Vehicle door opening warning method, device, equipment, medium and program product

Abstract

The present application relates to a kind of vehicle door opening early warning method, device, equipment, medium and program product, comprising: when target vehicle is stationary, the speed information of mobile object is obtained, the distance information between the mobile object and the target vehicle, and the relative position information of the mobile object and the target vehicle;According to the relative position information, the door opening early warning parameter information of the door on the same side of the mobile object is determined;And according to the door opening early warning parameter information and the speed information, the early warning range corresponding to the mobile object is determined;Wherein, the door opening early warning parameter information indicates the corresponding relationship between speed and early warning range;If according to the distance information, it is determined that the mobile object enters into the early warning range, the door opening early warning is carried out to the door on the same side of the mobile object in the target vehicle.The present application improves the accuracy of door opening early warning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle door opening early warning method, device, equipment, medium and program product. BACKGROUND

[0002] The number of cars in modern society is increasing, shared bicycles and electric vehicles are becoming more popular, and the number of private electric vehicles is also growing. Traffic conditions are becoming more and more complex, and the likelihood of traffic accidents caused by insufficient observation by users when opening the door and getting off the vehicle is also increasing. Therefore, before getting off the vehicle, if there is a collision risk, the people in the vehicle need to be warned and reminded.

[0003] In related technologies, the way of door opening early warning is mostly based on the distance from the vehicle, and a fixed distance range is set. When a moving object enters the preset distance range, early warning is performed. However, in the increasingly complex traffic environment, using a fixed distance range for door opening early warning will result in inaccurate door opening early warning. SUMMARY

[0004] One of the purposes of the present application is to provide a vehicle door opening early warning method to solve the problem of inaccurate door opening early warning in the prior art. The second purpose is to provide a vehicle door opening early warning device. The third purpose is to provide an electronic device. The fourth purpose is to provide a computer readable storage medium. The fifth purpose is to provide a computer program product. The sixth purpose is to provide an automobile.

[0005] In order to achieve the above-mentioned purposes, the technical solutions adopted by the present application are as follows:

[0006] A vehicle door opening early warning method comprises:

[0007] When the target vehicle is stationary, the speed information of the moving object, the distance information between the moving object and the target vehicle, and the relative position information of the moving object and the target vehicle are obtained;

[0008] According to the relative position information, the door opening early warning parameter information of the door on the same side as the moving object is determined. According to the door opening early warning parameter information and the speed information, the early warning range corresponding to the moving object is determined. The door opening early warning parameter information indicates the corresponding relationship between the speed and the early warning range;

[0009] If the moving object enters the early warning range according to the distance information, the door opening early warning of the door on the same side as the moving object in the target vehicle is performed.

[0010] Further, the door opening warning parameter information comprises at least one level of door opening warning parameter; according to the door opening warning parameter information and the speed information, a warning range corresponding to the moving object is determined, comprising:

[0011] According to the door opening warning parameter of each level and the speed information, a warning range corresponding to the moving object is determined.

[0012] Further, the door opening warning parameter information comprises at least one level of door opening warning parameter; according to the door opening warning parameter information and the speed information, a warning range corresponding to the moving object is determined, comprising:

[0013] According to the warning range and the state of the door on the same side of the moving object, the door on the same side of the target vehicle is warned to open.

[0014] Further, the warning range is a first level warning range or a second level warning range; wherein the distance between the moving object and the target vehicle indicated by the first level warning range is greater than or equal to the distance between the moving object and the target vehicle indicated by the second level warning range;

[0015] According to the warning range and the state of the door on the same side of the moving object, the door on the same side of the target vehicle is warned to open.

[0016] If the warning range is a first warning range, when it is determined that the state of the door on the same side of the moving object is in an unopened state, the ambient light on the door on the same side of the moving object is used for warning.

[0017] If the warning range is a first warning range, when it is determined that the state of any door on the same side of the moving object is in an opened state, the sound on the door in the opened state is used for voice prompt warning.

[0018] Further, the warning range is a first level warning range or a second level warning range; wherein the distance between the moving object and the target vehicle indicated by the first level warning range is greater than or equal to the distance between the moving object and the target vehicle indicated by the second level warning range;

[0019] According to the warning range and the state of the door on the same side of the moving object, the door on the same side of the target vehicle is warned to open.

[0020] If the warning range is a second warning range, when it is determined that the state of the door on the same side of the moving object is in an unopened state, the door on the same side of the moving object is controlled to be locked, and the ambient light on the door on the same side of the moving object is used for warning.

[0021] Further, after controlling the vehicle door on the same side of the moving object to be locked and giving a warning based on the atmosphere lamp on the vehicle door on the same side of the moving object, the method further comprises:

[0022] In response to a first opening instruction of the locked vehicle door by the user at a first time, the locked vehicle door is unlocked, and a voice prompt warning is given based on the sound on the locked vehicle door.

[0023] In response to a second opening instruction of the unlocked vehicle door by the user at a second time later than the first time, the unlocked vehicle door is opened.

[0024] Further, the opening warning parameter information of the vehicle door on the same side of the moving object is determined according to the relative position information, comprising:

[0025] The opening warning is determined according to the relative position information and the position information of the user in the target vehicle.

[0026] If yes, the opening warning parameter information of the vehicle door on the same side of the moving object is determined according to the relative position information.

[0027] Further, the opening warning parameter information is determined based on the heart rate variability data of the test personnel.

[0028] Further, the method further comprises:

[0029] For each relative position of the to-be-tested moving object and the to-be-tested vehicle, test data is obtained; wherein the test data indicates timing evaluation data, safety evaluation data and heart rate variability data of the opening warning at a plurality of to-be-tested distances and to-be-tested speeds;

[0030] According to the to-be-tested distance, the timing evaluation data, the safety evaluation data and the heart rate variability data, a sample distance corresponding to the to-be-tested moving object and the to-be-tested vehicle at each to-be-tested speed is determined.

[0031] According to the sample distance corresponding to each to-be-tested speed, the opening warning parameter information at each relative position is fitted.

[0032] Further, according to the to-be-tested distance, the timing evaluation data, the safety evaluation data and the heart rate variability data, a sample distance corresponding to the to-be-tested moving object and the to-be-tested vehicle at each to-be-tested speed is determined.

[0033] For each to-be-tested speed, according to the optimal value in the timing evaluation data corresponding to the to-be-tested speed, a plurality of to-be-tested distances at the to-be-tested speed are screened to obtain a first initial distance at the to-be-tested speed.

[0034] According to the optimal value in the safety evaluation data corresponding to the first initial distance at the to-be-tested speed, the first initial distance at the to-be-tested speed is screened to obtain a second initial distance at the to-be-tested speed.

[0035] According to the heart rate variability data corresponding to the second initial distance at the to-be-tested speed, the second initial distance at the to-be-tested speed is screened to obtain a sample distance corresponding to the to-be-tested speed; wherein the sample distance indicates a first-level early warning range at the to-be-tested speed.

[0036] Further, according to the to-be-tested distance, the timing evaluation data, the safety evaluation data and the heart rate variability data, a sample distance corresponding to the to-be-tested moving object and the to-be-tested vehicle at each to-be-tested speed is determined, comprising:

[0037] For each to-be-tested speed, according to the heart rate variability data corresponding to the to-be-tested speed, a plurality of to-be-tested distances at the to-be-tested speed are screened to obtain a third initial distance at the to-be-tested speed.

[0038] According to the worst value in the safety evaluation data corresponding to the third initial distance at the to-be-tested speed, the third initial distance at the to-be-tested speed is screened to obtain a fourth initial distance at the to-be-tested speed.

[0039] According to the worst value in the timing evaluation data corresponding to the fourth initial distance at the to-be-tested speed, the fourth initial distance at the to-be-tested speed is screened to obtain a sample distance corresponding to the to-be-tested speed; wherein the sample distance indicates a second-level early warning range at the to-be-tested speed.

[0040] A vehicle door opening early warning device, comprising:

[0041] An acquisition module is configured to acquire speed information of a moving object, distance information between the moving object and a target vehicle, and relative position information between the moving object and the target vehicle when the target vehicle is stationary.

[0042] A determination module is configured to determine opening early warning parameter information of a door on the same side as the moving object according to the relative position information, and determine a corresponding early warning range of the moving object according to the opening early warning parameter information and the speed information; wherein the opening early warning parameter information indicates a corresponding relationship between speed and early warning range.

[0043] An early warning module is configured to perform an early warning of opening a door on a side of the target vehicle that is on the same side as the moving object when it is determined according to the distance information that the moving object enters the early warning range.

[0044] An electronic device, comprising: a memory, a processor;

[0045] The memory stores computer execution instructions;

[0046] The processor executes the computer execution instructions stored in the memory, so that the processor executes the early warning method of opening a door of a vehicle.

[0047] A computer readable storage medium, the computer readable storage medium stores computer execution instructions, the computer execution instructions are executed by a processor to implement an early warning method of opening a door of a vehicle.

[0048] A computer program product, comprising a computer program, the computer program is executed by a processor to implement an early warning method of opening a door of a vehicle.

[0049] An automobile, comprising an electronic device for executing an early warning method of opening a door of a vehicle.

[0050] The beneficial effects of the present application are:

[0051] (1) The present application takes into account the speed of the moving object and the different traffic conditions corresponding to the relative position information between the moving object and the target vehicle, so that a more suitable early warning range for the moving object can be obtained, compared with the fixed early warning range set in the prior art, the accuracy of the early warning range can be improved, and the accuracy of the early warning of opening a door can be improved.

[0052] (2) The present application uses the relative position information between the moving object and the target vehicle, so that the early warning of opening a door can be performed only for the door on the same side as the moving object, false positives can be prevented, and user experience can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 A flowchart of an early warning method of opening a door of a vehicle provided by an embodiment of the present application;

[0054] Figure 2 A flowchart of an early warning method of opening a door of a vehicle provided by an embodiment of the present application;

[0055] Figure 3 A flowchart of an early warning method of opening a door of a vehicle provided by an embodiment of the present application;

[0056] Figure 4 A structural schematic diagram of an early warning device for opening a door of a vehicle provided by an embodiment of the present application;

[0057] Figure 5A structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0058] Other advantages and effects of the present application can be easily understood by those skilled in the art from the contents disclosed in the present specification. The present application can also be implemented or applied by means of other different specific embodiments, and various modifications or changes can be made to the details in the present specification based on different views and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, but not for limiting the protection scope of the present application.

[0059] Firstly, the terms related to the embodiments of the present application are explained:

[0060] RR interval: refers to the time interval between two adjacent R waves (ventricular depolarization wave) on an electrocardiogram. It represents the time required for the ventricle from one depolarization to the next depolarization, that is, a complete cardiac cycle. The length of the RR interval directly reflects the speed of the heart rate (HR).

[0061] Heart rate variability (HRV): refers to the difference or fluctuation degree of the frequency (or heart rate) of the heart in a certain period of time.

[0062] In the related art, the opening door warning method is mostly based on the distance from the vehicle, and a fixed distance range is set, for example, when the moving object enters the preset distance range, the opening door warning is performed when the distance from the vehicle tail is 15 meters. However, in this method, the distance range is fixed, and the current traffic condition is diverse and complex, and only using the fixed distance range for opening door warning will lead to inaccurate timing of opening door warning.

[0063] Therefore, the embodiments of the present application provide an opening door warning method of a vehicle, considering the different traffic conditions on the driver side and the co-driver side, setting the warning parameters capable of representing the corresponding relationship between the speed of the moving object and the warning range, and then based on the relative position between the moving object and the vehicle, the warning range more suitable for the current moving object can be dynamically selected, and the opening door warning is performed based on the warning range, instead of setting a fixed warning range, thereby improving the accuracy of the opening door warning.

[0064] Firstly, how to obtain the opening door warning parameter is described, and the execution subject of the present embodiment can be an electronic device with processing capability, such as a computer, a server, etc., which is not limited in the present application. Figure 1 The flow chart of the opening door warning method of the vehicle provided by an embodiment of the present application is shown in FIG. 1. Figure 1 As shown in the figure, the method comprises the following steps:

[0065] S101, for each relative position of the to-be-tested mobile object and the to-be-tested vehicle, obtain test data.

[0066] The test data indicates timing evaluation data, safety evaluation data, and heart rate variability data of the door opening warning at multiple to-be-tested distances and to-be-tested speeds. The to-be-tested mobile object can be a car, an electric car, a motorbike, or any object that can move and control the moving speed, and the present application does not limit the type of the to-be-tested vehicle. It should be noted that the present application does not limit the type of the to-be-tested vehicle. The to-be-tested distance represents the distance between the to-be-tested mobile object and the to-be-tested vehicle, which can represent the distance of the door opening warning. The to-be-tested speed represents the moving speed of the to-be-tested mobile object.

[0067] The relative position of the to-be-tested mobile object and the to-be-tested vehicle represents the relative position of the to-be-tested mobile object based on the to-be-tested vehicle, in other words, it can reflect the position of the to-be-tested mobile object, for example, it can be located on the driver's side of the to-be-tested vehicle or on the passenger's side of the to-be-tested vehicle.

[0068] It should be noted that the to-be-tested distance and the to-be-tested speed on the driver's side can be different from those on the passenger's side to reflect different traffic conditions on the driver's side and the passenger's side. It should be understood that the driver's side and the passenger's side can face different traffic environments and risks when the vehicle is parked. For example, the driver's side can be closer to the center line of the road or the lane with more traffic flow, while the passenger's side can be close to the roadside or the parking space. Therefore, different to-be-tested distances and to-be-tested speeds are set according to the different situations on both sides to simulate the traffic conditions under different relative positions.

[0069] The test personnel represent the personnel who perform the door opening warning test experiment inside the to-be-tested vehicle. For example, in one test process, the to-be-tested mobile object travels at a preset to-be-tested speed at a preset to-be-tested distance from the to-be-tested vehicle, and at the same time, the test personnel performs the door opening and gets off at a preset to-be-tested position of the to-be-tested vehicle, and triggers a door opening warning when the door is opened. Each test can start with the warning sound and end when the to-be-tested mobile object passes the to-be-tested vehicle. During the test, a portable electrocardiogram device is used to detect the heart rate data of the test personnel. After each test, the test personnel evaluates the timing of the door opening warning and the safety of getting off the vehicle at that time to obtain the test data.

[0070] The timing evaluation data represents the evaluation data of the test personnel on the timing of the door opening warning, in other words, the timing evaluation data can be used to represent the appropriateness of the timing of the door opening warning, for example, it can be represented by -4 to 4, where -4 represents that the door opening warning is too early, 0 represents that the timing of the door opening warning is just right, and 4 represents that the door opening warning is too late.

[0071] The safety evaluation data represent the evaluation data of the tester on the safety of opening the door and getting off the vehicle after the pre-warning, which can be represented by 1 to 9, for example, 1 represents very unsafe, 5 represents general, and 9 represents very safe.

[0072] The heart rate variability data represent the variation degree of the heart rate data of the tester when opening the door and getting off the vehicle after the pre-warning and the reference heart rate data. The heart rate variability data can be determined by analyzing the time domain parameters or frequency domain parameters of the heart rate data of the tester when opening the door and getting off the vehicle after the pre-warning and the reference heart rate data. For example, the heart rate variability data can be represented by the standard deviation of normal sinus RR interval, the root mean square of adjacent RR interval difference (RMSSD), or other time domain parameters, or can be represented by high frequency power (HF, 0.15-0.4 Hz), low frequency power (LF, 0.04-0.15 Hz), low frequency power to high frequency power ratio (LF / HF), or other frequency domain parameters, or can be represented by using nonlinear dynamics parameters such as Poincare plot parameters and Lyapunov exponent, or can be represented by using a combination of the above parameters, which is not limited in the embodiments of the present application.

[0073] In some possible implementations, the electronic device can communicate with other electronic devices to obtain the test data, or extract the test data from a database, or receive test data imported by an external device, such as a U disk.

[0074] Table 1 Test data

[0075]

[0076] S102, according to the to-be-tested distance, the timing evaluation data, the safety evaluation data, and the heart rate variability data, determine the sample distance between the to-be-tested moving object and the to-be-tested vehicle corresponding to each to-be-tested speed.

[0077] The sample distance represents the pre-warning distance at which the door opening pre-warning is started at the to-be-tested speed. As described above, the to-be-tested moving object travels at the to-be-tested speed at the to-be-tested distance, and the tester gets off the vehicle and triggers the door opening pre-warning, so the electronic device can determine the sample distance at the to-be-tested speed from the to-be-tested distances based on the timing evaluation data, the safety evaluation data, and the heart rate variability data. Optionally, the electronic device can determine multiple levels of sample distances at the to-be-tested speed from the to-be-tested distances based on the timing evaluation data, the safety evaluation data, and the heart rate variability data, and each level of sample distance can reflect a different pre-warning range.

[0078] In some possible implementations, for each speed to be measured, multiple distances to be measured at the speed to be measured are screened according to the optimal value in the timing evaluation data corresponding to the speed to be measured, to obtain a first initial distance at the speed to be measured; the first initial distance at the speed to be measured is screened according to the optimal value in the safety evaluation data corresponding to the first initial distance at the speed to be measured, to obtain a second initial distance at the speed to be measured; the second initial distance at the speed to be measured is screened according to the heart rate variability data corresponding to the second initial distance at the speed to be measured, to obtain a sample distance corresponding to the speed to be measured; wherein the sample distance indicates a first-level warning range at the speed to be measured.

[0079] For example, referring to Table 1, the electronic device can determine the optimal value of the timing evaluation data for speed 1 from all the timing evaluation data corresponding to speed 1 in the test data on the driver's side. The electronic device can then use the distance to be measured corresponding to the optimal value of the timing evaluation data as the first initial distance. Furthermore, the electronic device can determine the optimal value of the safety evaluation data for the test data corresponding to the first initial distance, using the first initial distance corresponding to the optimal value of the safety evaluation data as the second initial distance. Finally, the electronic device can determine the target heart rate variability data that minimizes the heart rate fluctuation indicated by the heart rate variability data for the test data corresponding to the second initial distance, using the second initial distance corresponding to the target heart rate variability data as the sample distance. The optimal value of the timing evaluation data can be, for example, the data with the smallest absolute value, the optimal value of the safety evaluation data can be, for example, the data with the largest numerical value, and the target heart rate variability data can be, for example, the data with the smallest difference from the baseline heart rate data.

[0080] For example, the measured speed is 40 km / h. The measured distances (first initial distances) at which the timing evaluation data is the optimal value 0 are 25 m, 30 m, and 35 m. The safety evaluation data for 25 m is 7, and the safety evaluation data for 30 m and 35 m are 8. The optimal value of the safety evaluation data is determined to be 8. The measured distances of 30 m and 35 m are the second initial distances. Among the heart rate variability data for the measured distances of 30 m and 35 m, the heart rate variability data for the measured distance of 30 m is smaller. Therefore, 30 m is selected as the sample distance at 40 km / h.

[0081] In this way, the electronic device can perform multi-layer screening of the distance to be tested at the speed to be tested based on the timing evaluation data, safety evaluation data, and heart rate variability data, obtaining a sample distance with the best warning timing, the highest safety, and the smallest heart rate fluctuation of the tester. This sample distance can reflect the first-level warning range at the speed to be tested when the moving object is on the driver's side. This first warning range can, for example, be less than or equal to the sample distance. This first-level warning range indicates that within this warning range, it is safe for the user to open the door and exit the vehicle. Similarly, the sample distance at each speed to be tested can be obtained when the moving object is on the passenger side.

[0082] In some possible implementations, for each speed to be measured, multiple distances to be measured at the speed to be measured are screened according to the heart rate variability data corresponding to the speed to be measured to obtain a third initial distance at the speed to be measured; the third initial distance at the speed to be measured is screened according to the worst value in the safety evaluation data corresponding to the third initial distance at the speed to be measured to obtain a fourth initial distance at the speed to be measured; the fourth initial distance at the speed to be measured is screened according to the worst value in the timing evaluation data corresponding to the fourth initial distance at the speed to be measured to obtain a sample distance corresponding to the speed to be measured; wherein the sample distance indicates the second-level warning range at the speed to be measured.

[0083] For example, referring to Table 1, the electronic device can determine, from all heart rate variability data corresponding to speed 1 in the driver's side test data, the target heart rate variability data with the largest heart rate fluctuation represented by the heart rate variability data. For example, this can be data in which the SDNN, RMSSD, and HF are significantly reduced, and the LF and LF / HF are significantly increased. The electronic device can then use the target heart rate variability data as the third initial distance to determine the test distance. Furthermore, the electronic device can determine the worst value of the safety assessment data from the test data corresponding to the third initial distance, and use the third initial distance corresponding to the worst value of the safety assessment data as the fourth initial distance. Finally, the electronic device can determine the worst value of the timing assessment data from the test data corresponding to the fourth initial distance, and use the fourth initial distance corresponding to the worst value of the timing assessment data as the sample distance. The worst value of the timing assessment data can be, for example, the data with the largest absolute value, and the worst value of the safety assessment data can be, for example, the data with the smallest numerical value.

[0084] For example, the to-be-tested speed is 40 km / h, and the to-be-tested distances corresponding to the target heart rate variability data meeting the condition (third initial distances) are 5 m, 10 m and 15 m at the to-be-tested speed. The safety evaluation data corresponding to the third initial distances 5 m and 10 m are 2, and the safety evaluation data corresponding to the third initial distance 15 m is 3. Therefore, the worst value of the safety evaluation data can be determined as 2, and the third initial distances 5 m and 10 m are fourth initial distances. The timing evaluation data of the fourth initial distance 5 m is 4, and the timing evaluation data of the fourth initial distance 10 m is 3. Therefore, 5 m is selected as the sample distance at the to-be-tested speed 40 km / h.

[0085] In this way, the electronic device can perform multi-layer screening on the to-be-tested distances corresponding to the to-be-tested speed according to the timing evaluation data, the safety evaluation data and the heart rate variability data, and obtain the sample distance with the largest heart rate fluctuation of the test personnel, the worst safety and the worst warning timing. The sample distance can reflect the second-level warning range at the to-be-tested speed when the moving object is located at the main driver side. The second-level warning range can be less than or equal to the sample distance, for example. The second-level warning range indicates that it is unsafe for the user to open the door and get off the vehicle at this time. Similarly, the sample distance at each to-be-tested speed when the moving object is located at the co-driver side can be obtained.

[0086] S103, fitting the opening door warning parameter information at each relative position according to the sample distance corresponding to each to-be-tested speed.

[0087] For example, as described above, the sample distance corresponding to each to-be-tested speed at each relative position is obtained, and therefore, the corresponding relationship between the to-be-tested speed and the sample distance can be fitted to obtain the opening door warning parameter information at the relative position. The sample distance indicates the warning distance at which the opening door warning is started. In other words, the opening door warning parameter information at the relative position indicates the corresponding relationship between the speed and the warning distance at the relative position. It should be noted that the fitting method is not limited in the embodiments of the present application. For example, the fitting method can be linear fitting or nonlinear fitting.

[0088] Optionally, the opening door warning parameter information at each relative position can include at least one level of opening door warning parameter. Each level of opening door warning parameter can represent the warning range at the level. For example, the first level of opening door warning parameter at the main driver side can be represented as S1=k1•v+a, where S1 is the warning distance, v is the speed (km / h) of the moving object, i.e., the to-be-tested speed, k1 is a coefficient, and a is a constant. The second level of opening door warning parameter at the main driver side can be represented as S2=k2•v+b, where S2 is the warning distance, v is the speed (km / h) of the moving object, i.e., the to-be-tested speed, k2 is a coefficient, and b is a constant.

[0089] Exemplarily, taking the first level opening door early warning parameter of the driver side as an example, which is represented as S1=0.368v+11.773, when the moving object has a speed of 20km / h and is 19.133m away from the target vehicle, the first level opening door early warning is started to the passengers in the target vehicle. Taking the second level opening door early warning parameter of the driver side as an example, which is represented as S2=0.151v-0.873, when the moving object has a speed of 20km / h and is 2.147m away from the target vehicle, the second level opening door early warning is started to the passengers in the target vehicle.

[0090] The vehicle opening door early warning method provided by the embodiment of the present application can filter the to-be-tested distance by using the test data including the timing evaluation data, the safety evaluation data and the heart rate variability data, obtain the sample distance which can reflect the early warning distance of starting the opening door early warning under each to-be-tested speed, and then fit the opening door early warning parameter information which can reflect the relationship between the to-be-tested speed and the sample distance according to the to-be-tested speed and the sample distance. In this way, the more accurate opening door early warning parameter information can be obtained based on the timing evaluation data, the safety evaluation data and the heart rate variability data, and the accuracy of the subsequent opening door early warning is improved.

[0091] The following describes how to perform the vehicle opening door early warning according to the opening door early warning parameter. The execution subject of the embodiment can be a body controller, or other controllers, electronic control units or domain controllers on the vehicle, which is not limited in the present application, and the following embodiment takes the body controller as an example. Figure 2 The flowchart of the vehicle opening door early warning method provided by an embodiment of the present application is shown in FIG. 2. Figure 2 The method includes the following steps.

[0092] S201, acquiring the speed information of the moving object, the distance information between the moving object and the target vehicle, and the relative position information of the moving object and the target vehicle when the target vehicle is static.

[0093] Exemplarily, the target vehicle represents the vehicle to be subjected to the opening door early warning. The speed information of the moving object represents the moving speed of the moving object. The distance information between the moving object and the target vehicle can be the distance between the moving object and the tail of the target vehicle. The relative position information of the moving object and the target vehicle can indicate the position information of the moving object, for example, the moving object is on the driver side or the passenger side of the target vehicle. It should be noted that the type of the moving object and the target vehicle is not limited in the embodiment of the present application.

[0094] In some possible implementation manners, the body controller can determine whether the target vehicle is in a stationary state according to a speed sensor or positioning information of the target vehicle. For example, the target vehicle is determined to be stationary when the speed value of the speed sensor is 0; the target vehicle is determined to be stationary when the positioning information does not change in a period of time.

[0095] In some possible implementation manners, the body controller can obtain the speed information, distance information and relative position information of the moving object through a sensor of the target vehicle. The sensor can be, for example, a millimeter wave radar, a laser radar, a camera, and the like, and the embodiments of the present application do not make any limitation here.

[0096] Optionally, when the target vehicle is stationary, the body controller can obtain the speed information, distance information and relative position information of the moving object when the moving object enters a monitoring range of the sensor. The monitoring range is related to the setting of the sensor, and the embodiments of the present application do not make any limitation here.

[0097] S202, determining the door opening warning parameter information of the door on the same side as the moving object according to the relative position information.

[0098] Exemplarily, the door opening warning parameter information indicates the corresponding relationship between the speed and the warning range. Optionally, as mentioned above, the door opening warning parameter information can be determined based on the heart rate variability data of the test personnel.

[0099] In some possible implementation manners, a parameter library can be preset in the target vehicle, and the parameter library includes the door opening warning parameter information under a plurality of relative positions. The door opening warning parameter information under different relative positions can reflect different traffic conditions. Exemplarily, Table 2 is a schematic of a parameter library provided by an embodiment of the present application.

[0100] Table 2 Parameter library

[0101]

[0102] Therefore, with reference to Table 2, the body controller can determine whether the moving object is on the main driver side or the co-driver side of the target vehicle according to the relative position information, determine the door opening warning for which side of the door to prevent false positives, and then obtain the door opening warning parameter information of the door on the same side as the moving object according to the relative position information. It should be noted that the embodiments of the present application do not make any limitation on the storage location of the parameter library, for example, the parameter library can be stored in a cloud server, and the target vehicle can obtain the parameter library from the cloud server, or the parameter library can be preset in the storage of the target vehicle or the body controller.

[0103] S203, determining the warning range corresponding to the moving object according to the door opening warning parameter information and the speed information.

[0104] Exemplarily, as mentioned above, the door opening early warning parameter information can indicate the corresponding relationship between the speed and the early warning range, thus, the vehicle body controller can determine the early warning range corresponding to the moving object according to the door opening early warning parameter information and the speed information.

[0105] S204, if it is determined that the moving object enters into the early warning range according to the distance information, the door opening early warning is performed on the door of the target vehicle on the same side as the moving object.

[0106] Exemplarily, the vehicle body controller can compare the distance information with the early warning range in real time, and when the moving object enters into the early warning range, the door opening early warning is performed on the door of the target vehicle on the same side as the moving object. The door opening early warning mode can include sound prompt, visual prompt (such as warning icon on the in-vehicle display screen), vibration prompt, or a combination of multiple modes. It should be noted that the embodiment of the present application does not limit the door opening early warning mode.

[0107] The vehicle door opening early warning method provided by the embodiment of the present application determines the door opening early warning parameter information of the door on the same side as the moving object by using the relative position information between the moving object and the target vehicle, determines the early warning range corresponding to the moving object according to the speed of the moving object, and performs the door opening early warning on the door of the target vehicle on the same side as the moving object when the moving object enters into the early warning range by using the distance information between the target vehicle and the moving object. In this way, considering the speed of the moving object and the different traffic conditions corresponding to the relative position information between the moving object and the target vehicle, a more suitable early warning range for the moving object can be obtained, which can improve the accuracy of the early warning range and the accuracy of the door opening early warning compared with the fixed early warning range set in the prior art. At the same time, by using the relative position information between the moving object and the target vehicle, the door opening early warning can be performed only on the door on the same side as the moving object, which can prevent false reporting and improve user experience.

[0108] Figure 3 The flowchart of the vehicle door opening early warning method provided by an embodiment of the present application is shown in FIG. 1. Figure 3 The embodiment shown in FIG. 1 is based on the embodiment shown in FIG. 1. Figure 2 The vehicle door opening early warning method provided by the present application is further described based on the embodiment shown in FIG. 1, which includes the following steps.

[0109] S301, when the target vehicle is stationary, acquiring the speed information of the moving object, the distance information between the moving object and the target vehicle, and the relative position information between the moving object and the target vehicle.

[0110] It should be noted that this step is similar to the aforementioned step S201, which will not be described here again.

[0111] S302, determining whether to perform the door opening warning according to the relative position information and the position information of the user in the target vehicle.

[0112] Exemplarily, there can be a case that the seat in the target vehicle on the same side as the moving object is empty, in which case, even if there is a moving object, the door opening warning is not performed to prevent false positives of the door opening warning and improve the accuracy of the door opening warning. Therefore, the vehicle body controller can obtain the data of the pressure sensor of the target vehicle to determine the position information of the user in the target vehicle, and if the position information is consistent with the relative position information, the step of performing the door opening warning is performed, and if the position information is not consistent with the relative position information, the step of not performing the door opening warning is performed.

[0113] If yes, step S303 is performed; if no, the door opening warning is not performed.

[0114] S303, determining the door opening warning parameter information of the door on the same side as the moving object according to the relative position information.

[0115] Exemplarily, the door opening warning parameter information includes at least one level of door opening warning parameter; the door opening warning parameter of each level can represent the warning range of the level. For example, Table 3 shows another parameter library provided by an embodiment of the present application.

[0116] Table 3 Parameter library

[0117]

[0118] S304, determining the warning range of each level corresponding to the moving object according to the door opening warning parameter of each level and the speed information.

[0119] Exemplarily, referring to Table 3, the vehicle body controller can determine the warning range of each level corresponding to the moving object according to the door opening warning parameter of each level in the door opening parameter information under the relative position, and the speed information. For example, the door opening parameter information includes a first level door opening warning parameter and a second level door opening warning parameter, the first level door opening warning parameter corresponds to a first level warning range, the second level door opening warning parameter corresponds to a second level warning range, and the distance between the moving object and the target vehicle indicated by the first level warning range is greater than or equal to the distance between the moving object and the target vehicle indicated by the second level warning range. The speed information of the moving object is 20 km / h. Taking the first level door opening warning parameter S1 = 0.368v + 11.773 on the driver side as an example, the first level warning range is less than or equal to 19.133 m. Taking the second level door opening warning parameter S2 = 0.151v - 0.873 on the driver side as an example, the second level warning range is less than or equal to 2.147 m.

[0120] S305, if it is determined that the moving object enters into the pre-warning range according to the distance information, a door opening pre-warning is performed on the door on the same side of the target vehicle as the moving object according to the pre-warning range and the state of the door on the same side of the target vehicle as the moving object.

[0121] Exemplarily, in this step, as the distance information between the moving object and the target vehicle changes, the moving object can enter different pre-warning ranges, and then different door opening pre-warning modes can be taken according to the state of the door on the same side of the target vehicle as the moving object, that is, a door opening pre-warning can be performed on the door on the same side of the target vehicle as the moving object according to the pre-warning range and the state of the door on the same side of the target vehicle as the moving object. The following takes the first-level pre-warning range or the second-level pre-warning range as an example for description:

[0122] The first case: if it is determined that the moving object enters into the first-level pre-warning range according to the distance information, and it is determined that the state of the door on the same side of the target vehicle as the moving object is in the unopened state, a pre-warning is performed based on the atmosphere lamp on the door on the same side of the target vehicle as the moving object; if it is determined that the moving object enters into the first-level pre-warning range according to the distance information, and it is determined that the state of any door on the same side of the target vehicle as the moving object is in the opened state, a voice prompt pre-warning is performed based on the sound on the opened door.

[0123] In this way, since the safety of the passenger opening the door to get off the vehicle is high in the first pre-warning range, in this case, if the door is not opened, only the atmosphere lamp can be used to perform the door opening pre-warning reminder to prompt the passenger that there is a moving object behind, and only the atmosphere lamp on the door on the same side of the target vehicle as the moving object is used to perform the door opening pre-warning, which improves the accuracy of the door opening pre-warning and improves the user experience; if the door is opened, a voice prompt is performed by using the sound to prompt the passenger to pay attention to the moving object behind.

[0124] The second case: if it is determined that the moving object enters into the second-level pre-warning range according to the distance information, and it is determined that the state of the door on the same side of the target vehicle as the moving object is in the unopened state, the door on the same side of the target vehicle as the moving object is controlled to be locked, and a pre-warning is performed based on the atmosphere lamp on the door on the same side of the target vehicle as the moving object.

[0125] If the user insists on opening the door to get off the vehicle after entering into the second-level pre-warning range and the door on the same side of the target vehicle as the moving object is controlled to be locked, in response to a first opening instruction of the locked door by the user at a first time, the locked door is unlocked, and a voice prompt pre-warning is performed based on the sound on the locked door; in response to a second opening instruction of the unlocked door by the user at a second time later than the first time, the unlocked door is opened. The first opening instruction and the second opening instruction represent the opening instruction of the door, which can be generated by the user triggering the door opening key.

[0126] In this way, since the safety of the passenger opening the door to get off the vehicle is low and the risk of collision is high in the second early warning range, in this case, if the door is not opened, the ambient light is turned on to remind the passenger that there is a moving object behind the vehicle, and the door on the same side as the moving object is controlled to be locked to prevent the passenger from opening the door to get off the vehicle at this time, thereby ensuring the safety of the passenger; but if the passenger presses the door opening key of the locked door to trigger an opening instruction of the locked door, the locked door is unlocked, and a voice prompt warning is given based on the sound on the locked door to remind the passenger again that there is a moving object behind the vehicle; if the passenger presses the door opening key of the unlocked door again to trigger a second opening instruction of the unlocked door, i.e., the door opening key of the locked door is pressed twice in succession, the unlocked door is opened.

[0127] The early warning method for opening the door of the vehicle provided by the embodiment of the application determines the door opening early warning parameter information of the door on the same side as the moving object by using the relative position information of the moving object and the target vehicle, determines the multi-level early warning range corresponding to the moving object according to the speed of the moving object, and uses the distance information between the target vehicle and the moving object to perform door opening early warning on the door on the same side as the moving object in the target vehicle when the moving object enters each level of the early warning range. In this way, considering the speed of the moving object and different traffic conditions corresponding to the relative position information between the moving object and the target vehicle, a more suitable early warning range for the moving object can be obtained, the accuracy of the early warning range can be improved compared with the fixed early warning range set in the prior art, and the accuracy of the door opening early warning can be improved. At the same time, the multi-level early warning range is set, and different door opening early warning methods can be adopted when the moving object enters different early warning ranges, thereby improving the accuracy of the door opening early warning.

[0128] Figure 4 The structure diagram of the early warning device for opening the door of the vehicle provided by an embodiment of the application is shown in Figure 4 The early warning device 400 for opening the door of the vehicle of the embodiment of the application includes:

[0129] The acquisition module 401 is configured to acquire the speed information of the moving object, the distance information between the moving object and the target vehicle, and the relative position information of the moving object and the target vehicle when the target vehicle is stationary.

[0130] The determination module 402 is configured to determine the door opening early warning parameter information of the door on the same side as the moving object according to the relative position information, and determine the early warning range corresponding to the moving object according to the door opening early warning parameter information and the speed information. The door opening early warning parameter information indicates the corresponding relationship between the speed and the early warning range.

[0131] The early warning module 403 is configured to perform door opening early warning on the door on the same side of the target vehicle as the moving object when it is determined according to the distance information that the moving object enters the early warning range.

[0132] In some possible implementation manners, the door opening early warning parameter information includes at least one level of door opening early warning parameter; and the determining module 402 is specifically configured to:

[0133] determine, according to the door opening early warning parameter of each level and the speed information, the early warning range of each level corresponding to the moving object.

[0134] In some possible implementation manners, the early warning module 403 is specifically configured to:

[0135] perform door opening early warning on the door on the same side of the target vehicle as the moving object according to the early warning range and the state of the door on the same side of the moving object.

[0136] In some possible implementation manners, the early warning range is a first level early warning range or a second level early warning range; wherein the distance between the moving object and the target vehicle indicated by the first level early warning range is greater than or equal to the distance between the moving object and the target vehicle indicated by the second level early warning range.

[0137] The early warning module 403 is specifically configured to:

[0138] If the early warning range is the first early warning range, and it is determined that the state of the door on the same side of the moving object is in the unopened state, the early warning is performed based on the atmosphere lamp on the door on the same side of the moving object.

[0139] If the early warning range is the first early warning range, and it is determined that the state of any door on the same side of the moving object is in the opened state, the voice prompt early warning is performed based on the sound on the door in the opened state.

[0140] In some possible implementation manners, the early warning range is a first level early warning range or a second level early warning range; wherein the distance between the moving object and the target vehicle indicated by the first level early warning range is greater than or equal to the distance between the moving object and the target vehicle indicated by the second level early warning range.

[0141] The early warning module 403 is specifically configured to:

[0142] If the early warning range is the second early warning range, and it is determined that the state of the door on the same side of the moving object is in the unopened state, the door on the same side of the moving object is controlled to be locked, and the early warning is performed based on the atmosphere lamp on the door on the same side of the moving object.

[0143] In some possible implementation manners, the pre-warning module 403 is specifically configured to:

[0144] in response to a first opening instruction of the locked vehicle door by the user at the first time, unlocking the locked vehicle door, and performing voice prompt pre-warning based on the sound on the locked vehicle door;

[0145] in response to a second opening instruction of the unlocked vehicle door by the user at a second time later than the first time, opening the unlocked vehicle door.

[0146] In some possible implementation manners, the determination module 402 is specifically configured to:

[0147] determining whether to perform door opening pre-warning according to the relative position information and the position information of the user in the target vehicle;

[0148] if yes, determining door opening pre-warning parameter information of a door on the same side as the moving object according to the relative position information.

[0149] In some possible implementation manners, the door opening pre-warning parameter information is determined based on heart rate variability data of a test person.

[0150] In some possible implementation manners, the apparatus further includes a test module configured to:

[0151] obtain test data for each relative position of a to-be-tested moving object and a to-be-tested vehicle; wherein the test data indicates timing evaluation data, safety evaluation data and heart rate variability data of door opening pre-warning at a plurality of to-be-tested distances and to-be-tested speeds;

[0152] determine a sample distance between the to-be-tested moving object and the to-be-tested vehicle corresponding to each to-be-tested speed according to the to-be-tested distance, the timing evaluation data, the safety evaluation data and the heart rate variability data;

[0153] fit the door opening pre-warning parameter information at each relative position according to the sample distance corresponding to each to-be-tested speed.

[0154] In some possible implementation manners, the test module is specifically configured to:

[0155] for each to-be-tested speed, according to an optimal value in the timing evaluation data corresponding to the to-be-tested speed, screen a plurality of to-be-tested distances at the to-be-tested speed to obtain a first initial distance at the to-be-tested speed;

[0156] according to an optimal value in the safety evaluation data corresponding to the first initial distance at the to-be-tested speed, screen the first initial distance at the to-be-tested speed to obtain a second initial distance at the to-be-tested speed.

[0157] According to the heart rate variability data corresponding to the second initial distance under the to-be-tested speed, the second initial distance under the to-be-tested speed is screened to obtain a sample distance corresponding to the to-be-tested speed; wherein the sample distance indicates a first-level early warning range under the to-be-tested speed.

[0158] In some possible implementation manners, the test module is specifically configured to:

[0159] For each to-be-tested speed, according to the heart rate variability data corresponding to the to-be-tested speed, a plurality of to-be-tested distances under the to-be-tested speed are screened to obtain a third initial distance under the to-be-tested speed.

[0160] According to the worst value in the safety evaluation data corresponding to the third initial distance under the to-be-tested speed, the third initial distance under the to-be-tested speed is screened to obtain a fourth initial distance under the to-be-tested speed.

[0161] According to the worst value in the timing evaluation data corresponding to the fourth initial distance under the to-be-tested speed, the fourth initial distance under the to-be-tested speed is screened to obtain a sample distance corresponding to the to-be-tested speed; wherein the sample distance indicates a second-level early warning range under the to-be-tested speed.

[0162] The device of the embodiment of the application can be used to execute the technical solutions of any one of the method embodiments described above, and has similar implementation principles and technical effects, which will not be described here in detail.

[0163] Figure 5 The electronic device provided by the embodiment of the application is shown in a structural schematic diagram. As shown in the figure, the electronic device 500 can include at least one processor 501 and a memory 502. The electronic device can be the aforementioned computer, server, vehicle body controller or electronic control unit. Figure 5

[0164] The memory 502 is configured to store a program. Specifically, the program can include program code, and the program code includes computer execution instructions.

[0165] The memory 502 can include a high-speed random access memory (RAM) and can also include a non-volatile memory such as at least one disk memory.

[0166] ​The processor 501 is configured to execute the computer-executable instructions stored in the memory 502 to implement the vehicle door opening pre-warning method described in the foregoing method embodiments. The processor 501 can be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. Specifically, when implementing the vehicle door opening pre-warning method described in the foregoing method embodiments, the electronic device can be an electronic control unit, a server, a domain controller or other electronic device with processing function in the vehicle, and can also be a computer, a server or other electronic device with processing function.

[0167] Optionally, the electronic device 500 further includes a communication interface 503. In a specific implementation, if the communication interface 503, the memory 502 and the processor 501 are independently implemented, the communication interface 503, the memory 502 and the processor 501 can be connected to each other through a bus and complete communication therebetween. The bus can be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., but does not mean that there is only one bus or one type of bus.

[0168] Optionally, in a specific implementation, if the communication interface 503, the memory 502 and the processor 501 are integrated on a chip, the communication interface 503, the memory 502 and the processor 501 can complete communication through an internal interface.

[0169] The present application further provides a computer-readable storage medium, and the computer-readable storage medium stores computer program instructions. When a processor executes the computer program instructions, the scheme of the vehicle door opening pre-warning method described above is implemented.

[0170] The present application further provides a computer program product, and the computer program product includes a computer program. When the computer program is executed by a processor, the scheme of the vehicle door opening pre-warning method described above is implemented.

[0171] The present application further provides an automobile including an electronic device implementing the scheme of the vehicle door opening pre-warning method described above.

[0172] The computer readable storage medium described above can be realized by any type of volatile or nonvolatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0173] An exemplary readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in a special integrated circuit. Of course, the processor and the readable storage medium can also exist as discrete components in the vehicle door opening early warning device.

[0174] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. The program executes the steps of the above-mentioned method embodiments when executed; and the foregoing storage medium includes ROM, RAM, magnetic disk or optical disk and various storage medium that can store program code.

[0175] The above embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present application are within the protection scope of the present application.

Claims

1. A method of early warning of door opening of a vehicle, characterized by, The method comprises: acquiring speed information of a moving object, distance information between the moving object and the target vehicle, and relative position information between the moving object and the target vehicle when the target vehicle is stationary; determining door opening warning parameter information of a door on the same side as the moving object according to the relative position information, and determining a warning range corresponding to the moving object according to the door opening warning parameter information and the speed information; wherein the door opening warning parameter information indicates a corresponding relationship between speed and the warning range; if it is determined that the moving object enters the warning range according to the distance information, performing door opening warning on the door on the same side as the moving object in the target vehicle; The method further comprises: acquiring test data for each relative position between a to-be-tested moving object and a to-be-tested vehicle; wherein the test data indicates timing evaluation data, safety evaluation data, and heart rate variability data of door opening warning under a plurality of to-be-tested distances and to-be-tested speeds; wherein the timing evaluation data represents user evaluation of door opening warning timing, the safety evaluation data represents test personnel evaluation of safety of opening the door and getting off the vehicle after warning, and the heart rate variability data represents a degree of change of heart rate data of the test personnel when opening the door and getting off the vehicle after warning from reference heart rate data; determining a sample distance corresponding to the to-be-tested moving object and the to-be-tested vehicle under each to-be-tested speed according to the to-be-tested distance, the timing evaluation data, the safety evaluation data, and the heart rate variability data; the sample distance represents a warning distance at which door opening warning is started under the to-be-tested speed; fitting the door opening warning parameter information under each relative position according to the sample distance corresponding to each to-be-tested speed.

2. The method of claim 1, wherein, The door opening warning parameter information comprises at least one level of door opening warning parameter; determining a warning range corresponding to the moving object according to the door opening warning parameter information and the speed information comprises: determining a warning range corresponding to the moving object at each level according to the door opening warning parameter at each level and the speed information.

3. The method of claim 1, wherein, performing door opening warning on the door on the same side as the moving object in the target vehicle comprises: performing door opening warning on the door on the same side as the moving object in the target vehicle according to the warning range and a state of the door on the same side as the moving object.

4. The method of claim 3, wherein, The warning range is a first level warning range or a second level warning range; wherein a distance between the moving object and the target vehicle indicated by the first level warning range is greater than or equal to a distance between the moving object and the target vehicle indicated by the second level warning range; performing door opening warning on the door on the same side as the moving object in the target vehicle according to the warning range and a state of the door on the same side as the moving object comprises: if the warning range is a first warning range, performing warning based on an atmosphere lamp on the door on the same side as the moving object when it is determined that the state of the door on the same side as the moving object is in an unopened state. If the early warning range is a first early warning range, when it is determined that any door on the same side of the moving object is in an open state, a voice prompt early warning is performed based on a sound on the door in the open state.

5. The method of claim 3, wherein, The early warning range is a first early warning range or a second early warning range; wherein the distance between the moving object and the target vehicle indicated by the first early warning range is greater than or equal to the distance between the moving object and the target vehicle indicated by the second early warning range; According to the early warning range and the state of the door on the same side of the moving object, a door opening early warning is performed on the door on the same side of the target vehicle, including: If the early warning range is a second early warning range, when it is determined that the state of the door on the same side of the moving object is in an unopened state, the door on the same side of the moving object is controlled to be locked, and an early warning is performed based on an atmosphere lamp on the door on the same side of the moving object.

6. The method of claim 5, wherein, After the door on the same side of the moving object is controlled to be locked and the early warning is performed based on the atmosphere lamp on the door on the same side of the moving object, further comprising: In response to a first opening instruction of the locked door by a user at a first time, the locked door is unlocked, and a voice prompt early warning is performed based on a sound on the locked door; In response to a second opening instruction of the unlocked door by a user at a second time later than the first time, the unlocked door is opened.

7. The method according to any one of claims 1 to 6, characterized in that, According to the relative position information, door opening early warning parameter information of the door on the same side of the moving object is determined, including: According to the relative position information and the position information of the user in the target vehicle, it is determined whether to perform a door opening early warning; If yes, according to the relative position information, door opening early warning parameter information of the door on the same side of the moving object is determined.

8. The method according to any one of claims 1 to 6, characterized in that, The door opening early warning parameter information is determined based on heart rate variability data of a test person.

9. The method of claim 1, wherein, According to the to-be-tested distance, the timing evaluation data, the safety evaluation data, and the heart rate variability data, a sample distance between the to-be-tested moving object and the to-be-tested vehicle corresponding to each to-be-tested speed is determined, including: For each to-be-tested speed, a plurality of to-be-tested distances under the to-be-tested speed are screened according to an optimal value in the timing evaluation data corresponding to the to-be-tested speed, to obtain a first initial distance under the to-be-tested speed; According to an optimal value in the safety evaluation data corresponding to the first initial distance under the to-be-tested speed, the first initial distance under the to-be-tested speed is screened to obtain a second initial distance under the to-be-tested speed; According to the heart rate variability data corresponding to the second initial distance under the to-be-tested speed, the second initial distance under the to-be-tested speed is screened to obtain a sample distance corresponding to the to-be-tested speed; wherein the sample distance indicates a first early warning range under the to-be-tested speed.

10. The method of claim 1, wherein, According to the to-be-tested distance, the timing evaluation data, the safety evaluation data, and the heart rate variability data, a sample distance between the to-be-tested moving object and the to-be-tested vehicle corresponding to each to-be-tested speed is determined, including: For each to-be-tested speed, according to the heart rate variability data corresponding to the to-be-tested speed, a plurality of to-be-tested distances under the to-be-tested speed are screened to obtain a third initial distance under the to-be-tested speed; According to the worst value in the safety evaluation data corresponding to the third initial distance under the to-be-tested speed, the third initial distance under the to-be-tested speed is screened to obtain a fourth initial distance under the to-be-tested speed; According to the worst value in the timing evaluation data corresponding to the fourth initial distance under the to-be-tested speed, the fourth initial distance under the to-be-tested speed is screened to obtain a sample distance corresponding to the to-be-tested speed; wherein the sample distance indicates a second-level early warning range under the to-be-tested speed.

11. A door opening early warning device for a vehicle, characterized by comprising: The device comprises: The acquisition module is configured to acquire speed information of a moving object, distance information between the moving object and a target vehicle, and relative position information of the moving object and the target vehicle when the target vehicle is stationary; The determination module is configured to determine opening door early warning parameter information of a door on the same side as the moving object according to the relative position information, and determine a corresponding early warning range of the moving object according to the opening door early warning parameter information and the speed information; wherein the opening door early warning parameter information indicates a corresponding relationship between speed and early warning range; The early warning module is configured to perform opening door early warning on the door on the same side as the moving object in the target vehicle when it is determined that the moving object enters the early warning range according to the distance information; The test module is configured to acquire test data for each relative position of a to-be-tested moving object and a to-be-tested vehicle; wherein the test data indicates timing evaluation data, safety evaluation data, and heart rate variability data of opening door early warning under a plurality of to-be-tested distances and to-be-tested speeds; a sample distance between the to-be-tested moving object and the to-be-tested vehicle corresponding to each to-be-tested speed is determined according to the to-be-tested distance, the timing evaluation data, the safety evaluation data, and the heart rate variability data; the opening door early warning parameter information under each relative position is fitted according to the sample distance corresponding to each to-be-tested speed; wherein the timing evaluation data represents user evaluation of the timing of opening door early warning, the safety evaluation data represents test personnel evaluation of the safety of opening door and getting off after early warning, and the heart rate variability data represents the degree of change of heart rate data and reference heart rate data of test personnel when opening door and getting off after early warning; and the sample distance represents an early warning distance at which opening door early warning starts under the to-be-tested speed.

12. An electronic device, comprising: It comprises: A memory and a processor; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory, so that the processor executes the method of any one of claims 1-10.

13. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the method of any one of claims 1-10.

14. A computer program product, characterised in that, A computer program comprising computer program elements which, when executed by a processor, carry out the method according to any one of claims 1-10.

15. An automobile characterized by comprising: An electronic device for performing the method of pre-warning of opening of a door of a vehicle according to any one of claims 1-10.

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