Vehicle side door control method and system based on welcome light blanket and vehicle

Abstract

The invention relates to the technical field of vehicle control, and provides a vehicle side door control method and system based on a welcome light blanket and a vehicle, and the method comprises the steps: responding to the approaching intention of a user, obtaining user images at a plurality of continuous time points and the distance between an intelligent key and the vehicle, integrating the user images and the distance into an input sequence, and recognizing the getting-on intention through a getting-on intention recognition model; identifying whether the user has a getting-on intention or not, and if the user has the getting-on intention, judging whether to start a welcome light blanket or not according to the environment where the vehicle is located; and after the welcome light blanket is opened, acquiring an image, depth information and / or point cloud of a specified area in the welcome light blanket, identifying whether a user reaches the specified area, and when the user reaches the specified area, sending a door opening instruction. When the getting-on intention of the user is judged, the identity of the user with the getting-on intention is ensured; and moreover, intelligent door opening control without perception in a dark environment is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control, and in particular relates to a vehicle side door control method, system and vehicle based on a welcome light carpet. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the development of intelligent vehicles, users have higher and higher requirements for the convenience and comfort of vehicles. Traditional welcome cursors can only cover a limited area and cannot effectively guide the user's walking path. In addition, these cursors usually have limited brightness, especially at night or in low light conditions, their guiding effect is greatly reduced, which may cause users to feel inconvenient or unsafe when getting on the car.

[0004] The emergence of welcome light carpet technology provides a more intuitive and intelligent solution. Compared with traditional welcome cursors, welcome light carpets can not only provide a larger ground coverage area, but also dynamically adjust the brightness and shape of the light carpet according to the user's location, accurately guiding the user's walking path. Especially at night, the visual effect and guiding ability of the welcome light carpet are more significant, which can significantly improve the user's boarding experience.

[0005] However, the existing technology has not yet organically combined the welcome light blanket with the vehicle access control to achieve the function of automatic door opening without user perception; more importantly, the current control of the welcome light blanket and the vehicle door mostly relies on facial identity recognition based on the user image and then the intention to get on the vehicle is recognized. At night or in low-light environments, due to the limited clarity of the collected user image, it is difficult to achieve accurate control of the welcome light blanket and the vehicle door, which affects the user's experience of getting on the vehicle. Summary of the invention

[0006] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a vehicle side door control method, system and vehicle based on a welcome light carpet. After detecting that the user has the intention to approach, the intention to get on the vehicle is judged by the user images at several consecutive time points and the distance between the smart key and the vehicle. No facial identity recognition is required, and it is suitable for dark environments. While judging the user's intention to get on the vehicle, the identity of the user with the intention to get on the vehicle is guaranteed; moreover, after the welcome light carpet is turned on, the door is controlled according to the image in the welcome light carpet area, realizing imperceptible smart door opening control in a dark environment.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] A first aspect of the present invention provides a vehicle side door control method based on a welcome light carpet, comprising:

[0009] In response to the user's approach intention, the user's images and the distance between the smart key and the vehicle at several consecutive time points are obtained and integrated into an input sequence. Through the boarding intention recognition model, it is identified whether the user intends to board the vehicle. If the user intends to board the vehicle, it is determined whether to start the welcome light carpet in combination with the vehicle's environment;

[0010] After the welcome light carpet is turned on, the image, depth information and / or point cloud of the specified area in the welcome light carpet are obtained to identify whether the user has reached the specified area. When the user reaches the specified area, a door opening command is sent.

[0011] Furthermore, the user's approach intention is sent by a surround-view camera, and the surround-view camera recognizes whether the user has an approach intention based on a number of consecutive frames of user images, and the approach intention is recognized after the distance between the smart key and the vehicle is less than a set value.

[0012] Further, the input sequence is X={(d1,Q1),(d2,Q2),…,(dn,Qn)}; wherein d1 is the distance between the smart key and the vehicle at the first time point, and Q1 is the user image at the first time point; d2 is the distance between the smart key and the vehicle at the second time point, and Q2 is the user image at the second time point; and so on; dn is the distance between the smart key and the vehicle at the nth time point, and Qn is the user image at the nth time point.

[0013] Furthermore, the distance between the smart key and the vehicle is detected by the smart key through short-range communication technology.

[0014] Furthermore, the environment includes day and night, and the environment is classified according to instrument time information. When the user intends to get on the vehicle and the vehicle is in the night environment, the welcome light carpet is activated.

[0015] Furthermore, the environment includes darkness and brightness, and the environment is classified according to the user image. When the user intends to get on the vehicle and the vehicle is in a dark environment, the welcome light carpet is activated.

[0016] A second aspect of the present invention provides a vehicle side door control system based on a welcome light carpet, comprising:

[0017] The light carpet control module is configured to: in response to the user's approach intention, obtain the user's image and the distance between the smart key and the vehicle at a number of consecutive time points, integrate them into an input sequence, identify whether the user intends to get on the vehicle through a boarding intention recognition model, and if the user intends to get on the vehicle, determine whether to start the welcome light carpet in combination with the vehicle's environment;

[0018] The door control module is configured to: after the welcome light carpet is turned on, obtain the image, depth information and / or point cloud of the specified area in the welcome light carpet, identify whether the user has reached the specified area, and send a door opening command when the user reaches the specified area.

[0019] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the vehicle side door control method based on a welcome light carpet as described above.

[0020] A fourth aspect of the present invention provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the vehicle side door control method based on a welcome light carpet as described above are implemented.

[0021] The fifth aspect of the present invention provides a vehicle, utilizing a vehicle side door control method based on a welcome light carpet as described in the first aspect; or, including a vehicle side door control system based on a welcome light carpet as described in the second aspect; or, including a computer-readable storage medium as described in the third aspect; or, including a computer device as described in the fourth aspect.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] After detecting that the user has the intention to approach, the present invention judges the intention to get on the vehicle through the user images at several consecutive time points and the distance between the smart key and the vehicle. No face identification is required, and the present invention is suitable for dark environments. While judging the user's intention to get on the vehicle, the identity of the user with the intention to get on the vehicle is ensured. Moreover, after the welcome light carpet is turned on, the door is controlled according to the image in the welcome light carpet area, thereby realizing imperceptible smart door opening control in a dark environment.

[0024] When the distance between the smart key and the vehicle is less than a set value, the present invention uses the user image to identify the approach intention. The recognition of the approach intention does not require user identity recognition, does not require a clear image, and is suitable for dark environments.

[0025] The present invention first determines the user's intention to approach by the surround-view camera, and then the domain controller determines the intention to get on the vehicle, which can reduce data transmission, reduce the workload of the domain controller, and reduce vehicle power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0027] Figure 1is a flow chart of a vehicle side door control method based on a welcome light carpet according to a first embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of a projection light blanket and a designated area according to a first embodiment of the present invention;

[0029] Figure 3 It is a framework diagram of a vehicle side door control system based on a welcome light carpet according to a second embodiment of the present invention. DETAILED DESCRIPTION

[0030] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0031] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0032] Embodiment 1

[0033] This embodiment provides a vehicle side door control method based on a welcome light carpet.

[0034] The present embodiment provides a vehicle side door control method based on a welcome light carpet, which aims to enable users to complete the vehicle boarding process intelligently and imperceptibly without manual operation through intelligent light carpet guidance technology and door control technology, thereby optimizing the user's vehicle boarding experience, especially at night or in low-light environments, to achieve imperceptible intelligent door opening control.

[0035] The present embodiment provides a vehicle side door control method based on a welcome light carpet, which has a non-perceptual boarding experience. It intelligently recognizes user intentions through surround-view cameras and smart keys, and automatically opens the door in combination with the welcome light carpet to guide. This improves safety and convenience at night. The domain controller intelligently manages the activation of the welcome light carpet, saves energy, and optimizes the user's overall boarding experience.

[0036] This embodiment provides a vehicle side door control method based on a welcome light carpet, such as Figure 1 As shown, the following steps are included:

[0037] Step 101: Determine the user's approach intention.

[0038] (1) The smart key can detect the distance between the user and the vehicle (i.e., the distance between the smart key and the vehicle) through short-range communication (such as RFID or Bluetooth). When it is detected that the distance between the user and the vehicle is less than a set value, the distance information between the user and the vehicle is transmitted to the domain controller in real time. After receiving the distance information between the user and the vehicle, the domain controller sends a start command to the surround view camera.

[0039] (2) After receiving the start command, the surround view camera starts to collect user images and determines whether the user has the intention to approach by detecting the user's location and behavior characteristics. Specifically, after receiving the start command, the surround view camera collects a user image every t seconds, and inputs a number of consecutive user images into the approach intention recognition model (LSTM network) to obtain the result of whether the user has the intention to approach. If it is determined that the user has the intention to approach, the user image collected in real time is uploaded to the domain controller.

[0040] Preferably, the collection actions of the surround view camera and the smart key are performed synchronously.

[0041] In this embodiment, the LSTM network only needs to determine the user's intention to approach without identity recognition. Therefore, as long as the user image has a human outline, the transformation of the human outline in several consecutive user images can be used to determine whether the user is approaching the car door. If the user walks towards the car door, it can be preliminarily determined that the user has the intention to approach. Since user identity recognition is not required and clear images are not required, it can be suitable for dark environments.

[0042] Step 102: Light up the welcome light carpet.

[0043] (1) The domain controller is the core processing unit of the vehicle and receives information from the surround view camera and smart key.

[0044] (2) After the domain controller receives the user's intention to approach, it combines the distance between the user and the vehicle uploaded by the smart key and the user image uploaded by the surround view camera to determine whether the user intends to get on the vehicle, and determines whether the welcome light carpet (projection light carpet) needs to be activated in combination with the vehicle's environment. For example, it determines whether the welcome light carpet (projection light carpet) needs to be activated in combination with the current instrument time information; or, based on the user image, it is classified into a dark or bright environment through a neural network.

[0045] Specifically, the distance between the user and the vehicle and the user image at several consecutive (n) time points are integrated into an input sequence X = {(d1, Q1), (d2, Q2), …, (dn, Qn)}, where d1 is the distance between the user and the vehicle at the first time point, Q1 is the user image at the first time point, dn is the distance between the user and the vehicle at the nth time point, and Qn is the user image at the nth time point; based on the input sequence, the boarding intention recognition model (LSTM network) is used to obtain the result of whether the user has the intention to board the vehicle.

[0046] When it is determined that the user has a clear intention to get on the bus and the instrument time shows night, the domain controller controls the welcome light carpet system to start and project a light carpet on the ground. Figure 2 shown.

[0047] The activation of the welcome light carpet not only provides users with a clear guiding path for boarding the vehicle, but also enhances the user's visual experience at night or in low light conditions, making the boarding process safer and more convenient.

[0048] In this embodiment, after obtaining the user's intention to approach, since the identity of the person approaching the vehicle is unknown, the smart key distance and user image are combined to determine whether the person approaching the vehicle is a legitimate user (the user holding the smart key), thereby avoiding incorrect starts caused by a legitimate user not getting in the vehicle while someone else approaches the vehicle.

[0049] In this embodiment, the surround-view camera first determines the user's intention to approach, and then the domain controller determines the intention to get on the vehicle, which can reduce data transmission, reduce the workload of the domain controller, and reduce vehicle power consumption.

[0050] Step 103: The user walks along the welcome light carpet.

[0051] After the welcome light carpet is lit, the surround-view camera continues to track the user's movement trajectory to ensure that the user walks along the expected route. The welcome light carpet projects a beam of light on the ground next to the vehicle to guide the user to walk along a specific path. The surround-view camera monitors in real time whether the user walks along the light carpet.

[0052] Step 104: The car door opens automatically.

[0053] While the user is walking along the welcome light carpet, the surround camera, TOF sensor and / or LiDAR collects information (images, depth information and / or point cloud, etc.) of the designated area in the welcome light carpet and uploads it to the domain controller. The domain controller uses the convolutional neural network to determine whether the user has reached the designated area. When the user reaches the designated area within the specified time, the domain controller sends a door opening command, and the door controller automatically opens the door. After receiving the door opening command from the domain controller, the door controller immediately executes the side door opening action. The side door will open automatically without the user's manual operation, completing the intelligent boarding process.

[0054] In this embodiment, when the user's foot reaches the designated area (the foot steps on the light spot projected by the TOF sensor on the welcome light carpet or the foot steps on the light spot projected by the lidar on the welcome light carpet), the surround-view camera will capture the image of the designated area (the TOF sensor will capture the change in depth information or the lidar will capture the point cloud data of the designated area), and upload it to the domain controller. The domain controller can determine whether the user has reached the designated area through the convolutional neural network.

[0055] If the user continues walking along the guided route of the welcome light carpet and arrives at the designated area within the specified time, the car door will be opened, ensuring that the side door will only be automatically opened when the user really needs to get on the car, thereby avoiding misoperation and accidental opening of the door.

[0056] Among them, the welcome light carpet and car doors can also be opened in the following ways: remote unlocking with the key; unlocking with the key close to it; through mobile phone APP, physical key, etc.

[0057] As an implementation method, one night, a user approaches a vehicle parked in a parking lot with a smart key; the surround-view camera starts to capture the user's image, and the smart key establishes communication with the vehicle; the smart key detects the distance between the user and the vehicle through short-range communication technology, and when it is detected that the distance between the user and the vehicle is less than a set value, the distance information between the user and the vehicle is transmitted to the domain controller in real time, and after receiving the distance information between the user and the vehicle, the domain controller sends a start command to the surround-view camera; after receiving the start command, the surround-view camera starts to collect the user's image to determine whether the user has the intention to approach; after the domain controller receives the user's intention to approach, it integrates the distance information between the user and the vehicle uploaded by the smart key The surround-view camera determines whether the user intends to get on the vehicle based on the distance between the vehicle and the user image uploaded by the surround-view camera, and determines whether the welcome light carpet needs to be activated in combination with the current instrument time information; after the welcome light carpet is activated, it projects a light path on the ground next to the vehicle to guide the user to walk. After the user sees the light carpet, he walks along the guided path of the light carpet to the side door of the vehicle; the surround-view camera continues to monitor the user's walking path to ensure that the user walks along the expected route; when the user arrives at the designated area near the side door, the domain controller determines whether the designated area is reached within the specified time, and then sends a door opening command to the door controller; after receiving the command, the door controller automatically opens the side door, and the user can enter the vehicle without any manual operation.

[0058] As an implementation method, during the day, a user approaches a vehicle with a smart key; the smart key establishes communication with the vehicle and provides distance information between the user and the vehicle; when it is detected that the distance between the user and the vehicle is less than a set value, the distance information between the user and the vehicle is transmitted to the domain controller in real time, and the domain controller sends a start command to the surround view camera after receiving the distance information between the user and the vehicle; after receiving the start command, the surround view camera starts to collect user images to determine whether the user has the intention to approach; after the domain controller receives the user's intention to approach, it combines the distance between the user and the vehicle uploaded by the smart key and the user image uploaded by the surround view camera to determine whether the user has the intention to get on the vehicle; however, when the domain controller checks the instrument time, it finds that the current time is daytime; since it is daytime, the domain controller will not start the welcome light carpet system; the surround view camera continues to track the user's movement trajectory and uploads it to the domain controller, which determines whether the user has reached the designated area through a convolutional neural network, and then sends a door opening command to the door controller; after receiving the command, the door controller automatically opens the side door, and the user can enter the vehicle without any manual operation. In this case, the welcome light carpet system remains on standby, waiting for further user operations, ensuring that no unnecessary light carpet is started during the day, thereby saving energy and avoiding visual interference.

[0059] As an implementation method, one night, two users approach the same car with smart keys at the same time, and the smart key captures the distance information of the two users at the same time; after receiving the distance information of the two users, the domain controller prioritizes the nearest user or the main person set by the system as the priority processing object, and sends a start command to the surround view camera; after receiving the start command, the surround view camera starts to collect images of the priority processing object to determine whether the priority processing object has an approaching intention; after the domain controller receives that the priority processing object has an approaching intention, it comprehensively considers the distance between the priority processing object and the vehicle uploaded by the smart key and the image of the priority processing object uploaded by the surround view camera to determine whether the priority processing object has an intention to get on the vehicle; the domain controller decides to start the welcome light carpet based on the instrument time; the welcome light carpet projects a guiding light path on the ground according to the direction of the main person, and if other users approach the side door of non-main personnel, the welcome light carpet will not be started; the main person walks along the light carpet, and when reaching the designated area of ​​the side door, the domain controller sends a door opening command, and the door controller automatically opens the door on the main person's side; other users can manually open the side door or wait for the main person to get on the vehicle and enter the vehicle through the internal unlocking operation.

[0060] These embodiments demonstrate specific operating modes in different situations, covering scenarios such as getting on the bus at night, standby during the day, and multi-user identification, reflecting intelligent and humanized design.

[0061] Embodiment 2

[0062] This embodiment provides a vehicle side door control system based on a welcome light carpet, such as Figure 2 As shown, it specifically includes: a surround-view camera 201, a smart key 202, an instrument time module 203, a domain controller 204, a welcome light blanket 205, a door controller 206, a side door 207 and a CAN communication module. The modules work together to enable the user to complete the process of getting on the vehicle without any manual operation.

[0063] The surround view camera 201 is installed around the vehicle and is used to collect user images in real time. It can identify the user's location and behavior characteristics and determine whether the user intends to approach. The captured image data is transmitted to the domain controller via the CAN communication module.

[0064] The smart key 202 is a device carried by the user, which communicates with the vehicle through short-range communication technology (such as RFID or Bluetooth); when the user approaches the vehicle, the smart key sends a signal to the domain controller to provide distance information between the user and the vehicle; this information is also interacted with the domain controller through the CAN communication module.

[0065] The instrument time module 203 is used to obtain the current time information, especially to distinguish between day and night; when it is preliminarily determined that the user intends to get on the vehicle based on the information collected by the surround-view camera and the smart key, the domain controller will obtain the current instrument time through the CAN communication module and decide whether to start the welcome light carpet function.

[0066] The domain controller 204 is the core control unit, which is responsible for receiving signals from the surround view camera, smart key and instrument time, and making decisions based on this information; the domain controller exchanges data with each module through the CAN communication module; when the user is determined to have the intention to get on the car and the current time is night, the domain controller will control the welcome light carpet to light up through the CAN communication module, and send a door opening command to the door controller when the user arrives at the designated area. The domain controller 204 includes:

[0067] The light carpet control module is configured to: in response to the user's approach intention, obtain the user's image and the distance between the smart key and the vehicle at a number of consecutive time points, integrate them into an input sequence, identify whether the user intends to get on the vehicle through a boarding intention recognition model, and if the user intends to get on the vehicle, determine whether to start the welcome light carpet in combination with the vehicle's environment;

[0068] The door control module is configured to: after the welcome light carpet is turned on, obtain the image, depth information and / or point cloud of the specified area in the welcome light carpet, identify whether the user has reached the specified area, and send a door opening command when the user reaches the specified area.

[0069] The welcome light carpet 205 is a light beam system projected on the ground next to the vehicle, which is used to provide visual guidance for users to get on the vehicle. After being started at night, the user is guided to walk along a specific path through the dynamic projection light carpet. The start and close instructions of the welcome light carpet are sent by the domain controller through the CAN communication module.

[0070] The door controller 206 is responsible for receiving the door opening command from the domain controller and executing the opening action of the side door; the command is transmitted through the CAN communication module. When the user walks along the guided path of the welcome light carpet and reaches the designated area, the door controller will receive the command and automatically open the side door.

[0071] The side door 207 is the entrance and exit of the vehicle and is controlled by the door controller. According to the user's walking trajectory and the judgment of the domain controller, the side door automatically opens after receiving the door opening command, thereby realizing a non-perceptual boarding experience.

[0072] The CAN communication module is used to realize data transmission and communication between modules inside the vehicle.

[0073] It should be noted here that the various modules in this embodiment correspond one-to-one to the various steps in Example 1, and the specific implementation process is the same, which will not be repeated here.

[0074] Embodiment 3

[0075] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the vehicle side door control method based on the welcome light carpet as described in the first embodiment above are implemented.

[0076] Embodiment 4

[0077] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the vehicle side door control method based on the welcome light carpet as described in the first embodiment above are implemented.

[0078] Embodiment 5

[0079] This embodiment provides a vehicle, utilizing a vehicle side door control method based on a welcome light carpet as described in the above embodiment 1; or, including a vehicle side door control system based on a welcome light carpet as described in the above embodiment 2; or, including a computer-readable storage medium as described in the above embodiment 3; or, including a computer device as described in the above embodiment 4.

[0080] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0081] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0082] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0084] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle side door control method based on a welcome light carpet, characterized in that: include: In response to the user's approach intention, the user's images and the distance between the smart key and the vehicle at several consecutive time points are obtained and integrated into an input sequence. Through the boarding intention recognition model, it is identified whether the user intends to board the vehicle. If the user intends to board the vehicle, it is determined whether to start the welcome light carpet in combination with the vehicle's environment; After the welcome light carpet is turned on, the image, depth information and / or point cloud of the specified area in the welcome light carpet are obtained to identify whether the user has reached the specified area. When the user reaches the specified area, a door opening command is sent.

2. A vehicle side door control method based on a welcome light carpet as claimed in claim 1, characterized in that: The user's approach intention is sent by the surround-view camera, and the surround-view camera recognizes whether the user has an approach intention based on a number of consecutive frames of user images, and the approach intention is recognized after the distance between the smart key and the vehicle is less than a set value.

3. A vehicle side door control method based on a welcome light carpet as claimed in claim 1, characterized in that: The input sequence is X={(d1,Q1),(d2,Q2),…,(dn,Qn)}; wherein d1 is the distance between the smart key and the vehicle at the first time point, and Q1 is the user image at the first time point; d2 is the distance between the smart key and the vehicle at the second time point, and Q2 is the user image at the second time point; and so on; dn is the distance between the smart key and the vehicle at the nth time point, and Qn is the user image at the nth time point.

4. The vehicle side door control method based on the welcome light carpet as claimed in claim 1, characterized in that: The distance between the smart key and the vehicle is detected by the smart key through short-range communication technology.

5. The vehicle side door control method based on the welcome light carpet as claimed in claim 1, characterized in that: The environment includes day and night, and the classification of the environment is based on instrument time information. When the user intends to get on the vehicle and the vehicle is in the night environment, the welcome light carpet is activated.

6. The vehicle side door control method based on the welcome light carpet as claimed in claim 1, characterized in that: The environment includes darkness and brightness, and the classification of the environment is based on the user image. When the user intends to get on the vehicle and the vehicle is in a dark environment, the welcome light carpet is activated.

7. A vehicle side door control system based on a welcome light carpet, characterized in that: include: The light carpet control module is configured to: in response to the user's approach intention, obtain the user's image and the distance between the smart key and the vehicle at a number of consecutive time points, integrate them into an input sequence, identify whether the user intends to get on the vehicle through a boarding intention recognition model, and if the user intends to get on the vehicle, determine whether to start the welcome light carpet in combination with the vehicle's environment; The door control module is configured to: after the welcome light carpet is turned on, obtain the image, depth information and / or point cloud of the specified area in the welcome light carpet, identify whether the user has reached the specified area, and send a door opening command when the user reaches the specified area.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in a vehicle side door control method based on a welcome light carpet as described in any one of claims 1 to 6 are implemented.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the vehicle side door control method based on the welcome light carpet as described in any one of claims 1-6 are implemented.

10. A vehicle, characterized in that: Utilizing a vehicle side door control method based on a welcome light carpet as described in any one of claims 1 to 6; or, including a vehicle side door control system based on a welcome light carpet as described in claim 7; or, including a computer-readable storage medium as described in claim 8; or, including a computer device as described in claim 9.

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