Vehicle door anti-collision method, device, system and equipment, medium and vehicle

Abstract

The invention provides a vehicle door anti-collision method which comprises the following steps: when a preset starting condition is met, acquiring data of a sensor outside a vehicle and data of a sensor inside the vehicle; performing anti-collision work based on the data of the sensor outside the vehicle and the data of the sensor inside the vehicle; during the anti-collision work period, whether a passenger is left in the vehicle or not is detected based on data of a sensor in the vehicle, if yes, the anti-collision work is maintained, and if no passenger is in the vehicle, the anti-collision work is quitted; and in the anti-collision work period, the voltage of a low-voltage storage battery of the vehicle is detected, and if the voltage of the low-voltage storage battery is lower than a preset threshold value, the low-voltage storage battery is charged.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle door anti-collision method, device, system, equipment, medium and vehicle. Background Art

[0002] As cars become more popular and roads become more crowded, assisted driving functions are becoming more and more popular. Using on-board millimeter-wave radar or cameras to detect and judge vehicles or pedestrians coming from behind and to provide anti-collision prompts when parking and opening doors is an indispensable application.

[0003] The existing anti-collision system for parking and opening the door has the following shortcomings: in order to save power after the vehicle stops, the anti-collision system will enter a dormant state after a very short working time, while the passengers or the driver may still stay in the car, and the system will not be able to provide an anti-collision prompt function when the door is opened. Summary of the invention

[0004] The present invention is completed to solve the above-mentioned problems, and its purpose is to provide a door anti-collision method, device, system, equipment, medium and vehicle, which can provide a continuous anti-collision prompt function according to the status inside the vehicle.

[0005] According to one aspect of the present invention, a vehicle door anti-collision method is provided, comprising the following steps: when a preset starting condition is met, collecting external vehicle sensor data and internal vehicle sensor data; performing anti-collision work based on the external vehicle sensor data and the internal vehicle sensor data; during the anti-collision work, detecting whether there are any occupants in the vehicle based on the internal vehicle sensor data, if there are occupants, maintaining the anti-collision work, if there are no occupants in the vehicle, exiting the anti-collision work; and during the anti-collision work, detecting the voltage of a low-voltage battery of the vehicle, if the voltage of the low-voltage battery is lower than a preset threshold, charging the low-voltage battery.

[0006] Preferably, the in-vehicle sensor includes an in-vehicle camera, and uses image data captured by the in-vehicle camera to detect whether there are any passengers left in the vehicle.

[0007] Preferably, when the voltage of the low-voltage battery is lower than a preset threshold, the low-voltage battery is charged using an engine management system or a battery management system of the vehicle.

[0008] Preferably, the anti-collision work includes the following steps: detecting whether the motion trajectory of a moving target around the vehicle coincides with the door opening and closing area based on the external sensor data; calculating the possible collision time between the moving target and the door when the motion trajectory of the moving target coincides with the door opening and closing area; detecting whether an occupant in the vehicle intends to open the door based on the internal sensor data; and performing a warning operation based on the possible collision time when it is detected that an occupant in the vehicle intends to open the door.

[0009] Preferably, the in-vehicle sensor further includes a TOF radar installed on each door respectively.

[0010] Preferably, detecting whether an occupant in the vehicle has the intention to open the door based on the in-vehicle sensor data further includes: separately collecting the image data and TOF radar data captured by the in-vehicle camera; analyzing the image data, extracting the body feature points of each occupant in the vehicle, and tracking them; constructing the radar three-dimensional data of each occupant in the vehicle based on the TOF radar data; and fusing the body feature points and the radar three-dimensional data of each occupant in the vehicle to determine whether the occupant in the vehicle has the intention to open the door.

[0011] Preferably, detecting whether the motion trajectory of a moving target around the vehicle coincides with the door opening and closing area based on the external sensor data further includes: confirming whether there is a moving target around the vehicle based on the external sensor data, and predicting the motion trajectory of the moving target; and determining whether the motion trajectory coincides with the door opening and closing area.

[0012] Preferably, the external vehicle sensor includes a millimeter wave radar and an external vehicle camera.

[0013] Preferably, the vehicle door anti-collision method further comprises the following steps: after collecting the external vehicle sensor data, acquiring the scene information around the vehicle based on the external vehicle sensor data, and executing subsequent steps only when the vehicle scene is a preset scene.

[0014] Preferably, when it is detected that the occupant in the vehicle has the intention to open the door, a warning operation is performed based on the possible collision time. If the possible collision time is less than the first threshold and greater than or equal to the second threshold, a first-level warning is initiated; if the possible collision time is less than the second threshold, a second-level warning is initiated and the corresponding door is controlled to be automatically locked.

[0015] Preferably, the preset starting condition is that the vehicle is close to stopping.

[0016] According to another aspect of the present invention, there is provided a door anti-collision device, comprising: an acquisition module, for acquiring external sensor data and internal sensor data when a preset start condition is met; an anti-collision module, for performing anti-collision work based on the external sensor data and the internal sensor data; a detection module, for detecting whether there are any occupants in the vehicle based on the internal sensor data during the anti-collision work, maintaining the anti-collision work if there are any occupants, and exiting the anti-collision work if there are no occupants in the vehicle; and a charging module, for detecting the voltage of a low-voltage battery of the vehicle during the anti-collision work, and charging the low-voltage battery if the voltage of the low-voltage battery is lower than a preset threshold.

[0017] According to another aspect of the present invention, an electronic device is provided, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded by the processor and executes the method described in the above aspect.

[0018] According to another aspect of the present invention, a computer storage medium is provided, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded by a processor and executes the method according to the above aspect of claim 1. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural block diagram of a vehicle door anti-collision system provided by an embodiment of the present invention.

[0020] Figure 2 It is a flow chart of a vehicle door anti-collision method provided by an embodiment of the present invention.

[0021] Figure 3 It is a flow chart of the anti-collision work in the vehicle door anti-collision method provided by an embodiment of the present invention.

[0022] Figure 4 It is a structural block diagram of a vehicle door anti-collision device provided in an embodiment of the present invention.

[0023] Figure 5 It is a structural block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0025] The terms used herein are only used to describe specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements and / or components is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof is not excluded.

[0026] The embodiments described herein may be described with reference to plan views and / or cross-sectional views by means of idealized schematic diagrams of the present disclosure. Therefore, the example illustrations may be modified according to manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to the embodiments shown in the accompanying drawings, but include modifications of the configurations formed based on the manufacturing process. Therefore, the regions illustrated in the accompanying drawings have schematic properties, and the shapes of the regions shown in the figures illustrate the specific shapes of the regions of the elements, but are not intended to be limiting.

[0027] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted as having an idealized or overly formal meaning unless explicitly defined as such herein.

[0028] Figure 1 1 is a structural block diagram of a vehicle door anti-collision system 100 provided in an embodiment of the present invention.

[0029] The door anti-collision system 100 involved in this embodiment is composed of an external sensor 102, an internal sensor, a meter 108, a speaker 109, an electronic control unit 101, a body controller 110, a battery management system 115, and electric door locks (left front electric door lock 111, left rear electric door lock 112, right front electric door lock 113, right rear electric door lock 114). Among them, the internal sensor includes an internal camera 103 and a TOF radar. In this embodiment, the TOF radar is a left front door TOF radar 104, a right front door TOF radar 105, a left rear door TOF radar 106, and a right rear door TOF radar 107 respectively installed on each door. The data of the external sensor 102 and the internal camera 103 are connected to the electronic control unit 101 through LVDS or Ethernet, and the TOF radar data is connected to the electronic control unit 101 through LIN or private CAN. The body controller 110, the meter 108, etc. communicate with the electronic control unit 101 through the body bus.

[0030] Among them, the in-vehicle camera 103 is used to provide in-vehicle visual detection, the TOF radar is used to detect the precise position of the arm, the out-vehicle sensor 102 is used for environmental detection and moving target detection, the electronic control unit 101 is used to receive multi-sensor signals and fuse calculations to give control signals, the instrument 108 is used to open the door danger prompt and control the speaker 109 to issue a warning, the body controller 100 is used to control the locking or unlocking of the four electric door locks, and the battery management system 115 is used to charge the low-voltage battery. In addition, the door anti-collision system 100 also obtains the vehicle motion signal via the body bus.

[0031] Figure 2 It is a flow chart of the door anti-collision method provided by an embodiment of the present invention. This specification provides method operation steps such as the embodiment or flow chart, but more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the actual system or server product is executed, it can be executed in the order of the method shown in the embodiment or the accompanying drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0032] like Figure 2 As shown, the vehicle door anti-collision method provided in this embodiment includes the following steps.

[0033] S101: When a preset start condition is met, collect the external sensor data and the internal sensor data.

[0034] Here, the preset start condition may be that the vehicle is close to a stop. For example, a wheel speed signal and a gear position signal may be obtained from the vehicle body bus. When the wheel speed signal is close to zero or the gear position information is the parking gear, it may be determined that the vehicle is close to a stop.

[0035] The off-vehicle sensor may be an off-vehicle camera, which is used to detect the environment around the vehicle and moving targets around the vehicle, and the off-vehicle sensor is configured to meet the field of view (FOV: Field of View) requirements for detecting the side and rear of the vehicle on both the left and right sides of the vehicle. In some optional embodiments, the off-vehicle sensor may include an off-vehicle camera and a millimeter-wave radar. The detection reliability can be further improved by the detection method of fusing the off-vehicle camera and the millimeter-wave radar. In addition, the off-vehicle sensor may also include sensors such as laser radar.

[0036] The in-vehicle sensor includes an in-vehicle camera 103 and a TOF radar. Specifically, a TOF radar is installed for each door of the vehicle cockpit. As mentioned above, in this embodiment, a left front door TOF radar 104, a right front door TOF radar 105, a left rear door TOF radar 106, and a right rear door TOF radar 107 are included. Further, the TOF radar can be installed on the inner side of the door panel, with the emitting surface perpendicular to the inner wall of the inner door panel and as close as possible to the door electronic switch position.

[0037] When the preset start conditions are met, the external and internal sensor data are acquired.

[0038] S102: Performing collision avoidance based on the external vehicle sensor data and the internal vehicle sensor data.

[0039] Figure 3 FIG. 1 is a flow chart of the anti-collision work in the vehicle door anti-collision method provided by an embodiment of the present invention. Figure 3 As shown, the anti-collision work includes the following steps:

[0040] S1021: Detecting whether the motion trajectory of a moving target around the vehicle coincides with the door opening and closing area based on the external vehicle sensor data.

[0041] Specifically, based on the data from the off-vehicle sensors, it is confirmed whether there are moving targets around the vehicle, and the movement trajectory of the moving target is predicted. The moving targets around the vehicle refer to, for example, objects, animals, pedestrians, and vehicles (for example, bicycles, two-wheeled vehicles, and four-wheeled vehicles, etc.) that are within a specified distance from the vehicle. Here, the prediction of the movement trajectory of the moving target belongs to the prior art and will not be elaborated here. Then, it is determined whether the movement trajectory of the moving target coincides with the door opening and closing area. Assume that the movement trajectory of the moving target coincides with the opening and closing area of ​​the left rear door.

[0042] S1022: When the moving trajectory of the moving target overlaps with the door opening and closing area, calculate the possible collision time between the moving target and the door. For example, when the moving trajectory of the moving target overlaps with the left rear door opening and closing area, calculate the possible collision time TTC (TTC: Time to collision) between the moving target and the door (left rear door). The possible collision time TTC can be calculated based on the distance between the moving target and the left rear door opening and closing area and the speed of the moving target relative to the left rear door.

[0043] S1023: Detecting whether the occupant in the vehicle intends to open the door based on the in-vehicle sensor data.

[0044] First, the image data and TOF radar data captured by the in-vehicle camera 103 are collected respectively.

[0045] Then, the image data captured by the in-car camera 103 is analyzed, and the human body feature points of each in-car occupant are extracted and tracked. Here, the in-car occupants include the driver and the passengers. Here, the human body feature points include: face, pupils and hands. Specifically, the facial, pupil and hand feature points can be obtained by analyzing the image data, and the face, pupils and hands are tracked. In some optional embodiments, the in-car camera 103 uses a binocular camera and is arranged in the middle of the inner top and the middle of the front sunroof, so that there is no obstruction between the camera FOV range and the in-car occupants.

[0046] Afterwards, the radar three-dimensional data of each occupant in the car is constructed based on the TOF radar data.

[0047] Finally, the human body feature points of each occupant in the car and the radar three-dimensional data are integrated to determine whether the occupant in the car has the intention to open the door. Specifically, first, based on the radar three-dimensional data, the relative coordinates of the palm of each occupant in the car relative to the switch position of the door (the left rear door in this embodiment), the gesture movement trajectory and the facial rotation trajectory can be calculated, and then, according to the human body feature points of each occupant in the car, the relative coordinates of the palm of each occupant in the car, the gesture movement trajectory and the facial rotation trajectory, it is determined whether the occupant in the car has the intention to open the left rear door. Here, the judgment can be mainly based on the relative coordinates and gesture movement trajectory of the palm of each occupant in the car, and at the same time combined with the facial rotation trajectory and pupil direction.

[0048] S1024: When it is detected that the vehicle occupant intends to open the vehicle door, a warning operation is performed based on the possible collision time.

[0049] Specifically, if the possible collision time TTC is less than the first threshold and greater than or equal to the second threshold, the first-level warning is activated; if the possible collision time is less than the second threshold, the second-level warning is activated and the corresponding vehicle door is controlled to be automatically locked.

[0050] The first threshold and the second threshold here can be set as needed, for example, the first threshold is set to 8s, and the second threshold is set to 5s.

[0051] S103: During the anti-collision operation, based on the in-vehicle sensor data, it is detected whether there are still passengers in the vehicle. If there are passengers, the anti-collision operation is maintained; if there are no passengers in the vehicle, the anti-collision operation is exited.

[0052] Here, the image data captured by the in-car camera is mainly used to detect whether there are still passengers in the car. If it is detected that there are still passengers in the car, the anti-collision work is maintained, and if there are no passengers in the car, the anti-collision work is exited.

[0053] S104: During the anti-collision operation, the voltage of the low-voltage battery of the vehicle is detected, and if the voltage of the low-voltage battery is lower than a preset threshold, the low-voltage battery is charged.

[0054] The low-voltage battery is used to power all controllers of the vehicle. Therefore, the voltage of the low-voltage battery can be detected by detecting the input voltage of the electronic control unit 101 of the door collision avoidance system 100. When it is detected that the voltage of the low-voltage battery is lower than the preset threshold, the low-voltage battery is charged by the battery management system 115 of the vehicle. In this embodiment, the low-voltage battery is charged by the battery management system 115 when the vehicle is a new energy vehicle. When the vehicle is a traditional fuel vehicle, the low-voltage battery can be charged by the engine management system, thereby ensuring that the low-voltage battery continues to maintain the door collision avoidance method when there are still passengers in the vehicle.

[0055] In some optional embodiments, the door anti-collision method involved in the present application may further include the following steps: after collecting the external sensor data (i.e., after step S101), the scene information around the vehicle is obtained based on the external sensor data, and the subsequent steps are performed only when the vehicle scene is a preset scene. For example, the preset scene is an urban road scene or a parking garage aisle scene, that is, steps S102, S103, and S104 will continue to be performed only when the acquired vehicle scene is an urban road scene or a parking garage aisle scene.

[0056] In addition, the above-mentioned vehicle door anti-collision method can be continuously executed at a certain period (for example, 1 second) until it is detected based on the in-vehicle sensor that there is no person left in the vehicle.

[0057] Figure 4 It is a structural block diagram of a vehicle door anti-collision device provided in an embodiment of the present invention.

[0058] like Figure 4 As shown, the vehicle door anti-collision device 200 includes: a collection module 201 , an anti-collision module 202 , a detection module 203 and a charging module 204 .

[0059] Among them, the acquisition module 201 is used to collect external sensor data and internal sensor data when the preset start conditions are met. The anti-collision module 202 is used to perform anti-collision work based on the external sensor data and the internal sensor data. The detection module 203 is used to detect whether there are still passengers in the car based on the internal sensor data during the anti-collision work. If there are passengers, the anti-collision work is maintained. If there are no passengers in the car, the anti-collision work is exited. The charging module 204 is used to detect the voltage of the low-voltage battery of the vehicle during the anti-collision work. If the voltage of the low-voltage battery is lower than the preset threshold, the low-voltage battery is charged.

[0060] The embodiments of the present invention provide a vehicle door anti-collision method and a vehicle door anti-collision device based on the same concept. Since the method and the device solve the problem in a similar principle, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0061] Figure 5 is a structural block diagram of an electronic device provided by an embodiment of the present invention. Figure 5 As shown, the present invention also provides an electronic device 300, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executes the method described in the above embodiment.

[0062] The present invention also provides a computer storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the method described in the above embodiment.

[0063] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0064] In addition, in this embodiment, the in-vehicle sensor includes an in-vehicle camera and a TOF radar, which detects whether the occupants in the vehicle intend to open the door by fusing image data and radar three-dimensional data. However, the present invention is not limited to this, and other methods can also be used to detect whether the occupants in the vehicle intend to open the door.

[0065] Those skilled in the art should be able to appreciate that the modules, units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0066] Although the present invention has been described with reference to the current specific embodiments, those skilled in the art should recognize that the scope of the invention involved in the present invention is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

Claims

1. A door anti-collision method, It is characterized in that The steps include: When the preset start conditions are met, the external sensor data and the internal sensor data are collected; Performing collision avoidance based on the external sensor data and the internal sensor data; During the anti-collision operation, the system detects whether there are any passengers in the vehicle based on the in-vehicle sensor data. If there are passengers, the anti-collision operation is maintained. If there are no passengers in the vehicle, the anti-collision operation is exited. as well as During the anti-collision operation, the voltage of the low-voltage battery of the vehicle is detected, and if the voltage of the low-voltage battery is lower than a preset threshold, the low-voltage battery is charged.

2. The vehicle door anti-collision method according to claim 1, It is characterized in that The in-vehicle sensor includes an in-vehicle camera, and uses image data captured by the in-vehicle camera to detect whether there are still passengers in the vehicle.

3. The vehicle door anti-collision method according to claim 1 or 2, It is characterized in that When the voltage of the low-voltage battery is lower than a preset threshold, the low-voltage battery is charged by using an engine management system or a battery management system of the vehicle.

4. The vehicle door anti-collision method according to claim 2, It is characterized in that The anti-collision work includes the following steps: Detecting whether the motion trajectory of a moving target around the vehicle coincides with the door opening and closing area based on the external sensor data; When the motion trajectory of the moving target overlaps with the door opening and closing area, calculating the possible collision time between the moving target and the door; Detecting whether a passenger in the vehicle intends to open the door based on in-vehicle sensor data; as well as When it is detected that the vehicle occupant intends to open the door, a warning operation is performed based on the possible collision time.

5. The vehicle door anti-collision method according to claim 4, It is characterized in that The in-vehicle sensor also includes a TOF radar installed on each door respectively.

6. The vehicle door anti-collision method according to claim 5, It is characterized in that The method further comprises: detecting whether an occupant in the vehicle intends to open the door based on the in-vehicle sensor data; The image data and TOF radar data captured by the in-vehicle camera are collected respectively; Analyzing the image data, extracting the body feature points of each occupant in the vehicle, and tracking them; Constructing radar three-dimensional data of each vehicle occupant based on the TOF radar data; and The human body feature points of each vehicle occupant and the radar three-dimensional data are integrated to determine whether the vehicle occupant intends to open the door.

7. The vehicle door anti-collision method according to claim 4, It is characterized in that Detecting whether the motion trajectory of a moving target around the vehicle coincides with the door opening and closing area based on the external sensor data further includes: Determine whether there is a moving target around the vehicle based on the external sensor data and predict the movement trajectory of the moving target; and Determine whether the motion trajectory coincides with the door opening and closing area.

8. The vehicle door anti-collision method according to claim 1 or 2, It is characterized in that The external vehicle sensors include millimeter wave radar and external vehicle cameras.

9. The vehicle door anti-collision method according to claim 1 or 2, It is characterized in that Further comprising the steps of: After collecting the off-vehicle sensor data, the scene information around the vehicle is obtained based on the off-vehicle sensor data, and subsequent steps are performed only when the vehicle scene is a preset scene.

10. The vehicle door anti-collision method according to claim 4, It is characterized in that When it is detected that the occupant in the vehicle intends to open the door, a warning operation is performed based on the possible collision time. If the possible collision time is less than the first threshold and greater than or equal to the second threshold, a first-level warning is initiated; If the possible collision time is less than the second threshold, the secondary warning is activated and the corresponding door is controlled to be automatically locked.

11. The vehicle door anti-collision method according to claim 1 or 2, It is characterized in that The preset start condition is that the vehicle is close to a stop.

12. A vehicle door anti-collision device, It is characterized in that include: A collection module, used to collect external sensor data and internal sensor data when a preset start condition is met; An anti-collision module, used for performing anti-collision work based on the external sensor data and the internal sensor data; A detection module, used to detect whether there are still passengers in the vehicle based on the in-vehicle sensor data during the anti-collision operation, and to maintain the anti-collision operation if there are passengers, and to exit the anti-collision operation if there are no passengers in the vehicle; as well as The charging module is used to detect the voltage of the low-voltage battery of the vehicle during the anti-collision operation, and if the voltage of the low-voltage battery is lower than a preset threshold, the low-voltage battery is charged.

13. An electronic device, It is characterized in that The electronic device comprises a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded by the processor and executes the method according to any one of claims 1 to 11.

14. A computer storage medium, It is characterized in that The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by a processor and executes the method according to any one of claims 1 to 11.

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