Door opening early warning target determination method, computer program product and electronic equipment

Abstract

The invention provides a door opening early warning target determination method, a computer program product and electronic equipment, and according to the door opening early warning target determination method provided by the invention, after a preset door opening early warning trigger condition of a vehicle is satisfied, according to the detected position information of a radar target in a side area of the vehicle, the vehicle can be determined according to the position information of the radar target in the side area of the vehicle. And identifying a radar target located in a preset door opening early warning area having the same shape as the vehicle door moving area of the vehicle, so as to obtain a door opening early warning target of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular, to a method for determining an opening warning target, a computer program product, and an electronic device. Background Art

[0002] Currently, some vehicles have begun to implement the door opening warning function (DOW) based on radar target detection technology. By warning against the radar targets detected in the side area of the vehicle, it is possible to prevent the passengers in the vehicle from colliding with these radar targets when opening the door, which is beneficial to ensuring the safety of the user during the ride. Since the accuracy of the determined opening warning targets of the vehicle directly affects the warning accuracy and effectiveness of the vehicle's door opening warning function, and further affects the safety and user experience of the passengers in the vehicle, therefore, how to improve the accuracy of the determined opening warning targets of the vehicle has become an urgent problem to be solved. Summary of the Invention

[0003] Based on this, the present invention provides a method for determining an opening warning target, a computer program product, and an electronic device. By using this method for determining an opening warning target, the accuracy of the determined opening warning targets of the vehicle can be improved, which is beneficial to ensuring the warning accuracy and effectiveness of the vehicle's door opening warning function.

[0004] On the one hand, the present invention provides a method for determining an opening warning target, and the method includes:

[0005] After a preset door opening warning trigger condition of the vehicle is satisfied, obtain the position information of the radar targets detected by radar for the side area of the vehicle;

[0006] According to the position information of the radar targets, determine whether the radar targets are located within a preset door opening warning area of the vehicle to obtain a first determination result; wherein, the shape of the preset door opening warning area is consistent with the shape of the door movement area of the vehicle;

[0007] If the first determination result indicates that the radar targets are located within the preset door opening warning area of the vehicle, then determine the radar targets as the opening warning targets of the vehicle.

[0008] Further, in some embodiments, the obtaining the position information of the radar targets detected by radar for the side area of the vehicle includes:

[0009] Obtain the echo signals detected by the radar device mounted on the vehicle for the side area of the vehicle;

[0010] Based on the echo signal collected for any radar target, determine the target lateral distance value between the radar target and the vehicle, and the lateral dimension of the target door opening warning sub-region associated with the radar target; wherein, the target door opening warning sub-region is a specific door opening warning sub-region among multiple door opening warning sub-regions arranged along the longitudinal center line direction of the vehicle in the preset door opening warning region, and the lateral dimensions of at least some of the door opening warning sub-regions are inconsistent;

[0011] The determining whether the radar target is located within the preset door opening warning region of the vehicle according to the position information of the radar target includes:

[0012] Judge whether the lateral dimension of the target door opening warning sub-region is greater than the target lateral distance value.

[0013] Further, in some embodiments, the obtaining the echo signal obtained by the radar device mounted on the vehicle for radar target detection in the side region of the vehicle includes:

[0014] Obtain the direct echo signal and the cross echo signal collected by the ultrasonic radar device group mounted on the vehicle for any of the radar targets; wherein, the ultrasonic radar device group includes two ultrasonic radar devices with an overlapping sensing area relationship;

[0015] The determining the target lateral distance value between the radar target and the vehicle, and the lateral dimension of the target door opening warning sub-region associated with the radar target according to the echo signal collected for any radar target includes:

[0016] Using the triangulation algorithm, based on the direct echo signal and the cross echo signal collected by the ultrasonic radar device group for any of the radar targets, calculate the target lateral distance value between the radar target and the vehicle;

[0017] According to the direct echo signal collected by the ultrasonic radar device group for the radar target, and the preset distance value between the two ultrasonic radar devices included in the ultrasonic radar device group, calculate the position parameter of the radar target;

[0018] Determine the lateral dimension of the door opening warning sub-region associated with the preset numerical interval to which the position parameter of the radar target belongs, and obtain the lateral dimension of the target door opening warning sub-region associated with the radar target.

[0019] Further, in some embodiments, calculating the position parameter of the radar target based on the direct echo signals collected by the ultrasonic radar device group for the radar target and a preset distance value between the two ultrasonic radar devices included in the ultrasonic radar device group includes:

[0020] Calculating a first direct echo distance and a second direct echo distance between each of the two ultrasonic radar devices and the radar target according to the direct echo signals respectively collected by the two ultrasonic radar devices for the radar target;

[0021] Calculating a target quotient value of the difference between the square value of the first direct echo distance and the square value of the second direct echo distance and the preset distance value between the two ultrasonic radar devices;

[0022] Calculating the sum of the target quotient value and the preset distance value to obtain the position parameter of the radar target.

[0023] Further, in some embodiments, the above method further includes:

[0024] Obtaining a first radar target set located within the preset door opening warning area detected by the first ultrasonic radar device group in the first sensing overlapping area, and a second radar target set located within the preset door opening warning area detected by the second ultrasonic radar device group in the first sensing overlapping area; wherein, the first sensing overlapping area is an overlapping area between the sensing area of the first ultrasonic radar device group and the sensing area of the second ultrasonic radar device group;

[0025] Judging whether there are radar targets belonging to the same target object in the first radar target set and the second radar target set to obtain a second judgment result;

[0026] If the second judgment result indicates that there are radar targets belonging to the same target object in the first radar target set and the second radar target set, then using a specific radar target among the multiple radar targets belonging to the same target object in the first radar target set and the second radar target set as the door opening warning target of the vehicle.

[0027] Further, in some embodiments, using a specific radar target among the multiple radar targets belonging to the same target object as the door opening warning target of the vehicle includes:

[0028] Using the radar target with the highest confidence among the multiple radar targets belonging to the same target object as the door opening warning target of the vehicle; or,

[0029] If the driving direction of the target object is the same as the facing direction of the vehicle, then the radar target belonging to the target object detected by the radar device that detects the target object and is closest to the front of the vehicle is used as the door opening warning target of the vehicle; or,

[0030] If the driving direction of the target object is opposite to the facing direction of the vehicle, then the radar target belonging to the target object detected by the radar device that detects the target object and is closest to the rear of the vehicle is used as the door opening warning target of the vehicle.

[0031] Further, in some embodiments, the obtaining the echo signal obtained by the radar device mounted on the vehicle for radar target detection in the vehicle side region includes:

[0032] Obtaining the echo signal collected by the millimeter wave radar device or lidar device mounted on the vehicle for any one of the radar targets;

[0033] The determining the target lateral distance value between the radar target and the vehicle according to the echo signal collected for any one of the radar targets, and the lateral dimension of the target door opening warning sub-region associated with the radar target includes:

[0034] According to the echo signal collected for any one of the radar targets, determining the target abscissa data and target ordinate data of the radar target in a preset coordinate system; wherein, the horizontal axis of the preset coordinate system is parallel to the lateral center line of the vehicle, and the vertical axis of the preset coordinate system is parallel to the longitudinal center line of the vehicle;

[0035] According to the target abscissa data of the radar target in the preset coordinate system, determining the target lateral distance value between the radar target and the vehicle;

[0036] Determining the lateral dimension of the door opening warning sub-region associated with the radar target by determining the lateral dimension of the door opening warning sub-region having an associated relationship with the preset numerical interval to which the target ordinate data of the radar target in the preset coordinate system belongs, to obtain the lateral dimension of the target door opening warning sub-region associated with the radar target.

[0037] Further, in some embodiments, the preset door opening warning region of the vehicle includes: a left door opening warning region and a right door opening warning region;

[0038] If the position information of the radar target is the information obtained by radar target detection for the left side region of the vehicle, then the determining whether the radar target is located in the preset door opening warning region of the vehicle includes:

[0039] Determining whether the radar target is located in the left door opening warning region;

[0040] If the position information of the radar target is the information obtained by detecting the radar target in the right side area of the vehicle, then determining whether the radar target is located within the preset door opening warning area of the vehicle includes:

[0041] Determining whether the radar target is located within the right door opening warning area.

[0042] Further, in some embodiments, after determining the radar target as the door opening warning target of the vehicle, it further includes:

[0043] Generating warning information for the door opening warning target at the vehicle according to the door opening warning strategy corresponding to the door opening warning sub - area where the door opening warning target is located;

[0044] Wherein, the door opening warning strategy is used to reflect the warning level and / or warning method corresponding to the target numerical area to which the target lateral distance value between the door opening warning target and the vehicle belongs.

[0045] On the other hand, the present invention also provides a computer program product, which includes a computer program, and when the computer program is executed, the steps of the above - mentioned method are realized.

[0046] On the other hand, the present invention also provides an electronic device, including: a processor and a memory; wherein, the memory stores computer - readable instructions, and the computer - readable instructions are adapted to be loaded and executed by the processor to perform the steps of the above - mentioned method.

[0047] Further, in some embodiments, the electronic device further includes: a plurality of ultrasonic probes;

[0048] When the computer - readable instructions are executed, the data collected by the ultrasonic probes are processed to realize the steps of the above - mentioned method.

[0049] Further, in some embodiments, the electronic device includes at least one of a lidar device and a millimeter - wave radar device.

[0050] According to the door opening warning target determination method provided by the present invention, after the preset door opening warning trigger condition of the vehicle is satisfied, according to the position information of the radar target in the detected vehicle side area, the radar target located within the preset door opening warning area having consistency with the shape of the door activity area of the vehicle can be identified to obtain the door opening warning target of the vehicle, which is beneficial to improving the accuracy and rationality of the screened door opening warning target of the vehicle, thereby ensuring the warning accuracy and effectiveness of the door opening warning function of the vehicle, and further improving the safety and user experience of the passengers and drivers at the vehicle.

[0051] It should be understood that the content described in the Summary of the Invention section is not intended to limit the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a schematic diagram of a vehicle door opening warning area provided by an embodiment of the present invention;

[0053] Figure 2 It is a schematic flowchart of a method for determining a door opening warning target provided by an embodiment of the present invention;

[0054] Figure 3 It is another schematic diagram of a vehicle door opening warning area provided by an embodiment of the present invention;

[0055] Figure 4 It is a schematic structural diagram of a vehicle controller provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0057] In the description of one or more embodiments of the present invention, the term "including" and its similar terms should be understood as an open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions below.

[0058] The door opening warning area at the vehicle may refer to a warning area set to ensure the safety of the driver and passengers during the process of getting on and off the vehicle. The door opening warning function of the vehicle can issue a warning for these radar targets when it identifies the presence of radar targets in the door opening warning area, so as to remind the driver and passengers to avoid colliding with these radar targets, thereby reducing traffic accidents and protecting the safety of the driver and passengers, pedestrians, and other road users.

[0059] Figure 1 It is a schematic diagram of a vehicle door opening warning area provided by an embodiment of the present invention. As Figure 1As shown in the figure, currently, a rectangular area can usually be determined within the sensing range of the radar device mounted on the vehicle 101 as the door opening warning area 102 of the vehicle 101. However, since the impact of the opening and closing amplitude of the vehicle door on the collision risk caused by the radar targets around the vehicle is not considered when setting the door opening warning area 102 of the vehicle 101, some radar targets that do not cause collision risks around the vehicle will be selected as the door opening warning targets of the vehicle, thus mistakenly triggering the door opening warning function of the vehicle. For example, assume that the door opening warning area 102 includes the front door active area 103 and the rear door active area 104 of the vehicle 101. Then, when the radar target is located in the area of the door opening warning area 102 other than the front door active area 103 and the rear door active area 104, if the door opening warning function of the vehicle warns against these radar targets, it is likely to affect the warning accuracy and effectiveness of the door opening warning function of the vehicle.

[0060] Based on this, how to improve the accuracy of the determined door opening warning targets at the vehicle has become an urgent problem to be solved.

[0061] The present invention proposes a method for determining door opening warning targets. After the preset door opening warning trigger condition of the vehicle is satisfied, this method can identify the radar targets located within a preset door opening warning area that is consistent with the shape of the door active area of the vehicle according to the position information of the radar targets detected in the lateral area of the vehicle, so as to obtain the door opening warning targets of the vehicle, which is beneficial to improving the accuracy and rationality of the screened door opening warning targets of the vehicle, thereby ensuring the warning accuracy and effectiveness of the door opening warning function of the vehicle, and further improving the safety and user experience of the passengers and drivers at the vehicle.

[0062] Please refer to Figure 2 , which is a schematic flowchart of a method for determining door opening warning targets provided by an embodiment of the present invention. From a program perspective, the execution subject of this process can be a program for managing door opening warning targets mounted on a radar device or a vehicle control device. Or, the execution subject of this process can also be a radar device or a vehicle control device, or other devices that can communicate with the radar device or the vehicle control device. No specific limitation is made in this regard.

[0063] Next, the following Figure 2 shown process will be elaborated in detail. The method for determining door opening warning targets can specifically include the following steps:

[0064] Step S202, after the preset door opening warning trigger condition of the vehicle is satisfied, obtain the position information of the radar targets obtained by detecting radar targets in the lateral area of the vehicle.

[0065] In an embodiment of the present invention, the door open warning function (DOW) may refer to a function of warning against a target object that is relatively close to the vehicle in the lateral area of the vehicle and may pose a collision risk when the vehicle door is opened, when the vehicle is in a stationary state or a low-speed state. The preset door open warning trigger condition may refer to the condition required to activate the door open warning function of the vehicle. For example, the vehicle speed is less than a preset value, the vehicle is in a powered-on state, etc., and no specific limitation is made thereto.

[0066] In an embodiment of the present invention, the vehicle may usually be equipped with a radar target to collect data for the lateral area of the vehicle. By performing radar target detection on the collected radar sensing data, the position information of each radar target existing in the lateral area of the vehicle can be obtained. Subsequently, according to the position information of each radar target existing in the lateral area of the vehicle, the door open warning targets of the vehicle can be screened out from these radar targets. The lateral area of the vehicle may include both the adjacent area on the left side of the vehicle body and the adjacent area on the right side of the vehicle body, and no specific limitation is made thereto.

[0067] Step S204: According to the position information of the radar target, determine whether the radar target is located within the preset door open warning area of the vehicle to obtain a first determination result; wherein, the shape of the preset door open warning area is consistent with the shape of the door movement area of the vehicle.

[0068] In an embodiment of the present invention, the door movement area of the vehicle may refer to the projected area formed on the horizontal ground by the path area of the vehicle side door during the process of the user opening or closing the side door of the vehicle. In practical applications, when the door opening and closing types or door shapes of different vehicles are different, the shapes of the door movement areas of these vehicles often vary. For example, when the front and rear side doors are both swing doors, the door movement area of the vehicle may include two fan-shaped areas with the same shape; when the front and rear side doors are double doors, the door movement area of the vehicle may include two fan-shaped areas that are mirror-symmetrical. Or, when the side door is a gull-wing door, the door movement area of the vehicle may be a trapezoidal area. Of course, the door movement area of the vehicle may also present other shapes, which can be determined according to the actual situation, and no specific limitation is made thereto.

[0069] In practical applications, when a radar target is usually required to be located within the moving area of the vehicle door, the possibility of the radar target colliding with the vehicle door is relatively high. Therefore, the shape of the moving area of the vehicle door can be determined in advance, so as to facilitate the preset opening warning area that is consistent with the shape of the moving area of the vehicle door. Since the preset opening warning area is more detailed, accurate and reasonable, the accuracy and reasonableness of the opening warning target of the vehicle screened out can be improved by combining the preset opening warning area, thereby ensuring the warning accuracy and effectiveness of the vehicle's opening warning function.

[0070] It can be understood that the shape of the preset opening warning area is consistent with the moving area of the vehicle door. Generally, it does not mean that the shapes of the preset opening warning area and the moving area of the vehicle door are exactly the same, but that the shape similarity between the two is relatively high. In addition, the preset opening warning area can generally be slightly larger than the moving area of the vehicle door to avoid missing the target objects that need to be given opening warnings. For example, when the moving area of the vehicle door is a fan-shaped area, the preset opening warning area can be a fan-shaped area obtained by expanding the fan-shaped area by a preset multiple, or it can also be the smallest trapezoidal area or irregular polygon area that contains the fan-shaped area. No specific limitation is made in this regard.

[0071] In the embodiment of the present invention, the preset opening warning area of the vehicle may include: a left opening warning area and a right opening warning area. Among them, the left opening warning area may be consistent with the shape of the moving area of the door on the left side of the driver, and the right opening warning area may be consistent with the shape of the moving area of the door on the right side of the driver.

[0072] Correspondingly, if the position information of the radar target is the information obtained by detecting the radar target in the left area of the vehicle, then the judgment as to whether the radar target is located within the preset opening warning area of the vehicle may include: judging whether the radar target is located within the left opening warning area.

[0073] If the position information of the radar target is the information obtained by detecting the radar target in the right area of the vehicle, then the judgment as to whether the radar target is located within the preset opening warning area of the vehicle may include: judging whether the radar target is located within the right opening warning area.

[0074] In an embodiment of the present invention, by finely dividing the preset door opening warning area of the vehicle into a left-side door opening warning area and a right-side door opening warning area, and only needing to identify whether the radar target detected from the left-side area of the vehicle is located within the left-side door opening warning area, and whether the radar target detected from the right-side area of the vehicle is located within the right-side door opening warning area, it is beneficial to reduce the computational complexity of the solution and has good practicability.

[0075] Step S206, if the first judgment result indicates that the radar target is located within the preset door opening warning area of the vehicle, then determine the radar target as the door opening warning target of the vehicle.

[0076] In an embodiment of the present invention, if the first judgment result indicates that the radar target is not located within the preset door opening warning area of the vehicle, it can indicate that the collision risk brought by the radar target to the process of the driver and passengers getting in and out of the vehicle by opening the door is relatively low. Therefore, it can be determined that the radar target does not belong to the door opening warning target of the vehicle to avoid the radar target from falsely triggering the door opening warning function of the vehicle.

[0077] If the first judgment result indicates that the radar target is located within the preset door opening warning area of the vehicle, it can indicate that the collision risk brought by the radar target to the process of the driver and passengers getting in and out of the vehicle by opening the door is relatively high. Therefore, it can be determined that the radar target belongs to the door opening warning target of the vehicle, so that the door opening warning function of the vehicle can give a warning for the radar target, which is beneficial to improving the safety of the driver and passengers in the vehicle and other traffic participants.

[0078] In a feasible implementation manner, the obtaining of the position information of the radar target obtained by performing radar target detection on the side area of the vehicle may include:

[0079] Obtain the echo signal obtained by the radar device mounted on the vehicle performing radar target detection on the side area of the vehicle.

[0080] According to the echo signal collected for any radar target, determine the target lateral distance value between the radar target and the vehicle, and the lateral dimension of the target door opening warning sub-area associated with the radar target; wherein, the target door opening warning sub-area is a specific door opening warning sub-area among the multiple door opening warning sub-areas arranged along the longitudinal center line direction of the vehicle divided from the preset door opening warning area, and the lateral dimensions of at least some of the door opening warning sub-areas are inconsistent.

[0081] Correspondingly, the determining whether the radar target is located within the preset door opening warning area of the vehicle according to the position information of the radar target may include:

[0082] Determine whether the lateral dimension of the target door opening warning sub-region is greater than the target lateral distance value.

[0083] In the embodiments of the present invention, since the shape of the door activity area of the vehicle is often not rectangular, but such as a fan shape, a trapezoid or an irregular polygon, and the shape of the preset door opening warning area of the vehicle is consistent with the shape of the door activity area, the sizes of adjacent preset door opening warning areas near different vehicle body parts often vary.

[0084] Based on this, in order to facilitate accurately identifying whether each radar target is located within the preset door opening warning area of the vehicle, the preset door opening warning area can be divided in advance into multiple door opening warning sub-regions arranged along the longitudinal center line direction of the vehicle, and the lateral dimensions of different door opening warning sub-regions can be either the same or different. Wherein, the lateral dimension of the door opening warning sub-region can refer to the dimension of the door opening warning sub-region in the direction parallel to the lateral center line of the vehicle, which will not be elaborated here.

[0085] Figure 3 It is a schematic diagram of another vehicle door opening warning area provided by the embodiments of the present invention. For ease of understanding, it is explained here in conjunction with Figure 3 As shown in Figure 3 In the vehicle right side area 303 of the vehicle 301, a preset door opening warning area 304 shown by grid lines can be included. When the preset door opening warning area 304 is divided into multiple ( Figure 3 12 are shown in

[0086] door opening warning sub-regions arranged along the longitudinal center line direction of the vehicle, the lateral dimensions of different door opening warning sub-regions may not be the same. For example, looking in the direction from the vehicle head to the vehicle tail, the lateral dimension of the first door opening warning sub-region can be smaller than the lateral dimension of the second door opening warning sub-region.

[0087] It can be understood that Figure 3 the content in

[0088] In the embodiments of the present invention, Figure 2When the solution in is implemented, the position information and the lateral dimension of each door opening warning sub-region can be determined in advance. Based on this, in combination with the echo signal corresponding to the radar target existing around the vehicle collected, the target lateral distance value between the radar target and the vehicle can be determined, and the lateral dimension of the target door opening warning sub-region associated with the radar target can be determined. If the lateral dimension of the target door opening warning sub-region associated with the radar target is greater than the target lateral distance value, it can be indicated that the radar target is located within the target door opening warning sub-region, that is, the radar target is located within the preset door opening warning region of the vehicle. And if the lateral dimension of the target door opening warning sub-region associated with the radar target is less than the target lateral distance value, it can be indicated that the radar target is not located within the target door opening warning sub-region, that is, the radar target is located outside the preset door opening warning region of the vehicle.

[0089] Among them, the target lateral distance value between the radar target and the vehicle can refer to: the minimum distance between the radar target and the vehicle in the direction parallel to the lateral center line of the vehicle. And if a door opening warning sub-region contains the radar target within the region obtained by expanding in the direction parallel to the lateral center line of the vehicle (for example, the preset lateral region), then this door opening warning sub-region can be the target door opening warning sub-region associated with the radar target.

[0090] For the sake of easy understanding, an explanation is given here in combination with Figure 3 Assume that the first radar target 306 and the second radar target 307 are detected in the side area of the vehicle. And since the first radar target 306 and the second radar target 307 are located within the same preset lateral region (that is, the preset lateral region closest to the vehicle head), therefore, the first radar target 306 and the second radar target 307 can be associated with the same target door opening warning sub-region (that is, the door opening warning sub-region closest to the vehicle head). And since the target lateral distance value between the first radar target 306 and the vehicle is less than the lateral dimension of the target door opening warning sub-region (that is, the lateral / horizontal length of the grid line region), therefore, it can be determined that the first radar target 306 is located within the preset door opening warning region and it belongs to the door opening warning target of the vehicle. And since the target lateral distance value between the second radar target 307 and the vehicle is greater than the lateral dimension of the target door opening warning sub-region, therefore, it can be determined that the second radar target 307 is not located within the preset door opening warning region and it does not belong to the door opening warning target of the vehicle.

[0091] In a feasible implementation manner, the obtaining of the echo signal obtained by the radar device carried on the vehicle for radar target detection of the side area of the vehicle may include:

[0092] Obtain the direct echo signal and the cross echo signal collected by the ultrasonic radar device group mounted on the vehicle for any one of the radar targets; wherein, the ultrasonic radar device group includes two ultrasonic radar devices with overlapping sensing areas.

[0093] Correspondingly, determining the target lateral distance value between the radar target and the vehicle, and the lateral dimension of the target door opening warning sub-region associated with the radar target according to the echo signal collected for any one of the radar targets includes:

[0094] Using the triangulation algorithm, based on the direct echo signal and the cross echo signal collected by the ultrasonic radar device group for any one of the radar targets, calculate the target lateral distance value between the radar target and the vehicle;

[0095] According to the direct echo signal collected by the ultrasonic radar device group for the radar target, and the preset distance value between the two ultrasonic radar devices included in the ultrasonic radar device group, calculate the position parameter of the radar target;

[0096] Determine the lateral dimension of the door opening warning sub-region associated with the preset numerical interval to which the position parameter of the radar target belongs, and obtain the lateral dimension of the target door opening warning sub-region associated with the radar target.

[0097] In the embodiment of the present invention, the Ultrasonic Sensor System (USS) has been widely mounted on the side of the vehicle due to its high sensitivity, anti-environmental interference ability, low power consumption, small volume, low cost, etc., so as to identify the radar targets existing in the side area of the vehicle.

[0098] In the embodiment of the present invention, multiple ultrasonic radar devices with overlapping sensing areas are usually deployed at the vehicle, and two adjacent ultrasonic radar devices with overlapping sensing areas can form an ultrasonic radar device group. By using the ultrasonic radar devices in the ultrasonic radar device group to collect the direct echo signal and the cross echo signal of the vehicle surrounding environment, according to the relative position information between the ultrasonic radar devices in the ultrasonic radar device group, and the direct echo signal and the cross echo signal, the position information of the radar targets existing around the vehicle can be determined. Among them, the direct echo signal can refer to the echo signal of the ultrasonic wave sent by itself received by the ultrasonic radar device. And the cross echo signal can refer to the echo signal of the ultrasonic wave sent by other ultrasonic radar devices received by the ultrasonic radar device.

[0099] In practical applications, the triangulation algorithm may refer to a method that combines the principles of trigonometry to process the direct echo signals and cross echo signals collected by two or more ultrasonic radar devices for the same radar target, in order to determine the distance between the radar target and the ultrasonic radar devices. Since the ultrasonic radar devices on a vehicle are usually installed on the sides of the vehicle body, the vertical distance value from the radar target to the line connecting two ultrasonic radar devices in the ultrasonic radar device group calculated using the triangulation algorithm can be used as the target lateral distance value between the radar target and the vehicle, which is convenient, fast, and has good accuracy.

[0100] In practical applications, two ultrasonic radar devices in the ultrasonic radar device group on a vehicle can usually be arranged along the longitudinal center line direction of the vehicle, that is, one ultrasonic radar device in the ultrasonic radar device group is closer to the vehicle head, and the other ultrasonic radar device is farther from the vehicle head. Moreover, when the direct echo distance corresponding to the direct echo signal collected by the ultrasonic radar device closer to the vehicle head for the radar target is greater than the direct echo distance detected by the other ultrasonic radar device for the same radar target, it can indicate that the radar target is closer to the other ultrasonic radar device in the longitudinal center line direction of the vehicle. Based on this, the position parameters reflecting the relative position relationship between the radar target and each ultrasonic radar device can be calculated according to the direct echo signals collected by each ultrasonic radar device in the ultrasonic radar device group for the same radar target.

[0101] Furthermore, based on the same principle, the preset numerical intervals of the position parameters corresponding to each door opening warning sub-region included in the sensing region of the ultrasonic radar device group can be calculated in advance, and the association relationship between the unique identification information / lateral dimension of the door opening warning sub-region and the preset numerical interval can be established. Thus, the door opening warning sub-region associated with the preset numerical interval to which the position parameter of the radar target belongs can be used as the target door opening warning sub-region, and then the lateral dimension of the target door opening warning sub-region can be obtained, which is convenient and fast.

[0102] In a feasible implementation manner, calculating the position parameter of the radar target according to the direct echo signals collected by the ultrasonic radar device group for the radar target and the preset distance value between the two ultrasonic radar devices included in the ultrasonic radar device group may include:

[0103] According to the direct echo signals respectively collected by the two ultrasonic radar devices for the radar target, calculate the first direct echo distance and the second direct echo distance between the two ultrasonic radar devices and the radar target respectively.

[0104] Calculate the target quotient of the difference between the square value of the first direct echo distance and the square value of the second direct echo distance and the preset distance value between the two ultrasonic radar devices.

[0105] Calculate the sum of the target quotient and the preset distance value to obtain the position parameter of the radar target.

[0106] In the embodiment of the present invention, half of the product of the ultrasonic speed and the propagation duration of the direct echo signal can be the direct echo distance corresponding to the direct echo signal. And the position parameter of the radar target can be calculated in combination with the following formula, that is, the position parameter = (the preset distance value between the two ultrasonic radar devices + (the first direct echo distance 2 + the second direct echo distance 2 ) / the preset distance value). Of course, other strategies can also be referred to combine the direct echo distances detected by each ultrasonic radar device in the same ultrasonic radar device group for the same radar target to calculate the position parameter of the radar target, which is not specifically limited herein.

[0107] In a feasible implementation manner, Figure 2 the method in

[0108] may further include:

[0109] Obtain a first radar target set located in the preset door opening warning area detected by the first ultrasonic radar device group in the first sensing overlapping area, and a second radar target set located in the preset door opening warning area detected by the second ultrasonic radar device group in the first sensing overlapping area; wherein, the first sensing overlapping area is the overlapping area between the sensing area of the first ultrasonic radar device group and the sensing area of the second ultrasonic radar device group.

[0110] Judge whether there are radar targets belonging to the same target object in the first radar target set and the second radar target set to obtain a second judgment result.

[0111] In an embodiment of the present invention, the sensing area of each ultrasonic radar device group can be composed of the areas where the two ultrasonic radar devices included therein can perform radar target detection. Since there may be an overlapping area (for example, the first sensing overlapping area) between the sensing areas of different ultrasonic radar device groups, and each ultrasonic radar device group can perform radar target detection on the target object existing in this overlapping area, it may cause different ultrasonic radar device groups to generate a radar target for the same target object existing in this overlapping area, resulting in multiple radar targets belonging to the same target object among the radar targets obtained by each ultrasonic radar device group for separately performing radar target detection on the side area of the vehicle. If multiple radar targets belonging to the same target object are all used as the door opening warning targets, it is easy to erroneously increase the number of door opening warning targets, affecting the normal operation of the door opening warning function.

[0112] Based on this, when there is a first sensing overlapping area between the first ultrasonic radar device group and the second ultrasonic radar device group, it is possible to determine whether there are multiple radar targets belonging to the same target object in the first radar target set and the second radar target set that are respectively detected by the first ultrasonic radar device group and the second ultrasonic radar device group in the first sensing overlapping area and are located in the preset door opening warning area. If so, one specific radar target among the multiple radar targets belonging to the same target object in the first radar target set and the second radar target set can be used as the door opening warning target of the vehicle, so that only one door opening warning target can be retained for one target object in the preset door opening warning area, which is beneficial to ensuring the normal operation of the door opening warning function.

[0113] For ease of understanding, an example is given here in combination with Figure 3 Assume that there are four ultrasonic radar devices 302 arranged on the right side of the vehicle 301. If the two ultrasonic radar devices closest to the vehicle head form the first ultrasonic radar device group and detect the radar target 308; and the two middle ultrasonic radar devices form the second ultrasonic radar device group and detect the radar target 309. When the radar target 308 and the radar target 309 are located in the first sensing overlapping area between the sensing area of the first ultrasonic radar device group and the sensing area of the second ultrasonic radar device group, it is necessary to identify whether the radar target 308 and the radar target 309 belong to the same target object. If so, only the radar target 308 or the radar target 309 can be used as the door opening warning target of the vehicle 301, and the other radar target can be filtered out to ensure the accuracy of the door opening warning.

[0114] In a feasible implementation manner, using one specific radar target among the multiple radar targets belonging to the same target object as the door opening warning target of the vehicle may include:

[0115] Take the radar target with the highest confidence among multiple radar targets belonging to the same target object as the door opening warning target of the vehicle. Or,

[0116] If the driving direction of the target object is the same as the facing direction of the vehicle, then take the radar target belonging to the target object detected by the radar device that detects the target object and is closest to the front of the vehicle as the door opening warning target of the vehicle. Or,

[0117] If the driving direction of the target object is opposite to the facing direction of the vehicle, then take the radar target belonging to the target object detected by the radar device that detects the target object and is closest to the rear of the vehicle as the door opening warning target of the vehicle.

[0118] In the embodiment of the present invention, the confidence of the radar target can reflect the possibility of the real existence of the radar target. In practical applications, the evaluation of the confidence of the radar target can be based on various factors, including signal strength, motion characteristics of the target, echo characteristics, and the degree of matching with the known target database, etc. Generally, the higher the confidence of the radar target, the more likely there is a corresponding target object in the area where the radar target is located. Based on this, taking the radar target with the highest confidence among multiple radar targets belonging to the same target object as the door opening warning target of the vehicle is beneficial to improving the credibility of the door opening warning target.

[0119] In the embodiment of the present invention, when the driving direction of the radar target is the same as the facing direction of the vehicle, the radar target is usually approaching the front area of the vehicle and moving away from the rear area. Based on this, by taking the radar target belonging to the target object detected by the radar device that detects the target object and is closest to the front of the vehicle as the door opening warning target of the vehicle, and filtering out the radar targets belonging to the target object detected by the radar devices on the side away from the front of the vehicle, when warning the door opening warning target by combining the position information of the radar target, it is beneficial to improve the accuracy of the door opening warning. Similarly, when the driving direction of the radar target is opposite to the facing direction of the vehicle, among the multiple radar targets detected for the same target object, the radar target belonging to the target object detected by the radar device that is closest to the rear of the vehicle can be taken as the door opening warning target of the vehicle, which will not be elaborated here.

[0120] In a feasible implementation manner, the obtaining of the echo signal obtained by the radar device mounted on the vehicle for radar target detection in the side area of the vehicle may include:

[0121] Obtain the echo signal collected by the millimeter-wave radar device or lidar device mounted on the vehicle for any of the radar targets.

[0122] Correspondingly, determining the target lateral distance value between the radar target and the vehicle, and the lateral dimension of the target door opening warning sub-region associated with the radar target according to the echo signal collected for any radar target includes:

[0123] Determining the target abscissa data and target ordinate data of the radar target in a preset coordinate system according to the echo signal collected for any of the radar targets; wherein, the horizontal axis of the preset coordinate system is parallel to the lateral center line of the vehicle, and the vertical axis of the preset coordinate system is parallel to the longitudinal center line of the vehicle;

[0124] Determining the target lateral distance value between the radar target and the vehicle according to the target abscissa data of the radar target in the preset coordinate system;

[0125] Determining the lateral dimension of the door opening warning sub-region associated with the preset numerical interval to which the target ordinate data of the radar target in the preset coordinate system belongs, to obtain the lateral dimension of the target door opening warning sub-region associated with the radar target.

[0126] In the embodiments of the present invention, millimeter-wave radar devices or lidar devices can accurately measure information such as the distance and angle of target objects, and they have strong anti-interference capabilities. Therefore, they have currently been widely used in the automotive field. Based on this, it is also possible to use the millimeter-wave radar device or lidar device mounted on the vehicle to detect radar targets in the side area of the vehicle.

[0127] In practical applications, usually, according to the echo signal collected by the millimeter-wave radar device or lidar device for the radar target, the target abscissa data and target ordinate data of the radar target in the preset coordinate system can be accurately generated. Wherein, the horizontal axis of the preset coordinate system can be parallel to the lateral center line of the vehicle, and the vertical axis of the preset coordinate system can be parallel to the longitudinal center line of the vehicle. The origin of the preset coordinate system can be either the center point of the rear axle of the vehicle, or the center of mass of the vehicle, the center point of the rear bumper of the vehicle, etc., and no specific limitation is made thereto.

[0128] Subsequently, on the one hand, the relative position relationship between the origin of the preset coordinate system and the area where the vehicle is located can be combined to determine the coordinate information of the area where the vehicle is located. Then, based on the coordinate information of the area where the vehicle is located and the target abscissa data of the radar target in the preset coordinate system, the target lateral distance value between the radar target and the vehicle can be calculated. On the other hand, the preset numerical interval of the ordinate in the preset coordinate system for each door opening warning sub-area can be determined in advance, so that the door opening warning sub-area corresponding to the preset numerical interval into which the target ordinate data of the radar target in the preset coordinate system falls can be used as the target door opening warning sub-area associated with the radar target, and then the lateral dimension of the target door opening warning sub-area can be obtained. It is convenient and fast, and has good accuracy.

[0129] In a feasible implementation manner, after determining the radar target as the door opening warning target of the vehicle, it may further include:

[0130] Generate warning information for the door opening warning target at the vehicle according to the door opening warning strategy corresponding to the door opening warning sub-area where the door opening warning target is located.

[0131] Wherein, the door opening warning strategy is used to reflect the warning level and / or warning method corresponding to the target numerical area to which the target lateral distance value between the door opening warning target and the vehicle belongs.

[0132] In the embodiment of the present invention, there can be various warning methods for the door opening warning target. For example, it can be through sound alarms, visual signals (such as dashboard light flashing), seat vibration, or displaying warning information in text format or video format on the in-vehicle display screen, etc., to prompt the driver and passengers that there is the door opening warning target around the vehicle. In addition, information such as the distance information between the door opening warning target and the vehicle and the target object type (such as pedestrians, vehicles, traffic facilities) to which the door opening warning target belongs can also be informed to the driver and passengers, which is beneficial to improving the user experience.

[0133] In the embodiment of the present invention, generally, the smaller the target lateral distance value between the door opening warning target and the vehicle, the greater the collision risk brought by the door opening warning target to the driver and passengers getting on and off the vehicle at the vehicle, so that the warning level corresponding to the door opening warning target can be higher. In practical applications, since the lateral dimensions of different door opening warning sub-areas around the vehicle can be inconsistent, when the target lateral distance values between the door opening warning targets existing in different door opening warning sub-areas and the vehicle are the same, the door opening warning strategies to be adopted for the corresponding door opening warning targets can also be different, thereby improving the warning flexibility for the door opening warning targets and further being beneficial to improving the user experience.

[0134] In practical applications, it is also possible to pre-determine the vehicle doors corresponding to each door opening warning sub-region (for example, the left front door, the right front door, the left rear door, or the right rear door), so that warnings can be issued in combination with the specific vehicle door information corresponding to the door opening warning sub-region where the door opening warning target is located, which is beneficial to improving the accuracy of the door opening warning scheme.

[0135] The present invention also provides a computer program product, which includes a computer program. When the computer program is executed, it implements the steps of the method for determining the door opening warning target in the above-mentioned various embodiments. The specific execution process can refer to the specific descriptions in the above-mentioned various embodiments and will not be elaborated here.

[0136] In one embodiment, the present invention also provides Figure 4 The structural schematic diagram of the electronic device shown. As Figure 4 , at the hardware level, the electronic device may include a processor 41 and a memory 45. Of course, it may also include an internal bus 42, a network interface 43, a memory 44, and other hardware required for other services. The processor 41 can read the corresponding computer-readable instructions from the memory 45 into the memory and then run to implement the above-mentioned method for determining the door opening warning target. The specific execution process can refer to the specific descriptions in the above-mentioned various embodiments and will not be elaborated here.

[0137] In some feasible implementation manners, the electronic device may further include: a plurality of ultrasonic probes; when the computer-readable instructions are executed, the data collected by the ultrasonic probes are processed to implement the above-mentioned method for determining the door opening warning target. The specific execution process can refer to the specific descriptions in the above-mentioned various embodiments and will not be elaborated here.

[0138] In some feasible implementation manners, the electronic device may specifically include at least one of a lidar device and a millimeter-wave radar device, and no specific limitation is made thereto.

[0139] Finally, the various embodiments in the present invention are described in a progressive manner. The same or similar parts among the various embodiments can be referred to each other, and the key points of each embodiment are the differences from other embodiments. In particular, for embodiments such as electronic devices and computer program products, since they are basically similar to the method embodiments, the descriptions are relatively simple, and the relevant parts can refer to the partial descriptions of the method embodiments.

[0140] The above description is only for the embodiments 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 changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A method for determining a door opening warning target, comprising: After the preset door opening warning triggering condition of the vehicle is met, the position information of the radar target obtained by performing radar target detection on the side area of ​​the vehicle is obtained; According to the position information of the radar target, determining whether the radar target is located in a preset door opening warning area of ​​the vehicle, and obtaining a first determination result; wherein the shape of the preset door opening warning area is consistent with the shape of the door activity area of ​​the vehicle; If the first judgment result indicates that the radar target is located within a preset door opening warning area of ​​the vehicle, the radar target is determined as a door opening warning target of the vehicle.

2. According to the method of claim 1, the step of obtaining the position information of the radar target obtained by performing radar target detection on the side area of ​​the vehicle comprises: Acquire an echo signal obtained by a radar device carried by the vehicle for performing radar target detection on a side area of ​​the vehicle; According to the echo signal collected for any radar target, determine the target lateral distance value between the radar target and the vehicle, and the lateral size of the target door opening warning sub-region associated with the radar target; wherein the target door opening warning sub-region is a specific door opening warning sub-region among a plurality of door opening warning sub-regions arranged along the longitudinal centerline direction of the vehicle divided by the preset door opening warning region, and the lateral sizes of at least some of the door opening warning sub-regions are inconsistent; The determining, based on the position information of the radar target, whether the radar target is located within a preset door opening warning area of ​​the vehicle includes: Determine whether the lateral size of the target door opening warning sub-area is greater than the target lateral distance value.

3. According to the method of claim 2, the step of obtaining an echo signal obtained by a radar device mounted on the vehicle performing radar target detection on a side area of ​​the vehicle comprises: Acquire a direct echo signal and a cross echo signal collected by the ultrasonic radar device group carried by the vehicle for any of the radar targets; wherein the ultrasonic radar device group includes two ultrasonic radar devices having overlapping sensing areas; The step of determining the target lateral distance value between the radar target and the vehicle and the lateral size of the target door opening warning sub-area associated with the radar target according to the echo signal collected for any radar target includes: Using a triangulation positioning algorithm, based on the direct echo signal and the cross echo signal collected by the ultrasonic radar device group for any radar target, a target lateral distance value between the radar target and the vehicle is calculated; Calculate the position parameter of the radar target according to the direct echo signal collected by the ultrasonic radar device group for the radar target and the preset distance value between the two ultrasonic radar devices included in the ultrasonic radar device group; The lateral size of the door opening warning sub-region associated with the preset numerical interval to which the position parameter of the radar target belongs is determined, and the lateral size of the target door opening warning sub-region associated with the radar target is obtained.

4. The method according to claim 3, wherein the position parameter of the radar target is calculated based on the direct echo signal collected by the ultrasonic radar device group for the radar target and the preset distance value between the two ultrasonic radar devices included in the ultrasonic radar device group, comprising: According to the direct echo signals respectively collected by the two ultrasonic radar devices for the radar target, first direct echo distances and second direct echo distances between the two ultrasonic radar devices and the radar target are calculated; Calculating a target quotient value of a difference between the square value of the first direct echo distance and the square value of the second direct echo distance and a preset distance value between the two ultrasonic radar devices; The sum of the target quotient value and the preset distance value is calculated to obtain the position parameter of the radar target.

5. The method according to claim 3, further comprising: Acquire a first radar target set located in the preset door opening warning area and detected by the first ultrasonic radar device group in the first perception overlapping area, and a second radar target set located in the preset door opening warning area and detected by the second ultrasonic radar device group in the first perception overlapping area; wherein the first perception overlapping area is an overlapping area between a perception area of ​​the first ultrasonic radar device group and a perception area of ​​the second ultrasonic radar device group; Determine whether there are radar targets belonging to the same target object in the first radar target set and the second radar target set, and obtain a second determination result; If the second judgment result indicates that there are radar targets belonging to the same target object in the first radar target set and the second radar target set, a specific radar target among the multiple radar targets belonging to the same target object in the first radar target set and the second radar target set is used as the door opening warning target of the vehicle.

6. The method according to claim 5, wherein the step of using a specific radar target among multiple radar targets belonging to the same target object as a door opening warning target for the vehicle comprises: Using the radar target with the highest confidence among multiple radar targets belonging to the same target object as the door opening warning target of the vehicle; or, If the traveling direction of the target object is consistent with the heading direction of the vehicle, a radar target belonging to the target object detected by a radar device that detects the target object and is closest to the front of the vehicle is used as a door opening warning target of the vehicle; or, If the target object's traveling direction is opposite to the vehicle's heading direction, a radar target belonging to the target object detected by a radar device that detects the target object and is closest to the rear of the vehicle will be used as the door opening warning target of the vehicle.

7. According to the method of claim 2, the step of obtaining an echo signal obtained by a radar device mounted on the vehicle performing radar target detection on a side area of ​​the vehicle comprises: Acquire an echo signal collected by a millimeter-wave radar device or a laser radar device carried by the vehicle for any of the radar targets; The step of determining the target lateral distance value between the radar target and the vehicle and the lateral size of the target door opening warning sub-area associated with the radar target according to the echo signal collected for any radar target includes: Determine, according to the echo signal collected for any of the radar targets, target horizontal coordinate data and target vertical coordinate data of the radar target in a preset coordinate system; wherein the horizontal axis of the preset coordinate system is parallel to the horizontal centerline of the vehicle, and the vertical axis of the preset coordinate system is parallel to the longitudinal centerline of the vehicle; Determining a target lateral distance value between the radar target and the vehicle according to target horizontal coordinate data of the radar target in a preset coordinate system; Determine the lateral size of the door opening warning sub-area associated with the preset numerical interval to which the target ordinate data of the radar target in the preset coordinate system belongs, and obtain the lateral size of the target door opening warning sub-area associated with the radar target.

8. The method according to claim 1, wherein the preset door opening warning area of ​​the vehicle comprises: Left door opening warning area and right door opening warning area; If the position information of the radar target is information obtained by performing radar target detection on a left side area of ​​the vehicle, then determining whether the radar target is located within a preset door opening warning area of ​​the vehicle includes: Determine whether the radar target is located in the left door opening warning area; If the position information of the radar target is information obtained by performing radar target detection on the right side area of ​​the vehicle, then determining whether the radar target is located within a preset door opening warning area of ​​the vehicle includes: Determine whether the radar target is located within the right door opening warning area.

9. The method according to any one of claims 2 to 7, after determining the radar target as the door opening warning target of the vehicle, further comprising: Generating warning information for the door opening warning target at the vehicle according to the door opening warning strategy corresponding to the door opening warning sub-region where the door opening warning target is located; The door opening warning strategy is used to reflect the warning level and / or warning mode corresponding to the target value area to which the target lateral distance value between the door opening warning target and the vehicle belongs.

10. A computer program product comprising a computer program, wherein the computer program implements the steps of the method according to any one of claims 1 to 9 when executed.

11. An electronic device, comprising: A processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the method as claimed in any one of claims 1 to 9.

12. The electronic device according to claim 11, further comprising: Multiple ultrasound probes; When the computer-readable instructions are executed, the data collected by the ultrasonic probe is processed to implement the steps of the method as claimed in any one of claims 1 to 9.

13. The electronic device according to claim 11, comprising: At least one of a laser radar device and a millimeter wave radar device.

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