Vehicle door control method and vehicle

Abstract

The invention discloses a vehicle door control method and a vehicle, and belongs to the technical field of vehicles. According to the technical scheme, in response to the opening instruction of the target sliding vehicle door of the target vehicle, the vehicle door ground lighting lamp of the target sliding vehicle door is started. When the target sliding vehicle door is opened, the vehicle door ground irradiation lamp is controlled to carry out pattern projection on the target projection position, namely, pattern projection is carried out on the projection of the outline of the outermost side on the ground when the target sliding vehicle door is opened, so that a target pattern is formed, and the position of the outermost side of the target sliding vehicle door can be indicated through the target pattern. And the target image of the target pattern is obtained, under the condition that the target image meets the preset condition, the target sliding vehicle door is controlled to be opened, and the probability that the target sliding vehicle door collides with or scratches the obstacle during opening is low.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a door control method and a vehicle in the field of vehicle technology. Background Art

[0002] With the rapid development of the automobile industry, the types and functions of vehicles are becoming increasingly diverse. Among them, vehicles with through-type sliding double doors are widely welcomed by consumers because of their unique door opening method and spacious interior space.

[0003] However, when opening the sliding doors of such vehicles, they need to first move outward a certain distance and then slide open. During this process, there is a risk of the sliding doors colliding with external obstacles, which in turn affects the normal opening of the sliding doors and even damages the sliding doors.

[0004] Therefore, how to reduce the probability of sliding doors colliding with external obstacles when opening is a hot topic of research. Summary of the invention

[0005] The embodiment of the present application provides a door control method and a vehicle, which can reduce the probability of collision between a sliding door and an external obstacle when the sliding door is opened. The technical solution is as follows:

[0006] In one aspect, a method for controlling a vehicle door is provided, the method comprising:

[0007] In response to an opening instruction for a target sliding door of a target vehicle, a door ground lamp of the target sliding door is activated, the target vehicle is equipped with a through-type sliding double-door, and the target sliding door belongs to the through-type sliding double-door;

[0008] Controlling the door ground lamp of the target sliding door to project a pattern toward a target projection position to form a target pattern and obtain a target image of the target pattern, wherein the target projection position is the outermost side of a vertical projection of the target sliding door on the ground when the target sliding door is opened;

[0009] When the target image of the target pattern meets a preset condition, the target sliding door is controlled to open.

[0010] In a possible implementation manner, controlling the door floor lamp of the target sliding door to project a pattern toward a target projection position includes:

[0011] Acquire a target projection angle and a target projection pattern of the door floor lamp, wherein the target projection angle is a projection angle corresponding to the target projection position;

[0012] The door floor lamp is controlled to rotate to the target projection angle and project the target projection pattern.

[0013] In a possible implementation manner, before controlling the door floor lamp to rotate the target projection angle and project the target projection pattern, the method further includes:

[0014] Acquire the ambient brightness of the environment in which the target vehicle is located; and determine the projection brightness of the door ground lamp based on the ambient brightness;

[0015] The controlling the door floor lamp to rotate the target projection angle and project the target projection pattern comprises:

[0016] The door floor lamp is controlled to rotate the target projection angle and project the target projection pattern at the projection brightness.

[0017] In a possible implementation manner, when the target image of the target pattern meets a preset condition, before controlling the target sliding door to open, the method further includes:

[0018] The target image of the target pattern is processed to determine whether the target image meets the preset condition.

[0019] In a possible implementation manner, processing the target image of the target pattern to determine whether the target image meets the preset condition includes:

[0020] Performing image recognition on the target image to determine projection position information of the target pattern in the target image, wherein the projection position information is used to indicate whether there is a target object at the target projection position, wherein the target object is an object that can prevent the target sliding door from opening; determining whether the target image meets the preset condition based on the projection position information of the target pattern in the target image;

[0021] Alternatively, a pattern distortion degree of the target pattern in the target image is determined; and based on the pattern distortion degree of the target pattern in the target image, whether the target image meets the preset condition is determined.

[0022] In a possible implementation manner, determining whether the target image meets the preset condition based on the projection position information of the target pattern in the target image includes:

[0023] In a case where the projection position information indicates that a target object exists at the target projection position, determining that the target image does not meet the preset condition;

[0024] In a case where the projection position information indicates that there is no target object at the target projection position, it is determined that the target image meets the preset condition.

[0025] In a possible implementation, determining whether the target image meets the preset condition based on the pattern distortion degree of the target pattern in the target image includes:

[0026] When the pattern distortion degree of the target pattern in the target image is greater than or equal to the distortion degree threshold, determining that the target image does not meet the preset condition;

[0027] When the pattern distortion degree of the target pattern in the target image is less than the distortion degree threshold, it is determined that the target image meets the preset condition.

[0028] In a possible implementation manner, after controlling the door floor lamp of the target sliding door to project a pattern toward the target projection position, the method further includes:

[0029] When the target image of the target pattern does not meet the preset condition, controlling the target sliding door to remain closed and performing a door opening collision alarm, wherein the door opening collision alarm is used to indicate that a collision will occur when the target sliding door is opened;

[0030] Alternatively, when the target image of the target pattern does not meet the preset condition, the target sliding door is controlled to remain closed and a first reminder message is broadcasted, where the first reminder message is used to remind the vehicle to park again;

[0031] Alternatively, when the target image of the target pattern does not meet the preset condition, the target sliding door is controlled to remain closed and a second reminder message is broadcasted, wherein the second reminder message is used to prompt an attempt to open the other side door of the target vehicle.

[0032] In a possible implementation, the method further includes:

[0033] During the process of the target sliding door being opened, in response to a target voice command, controlling the target sliding door to stop opening;

[0034] Alternatively, during the process of opening the target sliding door, controlling the rearview mirror on the target sliding door to be folded;

[0035] Alternatively, when the door ground light of the target sliding door cannot be started, a third reminder message is broadcasted, wherein the third reminder message is used to prompt that there is a risk of collision when opening the target sliding door.

[0036] In one aspect, a vehicle door control device is provided, the device comprising:

[0037] a ground lamp activation module, for activating a door ground lamp of a target sliding door of a target vehicle in response to an opening instruction of the target sliding door, wherein the target vehicle is equipped with a through-type sliding double-door, and the target sliding door belongs to the through-type sliding double-door;

[0038] a pattern projection module, used to control the door ground lamp of the target sliding door to project a pattern to a target projection position to form a target pattern and obtain a target image of the target pattern, wherein the target projection position is the outermost side of the vertical projection of the target sliding door on the ground when the target sliding door is opened;

[0039] The door control module is used to control the target sliding door to open when the target image of the target pattern meets the preset conditions.

[0040] In a possible implementation, the pattern projection module is used to obtain the target projection angle of the door pavement light and the target projection pattern, where the target projection angle is a projection angle corresponding to the target projection position; and control the door pavement light to rotate to the target projection angle and project the target projection pattern.

[0041] In a possible implementation, the device further includes:

[0042] A projection brightness determination module, used to obtain the ambient brightness of the environment in which the target vehicle is located; based on the ambient brightness, determine the projection brightness of the door ground lamp;

[0043] The pattern projection module is used to control the door floor lamp to rotate the target projection angle and project the target projection pattern at the projection brightness.

[0044] In a possible implementation, the device further includes:

[0045] The condition judgment module is used to process the target image of the target pattern to determine whether the target image meets the preset condition.

[0046] In a possible implementation, the condition judgment module is used to perform image recognition on the target image to determine projection position information of the target pattern in the target image, the projection position information being used to indicate whether there is a target object at the target projection position, the target object being an object that can hinder the opening of the target sliding door; based on the projection position information of the target pattern in the target image, determine whether the target image meets the preset condition; or determine the degree of pattern distortion of the target pattern in the target image; based on the degree of pattern distortion of the target pattern in the target image, determine whether the target image meets the preset condition.

[0047] In a possible implementation, the condition judgment module is used to determine that the target image does not meet the preset condition when the projection position information indicates that there is a target object at the target projection position; and to determine that the target image meets the preset condition when the projection position information indicates that there is no target object at the target projection position.

[0048] In a possible implementation, the condition judgment module is used to determine that the target image does not meet the preset condition when the pattern distortion degree of the target pattern in the target image is greater than or equal to the distortion degree threshold; and to determine that the target image meets the preset condition when the pattern distortion degree of the target pattern in the target image is less than the distortion degree threshold.

[0049] In a possible embodiment, the device also includes an alarm and reminder module, which is used to control the target sliding door to remain closed and issue a door opening collision alarm when the target image of the target pattern does not meet the preset conditions, and the door opening collision alarm is used to indicate that a collision will occur when the target sliding door is opened; or, when the target image of the target pattern does not meet the preset conditions, control the target sliding door to remain closed and broadcast a first reminder message, and the first reminder message is used to remind to re-park; or, when the target image of the target pattern does not meet the preset conditions, control the target sliding door to remain closed and broadcast a second reminder message, and the second reminder message is used to prompt an attempt to open the other side door of the target vehicle.

[0050] In a possible implementation, the door control module is also used to control the target sliding door to stop opening in response to a target voice command during the opening of the target sliding door; or, during the opening of the target sliding door, control the rearview mirror on the target sliding door to fold; or, when the door ground light of the target sliding door cannot be started, broadcast a third reminder message, wherein the third reminder message is used to prompt that there is a risk of collision when opening the target sliding door.

[0051] On the one hand, a vehicle is provided, comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the program code is loaded and executed by the one or more processors to implement the operations performed by the vehicle door control method.

[0052] On the one hand, a computer-readable storage medium is provided, in which at least one program code is stored, and the program code is loaded and executed by a processor to implement the operations performed by the vehicle door control method.

[0053] Through the technical solution provided by the embodiment of the present application, in response to the opening instruction of the target sliding door of the target vehicle, the door ground lamp of the target sliding door is started. The door ground lamp is controlled to project a pattern to the target projection position, that is, to project a pattern to the projection of the outermost contour of the target sliding door when it is opened on the ground, so as to form a target pattern, and the target pattern can indicate the position of the outermost side of the target sliding door. The target image of the target pattern is obtained, and when the target image meets the preset conditions, the target sliding door is controlled to open, and the probability of the target sliding door colliding or scratching with an obstacle when it is opened is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 is a schematic diagram of a target vehicle provided in an embodiment of the present application;

[0055] Figure 2 is a schematic diagram of an implementation environment of a vehicle door control method provided in an embodiment of the present application;

[0056] Figure 3 is a flow chart of a vehicle door control method provided by an embodiment of the present application;

[0057] Figure 4 is a flow chart of another vehicle door control method provided by an embodiment of the present application;

[0058] Figure 5 is a schematic diagram of a target sliding door provided in an embodiment of the present application;

[0059] Figure 6 is a structural schematic diagram of a vehicle door control device provided in an embodiment of the present application;

[0060] Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] The following will be combined with the accompanying drawings to clearly and thoroughly describe the technical solutions in this application. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0062] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features reflected. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0063] In order to illustrate the technical solution provided by the embodiments of the present application, some terms involved in the embodiments of the present application are first explained.

[0064] Through-type sliding bi-parting door: Through-type sliding bi-parting door is a door design that combines rotation and sliding motion. It is usually used in vehicles that require a larger space. Vehicles with through-type sliding bi-parting doors do not have a fixed B-pillar. The B-pillar is inside the door and will slide with the sliding of the door. Since through-type sliding bi-parting doors need to move a certain distance to the outside when opening, they are also called outward swinging bi-parting doors. This door design allows the two doors to move in different directions, thus achieving the effect of bi-parting doors. For example, see Figure 1 The vehicle 100 includes a passenger door 101 and a rear door 102, which form a through-type sliding double door. When the doors of the vehicle 100 are fully opened, the passenger door 101 can move forward and the rear door 102 can move backward, thereby forming a larger boarding and alighting space for passengers to board and alight.

[0065] Door puddle lights: Door puddle lights are lighting devices installed at the bottom of vehicle doors, mainly used to provide additional visibility at night or in low visibility conditions. Its functions include reminding the driver to check whether the door is closed, improving the visibility of pedestrians and non-motor vehicles, and providing parking assistance. In the embodiment of the present application, since the sliding door is a through-type sliding double door, the door puddle lights of the sliding door are not blocked. When the sliding door is not opened, the door puddle lights of the sliding door can also project patterns onto the ground. Therefore, the technical solution provided in the embodiment of the present application utilizes the door puddle lights of the sliding door to realize the opening control of the sliding door.

[0066] In the related art, in a vehicle with a through-type sliding double door, when the sliding door of a vehicle with a through-type sliding double door is opened, the sliding door will first move outward and then slide to both sides. During the opening process of the sliding door, there is a risk of collision or scratching with surrounding obstacles. Although vehicles are usually equipped with radars to detect obstacles, the radar also has a detection blind spot, and there is still a risk of collision or scratching with obstacles during the opening process of the sliding door.

[0067] The implementation environment of the embodiment of the present application is introduced below. Figure 2The implementation environment of the vehicle door control method provided in the embodiment of the present application includes a vehicle terminal 201, a door ground light 202 and a door controller 203.

[0068] The vehicle-mounted terminal 201 is a terminal installed on the vehicle, and is used to obtain and process vehicle-related data. The vehicle-mounted terminal 201 is connected to the door ground lamp 202 and the door controller 203 via CAN. The vehicle-mounted terminal 201 can send a pattern projection instruction to the door ground lamp 202, thereby controlling the pattern and projection position projected by the door ground lamp 202. The vehicle-mounted terminal 201 can also send a door control instruction to the door controller 203, thereby controlling the vehicle door through the door controller 203, that is, controlling the vehicle door to be opened or closed.

[0069] After introducing the implementation environment of the embodiment of the present application, the application scenario of the technical solution provided by the embodiment of the present application is introduced below. The technical solution provided by the embodiment of the present application can be applied to vehicles equipped with through-type sliding double doors. By adopting the technical solution provided by the embodiment of the present application, the door ground light projection pattern can be used to judge the safety of door opening before opening the sliding door, thereby reducing the probability of collision or scratching with obstacles when the sliding door is opened, and improving the safety of the sliding door when it is opened.

[0070] After introducing the implementation environment and application scenarios of the embodiments of the present application, the technical solutions provided by the embodiments of the present application are introduced below. Figure 3 Taking the execution subject as a vehicle-mounted terminal as an example, the method includes the following steps.

[0071] 301. In response to an opening instruction for a target sliding door of a target vehicle, the vehicle-mounted terminal activates a door ground light of the target sliding door, the target vehicle is equipped with a through-type sliding double door, and the target sliding door belongs to the through-type sliding double door.

[0072] Wherein, the target vehicle is a vehicle equipped with through-type sliding double doors. In the embodiment of the present application, the through-type sliding double doors are electric doors, that is, the through-type sliding double doors can be opened and closed under the drive of an electric motor. In some embodiments, both sides of the target vehicle are through-type sliding double doors, or one side of the target vehicle is a through-type sliding double door, and the other side is a combination of an electric suction door and an ordinary sliding door. The embodiment of the present application does not limit this. The target sliding door is one of the through-type sliding double doors, that is, the target sliding door is the front door or the rear door in the through-type sliding double doors. The opening instruction for the target sliding door is used to instruct the opening of the target sliding door. The opening instruction can be automatically triggered or manually triggered. The embodiment of the present application does not limit this. The door ground light of the target sliding door is installed at the bottom or side of the target sliding door. When the target sliding door is not opened, the door ground light can also project a pattern onto the ground.

[0073] 302. The vehicle-mounted terminal controls the door ground light of the target sliding door to project a pattern to a target projection position to form a target pattern. The target projection position is the outermost side of the vertical projection of the target sliding door on the ground when the target sliding door is opened.

[0074] Among them, the vertical projection on the ground when the target sliding door is opened is the projection formed by the light irradiating the ground from directly above the target sliding door after the target sliding door moves outward. The outermost side of the vertical projection refers to the side farthest from the body of the target vehicle in the vertical projection. For example, when the target sliding door is the right door of the target vehicle, the outermost side of the vertical projection corresponding to the target sliding door refers to the rightmost side of the vertical projection. The target projection position refers to the position where the door ground light projects the target pattern. When the target pattern is projected at the target projection position, the target pattern intersects with the outermost side of the vertical projection. The target pattern is a preset pattern of the door ground light, or a pattern corresponding to the target sliding door, which is not limited in the embodiments of the present application.

[0075] 303. The vehicle-mounted terminal obtains a target image of the target pattern.

[0076] The target image of the target pattern refers to a captured image containing the target pattern. In the embodiment of the present application, the target image is captured by an image capture device outside the target vehicle.

[0077] 304. When the target image of the target pattern meets a preset condition, the vehicle-mounted terminal controls the target sliding door to open.

[0078] Wherein, if the target image meets the preset condition, it means that the probability of collision or scratching with obstacles when opening the target sliding door is low, so the target sliding door can be directly opened. Correspondingly, if the target image does not meet the preset condition, it means that the probability of collision or scratching with obstacles when opening the target sliding door is high, and the driver needs to make further judgment or processing. The preset condition is set by the technician according to the actual situation, and the embodiment of the present application does not limit this.

[0079] Through the technical solution provided by the embodiment of the present application, in response to the opening instruction of the target sliding door of the target vehicle, the door ground lamp of the target sliding door is started. The door ground lamp is controlled to project a pattern to the target projection position, that is, to project a pattern to the projection of the outermost contour of the target sliding door when it is opened on the ground, so as to form a target pattern, and the target pattern can indicate the position of the outermost side of the target sliding door. The target image of the target pattern is obtained, and when the target image meets the preset conditions, the target sliding door is controlled to open, and the probability of the target sliding door colliding or scratching with an obstacle when it is opened is low.

[0080] It should be noted that the above steps 301-304 are a simple description of the door control method provided in the embodiment of the present application. The door control method provided in the embodiment of the present application will be described in more detail below with reference to some examples. Figure 4 Taking the execution subject as a vehicle-mounted terminal as an example, the method includes the following steps.

[0081] 401. The vehicle-mounted terminal obtains an opening instruction for a target sliding door of a target vehicle, where the target vehicle is equipped with a through-type sliding double door, and the target sliding door belongs to the through-type sliding double door.

[0082] Among them, the target vehicle is a vehicle equipped with through-type sliding double doors. In the embodiment of the present application, the through-type sliding double doors are electric doors, that is, the through-type sliding double doors can be opened and closed under the drive of an electric motor. In some embodiments, both sides of the target vehicle are through-type sliding double doors, or one side of the target vehicle is a through-type sliding double door, and the other side is a combination of an electric suction door and an ordinary sliding door. The embodiment of the present application does not limit this. The target sliding door is one of the through-type sliding double doors, that is, the target sliding door is the front door or the rear door of the through-type sliding double doors. The opening instruction for the target sliding door is used to instruct the opening of the target sliding door. The opening instruction can be triggered automatically or manually, and the embodiment of the present application does not limit this.

[0083] In some embodiments, the opening command of the target sliding door is triggered by a voice command or by clicking a target button. The embodiments of the present application are not limited to this. The target button is a physical button in the target vehicle, or a virtual button on the on-board screen of the target vehicle, or a virtual button on a target terminal. The target terminal is a mobile terminal connected to the target vehicle and having authority to control the target vehicle.

[0084] 402. In response to an opening instruction for a target sliding door of a target vehicle, the vehicle-mounted terminal activates a door ground lamp of the target sliding door.

[0085] The door ground lamp of the target sliding door is installed at the bottom or side of the target sliding door, and when the target sliding door is not opened, the door ground lamp can also project a pattern onto the ground. In some embodiments, the door ground lamp can be regarded as a small projection device, which can adjust the position of the projected pattern according to the instruction, and can also determine the pattern to be projected according to the instruction.

[0086] In a possible implementation, in response to an opening instruction for a target sliding door of a target vehicle, the vehicle-mounted terminal sends a start instruction to a door puddle lamp of the target sliding door, so as to start the door puddle lamp through the start instruction.

[0087] For example, in response to an opening instruction for a target sliding door of a target vehicle, the vehicle-mounted terminal obtains a door identification of the target sliding door from the opening instruction. Based on the door identification, the vehicle-mounted terminal generates a start instruction for a door pavement lamp of the target sliding door. The vehicle-mounted terminal sends the start instruction to the door pavement lamp. The door pavement lamp responds to the start instruction and completes the start.

[0088] In some embodiments, when the door floor light is activated, the door floor light can project a preset pattern to a default projection position. For example, when the door floor light is located at the bottom of the target sliding door, the door floor light can project a preset pattern directly below the sliding door, and the position directly below is the default projection position. For another example, when the door floor light is located on the side of the target sliding door, the door floor light can project a preset pattern to a default projection position next to the target sliding door. The default projection position and the preset pattern are set by a technician according to actual conditions, or are personalized by the user according to needs, and the embodiments of the present application do not limit this.

[0089] 403. The vehicle-mounted terminal controls the door ground light of the target sliding door to project a pattern to a target projection position to form a target pattern. The target projection position is the outermost side of the vertical projection of the target sliding door on the ground when the target sliding door is opened.

[0090] The vertical projection of the target sliding door on the ground when it is opened is the projection formed by the light irradiating from the upper side of the target sliding door to the ground after the target sliding door moves outward. The outermost side of the vertical projection refers to the side farthest from the body of the target vehicle in the vertical projection. For example, when the target sliding door is the right door of the target vehicle, the outermost side of the vertical projection corresponding to the target sliding door refers to the rightmost side of the vertical projection. In other words, see Figure 5 Since the surface of the target sliding door 500 usually has a certain curvature, the target sliding door has at least one protrusion, and the protrusion 501 that protrudes outward to the greatest extent among the at least one protrusion is also the outermost side of the vertical projection. The outermost side of the vertical projection can indicate the farthest interference position of the target sliding door with the external space when it is opened. The target projection position refers to the position where the door ground light projects the target pattern. When the target pattern is projected at the target projection position, the target pattern intersects with the outermost side of the vertical projection. The target pattern can be used to intuitively determine the farthest interference position of the target sliding door with the external space when it is opened. The target pattern is a preset pattern of the door ground light, or a pattern corresponding to the target sliding door, which is not limited in the embodiments of the present application. It should be noted that when the vehicle-mounted terminal controls the door ground light to project the pattern, the target sliding door remains closed.

[0091] In a possible implementation, the vehicle terminal obtains the target projection angle and the target projection pattern of the door floor lamp, where the target projection angle is a projection angle corresponding to the target projection position. The vehicle terminal controls the door floor lamp to rotate to the target projection angle and project the target projection pattern.

[0092] When the door ground lamp projects a pattern at different projection angles, the projected pattern will be displayed at different projection positions. Correspondingly, when the door ground lamp projects a pattern at the target projection angle, the projected pattern will be displayed at the target projection position. Therefore, there is a corresponding relationship between the target projection angle and the target projection position. The target projection angle is defined relative to the initial angle of the door ground lamp, that is, the initial angle is defined as 0°, thereby achieving the definition of the target projection angle.

[0093] In this embodiment, the target projection angle and the target projection pattern are obtained, and the door ground light is controlled to project the target projection pattern at the target projection angle, thereby marking the farthest interference position of the target sliding door with the external space when it is opened.

[0094] In order to explain the above implementation more clearly, the above implementation is explained in several parts below.

[0095] Part 1: The vehicle-mounted terminal obtains the target projection angle and the target projection pattern of the door ground light.

[0096] In a possible implementation, the vehicle terminal searches the first relationship table based on the ground lamp identification of the door ground lamp and the target projection position to obtain the target projection angle, and the first relationship table stores the corresponding relationship between the ground lamp identification, the projection position and the projection angle. The vehicle terminal determines whether there is a reference pattern, which is a pre-configured pattern projected before the target sliding door is opened. If the reference pattern exists, the vehicle terminal determines the reference pattern as the target projection pattern. If the reference pattern does not exist, the vehicle terminal determines a preset pattern as the target projection pattern.

[0097] The first relationship table is configured by a technician according to actual conditions, that is, the first relationship table is obtained by the technician by calibrating the target vehicle.

[0098] In this implementation, the target projection angle corresponding to the target projection position can be obtained from the first relationship table. The reference pattern or the preset pattern is determined as the target projection pattern according to whether the reference pattern exists, and the acquisition efficiency of the target projection angle and the target projection pattern is high.

[0099] Another implementation of the first part is described below.

[0100] In a possible implementation, the vehicle terminal substitutes the target projection position into the first relational data of the door ground lamp to obtain the target projection angle, and the first relational data is used to describe the relationship between the projection position and the projection angle. The vehicle terminal determines whether there is a reference pattern, which is a pre-configured pattern projected before the target sliding door is opened. If the reference pattern exists, the vehicle terminal determines the reference pattern as the target projection pattern. If the reference pattern does not exist, the vehicle terminal determines a preset pattern as the target projection pattern.

[0101] Among them, the first relationship data can be regarded as a function, and the first relationship data is configured by technical personnel according to actual conditions. That is, the first relationship data is calibrated by technical personnel using the target vehicle to obtain multiple sets of data, and the multiple sets of data are fitted to obtain the first relationship data, and a set of data includes a projection position and a projection angle.

[0102] In this implementation, the target projection angle corresponding to the target projection position can be obtained using the first relationship data. The reference pattern or the preset pattern is determined as the target projection pattern according to whether the reference pattern exists, and the acquisition efficiency of the target projection angle and the target projection pattern is high.

[0103] In the second part, the vehicle-mounted terminal controls the door ground light to rotate to the target projection angle and projects the target projection pattern.

[0104] In a possible implementation, the vehicle terminal sends a control instruction to the door pavement lamp, and the control instruction carries the target projection angle and the target projection pattern. The door pavement lamp obtains the control instruction, and obtains the target projection angle and the target projection pattern from the control instruction. The door pavement lamp rotates to the target projection angle and projects the target projection pattern, thereby realizing the projection of the target projection pattern.

[0105] Another implementation of the second part is described below.

[0106] In a possible implementation, the vehicle terminal obtains the ambient brightness of the environment in which the target vehicle is located. The vehicle terminal determines the projection brightness of the door ground lamp based on the ambient brightness. The vehicle terminal controls the door ground lamp to rotate the target projection angle and project the target projection pattern at the projection brightness.

[0107] The ambient brightness of the environment in which the target vehicle is located is used to indicate the brightness of the external environment of the target vehicle.

[0108] In this embodiment, before controlling the door pavement lights to project patterns, the ambient brightness of the target vehicle's environment is first obtained, and the projection brightness of the door pavement lights is determined using the ambient brightness, so that the projected target projection pattern is adapted to the brightness of the external environment.

[0109] For example, the vehicle terminal obtains the ambient brightness of the target vehicle's environment through an external brightness sensor. The vehicle terminal uses the ambient brightness to query the second relationship table to obtain the projection brightness of the door ground light, and the second relationship table stores the corresponding relationship between ambient brightness and projection brightness; or, the vehicle terminal substitutes the ambient brightness into the second relationship data to obtain the projection brightness of the door ground light, and the second relationship data is used to describe the relationship between ambient brightness and projection brightness. The vehicle terminal controls the door ground light to rotate to the target projection angle and project the target projection pattern at the projection brightness.

[0110] Among them, the second relationship table and the second relationship data are set by technical personnel according to actual conditions, and the embodiments of the present application do not limit this.

[0111] 404. The vehicle-mounted terminal obtains a target image of the target pattern.

[0112] The target image of the target pattern refers to a captured image containing the target pattern. In an embodiment of the present application, the target image is captured by an external image capture device of the target vehicle. In some embodiments, the external image capture device is a surround view camera of the target vehicle.

[0113] In a possible implementation manner, the vehicle-mounted terminal acquires the image of the target projection position through the off-vehicle image acquisition device to obtain the target image.

[0114] In this implementation, an image acquisition device outside the vehicle is used to directly acquire an image of the target projection position, thereby obtaining the target image, and the definition of the target image is relatively high.

[0115] For example, the vehicle-mounted terminal controls the vehicle-external image acquisition device to face the target projection position. The vehicle-mounted terminal controls the vehicle-external image acquisition device to perform image acquisition to obtain the target image.

[0116] Another implementation of the above step 404 is described below.

[0117] In a possible implementation, the vehicle-mounted terminal collects an environment image through an image acquisition device outside the vehicle, performs pattern recognition on the environment image, obtains an image region where the target pattern is located in the environment image, and crops the image region to obtain the target image.

[0118] Among them, pattern recognition is used to identify the image area where the target pattern is located from the environmental image, which is equivalent to classifying the image area in the environmental image.

[0119] In this implementation, pattern recognition is performed on the environment image to segment the target image from the environment image, and there is no need to adjust the image acquisition device, so the acquisition efficiency of the target image is high.

[0120] For example, the vehicle terminal collects an environmental image through an image acquisition device outside the vehicle. The vehicle terminal inputs the environmental image into a pattern recognition model, performs pattern recognition on the environmental image through the pattern recognition model, and obtains an image area where the target pattern is located in the environmental image. The vehicle terminal crops the image area to obtain the target image.

[0121] For example, the vehicle terminal collects an environmental image through an image acquisition device outside the vehicle. The vehicle terminal inputs the environmental image into a pattern recognition model, extracts features of the environmental image through the pattern recognition model, and obtains environmental image features of the environmental image. The vehicle terminal classifies multiple image areas in the environmental image based on the environmental image features to determine whether each image area includes a target pattern. The vehicle terminal determines the image area including the target pattern in the multiple image areas as the image area where the target pattern is located. The vehicle terminal crops the image area to obtain the target image.

[0122] Among them, the pattern recognition model can adopt the target detection model in the related technology, and the embodiment of the present application does not limit the type and structure of the pattern recognition model.

[0123] 405. The vehicle-mounted terminal processes the target image of the target pattern to determine whether the target image meets the preset condition.

[0124] Wherein, if the target image meets the preset condition, it means that the probability of collision or scratching with an obstacle when the target sliding door is opened is low. If the target image does not meet the preset condition, it means that the probability of collision or scratching with an obstacle when the target sliding door is opened is high. Therefore, the preset condition is to judge the probability of collision or scratching with an obstacle when the target sliding door is opened.

[0125] In a possible implementation, the vehicle terminal performs image recognition on the target image to determine the projection position information of the target pattern in the target image, and the projection position information is used to indicate whether there is a target object at the target projection position, and the target object is an object that can prevent the target sliding door from opening. Based on the projection position information of the target pattern in the target image, the vehicle terminal determines whether the target image meets the preset condition.

[0126] Among them, the target object is an obstacle, such as a pillar or a wall. If there is a target object at the target projection position, the target pattern is actually projected onto the target object. If there is no target object at the target projection position, the target pattern is projected onto the ground. If there is an obstacle at the target projection position, the target sliding door may collide or scratch with the obstacle if it is opened directly. If there is no obstacle at the target projection position, the target sliding door will not collide or scratch with the obstacle if it is opened directly.

[0127] In this implementation manner, the projection position information of the target pattern in the target image can be used to determine whether the target image meets the preset condition, and the accuracy of the preset condition judgment is relatively high.

[0128] In order to explain the above implementation more clearly, the above implementation is explained in several parts below.

[0129] In the first part, the vehicle-mounted terminal performs image recognition on the target image to determine the projection position information of the target pattern in the target image.

[0130] In a possible implementation, the vehicle-mounted terminal inputs the target image into an image recognition model, performs image recognition on the target image through the image recognition model, and obtains projection position information of the target pattern in the target image.

[0131] For example, the vehicle-mounted terminal inputs the target image into the image recognition model, and extracts the features of the target image through the image recognition model to obtain the target image features of the target image. The vehicle-mounted terminal uses the image recognition model to perform linear transformation and nonlinear transformation on the target image features to obtain the classification value corresponding to the target image, and the classification value is the projection position information of the target pattern in the target image. When the classification value is greater than or equal to the classification value threshold, it indicates that there is a target object at the target projection position; when the classification value is less than the classification value threshold, it indicates that there is no target object at the target projection position.

[0132] Among them, the classification value threshold is set by technical personnel according to actual conditions, and the embodiments of the present application do not limit this.

[0133] For example, the vehicle terminal inputs the target image into the image recognition model, and performs multiple rounds of convolution on the target image through the image recognition model to obtain the target image features of the target image. The vehicle terminal uses the image recognition model to fully connect and normalize the target image features to obtain the classification value corresponding to the target image, which is the projection position information of the target pattern in the target image.

[0134] Part 2: The vehicle-mounted terminal determines whether the target image meets the preset condition based on the projection position information of the target pattern in the target image.

[0135] In a possible implementation, when the projection position information indicates that there is a target object at the target projection position, the vehicle terminal determines that the target image does not meet the preset condition. When the projection position information indicates that there is no target object at the target projection position, the vehicle terminal determines that the target image meets the preset condition.

[0136] Wherein, if there is a target object at the target projection position, the target sliding door may collide or scratch with the target object if the target sliding door is directly opened, so the target image does not meet the preset condition. If there is no target object at the target projection position, the target sliding door will not collide or scratch with the target object if the target sliding door is directly opened, so the target image meets the preset condition.

[0137] Another implementation of the above step 405 is described below.

[0138] In a possible implementation, the vehicle terminal determines a pattern distortion degree of the target pattern in the target image. Based on the pattern distortion degree of the target pattern in the target image, the vehicle terminal determines whether the target image meets the preset condition.

[0139] Among them, the pattern distortion degree of the target pattern is used to indicate the degree of difference (distortion degree) between the target pattern in the target image and the target pattern under normal circumstances. The principle of using the pattern distortion degree of the target pattern to judge whether the target image meets the preset conditions is as follows: when the target pattern is projected on the ground, the target pattern usually does not undergo a large deformation, and the pattern distortion degree of the target pattern is small; while when the target pattern is projected on an obstacle, the target pattern may undergo a large deformation, for example, half of the target pattern is on the ground and the other half is on the obstacle, or because the surface of the obstacle has a curvature, the target pattern will also be deformed. In short, the pattern distortion degree of the target pattern is large. Therefore, the distortion degree of the target pattern can be used to determine whether the target image meets the preset conditions.

[0140] In order to explain the above implementation more clearly, the above implementation is explained in several parts below.

[0141] In the first part, the vehicle-mounted terminal determines the pattern distortion degree of the target pattern in the target image.

[0142] In a possible implementation manner, the vehicle-mounted terminal compares the target pattern in the target image with the target pattern in a normal situation to obtain the pattern distortion degree of the target pattern.

[0143] The target pattern under normal circumstances refers to the target pattern stored in the vehicle-mounted terminal. The target pattern stored in the vehicle-mounted terminal is also called a template of the target pattern. The door ground lamp projects the target pattern based on the template of the target pattern.

[0144] For example, the vehicle terminal scales the target pattern in the target image and the target pattern under normal conditions to the same size, and obtains a first image corresponding to the target pattern in the target image and a second image corresponding to the target pattern under normal conditions. The vehicle terminal performs feature extraction on the first image to obtain a first image feature of the first image. The vehicle terminal performs feature extraction on the second image to obtain a second image feature of the second image. The vehicle terminal determines the degree of difference between the first image feature and the second image feature as the degree of pattern distortion of the target pattern.

[0145] For example, the vehicle-mounted terminal scales the target pattern in the target image and the target pattern under normal circumstances to the same size, and obtains a first image corresponding to the target pattern in the target image and a second image corresponding to the target pattern under normal circumstances. The vehicle-mounted terminal performs multiple rounds of convolution on the first image to obtain a first image feature of the first image. The vehicle-mounted terminal performs multiple rounds of convolution on the second image to obtain a second image feature of the second image. The vehicle-mounted terminal determines the feature similarity between the first image feature and the second image feature. The vehicle-mounted terminal determines the reciprocal of the feature similarity or the difference between the target value and the feature similarity as the pattern distortion degree of the target pattern.

[0146] Among them, the feature similarity is cosine similarity, and the target value is 1.

[0147] In the second part, the vehicle-mounted terminal determines whether the target image meets the preset condition based on the pattern distortion degree of the target pattern in the target image.

[0148] In a possible implementation, when the pattern distortion degree of the target pattern in the target image is greater than or equal to the distortion degree threshold, the vehicle terminal determines that the target image does not meet the preset condition. When the pattern distortion degree of the target pattern in the target image is less than the distortion degree threshold, the vehicle terminal determines that the target image meets the preset condition.

[0149] Among them, the distortion degree threshold is set by technical personnel according to actual conditions, and the embodiments of the present application do not limit this.

[0150] Optionally, after step 405, the vehicle-mounted terminal executes the following step 406 or 407 according to actual conditions.

[0151] 406. When the target image of the target pattern meets a preset condition, the vehicle-mounted terminal controls the target sliding door to open.

[0152] Wherein, if the target image meets the preset condition, it means that the probability of collision or scratching with obstacles when opening the target sliding door is low, so the target sliding door can be directly opened. Correspondingly, if the target image does not meet the preset condition, it means that the probability of collision or scratching with obstacles when opening the target sliding door is high, and the driver needs to make further judgment or processing. The preset condition is set by the technician according to the actual situation, and the embodiment of the present application does not limit this.

[0153] In a possible implementation, when the target image of the target pattern meets a preset condition, the vehicle-mounted terminal sends an opening instruction to a door controller of the target sliding door to instruct the door controller to open the target sliding door.

[0154] Optionally, after step 406, the following steps can also be performed.

[0155] In a possible implementation manner, during the opening process of the target sliding door, in response to a target voice command, the vehicle-mounted terminal controls the target sliding door to stop opening.

[0156] The target voice command is set by a technician according to actual conditions, or configured by a user according to needs. For example, a voice command containing "stop" is determined as a target voice command, which is not limited in the present embodiment. During the opening of the target sliding door, the driver and passengers may observe the opening of the target sliding door. If the target sliding door is about to collide with an obstacle, the target sliding door can be controlled to stop opening through the target voice command, thereby improving the safety of the target sliding door.

[0157] In this implementation manner, during the process of opening the target sliding door, once the target voice command is recognized, the target sliding door is immediately controlled to stop opening, thereby preventing the target sliding door from colliding or scratching.

[0158] In a possible implementation manner, during the opening process of the target sliding door, the vehicle-mounted terminal controls the rearview mirror on the target sliding door to fold.

[0159] Among them, since the target sliding door belongs to the through-type sliding double-door, the exterior rearview mirror on one side of the target vehicle is also located on the target sliding door. During the process of opening or closing the target sliding door, the rearview mirror on the target sliding door will move with the target sliding door. Therefore, during the process of opening the target sliding door, the rearview mirror on the target sliding door may also collide with an obstacle. Therefore, during the process of opening the target sliding door, the rearview mirror on the target sliding door is folded to reduce the probability of the rearview mirror on the target sliding door colliding with an obstacle.

[0160] In a possible implementation, when the door ground light of the target sliding door cannot be started, the vehicle-mounted terminal broadcasts a third reminder message, where the third reminder message is used to prompt that there is a risk of collision when opening the target sliding door.

[0161] Among them, if the door ground lamp cannot be started, the vehicle terminal cannot execute the technical solution provided by the embodiment of the present application, and it is impossible to use the door ground lamp to determine whether there is a risk in opening the target sliding door. The third reminder information can be displayed in a variety of forms. For example, the third reminder information is displayed in the form of voice broadcast, and the vehicle terminal can play the reminder audio corresponding to the third reminder information to remind the driver and passengers of the target vehicle, or the third reminder information is displayed in the form of displaying an icon, and the vehicle terminal can display the reminder icon corresponding to the third reminder information on the dashboard of the target vehicle.

[0162] 407. When the target image of the target pattern does not meet the preset condition, the vehicle-mounted terminal controls the target sliding door to remain closed and triggers an alarm or reminder.

[0163] In a possible implementation, when the target image of the target pattern does not meet the preset condition, the vehicle-mounted terminal controls the target sliding door to remain closed and issues a door-opening collision alarm, wherein the door-opening collision alarm is used to indicate that a collision will occur when the target sliding door is opened.

[0164] Among them, the door opening alarm can be displayed in a variety of forms. For example, the door opening alarm is displayed in the form of voice broadcast, then the vehicle-mounted terminal can play the alarm audio corresponding to the door opening alarm to remind the driver and passengers of the target vehicle, or the door opening alarm is displayed in the form of light control, then the vehicle-mounted terminal can control the light-emitting components of the target vehicle to flash in a preset manner.

[0165] Another implementation of the above step 407 is described below.

[0166] In a possible implementation, when the target image of the target pattern does not meet the preset condition, the vehicle-mounted terminal controls the target sliding door to remain closed and broadcasts a first reminder message, where the first reminder message is used to remind the vehicle to park again.

[0167] The first reminder information can be displayed in a variety of forms. For example, the first reminder information is displayed in the form of voice broadcast, and the vehicle terminal can play the reminder audio corresponding to the first reminder information to remind the driver and passengers of the target vehicle. Alternatively, the first reminder information is displayed in the form of displaying an icon, and the vehicle terminal can display the reminder icon corresponding to the first reminder information on the dashboard of the target vehicle. Alternatively, the first reminder information is displayed in the form of displaying text, and the vehicle terminal can display the reminder text corresponding to the first reminder information on the central control screen of the target vehicle.

[0168] Another implementation of the above step 407 is described below.

[0169] In a possible implementation, when the target image of the target pattern does not meet the preset condition, the vehicle-mounted terminal controls the target sliding door to remain closed and broadcasts a second reminder message, where the second reminder message is used to prompt an attempt to open the other side door of the target vehicle.

[0170] The second reminder information can be displayed in a variety of forms. For example, the second reminder information is displayed in the form of voice broadcast, and the vehicle terminal can play the reminder audio corresponding to the second reminder information to remind the driver and passengers of the target vehicle. Alternatively, the second reminder information is displayed in the form of displaying icons, and the vehicle terminal can display the reminder icon corresponding to the second reminder information on the dashboard of the target vehicle. Alternatively, the second reminder information is displayed in the form of displaying text, and the vehicle terminal can display the reminder text corresponding to the second reminder information on the central control screen of the target vehicle.

[0171] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0172] Through the technical solution provided by the embodiment of the present application, in response to the opening instruction of the target sliding door of the target vehicle, the door ground lamp of the target sliding door is started. The door ground lamp is controlled to project a pattern to the target projection position, that is, to project a pattern to the projection of the outermost contour of the target sliding door when it is opened on the ground, so as to form a target pattern, and the target pattern can indicate the position of the outermost side of the target sliding door. The target image of the target pattern is obtained, and when the target image meets the preset conditions, the target sliding door is controlled to open, and the probability of the target sliding door colliding or scratching with an obstacle when it is opened is low.

[0173] Figure 6 is a schematic diagram of the structure of a door control device provided in an embodiment of the present application, see Figure 6The device includes: a floor lamp starting module 601, a pattern projection module 602 and a door control module 603.

[0174] The pavement lamp starting module 601 is used to start the door pavement lamp of a target sliding door in response to an opening instruction for the target sliding door of the target vehicle, the target vehicle being equipped with a through-type sliding double door, and the target sliding door belongs to the through-type sliding double door.

[0175] The pattern projection module 602 is used to control the door ground light of the target sliding door to project a pattern to a target projection position to form a target pattern and obtain a target image of the target pattern. The target projection position is the outermost side of the vertical projection of the target sliding door on the ground when it is opened.

[0176] The door control module 603 is used to control the target sliding door to open when the target image of the target pattern meets a preset condition.

[0177] In a possible implementation, the pattern projection module 602 is used to obtain the target projection angle and the target projection pattern of the door floor lamp, where the target projection angle is a projection angle corresponding to the target projection position, and control the door floor lamp to rotate to the target projection angle and project the target projection pattern.

[0178] In a possible implementation, the device further includes:

[0179] The projection brightness determination module is used to obtain the ambient brightness of the environment in which the target vehicle is located and determine the projection brightness of the door ground lamp based on the ambient brightness.

[0180] The pattern projection module 602 is used to control the door floor lamp to rotate to the target projection angle and project the target projection pattern at the projection brightness.

[0181] In a possible implementation, the device further includes:

[0182] The condition judgment module is used to process the target image of the target pattern to determine whether the target image meets the preset condition.

[0183] In a possible implementation, the condition judgment module is used to perform image recognition on the target image, determine the projection position information of the target pattern in the target image, and the projection position information is used to indicate whether there is a target object at the target projection position, and the target object is an object that can hinder the opening of the target sliding door. Based on the projection position information of the target pattern in the target image, determine whether the target image meets the preset condition. Alternatively, determine the pattern distortion degree of the target pattern in the target image. Based on the pattern distortion degree of the target pattern in the target image, determine whether the target image meets the preset condition.

[0184] In a possible implementation, the condition judgment module is used to determine that the target image does not meet the preset condition when the projection position information indicates that there is a target object at the target projection position. When the projection position information indicates that there is no target object at the target projection position, determine that the target image meets the preset condition.

[0185] In a possible implementation, the condition judgment module is used to determine that the target image does not meet the preset condition when the pattern distortion degree of the target pattern in the target image is greater than or equal to the distortion degree threshold. When the pattern distortion degree of the target pattern in the target image is less than the distortion degree threshold, determine that the target image meets the preset condition.

[0186] In a possible implementation, the device further includes an alarm and reminder module, which is used to control the target sliding door to remain closed and issue a door opening collision alarm when the target image of the target pattern does not meet the preset condition, and the door opening collision alarm is used to indicate that a collision will occur when the target sliding door is opened. Alternatively, when the target image of the target pattern does not meet the preset condition, the target sliding door is controlled to remain closed and a first reminder message is broadcasted, and the first reminder message is used to remind the vehicle to park again. Alternatively, when the target image of the target pattern does not meet the preset condition, the target sliding door is controlled to remain closed and a second reminder message is broadcasted, and the second reminder message is used to prompt the vehicle to try to open the other side door of the target vehicle.

[0187] In a possible implementation, the door control module 603 is further configured to, in response to a target voice command, control the target sliding door to stop opening during the opening process of the target sliding door. Alternatively, in the opening process of the target sliding door, control the rearview mirror on the target sliding door to fold. Alternatively, in the case where the door ground light of the target sliding door cannot be started, broadcast a third reminder message, the third reminder message being used to prompt that there is a risk of collision when opening the target sliding door.

[0188] It should be noted that: the control device for the vehicle door provided in the above embodiment only uses the division of the above functional modules as an example to illustrate when controlling the vehicle door. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device is divided into different functional modules to complete all or part of the functions described above. In addition, the control device for the vehicle door provided in the above embodiment and the embodiment of the control method for the vehicle door belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0189] Through the technical solution provided by the embodiment of the present application, in response to the opening instruction of the target sliding door of the target vehicle, the door ground lamp of the target sliding door is started. The door ground lamp is controlled to project a pattern to the target projection position, that is, to project a pattern to the projection of the outermost contour of the target sliding door when it is opened on the ground, so as to form a target pattern, and the target pattern can indicate the position of the outermost side of the target sliding door. The target image of the target pattern is obtained, and when the target image meets the preset conditions, the target sliding door is controlled to open, and the probability of the target sliding door colliding or scratching with an obstacle when it is opened is low.

[0190] The embodiment of the present application also provides a vehicle, Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0191] Typically, the vehicle 700 includes: one or more processors 701 and one or more memories 702 .

[0192] The processor 701 may include one or more processing cores, such as a 4-core processor, a 7-core processor, etc. The processor 701 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 701 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 701 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0193] The memory 702 may include one or more computer-readable storage media, which may be non-transitory. The memory 702 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 702 is used to store at least one computer program, which is executed by the processor 701 to implement the vehicle door control method provided in the method embodiment of the present application.

[0194] Those skilled in the art will understand that Figure 7 The structure shown in the figure does not constitute a limitation on the vehicle 700, and the vehicle 700 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different arrangement of components.

[0195] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for controlling a vehicle door provided in the above embodiments.

[0196] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a method for controlling a vehicle door provided in the above embodiment.

[0197] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a method for controlling a vehicle door provided in the above embodiment.

[0198] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0199] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0200] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0201] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling a vehicle door, characterized in that: The method comprises: In response to an opening instruction for a target sliding door of a target vehicle, a door ground lamp of the target sliding door is activated, the target vehicle is equipped with a through-type sliding double-door, and the target sliding door belongs to the through-type sliding double-door; Controlling the door ground lamp of the target sliding door to project a pattern toward a target projection position to form a target pattern and obtain a target image of the target pattern, wherein the target projection position is the outermost side of a vertical projection of the target sliding door on the ground when the target sliding door is opened; When the target image of the target pattern meets a preset condition, the target sliding door is controlled to open.

2. The method according to claim 1, characterized in that: The controlling the door floor lamp of the target sliding door to project a pattern toward a target projection position comprises: Acquire a target projection angle and a target projection pattern of the door floor lamp, wherein the target projection angle is a projection angle corresponding to the target projection position; The door floor lamp is controlled to rotate to the target projection angle and project the target projection pattern.

3. The method according to claim 2, characterized in that Before controlling the door floor lamp to rotate the target projection angle and project the target projection pattern, the method further includes: Acquire the ambient brightness of the environment in which the target vehicle is located; and determine the projection brightness of the door ground lamp based on the ambient brightness; The controlling the door floor lamp to rotate the target projection angle and project the target projection pattern comprises: The door floor lamp is controlled to rotate the target projection angle and project the target projection pattern at the projection brightness.

4. The method according to claim 1, characterized in that When the target image of the target pattern meets a preset condition, before controlling the target sliding door to open, the method further includes: The target image of the target pattern is processed to determine whether the target image meets the preset condition.

5. The method according to claim 4, characterized in that The processing of the target image of the target pattern to determine whether the target image meets the preset condition includes: Performing image recognition on the target image to determine projection position information of the target pattern in the target image, wherein the projection position information is used to indicate whether there is a target object at the target projection position, wherein the target object is an object that can prevent the target sliding door from opening; determining whether the target image meets the preset condition based on the projection position information of the target pattern in the target image; Alternatively, a pattern distortion degree of the target pattern in the target image is determined; and based on the pattern distortion degree of the target pattern in the target image, whether the target image meets the preset condition is determined.

6. The method according to claim 5, characterized in that The determining whether the target image meets the preset condition based on the projection position information of the target pattern in the target image includes: In a case where the projection position information indicates that a target object exists at the target projection position, determining that the target image does not meet the preset condition; In a case where the projection position information indicates that there is no target object at the target projection position, it is determined that the target image meets the preset condition.

7. The method according to claim 5, characterized in that The determining whether the target image meets the preset condition based on the pattern distortion degree of the target pattern in the target image includes: When the pattern distortion degree of the target pattern in the target image is greater than or equal to the distortion degree threshold, determining that the target image does not meet the preset condition; When the pattern distortion degree of the target pattern in the target image is less than the distortion degree threshold, it is determined that the target image meets the preset condition.

8. The method according to claim 1, characterized in that: After controlling the door floor lamp of the target sliding door to project a pattern toward the target projection position, the method further includes: When the target image of the target pattern does not meet the preset condition, controlling the target sliding door to remain closed and performing a door opening collision alarm, wherein the door opening collision alarm is used to indicate that a collision will occur when the target sliding door is opened; Alternatively, when the target image of the target pattern does not meet the preset condition, the target sliding door is controlled to remain closed and a first reminder message is broadcasted, where the first reminder message is used to remind the vehicle to park again; Alternatively, when the target image of the target pattern does not meet the preset condition, the target sliding door is controlled to remain closed and a second reminder message is broadcasted, wherein the second reminder message is used to prompt an attempt to open the other side door of the target vehicle.

9. The method according to claim 1, characterized in that: The method further comprises: During the process of the target sliding door being opened, in response to a target voice command, controlling the target sliding door to stop opening; Alternatively, during the process of opening the target sliding door, controlling the rearview mirror on the target sliding door to be folded; Alternatively, when the door ground light of the target sliding door cannot be started, a third reminder message is broadcasted, wherein the third reminder message is used to prompt that there is a risk of collision when opening the target sliding door.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle door control method as described in any one of claims 1 to 9.

Images