A door lock control method for a vehicle and a vehicle domain controller

Abstract

The present application provides a door lock control method and a vehicle domain controller for a vehicle, wherein the method comprises: in response to an unlock request signal for a target door of a vehicle, obtaining an obstacle image in the scene where the vehicle is located, wherein the obstacle image comprises multiple frames of first images and multiple frames of second images, the multiple frames of first images are obtained by a first acquisition device installed at the target door, and the multiple frames of second images are obtained by a second acquisition device installed at the target door; based on the multiple frames of first images and the multiple frames of second images, identifying the motion information of the target object in the scene where the vehicle is located, and determining a deviation index for measuring the degree of data deviation between different acquisition devices; responding to the unlock request signal based on the motion information and the deviation index. Through the present application, effective prevention of door-opening accidents is achieved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a door lock control method for a vehicle and a vehicle domain controller. Background Art

[0002] While the development of vehicles has greatly improved the convenience of human travel, it has also brought about a series of safety hazards. For example, when passengers open the car door, they often lack the habit and vigilance to carefully observe the dynamics of surrounding vehicles and pedestrians, which can easily induce the so-called "door-opening killing" phenomenon. "Door-opening killing" specifically refers to the fact that after the vehicle has stopped steadily, the driver or passengers fail to carefully check whether there are pedestrians or oncoming vehicles behind them, and they hastily open the car door, causing pedestrians or vehicles passing by to be caught off guard and unable to avoid in time, resulting in collisions, falls, or even injuries. In serious cases, it may pose a major threat to life safety. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a door lock control method and a vehicle domain controller for a vehicle, aiming to effectively prevent the occurrence of "door opening kill" accidents.

[0004] In a first aspect, the present application provides a door lock control method for a vehicle, the method comprising: in response to an unlock request signal for a target door of the vehicle, acquiring an obstacle image in a scene in which the vehicle is located, wherein the obstacle image comprises a plurality of frames of first images and a plurality of frames of second images, the plurality of frames of first images being obtained by a first acquisition device installed at the target door, and the plurality of frames of second images being obtained by a second acquisition device installed at the target door; based on the plurality of frames of first images and the plurality of frames of second images, identifying motion information of a target object in the scene in which the vehicle is located, and determining a deviation index for measuring the degree of deviation of image data between the first acquisition device and the second acquisition device; and responding to the unlock request signal based on the motion information and the deviation index.

[0005] In a possible implementation, it further includes: generating a synchronous acquisition signal in response to the unlock request signal; sending the synchronous acquisition signal to the first acquisition device and the second acquisition device to control the first acquisition device and the second acquisition device to acquire multiple frames of images according to the synchronous acquisition signal, so that the multiple frames of first images and the multiple frames of second images maintain frame synchronization.

[0006] In a possible implementation, the step of responding to the unlock request signal according to the motion information and the deviation index includes: determining an influence index corresponding to the target object according to the motion information, the influence index being used to characterize the degree of influence of the target object moving according to the motion information on the occurrence of a collision; determining a target collision risk level corresponding to the influence index and the deviation index according to a pre-constructed risk matrix, wherein each row of the risk matrix is ​​used to indicate a different level of data deviation, and each column of the risk matrix is ​​used to indicate a different level of influence; and responding to the unlock request signal according to a door lock reaction strategy corresponding to the target collision risk level.

[0007] In a possible implementation, different collision risk levels correspond to different door lock reaction strategies, wherein different collision risk levels include at least one of the following items: first level, second level, third level, fourth level and fifth level, the door lock reaction strategy corresponding to the first level includes: controlling the door lock of the target door to be unlocked, the door lock reaction strategy corresponding to the second level includes: controlling the door lock of the target door to be unlocked, and opening the target door at a first preset angle, the door lock reaction strategy corresponding to the third level includes: controlling the door lock of the target door to be unlocked, and opening the target door at a second preset angle, the door lock reaction strategy corresponding to the fourth level includes: controlling the door lock of the target door to be unlocked when the unlock request signal is received for the second time, and the door lock reaction strategy corresponding to the fifth level includes: controlling the door lock of the target door to be locked.

[0008] In a possible implementation, the motion information includes a distance, a moving speed of the target object, and a direction of movement of the target object relative to a target door, wherein the distance refers to a relative distance between the target object and the target door, wherein the step of determining an influence index corresponding to the target object based on the motion information includes: normalizing the distance, moving speed, and direction of movement of the target object, respectively, to obtain a distance quantization value, a speed quantization value, and a direction quantization value; and determining the influence index corresponding to the target object based on the obtained distance quantization value, speed quantization value, direction quantization value, and weight values ​​corresponding to each quantization value.

[0009] In a possible implementation, the vehicle is provided with a plurality of doors, and the vehicle is divided into a plurality of body domains according to the layout positions of the doors, and each body domain corresponds to a body domain controller, wherein the step of responding to the unlock request signal according to the door lock reaction strategy corresponding to the target collision risk level includes: sending the door lock reaction strategy to the body domain controller corresponding to the target door, so that the body domain controller executes the door lock reaction strategy.

[0010] In a possible implementation, a seat is provided in each vehicle body domain, and the method further includes: for each other door of the vehicle, in response to the unlock request signal, obtaining a plurality of frames of third images acquired by a first acquisition device and a plurality of frames of fourth images acquired by a second acquisition device corresponding to the other door, and identifying a specified collision risk level corresponding to the other door based on the plurality of frames of third images and the plurality of frames of fourth images; for each other door, if the specified collision risk level corresponding to the other door meets the warning requirement, sending a warning instruction to the corresponding vehicle body domain controller, so that the vehicle body domain controller controls the seat provided in the corresponding vehicle body domain to vibrate, so as to perform a collision warning.

[0011] In a possible implementation, each door of the vehicle is provided with an inner door handle mechanism, and each inner door handle mechanism is connected to a corresponding body domain controller by a hardwired method, wherein the unlock request signal is received in the following manner: when the inner door handle mechanism provided at the target door is pulled, the body domain controller corresponding to the target door receives the unlock request signal and transmits the unlock request signal to the vehicle domain controller.

[0012] In a possible implementation, the method further includes: acquiring operating status parameters of the vehicle in response to the unlocking request signal; and identifying a scene in which the vehicle is located based on the operating status parameters, wherein when it is determined that the vehicle is in a parking scene based on the operating status parameters of the vehicle, the obstacle image is acquired.

[0013] In a second aspect, the present application provides a whole vehicle domain controller, which is arranged in a vehicle and is configured to perform the following processing: in response to an unlock request signal for a target door of the vehicle, obtaining an obstacle image in a scene in which the vehicle is located, wherein the obstacle image includes multiple frames of first images and multiple frames of second images, the multiple frames of first images are obtained by a first acquisition device installed at the target door, and the multiple frames of second images are obtained by a second acquisition device installed at the target door; based on the multiple frames of first images and the multiple frames of second images, identifying motion information of a target object in the scene in which the vehicle is located, and determining a deviation index for measuring the degree of deviation of image data between the first acquisition device and the second acquisition device; and responding to the unlock request signal based on the motion information and the deviation index.

[0014] The present application provides a door lock control method and a vehicle domain controller for a vehicle, wherein the method comprises: in response to an unlock request signal for a target door of a vehicle, obtaining an obstacle image in the scene where the vehicle is located, wherein the obstacle image comprises multiple frames of first images and multiple frames of second images, the multiple frames of first images are obtained by a first acquisition device installed at the target door, and the multiple frames of second images are obtained by a second acquisition device installed at the target door; based on the multiple frames of first images and the multiple frames of second images, identifying the motion information of the target object in the scene where the vehicle is located, and determining a deviation index for measuring the degree of data deviation between different acquisition devices; responding to the unlock request signal based on the motion information and the deviation index. Through the present application, effective prevention of door-opening accidents is achieved.

[0015] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flow chart of a door lock control method for a vehicle provided in an embodiment of the present application;

[0018] Figure 2 A flowchart of a process for capturing multiple frames of images provided in an embodiment of the present application;

[0019] Figure 3 A flowchart of responding to an unlock request signal provided by an embodiment of the present application;

[0020] Figure 4 A flow chart of determining the influence index corresponding to a target object provided in an embodiment of the present application;

[0021] Figure 5 A schematic diagram of the distribution of the vehicle body domain controllers provided in an embodiment of the present application;

[0022] Figure 6 A flowchart for warning other passengers provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0024] First, the application scenarios to which the present application is applicable are introduced. The present application can be applied to vehicles.

[0025] While the development of vehicles has greatly improved the convenience of human travel, it has also brought about a series of safety hazards. For example, when passengers open the car door, they often lack the habit and vigilance to carefully observe the dynamics of surrounding vehicles and pedestrians, which can easily induce the so-called "door-opening killing" phenomenon. "Door-opening killing" specifically refers to the fact that after the vehicle has stopped steadily, the driver or passengers fail to carefully check whether there are pedestrians or oncoming vehicles behind them, and they hastily open the car door, causing pedestrians or vehicles passing by to be caught off guard and unable to avoid in time, resulting in collisions, falls, or even injuries. In serious cases, it may pose a major threat to life safety.

[0026] In the prior art, in order to ensure the safety of automobile driving, a risk assessment of the safety of door opening is performed when the vehicle is parked. However, the current method mainly relies on the acquisition of camera image information for information processing, which has the disadvantages of high data storage pressure, high processing complexity, and significant influence of light and environment. In addition, the risk assessment means are single, and it is difficult to effectively prevent "door opening killing" accidents and provide effective warnings to people in the car. In addition, the control strategy of automobile door opening collision prevention is often direct and simple. For example, after the door lock is closed, it cannot be unlocked again according to the wishes of the occupants, and it is necessary to wait for the system to re-judge. This is not humane and may also lead to too long waiting time, affecting the comfort of the ride. At the same time, inaccurate judgments may also occur, further affecting the riding experience. Moreover, the warning method of automobile door opening collision prevention is relatively single, which cannot meet the user's demand for intelligent and personalized experience.

[0027] Based on this, an embodiment of the present application provides a door lock control method for a vehicle and a vehicle, aiming to solve the above-mentioned problems.

[0028] See also Figure 1 , Figure 1 Flowchart of a vehicle door lock control method provided by an embodiment of the present application. Figure 1As shown in, the door lock control method for a vehicle provided in an embodiment of the present application includes:

[0029] S101 . In response to an unlock request signal for a target door of a vehicle, an image of an obstacle in a scene where the vehicle is located is acquired.

[0030] Specifically, the target door refers to any door in the vehicle, and the unlock request signal is issued by the customer corresponding to the door. This application includes all basic functions of the door lock system, such as welcome unlocking, central control unlocking, remote control unlocking, NFC unlocking, Bluetooth unlocking, driving unlocking, power-off unlocking, and collision unlocking. Users can select the specific door to be unlocked according to the selected unlocking scene and the actual opening and closing of the door lock.

[0031] The obstacle image includes multiple frames of first images and multiple frames of second images. The multiple frames of first images are obtained by a first acquisition device installed at the target vehicle door, and the multiple frames of second images are obtained by a second acquisition device installed at the target vehicle door.

[0032] The scene in which the vehicle is located refers to the specific location and speed of the vehicle at this time. When the vehicle domain controller responds to the unlock request signal, it obtains the vehicle's operating status parameters. The operating status parameters refer to the vehicle's location information and speed information. The vehicle domain controller obtains the vehicle's current location information through positioning technology, including X-coordinate direction, Y-coordinate direction, and Z-coordinate direction information. At the same time, the vehicle domain controller interacts with the chassis domain controller to obtain the vehicle's speed information through the accelerator pedal.

[0033] In an embodiment of the present application, when it is determined based on the vehicle's operating status parameters that the vehicle is in a parking scene, an obstacle image is acquired; if the vehicle is not in a parking scene and / or the vehicle speed is not 0, no obstacle image is acquired.

[0034] Below through Figure 2 The specific process of acquiring multiple frames of images is introduced in detail.

[0035] Figure 2 A flowchart of the process of capturing multiple frames of images provided in an embodiment of the present application.

[0036] S201 . In response to an unlock request signal, generate a synchronous acquisition signal.

[0037] S202, sending a synchronous acquisition signal to the first acquisition device and the second acquisition device to control the first acquisition device and the second acquisition device to acquire multiple frames of images according to the synchronous acquisition signal, so that the multiple frames of first images and the multiple frames of second images maintain frame synchronization.

[0038] In an embodiment of the present application, the first acquisition device can be a camera and a sensor. A camera is set on each door, and multiple first acquisition devices are distributed around the vehicle (such as front, rear, left and right) to obtain vehicle surrounding environment parameters, generate three-dimensional image data, and store them. Therefore, multiple frames of first images can be images formed by light captured by the camera.

[0039] The second acquisition device can be an infrared sensor and a millimeter-wave radar, which are used to obtain vehicle surrounding environment parameters, generate analysis data, and store them. The second acquisition device is also configured on each door to ensure that it has a matching viewing angle range with the first acquisition device. Multiple frames of second images can generate radar images containing object position, speed and other information by transmitting and receiving electromagnetic waves through the radar.

[0040] return Figure 1 , S102, identifying motion information of a target object in a scene in which the vehicle is located according to the multiple frames of first images and the multiple frames of first images, and determining a deviation index for measuring the degree of deviation of image data between the first acquisition device and the second acquisition device.

[0041] In a preferred example of the present application, the deviation index may be determined in the following manner: the deviation index is obtained by comparing the first image and the second image in each frame.

[0042] Specifically, the deviation comparison analysis is performed on the multiple frames of the first image and the multiple frames of the second image, and the mean absolute error method is used to measure the degree of data deviation. The degree of deviation between the multiple frames of the first image and the multiple frames of the second image can be calculated by the following formula:

[0043]

[0044] Where Xi is the first image of multiple frames, Yi is the second image of multiple frames, n is the total number of frames, and i is the i-th frame image. When MAE is smaller, it means the deviation is smaller and the accuracy is higher, and the error area can be further divided. When MAE is lower than the minimum value X, it is defined as low error; when MAE is between the minimum value X and the maximum value Y, it is defined as medium error; when MAE is higher than the maximum value Y, it is defined as high error.

[0045] S103 : Respond to the unlock request signal according to the motion information and the deviation index.

[0046] Below through Figure 3 The process of responding to the unlock request signal according to the motion information and the deviation index is specifically introduced.

[0047] Figure 3 A flowchart of responding to an unlock request signal provided in an embodiment of the present application.

[0048] S301: Determine an influence index corresponding to a target object according to motion information.

[0049] Specifically, the impact index is used to characterize the impact of the target object moving according to the motion information on the collision. The motion information includes distance, moving speed and direction of movement, and the distance refers to the relative distance between the target object and the target door.

[0050] Among them, the motion information of the target object is obtained from multiple frames of first images by using a convolutional neural network-deep learning algorithm to detect and classify the type of target object, such as pedestrians, animals, vehicles, etc., from the frame first image; the first acquisition device continuously acquires multiple frames of images, each frame represents a scene at a moment, and when the object moves in continuous multiple frames of images, the tracking algorithm (which can be a Kalman filter or a mean shift algorithm) records the coordinate changes of the object in each frame, and the movement direction of the target object can be obtained; by tracking the target object in continuous image frames, the distance of the target object can be obtained; the frame rate of the camera can be used to determine the time interval, and the displacement and time interval can be used to calculate the movement speed of the target object.

[0051] Acquiring the motion information of the target object from multiple frames of the second image is to detect the infrared radiation of the target object through the infrared sensor. Different temperatures and materials will emit infrared rays of different wavelengths and intensities to determine the type of the target object; millimeter-wave radar uses electromagnetic waves to detect the target object. Millimeter-wave radar has the ability to penetrate weather conditions such as haze, rain and snow, and is suitable for use in complex environments. By emitting electromagnetic waves to the target object and receiving reflected waves, it can detect the distance, speed and direction of the target object.

[0052] The impact index corresponding to the target object refers to the degree of impact of the target object on the target door.

[0053] Below through Figure 4 The process of determining the influence index corresponding to the target object is specifically introduced.

[0054] Figure 4 A flow chart of determining the influence index corresponding to a target object provided in an embodiment of the present application;

[0055] S401 , respectively normalizing the distance, moving speed and moving direction of the target object to obtain a distance quantization value, a speed quantization value and a direction quantization value.

[0056] S402: Determine an influence index corresponding to the target object according to the obtained distance quantization value, speed quantization value, direction quantization value and weight values ​​corresponding to each quantization value.

[0057] Specifically, the collected data set has three variables: distance S, speed V, and direction of movement D. A weight is assigned according to the importance of each variable (WS , W V , W D ), the weights are determined based on historical data and experience, and the sum of all weights is 1. This application defines it as W S =0.5,W V =0.3, WD=0.2. After assigning weights to the variables, they are quantified and the data is normalized. Finally, the influence index R can be calculated using the following weighted formula:

[0058] R=W S ×S normalized +W V ×V normalized +W D ×D normalized (2)

[0059] Among them, S normalized 、V normalized , D normalized They are distance quantization value, speed quantization value and direction quantization value respectively. When the impact index R is lower than the threshold value X, it is defined as low risk; when the impact index R is between the threshold values ​​X and Y, it is defined as medium risk; when the impact index R is higher than the threshold value Y, it is defined as high risk. In the embodiment of the present application, the thresholds can be customized. Here, the threshold value X is defined as 0.3 and the threshold value Y is defined as 0.6.

[0060] return Figure 3 , S302, determining the target collision risk level corresponding to the impact index and the deviation index according to the pre-constructed risk matrix.

[0061] Specifically, each row of the risk matrix is ​​used to indicate the degree of data deviation at different levels, and each column of the risk matrix is ​​used to indicate the degree of impact of different registrations.

[0062] As an example, a risk matrix may be shown by the following matrix.

[0063] Impact Low risk Medium risk High risk Low error none medium high Mean error medium high Very high High error high Very high Danger

[0064] Specifically, the first level, the second level, the third level, the fourth level, and the fifth level of the collision risk level may correspond to “none”, “medium”, “high”, “extremely high”, and “dangerous” respectively.

[0065] S303: respond to the unlock request signal according to the door lock reaction strategy corresponding to the target collision risk level.

[0066] Specifically, when the influence index and the degree of deviation fall into the area of ​​"none" in the risk matrix, the body domain controller corresponding to the target door directly executes the door lock opening instruction.

[0067] When there is a risk of collision, there are four specific response strategies, specifically:

[0068] (1) When the impact index and deviation level fall into the “medium” area in the risk matrix,

[0069] The body domain controller directly executes the door lock opening command, and links with the voice reminder module of the entertainment cabin domain controller through the vehicle domain controller to output voice information (such as "There is a pedestrian passing by, please open the door slowly", etc.), and the sound and light alarm function (such as short horn sound, seat vibration reminder, etc.) can be set according to customer needs.

[0070] or,

[0071] The body domain controller executes the door lock opening command and opens the door at a certain angle (such as 30°). The control method can detect the door opening and closing angle in real time through the limit sensor and feedback to the door lock system; the door opening angle can be remotely set through the remote control / mobile phone APP; the door opening angle can be controlled through voice commands, and the sound and light alarm function can be set according to customer needs (such as short horn sound, seat vibration reminder at a frequency of 30Hz, voice reminder in the car, etc.)

[0072] (2) When the impact index and deviation level fall into the "high" area in the risk matrix,

[0073] The body domain controller executes the door lock opening command and opens the door at a certain angle (such as 15°). At the same time, it can set the sound and light alarm function according to customer needs (such as long horn sounding, seat vibration reminder at a frequency of 60Hz, voice reminder in the car, etc.), and output voice information through the AVAS (Active Vehicle Audible Sound System) module to remind people outside the car.

[0074] (3) When the impact index and deviation level fall into the “extremely high” area in the risk matrix,

[0075] The body domain controller executes the door lock closing command. However, when the customer still needs to unlock the door, the following strategies can be implemented: For example, the door handle will not be unlocked when it is pulled for the first time, and the door opening command will be issued when it is pulled again after an interval of T1. The door handle will not be unlocked when it is pulled for the first time, and the unlocking command will be issued after it is pulled twice within the calibrated time T2. At the same time, the sound and light alarm function can be set according to customer needs (such as long horn sounding, seat vibration reminder at a frequency of 100Hz, voice reminder in the car, steering wheel vibration reminder, etc.).

[0076] (4) When the impact index and deviation level fall into the “dangerous” area in the risk matrix,

[0077] The body domain controller directly executes the door lock closing command.

[0078] In a preferred example of this application, Figure 5 As shown, the vehicle is provided with a plurality of doors, and the vehicle is divided into a plurality of body domains according to the layout positions of the doors, each body domain corresponds to a body domain controller, and each body domain controller controls a door lock control service module.

[0079] In the embodiment of the present application, the body domain controller may include four, namely, the left front body domain controller 101, the right front body domain controller 102, the left rear body domain controller 103 and the right rear body domain controller 104, all of which are connected to the vehicle domain controller 100. Each body domain controller can control its corresponding service module. The service modules in the present application include but are not limited to: door lock control service module, window control service module, window control service module, lighting control service module, state recognition control service module, seat control service module, etc. The present application is based on the centralized EEA (Electrical / Electronic Architecture) of the automotive electronic domain. In the system architecture of the body domain controller, the vehicle domain controller 100 performs door lock control logic judgment, intelligently interacts with the entertainment cockpit domain controller, pop-up selection and voice reminder, and sends drive commands to each body domain controller; the body domain controller executes the corresponding function drive instructions to control the body-related components, and also applies SOA (Service-Oriented Architecture, service-oriented architecture) services will be divided into application modules and service modules, and flexible orchestration of multiple functions will be achieved according to customer customization. Each body domain controller also corresponds to a door lock control service module.

[0080] As an example, when unlocking by welcoming guests / unlocking by pressing the central control trigger / unlocking by remote control / unlocking by NFC / unlocking by Bluetooth, the customer can choose the corresponding scene application mode, and different application modules will call one or more of the following service modules: left front door lock control service module, right front door lock control service module, left rear door lock control service module, right rear door lock control service module, which can be selected according to customer needs; or, when locking while driving / unlocking by power off / unlocking by collision, the corresponding application module must call all of the following service modules: left front door lock control service module, right front door lock control service module, left rear door lock control service module, right rear door lock control service module, to perform the corresponding unlocking or locking actions.

[0081] Figure 6 A flowchart for warning other passengers provided in an embodiment of the present application.

[0082] S501. For each other door of the vehicle, in response to an unlock request signal, obtain multiple frames of third images captured by a first acquisition device and multiple frames of fourth images captured by a second acquisition device corresponding to the other door, and identify a specified collision risk level corresponding to the other door based on the multiple frames of third images and the multiple frames of fourth images.

[0083] Specifically, when the target door receives an unlock request signal, all other doors will also perform the above actions to identify the collision expansion risk level of the corresponding door, so as to warn other passengers in the car.

[0084] S502. For each other door, if the designated collision risk level corresponding to the other door meets the warning requirement, a warning instruction is sent to the other corresponding body domain controller, so that the body domain controller controls the seat set in the corresponding body domain to vibrate to perform a collision warning.

[0085] Warning requirements are worth remembering. If the specified collision risk level corresponding to a certain other door reaches the preset warning threshold (that is, it meets the warning requirements), the system will consider that there is a potential collision risk. Sending a warning instruction means that the vehicle domain controller will send a warning instruction to the body domain controller corresponding to the door, so that the body domain controller is responsible for management and takes corresponding actions. The seat vibration warning means that after the body domain controller receives the warning instruction, it will activate the seat vibration function set in the corresponding body domain. This means that if the system detects that there is a collision risk around a door, the seat near the door will vibrate as a warning to the passengers, reminding them to open the door and pay attention to possible collisions.

[0086] The present application also provides a vehicle domain controller, which is arranged in the vehicle and is configured to perform the following processing: in response to an unlock request signal for a target door of the vehicle, obtaining an image of an obstacle in a scene in which the vehicle is located, wherein the image of the obstacle includes multiple frames of first images and multiple frames of second images, the multiple frames of first images are obtained by a first acquisition device installed at the target door, and the multiple frames of second images are obtained by a second acquisition device installed at the target door; based on the multiple frames of first images and the multiple frames of second images, identifying motion information of a target object in the scene in which the vehicle is located, and determining a deviation index for measuring the degree of data deviation between different acquisition devices; and responding to the unlock request signal based on the motion information and the deviation index.

[0087] Compared with the prior art, the present application can fully detect the approach direction and speed of people and objects outside the vehicle by adding cameras and sensors around the vehicle, so as to compare, judge and analyze the collision risk, and avoid the problem of "door opening kill" of the car to a large extent, providing double driving safety protection for the car owner, passengers and people and equipment around the vehicle. At the same time, the present invention also optimizes the control strategy of car door opening anti-collision. When encountering danger, it does not directly control the door lock to close, but adds a sound and light alarm function, and controls the door lock motor to open the door at a certain angle (for example, 15°, 30°, etc.), which not only meets the needs of driving safety, but also improves the intelligent and personalized user experience.

[0088] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0089] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, 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 communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0090] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0091] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0092] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0093] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A door lock control method for a vehicle, characterized in that: The method comprises: In response to an unlock request signal for a target door of a vehicle, an obstacle image in a scene where the vehicle is located is acquired, wherein the obstacle image includes a plurality of frames of first images and a plurality of frames of second images, the plurality of frames of first images are acquired by a first acquisition device installed at the target door, and the plurality of frames of second images are acquired by a second acquisition device installed at the target door; Identifying motion information of a target object in a scene where the vehicle is located according to the plurality of first image frames and the plurality of second image frames, and determining a deviation index for measuring a degree of deviation of image data between the first acquisition device and the second acquisition device; The unlock request signal is responded to according to the motion information and the deviation index.

2. The method according to claim 1, characterized in that Also includes: generating a synchronous acquisition signal in response to the unlock request signal; The synchronous acquisition signal is sent to the first acquisition device and the second acquisition device to control the first acquisition device and the second acquisition device to acquire multiple frames of images according to the synchronous acquisition signal, so that the multiple frames of first images and the multiple frames of second images maintain frame synchronization.

3. The method according to claim 1, characterized in that The step of responding to the unlock request signal according to the motion information and the deviation index comprises: Determine, according to the motion information, an influence index corresponding to the target object, wherein the influence index is used to characterize the influence degree of the target object moving according to the motion information on the occurrence of a collision; Determining the target collision risk level corresponding to the impact index and the deviation index according to a pre-constructed risk matrix, wherein each row of the risk matrix is ​​used to indicate a different level of data deviation, and each column of the risk matrix is ​​used to indicate a different level of impact; The unlock request signal is responded to according to a door lock reaction strategy corresponding to the target collision risk level.

4. The method according to claim 3, characterized in that Different collision risk levels correspond to different door lock response strategies. The different collision risk levels include at least one of the following: a first level, a second level, a third level, a fourth level, and a fifth level. The door lock reaction strategies corresponding to the first level include: Controlling the door lock of the target vehicle door to unlock, The door lock reaction strategies corresponding to the second level include: Controlling the door lock of the target door to unlock, and opening the target door at a first preset angle, The door lock reaction strategies corresponding to the third level include: controlling the door lock of the target door to unlock, and opening the target door at a second preset angle, The door lock reaction strategies corresponding to the fourth level include: When receiving the unlock request signal for the second time, controlling the door lock of the target vehicle door to unlock, The door lock reaction strategies corresponding to the fifth level include: Control the door lock of the target vehicle door to lock.

5. The method according to claim 3, characterized in that: The motion information includes the distance, the moving speed of the target object and the moving direction of the target object relative to the target door, wherein the distance refers to the relative distance between the target object and the target door. The step of determining the influence index corresponding to the target object according to the motion information includes: Normalizing the distance of the target object, the moving speed of the target object, and the moving direction of the target object relative to the target door to obtain a distance quantization value, a speed quantization value, and a direction quantization value; The influence index corresponding to the target object is determined according to the obtained distance quantization value, speed quantization value, direction quantization value and the weight value corresponding to the distance quantization value, the weight value corresponding to the speed quantization value and the weight value corresponding to the direction quantization value.

6. The method according to claim 3, characterized in that The vehicle is provided with a plurality of doors, and the vehicle is divided into a plurality of body domains according to the arrangement positions of the doors, and a body domain controller is correspondingly provided for each body domain. The step of responding to the unlock request signal according to the door lock reaction strategy corresponding to the target collision risk level includes: The door lock reaction strategy is sent to the vehicle body domain controller corresponding to the target vehicle door, so that the vehicle body domain controller executes the door lock reaction strategy.

7. The method according to claim 6, characterized in that A seat is provided in each of the vehicle body areas. Among them, it also includes: For each other door of the vehicle, in response to the unlock request signal, acquiring a plurality of frames of third images acquired by a first acquisition device and a plurality of frames of fourth images acquired by a second acquisition device corresponding to each other door, and identifying a designated collision risk level corresponding to the other door according to the plurality of frames of third images and the plurality of frames of fourth images; When the designated collision risk level corresponding to the other vehicle doors meets the warning requirement, a warning instruction is sent to the body domain controller corresponding to the other vehicle doors, so that the body domain controller corresponding to the other vehicle doors controls the seat arranged in the body domain corresponding to the other vehicle doors to vibrate.

8. The method according to claim 6, characterized in that Each door of the vehicle is provided with a door inner handle mechanism, and each of the door inner handle mechanisms is connected to the corresponding vehicle body domain controller via a hard line. The unlock request signal is received in the following manner: When the inner door handle mechanism provided at the target door is pulled, the vehicle body domain controller corresponding to the target door receives the unlock request signal and transmits the unlock request signal to the vehicle domain controller.

9. The method according to claim 1, characterized in that: The obtaining of the obstacle image in the scene where the vehicle is located specifically includes: In response to the unlock request signal, acquiring an operating state parameter of the vehicle; The scene in which the vehicle is located is identified according to the operating state parameters, and when it is determined that the vehicle is in a parking scene based on the operating state parameters of the vehicle, the obstacle image is acquired.

10. A vehicle domain controller, characterized in that: The vehicle domain controller is disposed in the vehicle and is configured to perform the following processing: In response to an unlock request signal for a target door of a vehicle, an obstacle image in a scene where the vehicle is located is acquired, wherein the obstacle image includes a plurality of frames of first images and a plurality of frames of second images, the plurality of frames of first images are acquired by a first acquisition device installed at the target door, and the plurality of frames of second images are acquired by a second acquisition device installed at the target door; Identifying motion information of a target object in a scene where the vehicle is located according to the plurality of first image frames and the plurality of second image frames, and determining a deviation index for measuring a degree of deviation of image data between the first acquisition device and the second acquisition device; The unlock request signal is responded to according to the motion information and the deviation index.

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