Vehicle door anti-collision method and device and vehicle

Abstract

The embodiment of the invention relates to the technical field of vehicles, and discloses a vehicle door anti-collision method and device and a vehicle, and the method comprises the steps: obtaining the first point cloud information of the environment where the vehicle is located and the operation information of the vehicle in real time when the operation process of the vehicle is detected; according to the first point cloud information and the operation information of the vehicle, determining first pose information of the point cloud corresponding to the obstacle relative to the vehicle; and when it is detected that the vehicle stops running and the first pose information is located in the opening track range of the vehicle door, prompt information is determined. According to the technical scheme, the success rate and stability of collision prevention of the vehicle door can be effectively improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle technology, and more particularly to a method and device for preventing collision of a vehicle door, and a vehicle. Background Art

[0002] With the development of new energy vehicles, automatically opening electric doors are becoming more and more popular among users, but this also brings a difficult problem: the external environment is complex and changeable. How can electric doors ensure no false alarms in obstacle-free scenes and effectively prevent collisions in front of various obstacles?

[0003] When there are some strongly reflective obstacles, dozens, hundreds or even thousands of door opening detections may be able to effectively prevent collisions. However, as the number of door openings increases to tens of thousands or hundreds of thousands of times, there is a certain probability of occasional anti-collision failure, and it is extremely difficult to troubleshoot due to the difficulty in reproducing the problem.

[0004] Therefore, how to ensure anti-collision stability becomes a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of the above problems, the embodiments of the present invention provide a method, device, and vehicle for preventing collision of vehicle doors, which are used to solve the technical problems of low success rate and low stability of preventing collision of vehicle doors in the prior art.

[0006] According to one aspect of an embodiment of the present invention, a method for preventing a vehicle door from collision is provided, the method comprising:

[0007] When detecting the operation of the vehicle, obtaining in real time first point cloud information of the environment where the vehicle is located and the operation information of the vehicle;

[0008] Determine, based on the first point cloud information and the operation information of the vehicle, the first pose information of the point cloud corresponding to the obstacle relative to the vehicle;

[0009] When it is detected that the vehicle stops running and the first position information is located within the opening trajectory range of the door, prompt information is determined.

[0010] In one or more possible implementations, the method further includes:

[0011] The first position information is recorded in the non-volatile storage medium of the vehicle.

[0012] According to another aspect of an embodiment of the present invention, there is provided an anti-collision device for a vehicle door, comprising:

[0013] An acquisition module, used for acquiring, in real time, first point cloud information of the environment in which the vehicle is located and operation information of the vehicle when the operation of the vehicle is detected;

[0014] A processing module, configured to determine first pose information of a point cloud corresponding to an obstacle relative to the vehicle based on the first point cloud information and the operation information of the vehicle;

[0015] A determination module is used to determine prompt information when it is detected that the vehicle stops running and the first posture information is within the opening trajectory range of the door.

[0016] In one or more possible implementations, the processing module is further configured to:

[0017] The first position information is recorded in the non-volatile storage medium of the vehicle.

[0018] According to another aspect of an embodiment of the present invention, there is provided a vehicle, comprising:

[0019] It includes: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus;

[0020] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the vehicle door anti-collision method.

[0021] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores at least one executable instruction, wherein the executable instruction enables an anti-collision device of a vehicle door / a vehicle to perform an operation of an anti-collision method of a vehicle door.

[0022] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program, which, when executed by a processor, enables the anti-collision device of a vehicle door / vehicle to execute the above-mentioned anti-collision method of the vehicle door.

[0023] The embodiment of the present invention acquires the first point cloud information of the environment in which the vehicle is located and the operation information of the vehicle in real time during the process of detecting the operation of the vehicle; determines the first position information of the point cloud corresponding to the obstacle relative to the vehicle based on the first point cloud information and the operation information of the vehicle; and determines the prompt information when it is detected that the vehicle stops running and the first position information is within the opening trajectory range of the door. By applying the technical solution of the present invention, it is possible to acquire the point cloud information of the environment in which the vehicle is located in real time, and based on the operation information and point cloud information of the vehicle, obtain the position of the door that may touch the obstacle when it is opened, and when the position intersects with the range of the door opening, it can be considered that there is a collision risk, so that when the vehicle stops, the user can be notified in time to avoid the door opening causing the door to collide.

[0024] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0026] Figure 1 A flow chart showing a first embodiment of a vehicle door anti-collision method provided by the present invention;

[0027] Figure 2 A flow chart showing a second embodiment of the vehicle door anti-collision method provided by the present invention;

[0028] Figure 3 A flow chart showing a third embodiment of the vehicle door anti-collision method provided by the present invention;

[0029] Figure 4 A schematic diagram of the execution architecture of the vehicle door anti-collision method provided by the present invention is shown;

[0030] Figure 5 A schematic structural diagram of an embodiment of an anti-collision device for a vehicle door provided by the present invention is shown;

[0031] Figure 6 A schematic structural diagram of an embodiment of a vehicle provided by the present invention is shown. DETAILED DESCRIPTION

[0032] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0033] With the development of new energy vehicles, automatically opening electric doors are becoming more and more popular among users, but this also brings a problem: the external environment is complex and changeable. How can the electric doors ensure no false alarms in obstacle-free scenes, effectively avoid collisions in front of various obstacles, and keep the stop position and stop distance consistent after multiple starts?

[0034] Scenario 1: Some obstacles are at special angles and positions, and the electromagnetic wave signal reflection is weak, which makes the radar unable to identify the obstacle target. If some weak point clouds are released to improve the obstacle avoidance effect, the noise points on the road without obstacles will lead to an increase in the false alarm rate, and it is difficult to strike a balance between false alarms and collision avoidance.

[0035] Scenario 2: For some highly reflective obstacles, dozens, hundreds or even thousands of door opening detections may be able to effectively prevent collisions. However, as the number of door openings increases to tens of thousands or hundreds of thousands of times, there is a very small probability that occasional anti-collision failures will occur. Moreover, due to the difficulty in reproducing the problem, it is extremely difficult to troubleshoot the cause. How to ensure anti-collision stability and consistency of stopping distance is also a major problem.

[0036] If the above problems cannot be solved, the user experience will undoubtedly be reduced and the practicality of the electric door will be greatly reduced.

[0037] Based on the above technical problems, the technical concept of the present invention is as follows: during the driving of the vehicle, the vehicle's radar can be used to obtain point cloud information in the running direction in real time, and the point cloud information that may collide with the door is filtered based on the vehicle's running information and the posture of the door when it is open. After that, when the vehicle stops running, it can be determined in real time whether there is point cloud information within the opening trajectory range of the door. If the point cloud information exists, it is believed that the door will collide with an obstacle when it is opened, and prompt information can be determined so that the user can adjust the vehicle or the extent of opening the door based on the actual situation to avoid the occurrence of collision events and increase user experience.

[0038] The technical solution of the present invention is described in detail below through specific embodiments. The implementation subject of the present invention is a vehicle, specifically a controller in the vehicle.

[0039] It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0040] Figure 1 FIG. 1 is a flow chart showing a first embodiment of a method for preventing collision of a vehicle door provided by the present invention, wherein the method is executed by a vehicle. Figure 1 As shown, the method comprises the following steps:

[0041] Step 11: When the vehicle is detected to be running, first point cloud information of the environment where the vehicle is located and the running information of the vehicle are obtained in real time;

[0042] In this step, in order to avoid the vehicle's radar, camera unit or other obstacle detection devices being in a blind spot, which makes the vehicle unable to promptly perceive the accidental contact with a collision object caused by opening the door after the vehicle stops running, when it is detected that the vehicle is in a running state, that is, when the vehicle speed is not 0, the point cloud information of the vehicle's environment can be obtained in real time, and the first point cloud information is recorded; and in order to be able to effectively judge the point cloud considered to be an obstacle, the vehicle's running information can be obtained in real time.

[0043] In a possible implementation, considering that the vehicle is generally traveling at a low speed, the vehicle may stop and open the door. Therefore, it can be set to execute the acquisition action in step 11 when it is detected that the speed of the vehicle is less than a preset speed threshold, that is, when the vehicle is running at a low speed.

[0044] Optionally, the vehicle operation information may include: actual gear position (P / R / D), vehicle speed, and yaw rate.

[0045] Furthermore, after step 11, the following steps may be performed: filtering the first point cloud information based on a preset second filtering condition;

[0046] Among them, the second filtering condition is: removing point clouds with a signal-to-noise ratio less than a second threshold, and removing point clouds outside a first preset range, the first preset range being the vertical upper edge, lower edge, and a second preset distance in the first direction of the vehicle door, the first direction being the direction perpendicular to the horizontal direction corresponding to the vehicle door in a closed state.

[0047] In this implementation, a point cloud with a signal-to-noise ratio less than the second threshold value can be considered to be a scattered point cloud, which is an invalid point cloud; the vertical upper edge of the door, that is, the upper edge in the Z direction, is a point cloud that is not involved in the door collision, and the vertical lower edge of the door, that is, the lower edge in the Z direction, is also a point cloud that is not involved in the door collision; the first direction is the Y direction, and a coordinate system is established with the vehicle moving forward, with the left and right direction being the Y direction, and point clouds with Y values ​​greater than the second preset distance are removed, that is, point clouds that will not collide when the door is opened.

[0048] For example, the second preset distance may be 1.5 m, which is adaptively adjusted according to the Y-direction distance after the door is opened.

[0049] Optionally, the first point cloud information may be point cloud information acquired by real-time detection of the environment outside the door by a door radar of the vehicle.

[0050] Optionally, step 11 may be implemented by: in response to the user turning on the anti-collision function, acquiring the first point cloud information of the vehicle's environment and the vehicle's operating information in real time.

[0051] In this implementation, a trigger switch for executing the anti-collision function involved in the embodiment of the present invention is provided in the vehicle, which may be a physical button, a graphic control in the central control screen, etc., and may be turned on by touch, voice wake-up, etc. When the user turns it on, step 11 is executed.

[0052] Correspondingly, after the anti-collision function is turned on, the following may also be performed: in response to the user turning off the anti-collision function, stopping obtaining the first point cloud information of the vehicle's environment and the vehicle's operating information.

[0053] That is, the anti-collision function can be turned off by opening the corresponding closing mode, and step 11 is stopped.

[0054] Step 12: Determine the first position information of the point cloud corresponding to the obstacle relative to the vehicle according to the first point cloud information and the operation information of the vehicle;

[0055] In this step, the vehicle's operating information indicates the vehicle's forward, backward, lateral swing distance, etc., which affects the position information of the obstacle relative to the vehicle. After the first point cloud information is obtained in real time, the position information of the detected obstacle on the route on which the vehicle is running is obtained from the first point cloud information, that is, the first position information.

[0056] It should be understood that as the vehicle moves and the first point cloud information is acquired, the first pose information keeps changing.

[0057] Step 13: When it is detected that the vehicle stops running and the first posture information is located within the opening trajectory range of the door, a prompt message is determined.

[0058] In this step, when the vehicle stops running, it is considered that a door opening event may occur. At this time, it is determined whether the first position information of the detected obstacle is within the opening trajectory range of the door when it is fully open. If it is within the opening trajectory range of the door, a prompt message is determined to indicate that there will be a collision when opening the door.

[0059] Furthermore, the first position information is recorded in a non-volatile storage medium of the vehicle.

[0060] In this implementation, when the vehicle is in P gear, the first position information is stored in flush (to ensure that the vehicle's sleep coordinates are not lost when powered on or off).

[0061] In addition, when the car door is opened, the degree of opening of the door will be controlled in real time based on the first posture information to avoid collision.

[0062] The anti-collision method for vehicle doors provided in an embodiment of the present invention obtains the first point cloud information of the environment in which the vehicle is located and the vehicle's operating information in real time during the detection of the vehicle's operation; determines the first position information of the point cloud corresponding to the obstacle relative to the vehicle based on the first point cloud information and the vehicle's operating information; and determines prompt information when it is detected that the vehicle stops running and the first position information is within the opening trajectory range of the vehicle door. By applying the technical solution of the present invention, it is possible to obtain the point cloud information of the environment in which the vehicle is located in real time, and based on the vehicle's operating information and point cloud information, obtain the position of the vehicle door that may touch the obstacle when it is opened, and when the position intersects with the range of the door opening, it can be considered that there is a collision risk, so that when the vehicle stops, the user can be notified in time to avoid the door opening causing the door to collide.

[0063] Based on the above embodiments, Figure 2 FIG. 2 is a flow chart showing a second embodiment of the vehicle door anti-collision method provided by the present invention, wherein the method is executed by a vehicle. Figure 2 As shown, step 12 may have the following possible implementations:

[0064] Step 21: Filter the first point cloud information according to the first point cloud information and a preset first filtering condition to obtain second point cloud information corresponding to the obstacle;

[0065] The first filtering condition is: removing point clouds whose point cloud density or number of point clouds is less than a first threshold value, and removing point clouds whose point cloud density or number of point clouds is less than a first preset distance in a second orientation, wherein the second orientation is an orientation parallel to a horizontal direction corresponding to the door in a closed state;

[0066] In this step, in order to more accurately determine the obstacles that may affect the opening of the door, the method of obtaining the point cloud information of the obstacle can be further limited based on the above implementation, and a characteristic first filtering condition can be added to determine the second point cloud information corresponding to the obstacle.

[0067] In this implementation, the point cloud density or the number of point clouds needs to be greater than a first threshold, otherwise it is considered to be an erroneously acquired magazine point cloud; and in the second direction, that is, the X direction, a coordinate system is established with the vehicle moving forward, the front and rear direction is the X direction, and the width of the X direction must be greater than the first preset distance, otherwise it is considered to be a non-obstacle point cloud.

[0068] In a possible implementation, after the above implementation, the second point cloud information can be obtained, from which: the minimum X-axis coordinate value Xmin of the point cloud, the maximum X-axis coordinate value Xmax, the minimum Y-axis coordinate value Ymin, that is, the point cloud boundary of the obstacle can be obtained.

[0069] It should be understood that in practical applications, the position information of the obstacle at the current moment can also be determined based on the second point cloud information.

[0070] Step 22: Determine the first position information of the point cloud corresponding to the obstacle relative to the vehicle based on the second point cloud information and the operation information.

[0071] In this step, since the vehicle is in the process of moving, it is necessary to update the first position information of the point cloud corresponding to the obstacle relative to the vehicle in real time according to the actual situation of the second point cloud information detected by the radar of the door.

[0072] Optionally, the position of the second point cloud information relative to the vehicle is adjusted based on the vehicle's operating information, i.e., the actual gear position (P / R / D), vehicle speed, and yaw angular velocity, by calculating the vehicle's forward, backward, and lateral swing distances, and obtaining the adjusted point cloud information, thereby mapping the first position information of the point cloud corresponding to the obstacle relative to the vehicle, i.e., the real-time changing Xmin, Xmax, and Ymin.

[0073] In addition, it is also possible to execute: clearing the first pose information when the preset conditions are met, and the preset conditions include any of the following:

[0074] 1. The speed information of the vehicle is greater than the third threshold;

[0075] In this implementation, it is considered that when the vehicle is at a high speed, there is no door opening situation, and the first posture information can be cleared, for example, the third threshold is 13km / h.

[0076] 2. When the distance information of the vehicle is greater than the third preset distance, no new second point cloud information is detected;

[0077] In this implementation, it is considered that when the vehicle is traveling, no new obstacle point cloud is scanned within a certain distance. For example, the third preset distance may be that the vehicle moves forward or backward by more than 3m.

[0078] 3. No second point cloud information is detected within the preset time.

[0079] In this implementation, when the recorded point cloud density or the number of point clouds is greater than the first threshold, the signal-to-noise ratio is greater than the second threshold, and the first pose information, that is, the coordinates Xmin, Xmax, and Ymin are in the area directly facing the door radar, and there is no obstacle point cloud information during static detection for 1.5 seconds, the first pose information is cleared.

[0080] The anti-collision method for a vehicle door provided in an embodiment of the present invention obtains second point cloud information corresponding to the obstacle by filtering the first point cloud information according to the first point cloud information and a preset first filtering condition; wherein the first filtering condition is: removing point clouds whose point cloud density or number of point clouds is less than a first threshold value, and removing point clouds whose distance in a second orientation is less than a first preset distance, the second orientation being the orientation parallel to the horizontal direction corresponding to the vehicle door in a closed state, and determining the first position information of the point cloud corresponding to the obstacle relative to the vehicle according to the second point cloud information and the operation information. By applying the technical solution of the present invention, the real-time position and posture of the obstacle relative to the vehicle during driving can be determined based on the vehicle's operation information and the point cloud of the obstacle, providing the position and posture basis of the obstacle for the subsequent anti-collision judgment after the vehicle stops running.

[0081] Based on the above embodiments, Figure 3 FIG. 2 is a flow chart showing a third embodiment of the vehicle door anti-collision method provided by the present invention, wherein the method is executed by a vehicle. Figure 3 As shown, step 13 may have the following possible implementations:

[0082] Step 31: Determine the time to collision (TTC) between the door and the obstacle according to the second posture information and the first posture information of the door.

[0083] In this step, the second posture information of the vehicle door can be obtained in real time. Based on the second posture information and the first posture information of the obstacle relative to the vehicle, the distance information between the vehicle door and the obstacle can be obtained, thereby obtaining the collision time between the vehicle door and the obstacle.

[0084] It should be understood that the collision time is related to the opening rate of the door. When the vehicle stops, the relative speed of the door and the obstacle is the difference between the two speeds (wherein the obstacle can be a moving object or a stationary object). The second posture information is the real-time initial position of the door, and the first posture information is the real-time initial posture of the obstacle. At this time, the difference between the positions of the two can be calculated, and thus the collision time can be obtained.

[0085] Step 32: Determine prompt information according to TTC.

[0086] In this step, since TTC can represent the positional relationship between the door and the obstacle, prompt information can be determined based on the TTC to remind the user or operate the vehicle.

[0087] Optionally, a possible implementation of step 32 may be:

[0088] Step 1: Determine the target duration range of the TTC in a preset mapping relationship, wherein the mapping relationship includes: a correspondence between different duration ranges and different prompting strategies;

[0089] In this implementation, since TTC is in constant dynamic change, that is, the distance between the door and the obstacle is constantly changing during the opening process, different reminder methods can be used to remind the user and different control methods can be provided for the opening of the door based on different distances, that is, different reminder strategies can be pre-set.

[0090] In a possible implementation, the mapping relationship includes at least one of the following:

[0091] 1. If the duration range is less than the first preset duration, the prompt strategy is that the obstacle is too close and stop opening the door;

[0092] For example, when TTC is less than a first preset time (eg, 1 second), it is considered that the door is about to hit an obstacle. At this time, the obstacle is too close, and the door needs to be controlled to stop opening.

[0093] 2. If the duration range is greater than or equal to the first preset duration and less than the second preset duration, the prompt strategy is that the obstacle is close and please observe the environment outside the vehicle;

[0094] For example, when the TTC is greater than a first preset time (e.g., 1s) and less than a second preset time (e.g., 2s), it is considered that the distance between the door and the obstacle is too small. At this time, the user needs to be reminded that there is a risk of collision outside the door and needs to pay attention.

[0095] 3. If the duration range is greater than or equal to the second preset duration and less than the third preset duration, the prompt strategy is that there is an obstacle and the door speed is reduced;

[0096] For example, when the TTC is greater than a second preset time (e.g., 2s) and less than a third preset time (e.g., 3s), it is considered that an obstacle has collided with the door, and the door opening rate is reduced to alert the user.

[0097] 4. If the duration range is greater than the third preset duration, the prompt strategy is that the obstacle is far away and the door opening amplitude is less than the first angle value, and the first angle value is determined based on the first posture information.

[0098] For example, when TTC is greater than a third preset time length (e.g., 3s), it is considered that an obstacle exists but is relatively far away. However, in order to avoid a collision, the angle value when the door collides with the obstacle is determined based on the first posture information of the obstacle, as the first angle value, and the door is controlled to open at an angle less than the first angle value.

[0099] It should be understood that in actual vehicle driving scenarios, after the vehicle stops running, the initial determination time of TTC can be within any time range, and as the door is opened, the TTC becomes smaller; it is also possible that only the TTC determined initially is the final TTC, and the corresponding strategy is executed.

[0100] Step 2: Determine the target prompt strategy corresponding to the target duration range as prompt information.

[0101] In this implementation, after determining the target duration range of the TTC, the target prompt strategy corresponding to the target duration range is determined as prompt information, and the doors, audio and other units are controlled based on the prompt information.

[0102] The anti-collision method for a vehicle door provided in an embodiment of the present invention determines the TTC between the vehicle door and the obstacle according to the second posture information and the first posture information of the vehicle door, and determines the prompt information according to the TTC. The technical solution of the present invention can better remind the user of the collision risk when opening the door based on the TTC, thereby providing a better user experience.

[0103] Based on the above embodiments, Figure 4The schematic diagram of the execution structure of the anti-collision method for vehicle doors provided by the present invention is shown as follows: Figure 4 As shown, the present invention is further described:

[0104] Step 1: The vehicle sends electromagnetic waves. When the electromagnetic waves touch an obstacle, the vehicle receives the reflected electromagnetic waves.

[0105] Step 2: Receive electromagnetic waves;

[0106] Step 3: Signal processing;

[0107] These include: 3D-FFT (obtaining the distance, angle, and speed of the target point), incoherent accumulation (averaging the amplitude of multiple receiving channels), and CFAR (cross-sectional false alarm detection) (setting thresholds to eliminate noise points);

[0108] Step 4: Data processing;

[0109] Includes: coordinate conversion, obtaining obstacle point cloud;

[0110] 1. When the vehicle is stationary (static obstacle detection): denoising (eliminating invalid points based on actual calibration), clustering (clustering similar point clouds in a single frame to form targets), static and dynamic separation (distinguishing static and dynamic targets by speed), tracking (filtering, linking similar targets in multiple frames to form trajectories); then output the real-time coordinates of the obstacle.

[0111] 2. (The core point of the present invention) When the vehicle is driving at a low speed (dynamic scanning of obstacles): remove points (eliminate point clouds outside the requirements), extract target point clouds (extract point clouds that meet a certain width and density), calculate relative position (calculate the target relative displacement through the gear speed), update point cloud boundary parameters (update point cloud boundary parameters according to relative displacement); then output the obstacle range when parking;

[0112] Step 5: Alarm module;

[0113] Calculate TTC (combined with door speed obstacle distance calculation), parameter calibration (set alarm threshold through scene calibration), identification judgment (TTC is less than threshold);

[0114] Step 6: Send alarm information and collision angle.

[0115] Based on the prior art and the present invention, the following effects are achieved:

[0116] Technical effect 1: If the obstacle is located in the blind spot of the door radar FOV, the obstacle cannot be detected by static detection, but through the dynamic scanning method of the present invention, even if the obstacle moves to the blind spot, it can still participate in the anti-collision alarm;

[0117] Technical effect 2: At special angles and positions, some obstacles have weak electromagnetic wave signal reflection, and static detection cannot effectively identify the obstacle target in time, resulting in missed reports or untimely alarms. This problem can be solved by dynamic scanning;

[0118] Technical effect 3: For some strongly reflective obstacles, only static detection and collision avoidance functions are relied upon. As the number of door openings increases, there is a very small probability that occasional collision avoidance failure will occur. The collision avoidance stability and stopping distance consistency are difficult to guarantee. The dynamic scanning method can ensure that the collision avoidance success rate is 100% after a successful scan, and the stopping distance consistency can also be effectively guaranteed.

[0119] The implementation principle of the execution architecture of the vehicle door anti-collision method provided in the embodiment of the present invention is similar to that of the above embodiment and will not be repeated here.

[0120] Figure 5 FIG. 2 shows a schematic diagram of the structure of an embodiment of the anti-collision device for a vehicle door provided by the present invention. Figure 5 As shown, the device comprises:

[0121] The acquisition module 51 is used to acquire the first point cloud information of the environment where the vehicle is located and the operation information of the vehicle in real time when the operation of the vehicle is detected;

[0122] The processing module 52 is used to determine the first pose information of the point cloud corresponding to the obstacle relative to the vehicle according to the first point cloud information and the operation information of the vehicle;

[0123] The determination module 53 is used to determine the prompt information when it is detected that the vehicle stops running and the first posture information is located in the opening trajectory range of the door.

[0124] In one or more embodiments, the processing module 52 is specifically configured to:

[0125] According to the first point cloud information and a preset first filtering condition, the first point cloud information is filtered to obtain second point cloud information corresponding to the obstacle, wherein the first filtering condition is: removing point clouds whose point cloud density or point cloud number is less than a first threshold value, and removing point clouds whose point cloud density or point cloud number is less than a first preset distance in a second direction, wherein the second direction is a direction parallel to a horizontal direction corresponding to the door in a closed state;

[0126] According to the second point cloud information and the operation information, the first position information of the point cloud corresponding to the obstacle relative to the vehicle is determined.

[0127] In one or more embodiments, before determining the first pose information of the point cloud corresponding to the obstacle relative to the vehicle based on the first point cloud information and the operation information of the vehicle, the processing module 52 is further configured to:

[0128] Based on a preset second filtering condition, the first point cloud information is filtered, and the second filtering condition is: removing point clouds with a signal-to-noise ratio less than a second threshold, and removing point clouds outside a first preset range, the first preset range being the vertical upper edge and lower edge of the vehicle door, and a second preset distance in a first direction, and the first direction being a direction perpendicular to the horizontal direction corresponding to the vehicle door in a closed state.

[0129] In one or more embodiments, the processing module 52 is further configured to:

[0130] When the preset conditions are met, clear the first pose information, the preset conditions include any of the following:

[0131] The speed information of the vehicle is greater than a third threshold;

[0132] When the distance information of the vehicle running is greater than the third preset distance, no new second point cloud information is detected;

[0133] No second point cloud information is detected within a preset time period.

[0134] In one or more embodiments, the determination module 53 determines the prompt information, specifically for:

[0135] Determine the collision time TTC between the door and the obstacle according to the second posture information and the first posture information of the door;

[0136] According to TTC, determine the prompt information.

[0137] In one or more embodiments, the determination module 53 determines the prompt information according to the TTC, specifically for:

[0138] Determine the target time range of the TTC in a preset mapping relationship, the mapping relationship including: the correspondence between different time ranges and different prompt strategies;

[0139] The target prompt strategy corresponding to the target duration range is determined as prompt information.

[0140] In one or more embodiments, the mapping relationship includes at least one of the following:

[0141] If the duration range is less than the first preset duration, the prompt strategy is that the obstacle is too close and stop opening the door;

[0142] If the duration range is greater than or equal to the first preset duration and less than the second preset duration, the prompt strategy is that the obstacle is close and please observe the environment outside the vehicle;

[0143] If the duration range is greater than or equal to the second preset duration and less than the third preset duration, the prompt strategy is that there is an obstacle and the door speed is reduced;

[0144] If the duration range is greater than the third preset duration, the prompt strategy is that the obstacle is far away and the door opening amplitude is less than the first angle value, and the first angle value is determined based on the first posture information.

[0145] In one or more embodiments, the acquisition module 51 is specifically configured to:

[0146] In response to the user turning on the anti-collision function, first point cloud information of the vehicle's environment and vehicle operation information are acquired in real time;

[0147] Correspondingly, the acquisition module 51 is also used for:

[0148] In response to the user turning off the anti-collision function, the acquisition of the first point cloud information of the environment in which the vehicle is located and the operation information of the vehicle is stopped.

[0149] In one or more embodiments, the processing module 52 is further configured to:

[0150] The first position information is recorded in the non-volatile storage medium of the vehicle.

[0151] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, all or part of them can be integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements. They can also be implemented in the form of hardware. Some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. In addition, all or part of these modules can be integrated together or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0152] From the above, it can be seen that the anti-collision device for the vehicle door provided in the embodiment of the present invention can obtain the point cloud information of the environment in which the vehicle is running in real time, and based on the vehicle's running information and point cloud information, obtain the posture of the vehicle door that may touch the obstacle when opened, and when the posture intersects the range of the door opening, it can be considered that there is a collision risk, so that when the vehicle is parked, the user can be notified in time to avoid the door opening and causing a collision.

[0153] Figure 6 FIG. 1 shows a schematic diagram of a structure of an embodiment of a vehicle provided by the present invention, such as Figure 6 As shown, the vehicle may include: a processor 62 , a communications interface 64 , a memory 66 , and a communications bus 68 .

[0154] The processor 62, the communication interface 64, and the memory 66 communicate with each other via the communication bus 68. The communication interface 64 is used to communicate with other devices such as a client or other server network elements. The processor 62 is used to execute the program 60, and specifically, can execute the relevant steps in the above-mentioned embodiment of the anti-collision method for a vehicle door.

[0155] Specifically, the program 60 may include program codes including computer-executable instructions.

[0156] The processor 62 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the vehicle may be processors of the same type, such as one or more CPUs. They may also be processors of different types, such as one or more CPUs and one or more ASICs.

[0157] The memory 66 is used to store the program 60. The memory 66 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0158] The program 60 can be specifically called by the processor 62 to enable the vehicle to perform the following operations:

[0159] When detecting the operation of the vehicle, obtaining in real time first point cloud information of the environment where the vehicle is located and the operation information of the vehicle;

[0160] Determine, based on the first point cloud information and the operation information of the vehicle, the first pose information of the point cloud corresponding to the obstacle relative to the vehicle;

[0161] When it is detected that the vehicle stops running and the first position information is located within the opening trajectory range of the door, prompt information is determined.

[0162] In one or more embodiments, determining the first pose information of the point cloud corresponding to the obstacle relative to the vehicle according to the operation information of the vehicle and the first point cloud information includes:

[0163] According to the first point cloud information and a preset first filtering condition, the first point cloud information is filtered to obtain second point cloud information corresponding to the obstacle, wherein the first filtering condition is: removing point clouds whose point cloud density or point cloud number is less than a first threshold value, and removing point clouds whose point cloud density or point cloud number is less than a first preset distance in a second direction, wherein the second direction is a direction parallel to a horizontal direction corresponding to the door in a closed state;

[0164] Determine the first pose information of the point cloud corresponding to the obstacle relative to the vehicle according to the second point cloud information and the operation information.

[0165] In one or more embodiments, before determining the first pose information of the point cloud corresponding to the obstacle relative to the vehicle according to the first point cloud information and the operation information of the vehicle, the following is further performed:

[0166] The first point cloud information is filtered based on a preset second filtering condition, wherein the second filtering condition is: removing point clouds with a signal-to-noise ratio less than a second threshold, and removing point clouds outside a first preset range, wherein the first preset range is the vertical upper edge, lower edge, and a second preset distance in a first direction of the vehicle door, and the first direction is a direction perpendicular to the horizontal direction corresponding to the vehicle door in a closed state.

[0167] In one or more embodiments, the following is also performed:

[0168] When a preset condition is met, the first posture information is cleared, and the preset condition includes any one of the following:

[0169] The speed information of the vehicle is greater than a third threshold;

[0170] When the distance information of the vehicle running is greater than the third preset distance, no new second point cloud information is detected;

[0171] The second point cloud information is not detected within a preset time period.

[0172] In one or more embodiments, the determining the prompt information includes:

[0173] Determine a collision time TTC between the vehicle door and the obstacle according to the second position information of the vehicle door and the first position information;

[0174] The prompt information is determined according to the TTC.

[0175] In one or more embodiments, determining the prompt information according to the TTC includes:

[0176] Determine the target duration range of the TTC in a preset mapping relationship, wherein the mapping relationship includes: a correspondence between different duration ranges and different prompt strategies;

[0177] The target prompt strategy corresponding to the target duration range is determined as the prompt information.

[0178] In one or more embodiments, the mapping relationship includes at least one of the following:

[0179] If the time range is less than the first preset time, the prompt strategy is that the obstacle is too close and stop opening the door;

[0180] If the duration range is greater than or equal to the first preset duration and less than the second preset duration, the prompt strategy is that the obstacle is close and please observe the environment outside the vehicle;

[0181] If the duration range is greater than or equal to the second preset duration and less than the third preset duration, the prompt strategy is that there is an obstacle and the door speed is reduced;

[0182] If the duration range is greater than the third preset duration, the prompt strategy is that the obstacle is far away and the door opening amplitude is less than the first angle value, and the first angle value is determined based on the first posture information.

[0183] In one or more embodiments, obtaining first point cloud information in the environment of the vehicle and operation information of the vehicle in real time includes:

[0184] In response to a user turning on the anti-collision function, acquiring in real time first point cloud information of the environment in which the vehicle is located and operation information of the vehicle;

[0185] Accordingly, also execute:

[0186] In response to the user turning off the anti-collision function, the acquisition of the first point cloud information in the environment of the vehicle and the operation information of the vehicle is stopped.

[0187] In one or more embodiments, the following is also performed:

[0188] The first position information is recorded in a non-volatile storage medium of the vehicle.

[0189] From the above, it can be seen that the vehicle provided by the embodiment of the present invention can obtain point cloud information of the environment in which the vehicle is running in real time, and based on the vehicle's operating information and point cloud information, obtain the posture of the door that may touch an obstacle when opened, and when the posture intersects the range of the door opening, it can be considered that there is a collision risk, so that when the vehicle stops, the user can be notified in time to avoid a collision of the door caused by the door opening.

[0190] An embodiment of the present invention provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction is executed on the anti-collision device of the vehicle door / vehicle, the anti-collision device of the vehicle door / vehicle executes the anti-collision method for the vehicle door in any of the above-mentioned method embodiments.

[0191] The executable instructions may be specifically used to enable the anti-collision device of the door / vehicle to perform the following operations:

[0192] When detecting the operation of the vehicle, obtaining in real time first point cloud information of the environment where the vehicle is located and the operation information of the vehicle;

[0193] Determine, based on the first point cloud information and the operation information of the vehicle, the first pose information of the point cloud corresponding to the obstacle relative to the vehicle;

[0194] When it is detected that the vehicle stops running and the first position information is located within the opening trajectory range of the door, prompt information is determined.

[0195] In one or more embodiments, determining the first pose information of the point cloud corresponding to the obstacle relative to the vehicle according to the operation information of the vehicle and the first point cloud information includes:

[0196] According to the first point cloud information and a preset first filtering condition, the first point cloud information is filtered to obtain second point cloud information corresponding to the obstacle, wherein the first filtering condition is: removing point clouds whose point cloud density or point cloud number is less than a first threshold value, and removing point clouds whose point cloud density or point cloud number is less than a first preset distance in a second direction, wherein the second direction is a direction parallel to a horizontal direction corresponding to the door in a closed state;

[0197] Determine the first pose information of the point cloud corresponding to the obstacle relative to the vehicle according to the second point cloud information and the operation information.

[0198] In one or more embodiments, before determining the first pose information of the point cloud corresponding to the obstacle relative to the vehicle according to the first point cloud information and the operation information of the vehicle, the following is further performed:

[0199] The first point cloud information is filtered based on a preset second filtering condition, wherein the second filtering condition is: removing point clouds with a signal-to-noise ratio less than a second threshold, and removing point clouds outside a first preset range, wherein the first preset range is the vertical upper edge, lower edge, and a second preset distance in a first direction of the vehicle door, and the first direction is a direction perpendicular to the horizontal direction corresponding to the vehicle door in a closed state.

[0200] In one or more embodiments, the following is also performed:

[0201] When a preset condition is met, the first posture information is cleared, and the preset condition includes any one of the following:

[0202] The speed information of the vehicle is greater than a third threshold;

[0203] When the distance information of the vehicle running is greater than the third preset distance, no new second point cloud information is detected;

[0204] The second point cloud information is not detected within a preset time period.

[0205] In one or more embodiments, the determining the prompt information includes:

[0206] Determine a collision time TTC between the vehicle door and the obstacle according to the second position information of the vehicle door and the first position information;

[0207] The prompt information is determined according to the TTC.

[0208] In one or more embodiments, determining the prompt information according to the TTC includes:

[0209] Determine the target duration range of the TTC in a preset mapping relationship, wherein the mapping relationship includes: a correspondence between different duration ranges and different prompt strategies;

[0210] The target prompt strategy corresponding to the target duration range is determined as the prompt information.

[0211] In one or more embodiments, the mapping relationship includes at least one of the following:

[0212] If the time range is less than the first preset time, the prompt strategy is that the obstacle is too close and stop opening the door;

[0213] If the duration range is greater than or equal to the first preset duration and less than the second preset duration, the prompt strategy is that the obstacle is close and please observe the environment outside the vehicle;

[0214] If the duration range is greater than or equal to the second preset duration and less than the third preset duration, the prompt strategy is that there is an obstacle and the door speed is reduced;

[0215] If the duration range is greater than the third preset duration, the prompt strategy is that the obstacle is far away and the door opening amplitude is less than the first angle value, and the first angle value is determined based on the first posture information.

[0216] In one or more embodiments, obtaining first point cloud information in the environment of the vehicle and operation information of the vehicle in real time includes:

[0217] In response to a user turning on the anti-collision function, acquiring in real time first point cloud information of the environment in which the vehicle is located and operation information of the vehicle;

[0218] Accordingly, also execute:

[0219] In response to the user turning off the anti-collision function, the acquisition of the first point cloud information in the environment of the vehicle and the operation information of the vehicle is stopped.

[0220] In one or more embodiments, the following is also performed:

[0221] The first position information is recorded in a non-volatile storage medium of the vehicle.

[0222] From the above, it can be seen that the anti-collision device for the vehicle door / vehicle provided in the embodiment of the present invention can obtain the point cloud information of the environment in which the vehicle is running in real time, and based on the vehicle's operating information and point cloud information, obtain the posture of the vehicle door that may touch the obstacle when opened, and when the posture intersects the range of the door opening, it can be considered that there is a collision risk, so that when the vehicle is parked, the user can be notified in time to avoid the door colliding due to the door opening.

[0223] An embodiment of the present invention provides a computer program product, including a computer program, which implements the operation of the above-mentioned vehicle door anti-collision method when executed by a processor.

[0224] Its implementation principle and technical effects are shown in the above disclosure.

[0225] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0226] The methods disclosed in the various method embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments.

[0227] The features disclosed in the various product embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new product embodiments.

[0228] The features disclosed in the various method or device embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0229] It should be noted that the computer-readable storage medium may be a ROM, a PROM, an EPROM, an EEPROM, an EEPROM, an FRAM, a CD-ROM, or a CD-ROM. It may also be a variety of vehicles including one or any combination of the above memories.

[0230] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0231] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0232] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus necessary general hardware nodes, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, vehicle-mounted terminal or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0233] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices, apparatuses, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0234] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0235] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The algorithm or display provided herein of the steps of the functions specified in the blocks or multiple blocks is not inherently related to any specific computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any specific programming language.

[0236] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A method for preventing a vehicle door from collision, characterized in that: The method comprises: When detecting the operation of the vehicle, obtaining in real time first point cloud information of the environment where the vehicle is located and the operation information of the vehicle; Determine, based on the first point cloud information and the operation information of the vehicle, the first pose information of the point cloud corresponding to the obstacle relative to the vehicle; When it is detected that the vehicle stops running and the first position information is located within the opening trajectory range of the door, prompt information is determined.

2. The method according to claim 1, characterized in that Determining the first position information of the point cloud corresponding to the obstacle relative to the vehicle according to the operation information of the vehicle and the first point cloud information includes: According to the first point cloud information and a preset first filtering condition, the first point cloud information is filtered to obtain second point cloud information corresponding to the obstacle, wherein the first filtering condition is: removing point clouds whose point cloud density or point cloud number is less than a first threshold value, and removing point clouds whose point cloud density or point cloud number is less than a first preset distance in a second direction, wherein the second direction is a direction parallel to a horizontal direction corresponding to the door in a closed state; Determine the first pose information of the point cloud corresponding to the obstacle relative to the vehicle according to the second point cloud information and the operation information.

3. The method according to claim 1 or 2, characterized in that: Before determining the first pose information of the point cloud corresponding to the obstacle relative to the vehicle according to the first point cloud information and the operation information of the vehicle, the method further includes: The first point cloud information is filtered based on a preset second filtering condition, wherein the second filtering condition is: removing point clouds with a signal-to-noise ratio less than a second threshold, and removing point clouds outside a first preset range, wherein the first preset range is the vertical upper edge, lower edge, and a second preset distance in a first direction of the vehicle door, and the first direction is a direction perpendicular to the horizontal direction corresponding to the vehicle door in a closed state.

4. The method according to claim 2, characterized in that: The method further comprises: When a preset condition is met, the first posture information is cleared, and the preset condition includes any one of the following: The speed information of the vehicle is greater than a third threshold; When the distance information of the vehicle running is greater than the third preset distance, no new second point cloud information is detected; The second point cloud information is not detected within a preset time period.

5. The method according to claim 1 or 2, characterized in that: The confirmation prompt information includes: Determine a collision time TTC between the vehicle door and the obstacle according to the second position information of the vehicle door and the first position information; The prompt information is determined according to the TTC.

6. The method according to claim 5, characterized in that The determining the prompt information according to the TTC includes: Determine the target duration range of the TTC in a preset mapping relationship, wherein the mapping relationship includes: a correspondence between different duration ranges and different prompt strategies; The target prompt strategy corresponding to the target duration range is determined as the prompt information.

7. The method according to claim 6, characterized in that The mapping relationship includes at least one of the following: If the time range is less than the first preset time, the prompt strategy is that the obstacle is too close and stop opening the door; If the duration range is greater than or equal to the first preset duration and less than the second preset duration, the prompt strategy is that the obstacle is close and please observe the environment outside the vehicle; If the duration range is greater than or equal to the second preset duration and less than the third preset duration, the prompt strategy is that there is an obstacle and the door speed is reduced; If the duration range is greater than the third preset duration, the prompt strategy is that the obstacle is far away and the door opening amplitude is less than the first angle value, and the first angle value is determined based on the first posture information.

8. The method according to claim 1 or 2, characterized in that: The real-time acquisition of first point cloud information of the environment in which the vehicle is located and the operation information of the vehicle includes: In response to a user turning on the anti-collision function, acquiring in real time first point cloud information of the environment in which the vehicle is located and operation information of the vehicle; Accordingly, the method further includes: In response to the user turning off the anti-collision function, the acquisition of the first point cloud information in the environment of the vehicle and the operation information of the vehicle is stopped.

9. An anti-collision device for a vehicle door, characterized in that: The device comprises: An acquisition module, used for acquiring, in real time, first point cloud information of the environment in which the vehicle is located and operation information of the vehicle when the operation of the vehicle is detected; A processing module, configured to determine first pose information of a point cloud corresponding to an obstacle relative to the vehicle based on the first point cloud information and the operation information of the vehicle; A determination module is used to determine prompt information when it is detected that the vehicle stops running and the first posture information is within the opening trajectory range of the door.

10. A vehicle, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the vehicle door anti-collision method as described in any one of claims 1-8.

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