained, the target obstacle can be detected by using the image of the outside environment taken by the vehicle camera at the current moment, and / or when the heartbeat data packet corresponding to the vehicle camera is not obtained, the target obstacle can be detected by using the image of the outside environment taken by the vehicle camera before the last power-off, thereby ensuring robust detection of the target obstacle.

[0125] In certain embodiments of the present application, the step of detecting the target obstacle through the image of the external environment captured by the vehicle camera at the current moment when the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained includes:

[0126] When the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, the image of the external environment taken by the vehicle camera before the last power-off is deleted, and the target obstacle is detected by the image of the external environment taken by the vehicle camera at the current moment.

[0127] The detection module of the implementation mode of the present application is also used to delete the image of the external environment taken by the vehicle camera before the last power-off when the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, and detect the target obstacle through the image of the external environment taken by the vehicle camera at the current moment.

[0128] The processor of the embodiment of the present application is also used to delete the image of the external environment taken by the vehicle camera before the last power-off when the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, and detect the target obstacle through the image of the external environment taken by the vehicle camera at the current moment.

[0129] Specifically, in the embodiment of the present application, when the vehicle camera periodically sends a heartbeat data packet, or in other words, when the heartbeat data packet corresponding to the vehicle camera is obtained, the vehicle camera is powered on and in normal working state, and then the vehicle camera can be used to shoot the direction of the outside of the door to obtain the current external environment image, and detect whether there is a target obstacle outside the door based on the external environment image. Accordingly, the vehicle's pre-stored external environment image shot by the vehicle camera in the direction of the outside of the door before the last power-off can be replaced by the current external environment image, so the external environment image shot by the vehicle camera before the last power-off is deleted, thereby avoiding the situation where the external environment image shot by the vehicle camera before the last power-off uses the vehicle storage resources.

[0130] Thus, in the implementation mode of the present application, the images of the external environment taken by the vehicle camera before the last power-off can be deleted to avoid ineffective use of the vehicle storage resources by the images of the external environment taken by the vehicle camera before the last power-off.

[0131] In certain embodiments of the present application, step 04 includes:

[0132] When a target obstacle is detected by at least one target vehicle component, controlling the door opening action to be paused; and / or

[0133] When the target obstacle is not detected by the plurality of target vehicle components, the door opening action is controlled to start or continue.

[0134] The control module of the embodiment of the present application is also used to control the suspension of the opening action of the door when a target obstacle is detected by at least one target vehicle component, and / or to control the start or continuation of the opening action of the door when no target obstacle is detected by multiple target vehicle components.

[0135] The processor of the embodiment of the present application is also used to control the suspension of the opening action of the vehicle door when a target obstacle is detected by at least one target vehicle component, and / or to control the start or continuation of the opening action of the vehicle door when a target obstacle is not detected by multiple target vehicle components.

[0136] Specifically, in the implementation manner of the present application, when the vehicle detects the presence of a target obstacle outside the vehicle through any target component, the vehicle can control the opening action of the door to be suspended to reduce the risk of collision between the door and the target obstacle.

[0137] Conversely, the vehicle can also control the door to continue or start opening when all target components have detected the target obstacle and each target component has not detected the target obstacle outside the vehicle, so that the door can perform the door opening action when the risk of collision with the target obstacle is low, thereby ensuring the safe execution of the door opening action.

[0138] Thus, in the embodiment of the present application, the door opening action can be controlled to be paused when a target obstacle is detected by at least one target vehicle component, and / or the door opening action can be controlled to start or continue when a target obstacle is not detected by multiple target vehicle components, thereby ensuring the safe execution of the door opening action.

[0139] To more clearly explain the door control logic in the embodiment of the present application, please refer to Figure 4 , Figure 5 as well as Figure 6 , Figure 4, Figure 5 as well as Figure 6 These are schematic diagrams of application scenarios in certain embodiments of the present application. Figure 4 and Figure 6 As shown, in the embodiment of the present application, when a door opening source outside the vehicle (non-remote switches such as buttons, external handles, PE switches, etc.) is detected to trigger a door opening command, the XPU can detect whether there is a "dangerous point (i.e., target obstacle)" outside the door through the ultrasonic radar installed on the door. If there is, the door is only unlocked and the door is opened at a smaller angle, and the opening action is no longer performed. If the dangerous point can always be detected by the ultrasonic radar within a certain period of time, the door opening process ends and waits for the user to trigger the door opening command again.

[0140] If the ultrasonic radar detects that there is no danger point outside the door, other sensors are called for auxiliary detection. Specifically, first detect whether the vehicle visual detection module composed of the left and right side panoramic cameras of the vehicle regularly sends heartbeat detection packets so that the heartbeat packets increase according to the normal cycle, thereby determining whether the vehicle visual detection module works normally.

[0141] Furthermore, if the heartbeat packet increases according to the normal cycle and it is determined that the vehicle vision detection module is working normally, the historical memory, such as the image data outside the door taken by the vehicle vision detection module before the last power-off, is cleared. At the same time, the real-time image data outside the door is obtained through the vehicle vision detection module, and the image data outside the door is used to detect whether there are dangerous points outside the door. If so, the door will not be opened automatically. If not, the data information of the parking map is judged. If the parking map data is not empty and there are dangerous points in the parking map, it is judged not to open the door automatically.

[0142] Similar, such as Figure 5 and Figure 6 As shown, in the embodiment of the present application, when the XPU detects a door opening source in the car or a door opening command triggered by a remote switch such as a mobile phone APP or a remote door key, it first detects whether the millimeter wave radar sends a DOW (Door Open Warning) signal. If the DOW signal exists, the door will not be opened, or the door will stop opening.

[0143] Conversely, if the DOW signal does not exist, other sensors are used to assist in detection. Specifically, the ultrasonic radar installed on the door detects whether there is a "dangerous point that causes the door to open (i.e., target obstacle)" outside the door. If so, the door is only unlocked and the door is opened at a smaller angle, and the opening action is no longer performed. If the ultrasonic radar can always detect the dangerous point within a certain period of time, the door opening process ends and waits for the user to trigger the door opening command again.

[0144] If the ultrasonic radar detects that there is no danger point outside the door, other sensors are called for auxiliary detection. Specifically, first detect whether the vehicle visual detection module composed of the left and right side panoramic cameras of the vehicle regularly sends heartbeat detection packets, so that the heartbeat packets increase according to the normal cycle, thereby judging whether the vehicle visual detection module works normally.

[0145] Furthermore, if the heartbeat packet increases according to a normal cycle, it is determined that the vehicle vision detection module is working normally, and then the historical memory, such as the image data outside the door taken by the vehicle vision detection module before the last power-off, is cleared. At the same time, the real-time image data outside the door is obtained through the vehicle vision detection module, and the image data outside the door is used to detect whether there are dangerous points outside the door. If so, the door will not be opened actively. If not, the data information of the parking map is judged. If the parking map data is not empty and there are dangerous points in the parking map, the door will not be opened actively.

[0146] In addition, it can be understood that XPU is a general term for various types of processors. XPU can refer to at least one of the processors such as CPU (Central Processing Unit), GPU (Graphics Processing Unit), FPGA (Field-Programmable Gate Array), DSP (Digital Signal Processor), etc.

[0147] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the above-mentioned vehicle door control method is implemented.

[0148] In the description of this specification, the descriptions with reference to the terms "specifically", "further", "particularly", "understandably", etc. are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0149] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0150] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for controlling a vehicle door, characterized in that: include: Get the door opening command; Determining target vehicle parts according to a trigger source of the door opening command; Detecting a target obstacle outside a vehicle door through the target vehicle component, wherein the target obstacle can hinder movement of the vehicle door; The opening movement of the vehicle door is controlled according to the detection result of the target obstacle.

2. The method according to claim 1, characterized in that The vehicle includes a first door opening component disposed on an outer side of the vehicle, and the target vehicle component is determined according to a trigger source of the door opening instruction, including: When the trigger source is the first door opening component, a first vehicle radar, a vehicle camera and a parking assistance device are determined as the target vehicle components.

3. The method according to claim 2, characterized in that The detecting the target obstacle outside the door by using the target vehicle component comprises: detecting the target obstacle by the first vehicle radar; In the case where the target obstacle is not detected by the first vehicle radar, detecting the target obstacle by using an image of the external environment captured by the vehicle camera; When the target obstacle is not detected by the vehicle exterior environment image, the target obstacle is detected by the parking assistance device.

4. The method according to claim 1, characterized in that: The vehicle includes a second door opening component disposed inside the vehicle cabin space, and the target vehicle component is determined according to a trigger source of the door opening instruction, including: When the trigger source is the second door opening component or the target control device, the second vehicle radar, the first vehicle radar, the vehicle camera and the parking assistance device are determined as the target vehicle components.

5. The method according to claim 4, characterized in that The detecting the target obstacle outside the door by using the target vehicle component comprises: detecting the target obstacle by using the first vehicle radar when the door opening warning signal emitted by the second vehicle radar is not obtained; In the case where the target obstacle is not detected by the first vehicle radar, detecting the target obstacle by using an image of the external environment captured by the vehicle camera; When the target obstacle is not detected by the vehicle exterior environment image, the target obstacle is detected by the parking assistance device.

6. The method according to claim 3 or 5, characterized in that: When the target obstacle is not detected by the first vehicle radar, detecting the target obstacle by using the vehicle exterior environment image captured by the vehicle camera includes: If the target obstacle is not detected by the first vehicle radar and a heartbeat data packet corresponding to the vehicle camera is obtained, the target obstacle is detected by an image of the external environment captured by the vehicle camera at the current moment; and / or When the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is not obtained, the target obstacle is detected by using the image of the external environment taken by the vehicle camera before the last power-off.

7. The method according to claim 6, characterized in that When the target obstacle is not detected by the first vehicle radar and a heartbeat data packet corresponding to the vehicle camera is obtained, detecting the target obstacle through an image of the external environment captured by the vehicle camera at the current moment includes: When the target obstacle is not detected by the first vehicle radar and the heartbeat data packet corresponding to the vehicle camera is obtained, the image of the external environment taken by the vehicle camera before the last power-off is deleted, and the target obstacle is detected by the image of the external environment taken by the vehicle camera at the current moment.

8. The method according to claim 1, characterized in that: The controlling the opening movement of the vehicle door according to the detection result of the target obstacle comprises: When the target obstacle is detected by at least one of the target vehicle components, controlling the door to be opened temporarily; and / or When the target obstacle is not detected by the plurality of target vehicle components, the door opening action is controlled to start or continue.

9. A vehicle, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 8 is implemented.

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