Vehicle electric door opening anti-collision method and system and electronic equipment

Abstract

The invention provides a door opening anti-collision method and system for a vehicle electric door and electronic equipment. The method comprises the steps that a first electric door opening instruction input by a user is received; in response to the first electrically operated gate opening instruction, obstacle recognition is performed on the environment within the preset range of the electrically operated gate; when the height of the first obstacle is smaller than or equal to that of the lower edge of the vehicle window glass, the electric door is controlled to stop opening, and a real-time video of the environment within a preset range of the electric door is displayed; the type of the first obstacle is judged, and when it is determined that the first obstacle cannot collide with the automobile body paint surface, a user is prompted to confirm whether to continue opening the door; and if a second electrically operated gate opening instruction input by the user is received within the preset duration, opening the electrically operated gate in response to the second electrically operated gate opening instruction. According to the method, the opening convenience of the electric door is improved, and the user experience is improved.

Description

Technical Field

[0001] This application relates to the field of vehicles, and in particular, to a method, a system, and an electronic device for preventing collision when opening an electric door of a vehicle. Background Art

[0002] As an important part of the vehicle body system, the vehicle door is the necessary passage for users to enter the vehicle. It should not only maintain visual consistency with the vehicle body, but also adapt to various functional scenarios, have sufficient strength, stiffness, and good modal performance to ensure the riding comfort of users. Among them, electric doors are widely used due to their convenience of opening.

[0003] Currently, after the vehicle recognizes an obstacle, it controls the electric door to stop opening and locks the door, and then pops up a text prompt message on the digital liquid crystal instrument panel or the central control display screen to prompt the user that there is an obstacle. After the user determines that the obstacle does not affect opening the door, the vehicle unlocks the door according to the instruction input by the user through the digital liquid crystal instrument panel or the central control display screen, and the user manually pushes open the door.

[0004] In the above method for preventing collision when opening an electric door, the user needs to manually push open the door after determining that the obstacle does not affect opening the door, which reduces the convenience of the door opening process and results in poor user experience. Summary of the Invention

[0005] This application provides a method, a system, and an electronic device for preventing collision when opening an electric door of a vehicle to solve the problem that the process of opening an electric door is not convenient enough.

[0006] In a first aspect, this application provides a method for preventing collision when opening an electric door of a vehicle, including:

[0007] Receiving a first electric door opening instruction input by a user;

[0008] In response to the first electric door opening instruction, identifying obstacles in the environment within the preset range of the electric door;

[0009] After determining that there is a first obstacle, obtaining the height of the first obstacle;

[0010] When the height of the first obstacle is less than or equal to the height of the lower edge of the window glass, controlling the electric door to stop opening and displaying the real-time video of the environment within the preset range of the electric door;

[0011] Judging the type of the first obstacle, where the type includes two types: the obstacle that will not knock against the vehicle body paint and the obstacle that will knock against the vehicle body paint; the obstacle that will not knock against the vehicle body paint is an obstacle with a height less than or adjustable to less than the lower edge height of the electric door and a hardness less than the hardness of the vehicle body paint, and the obstacle that will knock against the vehicle body paint is an obstacle with a hardness greater than or equal to the hardness of the vehicle body paint;

[0012] When it is determined that the first obstacle is an obstacle that will not bump the vehicle body paint, prompt the user to confirm whether to continue opening the door;

[0013] If a second electric door opening instruction input by the user is received within a preset time period, respond to the second electric door opening instruction to open the electric door.

[0014] In some embodiments, after determining the type of the first obstacle, the method further includes:

[0015] When it is determined that the first obstacle is an obstacle that will bump the vehicle body paint, control the electric door to lock.

[0016] In some embodiments, after determining the type of the first obstacle, the method further includes:

[0017] When it is determined that the first obstacle is an obstacle that will bump the vehicle body paint, obtain the distance between the first obstacle and the first electric door;

[0018] When the distance between the first obstacle and the electric door is greater than a preset distance, control the electric door to stop opening after opening a preset distance.

[0019] In some embodiments, when it is determined that the first obstacle is an obstacle that will bump the vehicle body paint, after controlling the electric door to lock, the method further includes:

[0020] Prompt the user to re-locate a parking spot and perform obstacle recognition on the target parking spot;

[0021] If no obstacle is recognized, control the electric door to open after the vehicle stops at the target parking spot;

[0022] Alternatively, when a second obstacle is recognized, obtain the height of the second obstacle;

[0023] When the height of the second obstacle is less than the height of the lower edge of the electric door, control the electric door to open after the vehicle stops at the target parking spot.

[0024] In some embodiments, the method further includes:

[0025] When the height of the first obstacle is greater than the height of the lower edge of the window glass, control the electric door to stop opening;

[0026] If a third electric door opening instruction input by the user is received within a preset time period, re-perform obstacle recognition on the environment within the preset range of the electric door and obtain the distance between the first obstacle and the electric door;

[0027] After determining that no third obstacle is detected and the distance between the first obstacle and the electric door is greater than or equal to the preset distance, respond to the third electric door opening instruction to control the electric door to open a preset distance and then stop opening, where the third obstacle and the first obstacle are different obstacles.

[0028] In some embodiments, after re-identifying obstacles in the environment within the preset range of the electric door, the method further includes:

[0029] After determining that there is a third obstacle, obtain the height of the third obstacle;

[0030] When the height of the third obstacle is less than or equal to the height of the lower edge of the window glass, control the electric door to stop opening and display the real-time video of the environment within the preset range of the electric door;

[0031] When it is determined that the third obstacle is an obstacle that will not bump the body paint, prompt the user to confirm whether to continue opening the door;

[0032] If a fourth electric door opening instruction input by the user is received within the preset time, respond to the fourth electric door opening instruction to open the electric door.

[0033] In some embodiments, prompting the user to confirm whether to continue opening the door specifically includes:

[0034] Display an inquiry box on the display interface, where the inquiry box includes a continue to open the door button and a stop opening the door button; and / or

[0035] Play a voice to ask the user whether to continue opening the door, and the voice content includes the risk of collision if continuing to open the door and the risk of scratching the car paint.

[0036] In a second aspect, the present application provides an anti-collision system for opening a vehicle electric door, including: a body domain controller, a cockpit domain controller, an electric door control module, and a millimeter wave radar detection module. The body domain controller is electrically connected to the cockpit domain controller, the body domain controller is electrically connected to the electric door control module, and the electric door control module is electrically connected to the millimeter wave radar detection module;

[0037] The body domain controller is configured to receive a first electric door opening instruction input by the user and send the first electric door opening instruction to the electric door control module;

[0038] The electric door control module is configured to respond to the first electric door opening instruction and control the millimeter wave radar detection module to identify obstacles in the environment within the preset range of the electric door;

[0039] The millimeter wave radar detection module is configured to obtain the height of the first obstacle after determining that there is a first obstacle;

[0040] The electric door control module is further configured to judge the relative relationship between the height of the first obstacle and the height of the lower edge of the window glass;

[0041] The electric door control module is further configured to control the electric door to stop opening when the height of the first obstacle is less than or equal to the height of the lower edge of the window glass;

[0042] The cockpit domain controller is used to display the real-time video of the environment within the preset range of the electric door when the height of the first obstacle is less than or equal to the height of the lower edge of the window glass;

[0043] The cockpit domain controller is also used to prompt the user to confirm whether to continue opening the door when the electric door control module determines the type of the first obstacle and determines that the first obstacle is an obstacle that will not bump the body paint surface; wherein, the types include two types: will not bump the body paint surface and will bump the body paint surface; the obstacle that will not bump the body paint surface is an obstacle with a height less than or adjustable to less than the lower edge height of the electric door and a hardness less than the hardness of the body paint surface, and the obstacle that will bump the body paint surface is an obstacle with a hardness greater than or equal to the hardness of the body paint surface;

[0044] The body domain controller is also used to send the second electric door opening instruction to the electric door control module when receiving the second electric door opening instruction input by the user within the preset duration, so that the electric door control module controls the electric door to open in response to the second electric door opening instruction.

[0045] In some embodiments, the electric door control module is also used to control the electric door to lock when determining that the first obstacle is an obstacle that will bump the body paint surface.

[0046] In some embodiments, the electric door control module is also used to control the electric door to stop opening when determining that the height of the first obstacle is greater than the height of the lower edge of the window glass;

[0047] The body domain controller is also used to send the third electric door opening instruction to the electric door control module when receiving the third electric door opening instruction input by the user within the preset duration, so that the electric door control module controls the millimeter wave radar detection module to identify obstacles in the environment within the preset range of the electric door again and obtain the distance between the first obstacle and the electric door;

[0048] The electric door control module is also used to control the electric door to stop opening after opening a preset distance in response to the third electric door opening instruction after the body domain controller determines that no third obstacle is detected according to the identification result of the millimeter wave radar detection module and the distance between the first obstacle and the electric door is greater than or equal to the preset distance, wherein the third obstacle and the first obstacle are different obstacles.

[0049] In a third aspect, the present application provides an electronic device, including: a memory and a processor;

[0050] The memory is used to store a computer program; the processor is used to execute the computer program stored in the memory to implement the door opening anti-collision method for the vehicle electric door in the first aspect and any one of the embodiments of the first aspect.

[0051] The vehicle power door opening anti-collision method, system and electronic device provided by this application can identify obstacles in the environment near the power door after receiving the power door opening instruction, and adopt different opening methods according to the height and type of the obstacles, thereby improving the safety of the power door opening, enhancing the convenience of the power door opening, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in this application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0053] Figure 1 Schematic diagram of an opening scenario of a vehicle power door provided by an embodiment of this application;

[0054] Figure 2 Flowchart of a vehicle power door opening anti-collision method provided by an embodiment of this application;

[0055] Figure 3 Partial flowchart of a vehicle power door opening anti-collision method provided by an embodiment of this application;

[0056] Figure 4 Structure diagram of a vehicle power door opening anti-collision system provided by an embodiment of this application;

[0057] Figure 5 Hardware structure diagram of an electronic device provided by an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0058] To make the objectives, technical solutions and advantages of this application clearer, the following will clearly and completely describe the technical solutions in this application in conjunction with the drawings in this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

[0059] The terms "first", "second", "third", "fourth", etc. in the specification and claims of this application are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances. For example, without departing from the scope of this article, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.

[0060] It should be understood that the terms "comprising" and "including" indicate the presence of features, steps, operations, elements, components, items, categories, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, categories, and / or groups.

[0061] The terms "or" and "and / or" are interpreted inclusively and mean any one or any combination. Thus, "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". An exception to this definition occurs only when the combination of elements, functions, steps, or operations is mutually exclusive in some way.

[0062] Electric doors are widely used because they are convenient to open. When the current electric door opens, after the system radar recognizes an obstacle, it will directly stop opening, and at the same time, a text reminder will be displayed on the central control display screen (Central Stack Display, CSD) or the digital liquid crystal instrument (Driver information, DIM), reminding the user that the door cannot be opened, and the user cannot accurately know the type of the obstacle and the degree of influence on opening the door. If the obstacle detected by the radar actually does not affect opening the door, for example, a plastic bucket placed beside the car door, the user cannot choose to continue to open the door electrically and can only push the door open by hand, which results in the convenience of the electric door not being reflected.

[0063] To address the above problems, the present application proposes an anti-collision method, system, and electronic device for opening a vehicle electric door. After receiving an electric door opening instruction, the environment near the electric door is identified for obstacles, and different opening methods are adopted according to the height and type of different obstacles, thereby improving the convenience of opening the electric door without affecting the safety of opening the electric door and enhancing the user experience.

[0064] The technical solution of the present application will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0065] Figure 1 A schematic diagram of a scenario for opening a vehicle electric door provided by an embodiment of the present application is shown. As Figure 1 shown, at the current parking position, there is a stone pier beside the vehicle. If the electric door is opened directly, it will cause the vehicle paint to be scratched and the door cannot be fully opened. If the obstacle beside the vehicle is a plastic item, when the electric door is opened at this time, the plastic item will be pushed down, neither scratching the vehicle paint nor preventing the door from being fully opened. That is to say, the plastic item actually does not hinder the electric door. Therefore, for different types of obstacles, the electric door can have different opening methods.

[0066] In this application, the terminal device is the execution entity, and the following embodiments of the anti-collision method for the vehicle's electric door are executed. Specifically, the execution entity can be the hardware device of the terminal device, or the software application in the terminal device that implements the following embodiments, or the computer-readable storage medium installed with the software application that implements the following embodiments, or the code of the software application that implements the following embodiments.

[0067] Figure 2 The flowchart of an anti-collision method for a vehicle's electric door provided by an embodiment of this application is shown. As Figure 2 shown, with the terminal device as the execution entity, the method of this embodiment may include the following steps:

[0068] S101. Receive the first electric door opening instruction input by the user.

[0069] In this embodiment, the terminal device can be a vehicle or the electric door opening system of the vehicle.

[0070] The user can input the electric door opening instruction either through the physical button on the car door or through the virtual button on the CSD or DIM.

[0071] S102. In response to the first electric door opening instruction, identify obstacles in the environment within the preset range of the electric door.

[0072] In this embodiment, the terminal device can identify obstacles through sensors, and the sensors can be millimeter-wave radar detection devices. The installation position of the sensors can be on the car door to facilitate information collection of the environment near the electric door. The environment within the preset range of the electric door at least includes all people or objects within the space required for the electric door to open completely, so as to ensure that the electric door can be fully opened.

[0073] S103. After determining that there is a first obstacle, obtain the height of the first obstacle.

[0074] In this embodiment, the terminal device can use sensors to obtain the height of the obstacle, or can calculate the height of the obstacle after determining the distance between the obstacle and the car door.

[0075] When the height of the first obstacle is less than or equal to the height of the lower edge of the window glass, control the electric door to stop opening and display the real-time video of the environment within the preset range of the electric door.

[0076] In this embodiment, when the height of the first obstacle is less than or equal to the height of the lower edge of the window glass, it is inconvenient for the user to view the obstacle, and it is also impossible to directly know the degree of influence of the obstacle on opening the door. At this time, the terminal device can display a real-time video of the environment within the preset range of the electric door on the display interface, including information such as the orientation, height, type of the first obstacle, and the distance from the electric door, which is convenient for the user to view.

[0077] Controlling the electric door to stop opening can be that it does not open at all and remains in the closed state, or it stops opening further after opening a preset distance. This embodiment does not make a limitation.

[0078] S105. Determine the type of the first obstacle.

[0079] In this embodiment, the types of obstacles include two types: those that will not bump the body paint surface and those that will bump the body paint surface. An obstacle that will not bump the body paint surface is an obstacle with a height less than or adjustable to less than the height of the lower edge of the electric door and a hardness less than the hardness of the body paint surface. An obstacle that will bump the body paint surface is an obstacle with a hardness greater than or equal to the hardness of the body paint surface.

[0080] Among them, an obstacle with a height less than or adjustable to less than the height of the lower edge of the electric door will not affect the opening of the electric door.

[0081] The adjustable height of the obstacle means that when the door is opened, the door pushes down the first obstacle, resulting in a decrease in the height of the first obstacle. For example, a plastic bucket is placed beside the door. When the door is opened, the plastic bucket is pushed down. At this time, the height of the bucket may be less than the lower limit value of the height threshold range, or it may roll to a position slightly farther away from the door, thus not affecting the opening of the door. Defining the hardness to be less than the hardness of the body paint surface is to prevent scratching the body paint surface when the door pushes down the first obstacle, playing a protective role for the car paint.

[0082] S1061. When it is determined that the first obstacle is an obstacle that will not bump the body paint surface, prompt the user to confirm whether to continue opening the door.

[0083] For this type of obstacle, the user can choose to continue opening the door or choose to find a new parking spot. At this time, an option to continue opening the door needs to be provided to the user, so as to control the electric door to open, without the user having to open the door manually.

[0084] S1062. If a second electric door opening instruction input by the user is received within the preset time, respond to the second electric door opening instruction and open the electric door.

[0085] In this embodiment, if a second electric door opening instruction input by the user is not received within the preset time, it can be considered that the process of controlling the door to open this time has ended.

[0086] If the electric door opening instruction input by the user is received after exceeding the preset duration, it can be considered that the electric door opening instruction is the first electric door opening instruction, and the steps of this embodiment can be re-executed.

[0087] In this embodiment, for an obstacle with a height less than the height of the lower edge of the window glass, the terminal device displays the real-time video of the environment within the preset range of the electric door to the user. For an obstacle that will not bump the body paint, the terminal device prompts the user to confirm whether to continue opening the door, enabling the user to clearly understand the impact of the obstacle on the opening of the electric door, and allowing the user to choose whether to continue opening the door, ensuring the safety of opening the electric door. At the same time, without the need for the user to push the car door manually, it improves the convenience of opening the electric door and enhances the user experience.

[0088] S1063. When the terminal device determines that the first obstacle is an obstacle that will bump the body paint, it controls the electric door to lock.

[0089] For example, if there is a stone pier, stone column or curb beside the car door, when the electric door is opened, the stone pier, stone column or curb will bump the body paint.

[0090] For an obstacle with a height less than the height of the lower edge of the window glass and that will bump the body paint, the terminal device only needs to display the real-time video of the environment within the preset range of the electric door to the user, without prompting the user whether to choose to open the door, and locks the car door to prevent the user from manually pushing the door, thus ensuring the safety of opening the electric door.

[0091] S107. When the height of the first obstacle is greater than the height of the lower edge of the window glass, control the electric door to stop opening.

[0092] In this embodiment, when the height of the first obstacle is higher than the height of the lower edge of the window glass, the user inside the car can see clearly the type of the obstacle and the impact on opening the door. At this time, it is only necessary to control the electric door to stop opening, without the need to display the real-time video of the environment near the electric door, nor to prompt the user to confirm whether to continue opening the door, so as not to disturb the user.

[0093] S108. If the third electric door opening instruction input by the user is received within the preset duration, perform obstacle recognition on the environment within the preset range of the electric door again and obtain the distance between the first obstacle and the electric door.

[0094] In this embodiment, receiving the third electric door opening instruction input by the user within the preset duration can indicate that the user believes that the first obstacle no longer affects the opening of the electric door.

[0095] If the third electric door opening instruction input by the user is not received within the preset duration, it can be considered that the process of controlling the car door to open this time has ended.

[0096] If the electric door opening instruction input by the user is received after exceeding the preset duration, it can be considered that the electric door opening instruction is the first electric door opening instruction, and the steps of this embodiment can be executed again.

[0097] At this time, the obstacle recognition is performed again to confirm whether a new obstacle has appeared during the period when the user input the electric door opening instruction twice, and the user did not see it.

[0098] Obtaining the distance between the first obstacle and the electric door is to confirm whether the first obstacle still hinders the opening of the electric door, that is, to confirm whether the user's subjective judgment is accurate.

[0099] S109. After determining that the third obstacle is not detected and the distance between the first obstacle and the electric door is greater than or equal to the preset distance, in response to the third electric door opening instruction, control the electric door to open a preset distance and then stop opening.

[0100] Among them, the third obstacle and the first obstacle are different obstacles, that is, they are not the same obstacle.

[0101] The third electric door opening instruction can also be an instruction input by the user through the physical button on the car door, or an instruction input through the virtual button on the CSD or DIM. It should be understood that the main interface of the CSD or DIM includes a virtual button indicating door opening.

[0102] The setting of the preset distance can be less than the distance when the car door is fully opened. That is to say, after the terminal device opens the electric door in response to the third electric door opening instruction, the electric door is not fully opened. The setting of the preset distance can also be greater than or equal to the distance when the car door is fully opened. That is to say, after the terminal device opens the electric door in response to the third electric door opening instruction, the electric door is fully opened.

[0103] In this embodiment, for the obstacles that the user in the car can directly see, only the door opening is stopped, and no real-time video is displayed, nor does it prompt the user to confirm whether to continue opening the door, so as to avoid disturbing the user. When the user determines that it is possible to continue opening the door, the terminal device detects again whether the obstacle still affects the door opening. After determining that no third obstacle appears and the distance between the first obstacle and the electric door is greater than or equal to the preset distance, then control the electric door to open or partially open to ensure the safety of opening the door.

[0104] In some embodiments, after step S105, the terminal device can also execute the following steps:

[0105] S1064. When it is determined that the first obstacle is an obstacle that will bump the body paint surface, obtain the distance between the first obstacle and the first electric door; when the distance between the first obstacle and the electric door is greater than or equal to the preset distance, control the electric door to open a preset distance and then stop opening.

[0106] For example, the preset distance is 20 cm, the first obstacle is an obstacle that can bump the vehicle body paint, and the distance between the first obstacle and the electric door is greater than 20 cm. At this time, the electric door can be controlled to open to 20 cm and then stop opening. When the distance between the first obstacle and the electric door is less than or equal to 20 cm, the door can be only electrically released without locking.

[0107] In this embodiment, when the first obstacle can bump the vehicle paint and the distance between the first obstacle and the electric door is greater than or equal to the preset distance, a real-time video is displayed to the user, and at the same time, the electric door is controlled to open partially, so that the user can clearly know the reason why the electric door cannot be fully opened, and there is no need for the user to confirm whether to open the door, reducing the disturbance to the user, improving the intelligence of the electric door, and enhancing the user experience.

[0108] Figure 3 This is a partial flowchart of a method for preventing collision when opening a vehicle electric door provided by an embodiment of the present application. As Figure 3 shown, in some embodiments, after step S1063, the terminal device can further perform the following steps:

[0109] S201. Prompt the user to re-find a parking spot and perform obstacle recognition on the target parking spot.

[0110] In this embodiment, the height of the first obstacle is less than or equal to the height of the lower edge of the window glass and can bump the vehicle body paint, that is, the door cannot be opened at the current parking spot. Therefore, it is necessary to re-find a parking spot and perform obstacle detection on the target parking spot.

[0111] S202. Obtain the height of the second obstacle when the second obstacle is recognized.

[0112] S203. When the height of the second obstacle is less than the height of the lower edge of the electric door, control the electric door to open after the vehicle stops at the target parking spot.

[0113] In this embodiment, obtaining the height of the second obstacle is to determine that the second obstacle will not affect the opening of the electric door. Before the vehicle enters the target parking spot, obstacle detection has been performed on the target parking spot. Therefore, after the vehicle stops, the electric door can be directly controlled to open.

[0114] In some embodiments, if no obstacle is recognized after step S201, after the vehicle stops at the target parking spot, the terminal device controls the electric door to open.

[0115] In this embodiment, for the case where the first obstacle causes the door of the current parking point to be unable to open, the user is prompted to find a new parking point. After detecting the obstacles at the target parking point and determining that the obstacles at the target parking point do not affect parking and door opening, the vehicle is controlled to park and the electric door is opened, thus ensuring the safety of opening the electric vehicle door and improving the user experience.

[0116] In some embodiments, after step S108, the terminal device may further perform the following steps:

[0117] Step 1: After determining that there is a third obstacle, obtain the height of the third obstacle.

[0118] In this embodiment, if there is a first obstacle with a height greater than the lower edge height of the window glass and a third obstacle with a height less than or equal to the lower edge height of the window glass at the same time, from the user's perspective, the user will first confirm that the visible first obstacle does not affect door opening.

[0119] After the user determines that the first obstacle does not affect door opening, the terminal device will perform a re-detection on the third obstacle. That is to say, during the period when the user determines that the first obstacle does not affect the opening of the electric door and inputs the third electric door opening instruction, a third obstacle may appear, that is, an obstacle other than the first obstacle. At this time, it is necessary to perform a re-detection of the obstacle.

[0120] Step 2: If it is determined that the height of the third obstacle is less than or equal to the lower edge height of the window glass, control the electric door to stop opening and display the real-time video of the environment within the preset range of the electric door.

[0121] In this embodiment, the height of the third obstacle is less than the lower edge height of the window glass, and the user cannot directly see it inside the vehicle. The terminal device needs to display the real-time video on the display interface for the user to view.

[0122] Step 3: When it is determined that the third obstacle is an obstacle that will not bump the body paint surface, prompt the user to confirm whether to continue opening the door.

[0123] Step 4: If a fourth electric door opening instruction is received within the preset time, respond to the fourth electric door opening instruction to open the electric door.

[0124] Similar to the foregoing embodiment, if the third obstacle is an obstacle that will bump the body paint surface, there is no need to prompt the user to confirm whether to continue opening the door. Instead, the electric door can be directly locked to prevent the user from manually opening the door or the electric door can be controlled to open a preset distance and then stop opening.

[0125] In this embodiment, after the user confirms that the first obstacle will not affect the opening of the electric door, the terminal device performs obstacle detection again to avoid new obstacles after the first obstacle no longer hinders the opening of the electric door, so as to ensure the safety of the electric vehicle door opening.

[0126] In some embodiments, when prompting the user to confirm whether to continue opening the door, the terminal device can display a query box on the display interface, and the query box includes a continue opening button and a stop opening button.

[0127] The terminal device can also play a voice to ask the user whether to continue opening the door, and the voice content includes the risk of collision if continuing to open the door and the risk of scratching the car paint.

[0128] In this embodiment, the terminal device can confirm with the user whether to continue opening the door through a query box or by playing a voice. For example, if the rear seat user cannot see the display interface, the terminal device can play a voice to confirm with the user whether to continue opening the door.

[0129] When the terminal device receives a user instruction, it can receive the user's voice instruction, or receive the instruction input by the user through the physical button on the car door or the virtual button in the query box.

[0130] In this embodiment, the terminal device provides different confirmation methods for the user, which is convenient for the user to know the impact degree of the current obstacle on the vehicle door opening, and at the same time improves the convenience of opening the electric door.

[0131] In some embodiments, the user can input the electric door opening instruction through the virtual button on the display interface or through the physical button on the electric door.

[0132] It should be understood that virtual buttons are provided on the main interface of CSD or DIM to receive the user's electric door opening instruction. In addition, physical buttons can be provided on the car door to receive the user's electric door opening instruction. When a pop-up window on the display interface prompts the user to confirm whether to open the door, there will also be virtual buttons in the pop-up window of the display interface to receive the user's instruction.

[0133] Figure 4 This is a schematic structural diagram of an anti-collision system for opening a vehicle electric door provided in an embodiment of the present application. As Figure 4 shown, the anti-collision system 10 for opening a vehicle electric door includes a body domain controller 11, a cockpit domain controller 12, an electric door control module 13, and a millimeter wave radar detection module 14. The body domain controller 11 is electrically connected to the cockpit domain controller 12, the body domain controller 11 is electrically connected to the electric door control module 13, and the electric door control module 13 is electrically connected to the millimeter wave radar detection module 14.

[0134] Among them, the millimeter-wave radar detection module 14 is mainly responsible for detecting obstacle information during the movement of the electric door, including the type and orientation of the obstacles. If an obstacle is identified during the movement of the electric door in this function, the type and orientation of the obstacle will be fed back to the electric door module.

[0135] In some embodiments, the electric door control module 13 is mainly responsible for opening and closing the electric door and feedbacking the state of the electric door. In this function, if the electric door receives the obstacle information fed back by the millimeter-wave radar detection module 14 during the opening process, it will first control the electric door to stop opening. Combining with the type of the obstacle, if the type of the obstacle is an object that can be clearly seen inside, such as a pedestrian or a vehicle, there is no need to send a pop-up window request to the body domain controller 11. If the type of the obstacle is an object that is easy to bump the paint surface and is inconvenient to view inside, such as a curb, a stone pier or a pillar, a pop-up window request will be sent to the body domain controller 11. If the type of the obstacle is a small plastic item such as a water bottle, an umbrella or a bucket, which is inconvenient to view inside and does not affect the continued opening of the door, a pop-up window request will be sent to the body domain controller 11 and the cockpit domain controller 12 will be required to control the display interface to provide a continue-to-open button in the pop-up window. If the electric door control module 13 receives a continue-to-open request sent by the cockpit domain controller 12 via the body domain controller 11, it will control the electric door to continue opening.

[0136] In some embodiments, the body domain controller 11 is mainly responsible for the vehicle's door lock system, interior and exterior lighting systems, air conditioning system, security anti-theft alarm system, sunroof sunshade system and vehicle mode management. In this function, when it receives the type of the obstacle fed back by the electric door control module 13, which is an object that is easy to bump the paint surface and is inconvenient to view inside, such as a curb, a stone pier or a pillar, and the pop-up window request, it will be sent to the cockpit domain controller 12. If it receives the type of the obstacle fed back by the electric door control module 13, which is a small plastic item such as a water bottle, an umbrella or a bucket, which is inconvenient to view inside and does not affect the continued opening of the door, and the pop-up window and the request for providing a continue-to-open button in the pop-up window, it will be sent to the cockpit domain controller 12. If the body domain controller 11 receives a continue-to-open instruction sent by the cockpit domain controller 12, it will judge whether the continue-to-open condition is met. If it is met, a continue-to-open instruction will be sent to the electric door control module 13. Here, the continue-to-open condition indicates whether there is a new obstacle, that is, each time an opening instruction is received, an obstacle detection is performed to ensure the safety of opening the door.

[0137] In some embodiments, the cockpit domain controller 12 is mainly responsible for the vehicle entertainment-related functions. When receiving, in this function, the obstacle types feedback by the body domain controller 11 are objects such as curbs, bollards or pillars that are likely to knock against the vehicle paint and are inconvenient to view inside, and a pop-up window request, a real-time video of the obstacle is popped up and displayed on the display interface. If the obstacle types feedback by the body domain controller 11 are small plastic items such as water bottles, umbrellas, buckets, etc. that are inconvenient to view inside and do not affect the continued opening of the door, and a pop-up window and a continue-to-open button request are provided in the pop-up window, a real-time video of the obstacle is popped up and displayed on the display interface, and the user is asked in the pop-up window whether to continue opening. If the user selects to continue opening, an opening instruction is sent to the body domain controller 11.

[0138] In some embodiments, the body domain controller 11 is configured to receive a first electric door opening instruction input by a user and send the first electric door opening instruction to the electric door control module 13;

[0139] The electric door control module 13 is configured to, in response to the first electric door opening instruction, control the millimeter wave radar detection module 14 to perform obstacle recognition on the environment within the preset range of the electric door.

[0140] The millimeter wave radar detection module 14 is configured to, after determining that there is a first obstacle, obtain the height of the first obstacle.

[0141] The electric door control module 13 is further configured to determine the relative relationship between the height of the first obstacle and the height of the lower edge of the window glass.

[0142] The electric door control module 13 is further configured to, when the height of the first obstacle is less than or equal to the height of the lower edge of the window glass, control the electric door to stop opening.

[0143] The cockpit domain controller 12 is further configured to, when the height of the first obstacle is less than or equal to the height of the lower edge of the window glass, display a real-time video of the environment within the preset range of the electric door on the display interface. Among them, the real-time video may further include the orientation of the obstacle and the distance from the obstacle to the electric door.

[0144] The cockpit domain controller 12 is further configured to, when the electric door control module 13 determines the type of the first obstacle and determines that the first obstacle is an obstacle that will not knock against the vehicle paint, prompt the user to confirm whether to continue opening the door; among them, the types include two types: will not knock against the vehicle paint and will knock against the vehicle paint; an obstacle that will not knock against the vehicle paint is an obstacle with a height less than or adjustable to less than the lower edge height of the electric door and a hardness less than the hardness of the vehicle paint, and an obstacle that will knock against the vehicle paint is an obstacle with a hardness greater than or equal to the hardness of the vehicle paint.

[0145] The body domain controller 11 is further configured to send the second electric door opening instruction to the electric door control module 13 when receiving the second electric door opening instruction input by the user within a preset time period, so that the electric door control module 13 controls the electric door to open in response to the second electric door opening instruction.

[0146] In some embodiments, the electric door control module 13 is further configured to control the electric door to lock when determining that the first obstacle is an obstacle that will bump the body paint surface.

[0147] In some embodiments, the electric door control module 13 is further configured to control the electric door to stop opening when determining that the height of the first obstacle is greater than the height of the lower edge of the window glass.

[0148] The body domain controller 11 is further configured to send the third electric door opening instruction to the electric door control module 13 when receiving the third electric door opening instruction input by the user within a preset time period, so that the electric door control module 13 controls the millimeter wave radar detection module 14 to perform obstacle recognition on the environment within the preset range of the electric door again and obtain the distance between the first obstacle and the electric door.

[0149] The electric door control module 13 is further configured to control the electric door to stop opening after opening a preset distance in response to the third electric door opening instruction after the body domain controller 11 determines that no third obstacle is detected according to the recognition result of the millimeter wave radar detection module 14 and the distance between the first obstacle and the electric door is greater than or equal to the preset distance, where the third obstacle and the first obstacle are different obstacles.

[0150] The implementation manners of the functions of each part of the structure in the above embodiments are similar to those in the above method embodiments, and will not be described in detail in this embodiment.

[0151] Figure 5 The hardware structure diagram of an electronic device provided by an embodiment of the present application is shown. As Figure 5 shown, the electronic device 20 is used to implement the operations corresponding to the terminal device in any of the above method embodiments. The electronic device 20 in this embodiment may include: a memory 21 and a processor 22.

[0152] The memory 21 is used to store a computer program. The memory 21 may include a high-speed random access memory (Random Access Memory, RAM), and may also include non-volatile storage (Non-Volatile Memory, NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disc, etc.

[0153] The processor 22 is configured to execute the computer program stored in the memory to implement the method for preventing collision when opening the vehicle electric door in the above embodiments. For specific details, reference may be made to the relevant descriptions in the foregoing method embodiments. The processor 22 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the invention may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.

[0154] Optionally, the memory 21 may be either independent or integrated with the processor 22.

[0155] When the memory 21 is a device independent of the processor 22, the electronic device 20 may further include a bus 23. The bus 23 is used to connect the memory 21 and the processor 22. The bus 23 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, the buses in the drawings of the present application are not limited to only one bus or one type of bus.

[0156] The electronic device 20 provided in this embodiment can be used to execute the method for preventing collision when opening the vehicle electric door described above. The implementation manner and technical effect are similar, and will not be elaborated herein.

[0157] In several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other may be through some interfaces, and the indirect coupling or communication connection of devices or modules may be in an electrical, mechanical or other forms.

[0158] It should be understood that although the steps in the flowcharts in the above embodiments are shown sequentially according to the indications of the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless there is a clear indication in this article, there is no strict order restriction for the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the figure may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same moment, but can be executed at different moments, and their execution order is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0159] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An anti-collision method for opening a vehicle's electric door, characterized in that, the method includes: Receiving a first electric door opening instruction input by a user; In response to the first electric door opening instruction, identifying obstacles in the environment within the preset range of the electric door; After determining that there is a first obstacle, obtaining the height of the first obstacle; When the height of the first obstacle is less than or equal to the height of the lower edge of the window glass, controlling the electric door to stop opening and displaying a real-time video of the environment within the preset range of the electric door; Judging the type of the first obstacle, where the type includes two types: an obstacle that will not bump the body paint surface and an obstacle that will bump the body paint surface; the obstacle that will not bump the body paint surface is an obstacle with a height less than or adjustable to less than the height of the lower edge of the electric door and a hardness less than the hardness of the body paint surface, and the obstacle that will bump the body paint surface is an obstacle with a hardness greater than or equal to the hardness of the body paint surface; When determining that the first obstacle is the obstacle that will not bump the body paint surface, prompting the user to confirm whether to continue opening the door; If a second electric door opening instruction input by the user is received within a preset time period, then in response to the second electric door opening instruction, opening the electric door.

2. The anti-collision method for opening a vehicle's electric door according to claim 1, characterized in that, After judging the type of the first obstacle, the method further includes: When determining that the first obstacle is the obstacle that will bump the body paint surface, controlling the electric door to lock.

3. The anti-collision method for opening a vehicle's electric door according to claim 1, characterized in that, After judging the type of the first obstacle, the method further includes: When determining that the first obstacle is the obstacle that will bump the body paint surface, obtaining the distance between the first obstacle and the first electric door; When the distance between the first obstacle and the electric door is greater than a preset distance, controlling the electric door to stop opening after opening the preset distance.

4. The anti-collision method for opening a vehicle's electric door according to claim 2, characterized in that, When determining that the first obstacle is the obstacle that will bump the body paint surface, after controlling the electric door to lock, the method further includes: Prompting the user to re-find a parking spot and identifying obstacles at the target parking spot; If no obstacle is identified, controlling the electric door to open after the vehicle stops at the target parking spot; Or, when a second obstacle is identified, obtaining the height of the second obstacle; When the height of the second obstacle is less than the height of the lower edge of the electric door, controlling the electric door to open after the vehicle stops at the target parking spot.

5. The anti-collision method for opening a vehicle's electric door according to claim 1, characterized in that, the method further includes: When the height of the first obstacle is greater than the height of the lower edge of the window glass, controlling the electric door to stop opening; If a third electric door opening instruction input by the user is received within a preset time period, re-identifying obstacles in the environment within the preset range of the electric door and obtaining the distance between the first obstacle and the electric door; After determining that the third obstacle is not detected and the distance between the first obstacle and the electric door is greater than or equal to a preset distance, in response to the third electric door opening instruction, control the electric door to open the preset distance and then stop opening, where the third obstacle and the first obstacle are different obstacles.

6. The method for preventing collision during door opening of a vehicle electric door according to claim 5, wherein, after performing obstacle recognition on the environment within the preset range of the electric door again, the method further includes: after determining that there is a third obstacle, obtaining the height of the third obstacle; when the height of the third obstacle is less than or equal to the height of the lower edge of the window glass, controlling the electric door to stop opening and displaying the real-time video of the environment within the preset range of the electric door; when it is determined that the third obstacle is an obstacle that will not bump the body paint surface, prompting the user to confirm whether to continue opening the door; if a fourth electric door opening instruction is received within a preset duration, in response to the fourth electric door opening instruction, open the electric door.

7. The method for preventing collision during door opening of a vehicle electric door according to claim 1 or 6, wherein, prompting the user to confirm whether to continue opening the door specifically includes: displaying a query box on the display interface, where the query box includes a continue opening button and a stop opening button; and / or playing a voice to ask the user whether to continue opening the door, and the voice content includes the risk of collision if continuing to open the door and the risk of scratching the car paint.

8. An anti-collision system for opening a vehicle electric door, wherein, the system includes: a body domain controller, a cockpit domain controller, an electric door control module, and a millimeter wave radar detection module. The body domain controller is electrically connected to the cockpit domain controller, the body domain controller is electrically connected to the electric door control module, and the electric door control module is electrically connected to the millimeter wave radar detection module; the body domain controller is configured to receive a first electric door opening instruction input by the user and send the first electric door opening instruction to the electric door control module; the electric door control module is configured to, in response to the first electric door opening instruction, control the millimeter wave radar detection module to perform obstacle recognition on the environment within the preset range of the electric door; the millimeter wave radar detection module is configured to obtain the height of the first obstacle after determining that there is a first obstacle; the electric door control module is further configured to judge the relative relationship between the height of the first obstacle and the height of the lower edge of the window glass; the electric door control module is further configured to control the electric door to stop opening when the height of the first obstacle is less than or equal to the height of the lower edge of the window glass; the cockpit domain controller is configured to display the real-time video of the environment within the preset range of the electric door when the height of the first obstacle is less than or equal to the height of the lower edge of the window glass; The cockpit domain controller is further configured to prompt the user to confirm whether to continue opening the door when the electric door control module determines the type of the first obstacle and determines that the first obstacle is an obstacle that will not bump the body paint; wherein, the type includes two types: will not bump the body paint and will bump the body paint; the obstacle that will not bump the body paint is an obstacle with a height less than or adjustable to less than the lower edge height of the electric door and a hardness less than the hardness of the body paint, and the obstacle that will bump the body paint is an obstacle with a hardness greater than or equal to the hardness of the body paint; The body domain controller is further configured to send the second electric door opening instruction to the electric door control module when receiving the second electric door opening instruction input by the user within a preset time period, so that the electric door control module controls the electric door to open in response to the second electric door opening instruction.

9. The anti-collision system for opening the vehicle electric door according to claim 8, characterized in that, The electric door control module is further configured to control the electric door to lock when determining that the first obstacle is an obstacle that will bump the body paint.

10. The anti-collision system for opening the vehicle electric door according to claim 8, characterized in that, The electric door control module is further configured to control the electric door to stop opening when determining that the height of the first obstacle is greater than the height of the lower edge of the window glass; The body domain controller is further configured to send the third electric door opening instruction to the electric door control module when receiving the third electric door opening instruction input by the user within a preset time period, so that the electric door control module controls the millimeter wave radar detection module to identify obstacles in the environment within the preset range of the electric door again and obtain the distance between the first obstacle and the electric door; The electric door control module is further configured to control the electric door to open the preset distance and then stop opening in response to the third electric door opening instruction after the body domain controller determines that no third obstacle is detected according to the recognition result of the millimeter wave radar detection module and the distance between the first obstacle and the electric door is greater than or equal to the preset distance, wherein the third obstacle and the first obstacle are different obstacles.

11. An electronic device, characterized in that, The device includes a memory and a processor; The memory is used for storing a computer program; The processor is used for executing the computer program stored in the memory to implement the method for preventing collision when opening the vehicle electric door according to any one of claims 1-7.

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