Automobile door opening and closing control system and method based on all-round camera and automobile

Abstract

The invention discloses an automobile door opening and closing control system and method based on all-round cameras and an automobile, and relates to the technical field of intelligent automobiles, and the system comprises all-round cameras which comprise cameras arranged on the periphery of the automobile respectively and are used for obtaining real-time peripheral videos on the periphery of the automobile; the multimedia central control screen is used for generating a switching signal of a self-adaptive function of each vehicle door and tail door according to the touch instruction; the key identification module is used for identifying a vehicle key and generating a vehicle key position signal; the multimedia host controller is used for generating an automatic operation control instruction, a collision risk warning instruction and a suspension control instruction of each vehicle door and tail door according to the received real-time peripheral video in combination with the received various signals; and the vehicle door controller and the air suspension controller are used for controlling the operation of the vehicle door, the back door and the air suspension according to the received control instruction. Automatic opening and closing safety control of the vehicle door and the tail door can be achieved, the cost is reduced, and the safety and the intelligent degree of the whole vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent vehicles, and in particular, to a vehicle door opening and closing control system, method, and vehicle based on a surround-view camera. Background Art

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

[0003] After the vehicle door is unlocked, manual operation is usually required to open or close the door. With the rapid development of intelligent vehicles, the popularity of electric vehicle doors and electric tailgates is increasing. By electrically driving the opening and closing of the doors, the operation of opening and closing the doors can be further simplified, and the time for opening and closing the doors can be saved. Moreover, as the number of vehicle use scenarios increases, in some scenarios, the vehicle door or tailgate can be actively triggered to open automatically, or the vehicle height can be actively triggered to rise or fall, further freeing the hands.

[0004] However, in some complex traffic environments, the automatic opening and closing of the vehicle door also need to cooperate with obstacle detection technology to prevent the vehicle door from being scratched or collided when it is automatically opened. Currently, radars are mostly installed separately on the electric vehicle door and the electric tailgate. During the process of automatically opening or closing the vehicle door, the operation of opening and closing the vehicle door is controlled in real time by the radar induction to avoid collisions of the vehicle door or tailgate. However, this method requires several additional radars to be installed in the whole vehicle, resulting in a relatively high cost of the whole vehicle. Moreover, in some scenarios, such as when the driver opens the tailgate outside the vehicle, specific actions (such as kicking a specific area with the foot) need to be made to start the automatic operation of the vehicle door or tailgate, and its intelligence level is still relatively low. In addition, considering the increasing number of vehicle use scenarios, when the vehicle door or tailgate is triggered to open automatically in some scenarios, and at the same time, the vehicle air suspension height is triggered to rise or fall, this will also lead to the risk of collision of the electric vehicle door and the tailgate. Summary of the Invention

[0005] To solve the deficiencies of the above-mentioned prior art, the present invention provides a vehicle door opening and closing control system, method, and vehicle based on a surround-view camera. Based on the surround-view camera already configured in the intelligent vehicle, obstacles around the vehicle door are recognized in real time according to the vehicle surround-view video, and combined with the state of the vehicle air suspension, the automatic control of the opening and closing of the vehicle door is carried out, thereby effectively reducing the risk of vehicle door collision and improving the safety of the whole vehicle. The present invention optimizes the use scenarios, improves the intelligence level of the automatic control of the vehicle door, and effectively enhances the technological sense of the whole vehicle.

[0006] In the first aspect, the present invention provides a vehicle door opening and closing control system based on a surround-view camera.

[0007] A vehicle door opening and closing control system based on a surround-view camera includes:

[0008] The surround-view camera includes cameras respectively installed around the vehicle, which are used to obtain real-time surrounding videos around the vehicle;

[0009] The multimedia center console screen is used to generate switch signals for the adaptive functions of each door and the tailgate according to touch commands;

[0010] The multimedia host controller is used to identify obstacles within a set range according to the received real-time surrounding videos by using image recognition algorithms, determine the real-time distances between the obstacles and the doors and the tailgate, calculate the opening degrees of each door and the tailgate, and then generate automatic operation control commands for each door and the tailgate in combination with the adaptive function switch signals;

[0011] The door controller is used to control the automatic start and stop of the opening and closing of the doors and the rear door according to the received automatic operation control commands.

[0012] A further technical solution further includes a speaker electrically connected to the multimedia host controller;

[0013] The multimedia host controller is also used to compare the real-time distances between the obstacles and the doors and the tailgate with a set distance threshold, and generate a collision risk warning according to the comparison result;

[0014] The multimedia center console screen is used to display a collision pop-up reminder according to the collision risk warning;

[0015] The speaker is used to voice a collision reminder according to the collision risk warning.

[0016] A further technical solution further includes a key recognition module electrically connected to the multimedia host controller;

[0017] The key recognition module is used to identify the vehicle key and generate a vehicle key position signal;

[0018] The multimedia host controller is also used to identify the occupants and their states within the set range of the rear door according to the received real-time surrounding video of the rear side by using image recognition algorithms, and generate an automatic operation control command for the tailgate according to the occupant states, the vehicle key position signal, the adaptive function switch signal, and the calculated opening degree of the tailgate.

[0019] A further technical solution further includes an air suspension controller electrically connected to the multimedia host controller;

[0020] The multimedia host rack controller is also used to generate a suspension control command according to the triggered air suspension state signal in combination with the collision risk warning for the automatic operation of each door and the tailgate;

[0021] The air suspension controller is used to control the operation of the air suspension according to the suspension control command.

[0022] In a second aspect, the present invention provides a method for controlling the opening and closing of vehicle doors based on surround cameras.

[0023] A method for controlling the opening and closing of vehicle doors based on surround cameras is implemented based on the vehicle door opening and closing control system based on surround cameras proposed in the first aspect, and includes:

[0024] Obtain real-time surrounding videos around the vehicle in the parked state;

[0025] Generate on-off signals for the adaptive functions of each vehicle door and the tailgate based on the touch commands of the multimedia center console screen;

[0026] According to the received real-time surrounding videos, use image recognition algorithms to identify obstacles within a set range, determine the real-time distances of the obstacles from the vehicle doors and the tailgate, calculate the opening degrees of each vehicle door and the tailgate, and then combine the adaptive function on-off signals to generate automatic operation control commands for each vehicle door and the tailgate;

[0027] According to the automatic operation control commands for each vehicle door and the tailgate, control the automatic start and stop of the opening and closing of each vehicle door and the rear door of the vehicle.

[0028] A further technical solution further includes:

[0029] Compare the real-time distances of the obstacles from the vehicle doors and the tailgate with a set distance threshold, and generate a collision risk warning according to the comparison result; wherein, when the real-time distance is less than or equal to the set threshold, generate a collision risk warning;

[0030] According to the generated collision risk warning, display a collision pop-up reminder on the multimedia center console screen, and at the same time, use the speaker to voice a collision reminder.

[0031] A further technical solution further includes:

[0032] Continuously identify the vehicle key and generate a vehicle key position signal;

[0033] According to the received real-time surrounding video at the rear side, use image recognition algorithms to identify obstacles, occupants and the states of the occupants within the set range of the rear door, determine the real-time distances of the obstacles from the tailgate, and calculate the opening degree of the tailgate;

[0034] Generate an automatic operation control command for the tailgate according to the states of the occupants, the vehicle key position signal, the adaptive function on-off signal, and the calculated opening degree of the tailgate.

[0035] A further technical solution, generating an automatic operation control command for the tailgate according to the states of the occupants, the vehicle key position signal, the adaptive function on-off signal, and the calculated opening degree of the tailgate, includes:

[0036] When the vehicle key position signal is within the set range around the rear of the vehicle, the occupants at the rear are recognized, and the status of the occupants is that they are carrying items with both hands, and the tailgate adaptive function switch signal is on, generate a tailgate automatic operation control instruction for controlling the tailgate to open and open to the tailgate opening degree;

[0037] When the vehicle key position signal is outside the set range around the rear of the vehicle and the tailgate adaptive function switch signal is on, generate a tailgate automatic operation control instruction for controlling the tailgate to close.

[0038] A further technical solution further includes:

[0039] According to the triggered air suspension status signal, combined with the collision risk warning of the automatic operation of each door and the tailgate, generate a suspension control instruction; wherein, the air suspension status signal includes suspension rising and suspension descending; the suspension control instruction includes suspension rising, suspension descending, and suspension pause control instructions;

[0040] Control the operation of the air suspension according to the received suspension control instruction;

[0041] Wherein, when the triggered air suspension status signal is suspension rising and the collision risk warning of the automatic operation of the tailgate is detected, generate a suspension pause control instruction; conversely, when the triggered air suspension status signal is suspension rising and the collision risk warning of the automatic operation of the tailgate is not detected, generate a suspension rising control instruction;

[0042] When the triggered air suspension status signal is suspension descending and the collision risk warning of the automatic operation of any one of the left and right doors is detected, generate a suspension pause control instruction; conversely, when the triggered air suspension status signal is suspension descending and the collision risk warning of the automatic operation of the tailgate is not detected, generate a suspension descending control instruction.

[0043] In a third aspect, the present invention further provides a vehicle, including a vehicle body and the vehicle door switch control system based on a surround view camera proposed in the first aspect above, or executing the vehicle door switch control method based on a surround view camera proposed in the second aspect above.

[0044] The above one or more technical solutions have the following beneficial effects:

[0045] 1. The present invention provides an automobile door opening and closing control system, method and vehicle based on surround-view cameras. Based on the surround-view cameras already configured in intelligent vehicles, it can identify obstacles around the doors in real time according to the vehicle surround-view video, and combine with the state of the vehicle's air suspension to automatically control the opening and closing of the doors, further reducing the risk of door collision and improving the overall vehicle safety. Different from the existing electric door and rear door automatic switch control that requires additional radar to be arranged separately, the present invention directly uses the surround-view cameras to identify obstacles around the doors, so that on the basis of meeting the electric opening and obstacle avoidance function, the overall vehicle cost can be effectively reduced; in addition, by considering the state of the vehicle's air suspension, it assists in the automatic switch control of the doors and rear doors, and solves the problem that when the air suspension is in the rising or falling state when the door or rear door is opened, there is a risk of collision between the door and the tailgate, further improving the overall vehicle safety.

[0046] 2. The present invention effectively improves the intelligence of the automatic control of the doors by optimizing the usage scenarios, enhancing the technological sense of the whole vehicle. Among them, by adding a key recognition module to identify the vehicle key and generate a vehicle key position signal, and controlling the automatic opening and closing of the tailgate according to this key position signal combined with the state of the driver and passenger at the tailgate position identified from the surround-view video, it solves the problem that when the customer's hands are occupied, such as when carrying items close to the rear tailgate, it is difficult to open by kicking a specific area, and it can realize the automatic opening and closing of the tailgate when placing items in the trunk, improving the intelligence level of the whole vehicle.

[0047] Advantages of additional aspects of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0049] Figure 1 It is the overall block diagram of the automobile door opening and closing control system in the embodiment of the present invention;

[0050] Figure 2 It is the flowchart of the automobile door opening and closing control method in the embodiment of the present invention; among them, (a) is the door and tailgate obstacle avoidance opening process; (b) is the tailgate automatic switch process; (c) is the door and tailgate obstacle avoidance opening process when the air suspension is adjusted.

[0051] Figure 3 It is the schematic diagram of setting the door switch adaptive function in the embodiment of the present invention.

[0052] Among them, 101 is the front camera; 102 is the rear camera; 103 is the left camera; 104 is the right camera; 105 is the key recognition module; 201 is the speaker; 202 is the multimedia host controller; 203 is the multimedia center control screen; 301 is the left front door controller; 302 is the right front door controller; 303 is the left rear door controller; 304 is the right rear door controller; 305 is the rear door controller; 306 is the air suspension controller. Detailed implementation manners

[0053] It should be noted that the following detailed descriptions are all exemplary and are only for describing the specific implementation manners, aiming to provide further explanations for the present invention and are not intended to limit the exemplary embodiments according to the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0054] Embodiment 1

[0055] This embodiment provides an intelligent vehicle door switch control system. As Figure 1 shown, this system is realized through the collaborative operation of multiple modules to achieve the intelligent opening of the vehicle doors. Specifically, it includes a multimedia host controller and its electrically connected panoramic cameras, a multimedia center control screen, door controllers, a key recognition module, a speaker, and an air suspension controller. Among them:

[0056] (1) The panoramic cameras include cameras respectively arranged around the vehicle and are used to obtain the real-time surrounding videos around the vehicle. Specifically, in this embodiment, the panoramic cameras arranged include cameras arranged at the front, rear, left, and right of the vehicle, that is, the front camera 101, the rear camera 102, the left camera 103, and the right camera 104, which are respectively used to obtain the real-time surrounding videos on the front side, rear side, left side, and right side of the vehicle and transmit the obtained videos to the multimedia host controller.

[0057] (2) The multimedia center control screen 203 is used to generate switch signals for the adaptive functions of each door and the tailgate according to touch commands. Among them, this multimedia center control screen 203 is a touch screen, which displays and can set the switch adaptive functions of each door (including the left and right side doors and the tailgate) through touch, as Figure 3 shown.

[0058] (3) The multimedia host controller 202 is configured to identify obstacles within a set range based on the received real-time surrounding video by using an image recognition algorithm, determine the real-time distances of the obstacles from the vehicle doors and the tailgate, calculate the opening degrees of each vehicle door and the tailgate, and then generate automatic operation control instructions for each vehicle door and the tailgate in combination with the adaptive function switch signal.

[0059] (4) The door controllers include the left front door, right front door, left rear door, right rear door, and tailgate controllers, namely the left front door controller 301, right front door controller 302, left rear door controller 303, right rear door controller 304, and rear door controller 305. Each door controller is respectively configured to control the automatic start and stop of the corresponding vehicle door and the rear door according to the received control instructions.

[0060] (5) The key recognition module 105 is configured to recognize the vehicle key and generate a vehicle key position signal, and then transmit the key position signal to the multimedia controller through the CAN signal. This key recognition module can utilize the radio frequency identification (RFID) technology of the intelligent key system to identify whether the key is within the set range near the vehicle through the door lock and the in-vehicle detection system, so as to generate a key position signal indicating that the vehicle key is within the set range or the vehicle key is not within the set range.

[0061] On this basis, the multimedia host controller can also identify the passengers and their states within the set range of the tailgate based on the received real-time surrounding video at the rear side by using an image recognition algorithm, and generate an automatic operation control instruction for the tailgate according to the passenger state, the vehicle key position signal, the adaptive function switch signal, and the calculated opening degree of the tailgate.

[0062] (6) The speaker 201 is configured to voice broadcast a collision reminder according to the collision risk warning. Among them, the multimedia host controller can also compare the real-time distances of the identified obstacles from the vehicle doors and the tailgate with a set distance threshold, and generate a collision risk warning according to the comparison result. For example, when the real-time distance is less than or equal to the set distance threshold, there may be a collision risk at this time. Therefore, the multimedia host controller will generate a collision risk warning at this time, display a collision pop-up reminder on the multimedia center screen, and voice broadcast a collision reminder through the speaker.

[0063] Specifically, in the above process, each door and the tailgate are automatically opened according to the automatic operation control instructions generated by the multimedia host controller until they reach the maximum opening degree specified in the instructions. During the process of reaching the maximum opening degree, the doors will not collide, thus ensuring the safe opening of the doors. Moreover, when reaching the maximum opening degree, collision risk warnings will be given according to the distance of obstacles. For example, when there are extremely close obstacles (distance less than or equal to the set threshold), collision risk warnings will be given, and when there are no obstacles or the obstacles are far away (distance greater than the set threshold), no collision risk warnings will be given. This embodiment gives warnings through collision risk warnings to enhance the safety awareness of the driver and passengers.

[0064] (7) An air suspension controller 306, configured to control the operation of the air suspension according to the suspension control instructions. Specifically, the vehicle is equipped with an air suspension regulation function. By selecting the required lifting mode in the relevant setting options on the vehicle's central control screen, an air suspension state signal (including rising and falling) is generated. The multimedia host controller generates a suspension control instruction according to the triggered air suspension state signal, combined with the collision risk warnings of the automatic operation of each door and the tailgate. The suspension control instruction includes suspension rising, suspension falling, and suspension pause control instructions, so as to control the operation of the air suspension.

[0065] The vehicle door opening and closing control system based on surround cameras proposed in this embodiment can realize the automatic control of door opening and closing according to the surround video obtained by the surround cameras. Among them, the surround cameras capture real-time videos of the front side, left side, right side, and rear side of the parked vehicle, and the multimedia host processor processes the real-time surround videos captured by the cameras. Using image recognition technology, it identifies and calculates whether there are obstacles around the front door, rear door, and tailgate and the distance from the obstacles, and at the same time obtains the status of the vehicle's air suspension; when controlling the opening of the parked front door, rear door, and tailgate, it detects information such as the position, distance, and movement status of objects or obstacles around the electric door. When a pedestrian or other obstacle approaches the electric door, it can detect and identify in advance and timely control the electric door to stop opening or adjust the opening angle, so as to effectively avoid the occurrence of collision accidents, protect the safety of personnel and objects, and at the same time pop up a reminder on the large screen and conduct voice announcements; when the customer carries the key and approaches the tailgate with both hands holding items, the key recognition module recognizes that the key is approaching the tailgate, and the camera at the tailgate captures real-time videos to identify the status of the driver and passenger, generates an automatic operation control instruction for the tailgate, and controls the tailgate to open automatically. During the opening process of the tailgate, it will open to the maximum opening according to whether there are obstacles around. When the customer places the items, the key recognition module recognizes that the key is away from the tailgate, and the tailgate closes automatically; when the tailgate or the door is opened, and at the same time if the customer triggers the air suspension to rise or fall (convenient for getting on and off, convenient for loading, automatic air suspension adjustment, manual adjustment, etc.), when the surround camera recognizes that there is a risk of the door or tailgate being knocked, at this time, there is a risk of knocking the door when the vehicle height drops or a risk of knocking the tailgate when the vehicle height rises, a pop-up reminder will be shown on the large screen and a voice announcement will be made, and at the same time, the height rise or fall will be prohibited.

[0066] Through the above system, the safe and intelligent automatic opening of the vehicle doors and tailgate can be realized. For example, on the side of a city street, the space of the parking space is usually very limited, and the distance between vehicles is small. When the adjacent vehicles are parked close, the space for opening the door will be compressed. At this time, when opening the door, the door will open to an appropriate opening and pause, which can effectively improve the safety and intelligence level of the whole vehicle.

[0067] Embodiment 2

[0068] This embodiment proposes a vehicle door opening and closing control method based on surround cameras, which is implemented based on the vehicle door opening and closing control system proposed in Embodiment 1, as Figure 2 shown in (a) below, and specifically includes the following steps:

[0069] Step S1: Obtain the real-time surrounding videos around the vehicle in the parked state, including the real-time surrounding videos of the front side, rear side, left side, and right side of the vehicle;

[0070] Step S2: Generate the on-off signals of the adaptive functions of each door and the tailgate based on the touch commands of the multimedia center console screen;

[0071] Step S3: Based on the received real-time surrounding video, use an image recognition algorithm to identify obstacles within a set range, determine the real-time distances of the obstacles from the vehicle doors and the tailgate, calculate the opening degrees of each vehicle door and the tailgate, and then generate automatic operation control instructions for each vehicle door and the tailgate in combination with the adaptive function switch signal;

[0072] Step S4: According to the automatic operation control instructions for each vehicle door and the tailgate, control the automatic start and stop of the switches of each vehicle door and the rear door of the vehicle.

[0073] As an implementation, when generating the automatic operation control instructions for the vehicle doors and the tailgate, this embodiment also performs collision risk detection and generates collision risk warnings, including:

[0074] Compare the real-time distances of the obstacles from the vehicle doors and the tailgate with a set distance threshold, and generate a collision risk warning according to the comparison result; wherein, when the real-time distance is less than or equal to the set threshold, a collision risk warning is generated;

[0075] According to the generated collision risk warning, a collision pop-up reminder is displayed on the multimedia central control screen, and at the same time, a collision reminder is broadcast by the speaker.

[0076] Through the above settings, the problem that electric vehicle doors and the tailgate need to be separately equipped with radars can be solved. Without adding radars, by borrowing the surround view camera to identify the obstacles around the vehicle doors and the tailgate, intelligent obstacle avoidance can be achieved when the front doors, rear doors, and tailgate are electrically opened, reducing the overall vehicle cost while also enabling intelligent opening, closing, and stopping of the vehicle doors; in addition, during the opening process, collision risk warnings and reminders can be given according to the actual situation, which can further improve the overall vehicle safety.

[0077] As another implementation, as shown in (b) of Figure 2 this embodiment can also achieve automatic opening and closing of the tailgate in a specific scenario, and the steps are as follows:

[0078] Real-time identify the vehicle key and generate a vehicle key position signal;

[0079] According to the received real-time surrounding video at the rear side, use an image recognition algorithm to identify the obstacles, the driver and passengers, and the states of the driver and passengers within the set range of the rear door, determine the real-time distance of the obstacles from the tailgate, and calculate the opening degree of the tailgate;

[0080] Generate an automatic operation control instruction for the tailgate according to the states of the driver and passengers, the vehicle key position signal, the adaptive function switch signal, and the calculated opening degree of the tailgate.

[0081] Among them, when the vehicle key position signal is within the set range around the rear of the vehicle, the driver and passenger at the rear of the vehicle are recognized, the state of the driver and passenger is that both hands are holding objects, and the tailgate adaptive function switch signal is on, a tailgate automatic operation control instruction for controlling the tailgate to open and open to the tailgate opening degree is generated;

[0082] When the vehicle key position signal is outside the set range around the rear of the vehicle and the tailgate adaptive function switch signal is on, a tailgate automatic operation control instruction for controlling the tailgate to close is generated.

[0083] In the above manner, by using the added key recognition module to recognize the vehicle key and generate the vehicle key position signal, and controlling the automatic opening and closing of the tailgate according to the key position signal combined with the state of the driver and passenger at the tailgate position recognized from the surround video, the problem of difficult opening when the customer's hands are occupied, such as when holding objects and approaching the rear tailgate, and needing to kick a specific area with the foot, can be solved. When placing items in the trunk, the tailgate can be automatically opened and closed without manual operation, improving the human-machine interaction and the intelligent level of the whole vehicle.

[0084] As another implementation manner, as shown in Figure 2 (c) of the present embodiment also considers the influence of the vehicle air suspension on the opening and closing of the doors, and can realize the active obstacle avoidance opening when the doors are opened in a specific scenario. The steps are as follows:

[0085] According to the triggered air suspension state signal, combined with the collision risk warning of the automatic operation of each door and the tailgate, a suspension control instruction is generated; then, according to the received suspension control instruction, the operation of the air suspension is controlled. Among them, the air suspension state signal includes suspension rising and suspension falling; the suspension control instruction includes suspension rising, suspension falling, and suspension pause control instructions.

[0086] Specifically, when the triggered air suspension state signal is suspension rising and the collision risk warning of the automatic operation of the tailgate is detected, a suspension pause control instruction is generated; conversely, when the triggered air suspension state signal is suspension rising and the collision risk warning of the automatic operation of the tailgate is not detected, a suspension rising control instruction is generated; when the triggered air suspension state signal is suspension falling and the collision risk warning of the automatic operation of any one of the left and right doors is detected, a suspension pause control instruction is generated; conversely, when the triggered air suspension state signal is suspension falling and the collision risk warning of the automatic operation of the tailgate is not detected, a suspension falling control instruction is generated.

[0087] In the above manner, when the tailgate or a vehicle door is opened and the driver or passenger triggers the air suspension to rise or fall, if the surround view camera detects a risk of collision to the vehicle door or the tailgate, the rise or fall of the height is prohibited by controlling the air suspension to pause, thus avoiding the risk of collision when the vehicle door is opened during the rise or fall of the air suspension, thereby effectively enhancing the safety of the whole vehicle.

[0088] Embodiment III

[0089] This embodiment provides a vehicle, including a vehicle body and the vehicle door switch control system based on a surround view camera proposed in Embodiment I above, or executing the vehicle door switch control method based on a surround view camera proposed in Embodiment II above.

[0090] Those skilled in the art should understand that the above-mentioned modules or steps of the present invention can be implemented by a general computer device. Optionally, they can be implemented by program codes executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0091] The above are only the preferred embodiments of the present invention. Although the specific implementation manners of the present invention are described in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications or deformations that can be made without creative efforts on the basis of the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. An automotive door switch control system based on panoramic cameras, characterized in that, Comprising: A surround-view camera, including cameras respectively arranged around the vehicle, for acquiring real-time surrounding videos around the vehicle; A multimedia center control screen, for generating on / off signals for the adaptive functions of each door and the tailgate according to touch commands; A multimedia host controller, for identifying obstacles within a set range using an image recognition algorithm based on the received real-time surrounding videos, determining the real-time distances between the obstacles and the doors and the tailgate, calculating the opening degrees of each door and the tailgate, and then generating automatic operation control commands for each door and the tailgate in combination with the adaptive function on / off signals; A door controller, for controlling the automatic start / stop of the opening and closing of the doors and the back door according to the received automatic operation control commands; 2. The automotive door switch control system based on a surround-view camera according to claim 1, wherein, It further includes a speaker electrically connected to the multimedia host controller; The multimedia host controller is further used for comparing the real-time distances between the obstacles and the doors and the tailgate with a set distance threshold, and generating a collision risk warning according to the comparison result; The multimedia center control screen is used for displaying a collision pop-up reminder according to the collision risk warning; The speaker is used for voice-broadcasting a collision reminder according to the collision risk warning; 3. The automotive door switch control system based on surround cameras according to claim 1, characterized in that It further includes a key recognition module electrically connected to the multimedia host controller; The key recognition module is used for recognizing the vehicle key and generating a vehicle key position signal; The multimedia host controller is further used for recognizing the occupants and their states within the set range of the tailgate using an image recognition algorithm based on the received rear-side real-time surrounding videos, and generating an automatic operation control command for the tailgate according to the occupant states, the vehicle key position signal, the adaptive function on / off signals, and the calculated opening degree of the tailgate; 4. The vehicle door switch control system based on an around-view camera according to claim 1, wherein It further includes an air suspension controller electrically connected to the multimedia host controller; The multimedia host rack controller is further used for generating a suspension control command according to the triggered air suspension state signal in combination with the collision risk warnings for the automatic operation of each door and the tailgate; The air suspension controller is used for controlling the operation of the air suspension according to the suspension control command; 5. A method for controlling the opening and closing of a vehicle door based on a surround camera, implemented based on the vehicle door opening and closing control system based on a surround camera according to any one of claims 1-4, characterized in that, Comprising: Acquiring real-time surrounding videos around the vehicle in the parking state; Generating on / off signals for the adaptive functions of each door and the tailgate based on the touch commands of the multimedia center control screen; Identifying obstacles within a set range using an image recognition algorithm based on the received real-time surrounding videos, determining the real-time distances between the obstacles and the doors and the tailgate, calculating the opening degrees of each door and the tailgate, and then generating automatic operation control commands for each door and the tailgate in combination with the adaptive function on / off signals; Controlling the automatic start / stop of the opening and closing of each door and the back door of the vehicle according to the automatic operation control commands for each door and the tailgate; 6. The method for controlling the opening and closing of a vehicle door based on a surround camera according to claim 5, wherein, It further includes: Comparing the real-time distances between the obstacles and the doors and the tailgate with a set distance threshold, and generating a collision risk warning according to the comparison result; wherein, when the real-time distance is less than or equal to the set threshold, a collision risk warning is generated; According to the generated collision risk warning, the multimedia center control screen displays a collision pop-up reminder, and at the same time the speaker voice-broadcasts a collision reminder; 7. The method for controlling the opening and closing of a vehicle door based on a surround-view camera according to claim 5, characterized in that, It further includes: Real-time identifying the vehicle key and generating a vehicle key position signal; Based on the received real-time rear surround video, use an image recognition algorithm to identify obstacles, vehicle occupants and their states within the set range of the tailgate, determine the real-time distance of the obstacle from the tailgate, and calculate the opening degree of the tailgate. Generate an automatic tailgate operation control command based on the vehicle occupant state, vehicle key position signal, adaptive function switch signal, and the calculated tailgate opening degree.

8. The method for controlling the opening and closing of a vehicle door based on a surround camera according to claim 7, wherein, Generate an automatic tailgate operation control command based on the vehicle occupant state, vehicle key position signal, adaptive function switch signal, and the calculated tailgate opening degree, including: When the vehicle key position signal is within the set range around the rear of the vehicle, the occupant at the rear of the vehicle is identified and the vehicle occupant state is that both hands are holding items, and the tailgate adaptive function switch signal is on, generate an automatic tailgate operation control command for controlling the tailgate to open to the tailgate opening degree. When the vehicle key position signal is outside the set range around the rear of the vehicle and the tailgate adaptive function switch signal is on, generate an automatic tailgate operation control command for controlling the tailgate to close.

9. The method for controlling the opening and closing of an automobile door based on a surround-view camera according to claim 5, wherein, It also includes: Generate a suspension control command based on the triggered air suspension state signal, combined with the collision risk warning for the automatic operation of each door and the tailgate; among them, the air suspension state signal includes suspension rising and suspension falling; the suspension control command includes suspension rising, suspension falling, and suspension pause control commands. Control the operation of the air suspension according to the received suspension control command. Among them, when the triggered air suspension state signal is suspension rising and the collision risk warning for the automatic operation of the tailgate is detected, generate a suspension pause control command; conversely, when the triggered air suspension state signal is suspension rising and the collision risk warning for the automatic operation of the tailgate is not detected, generate a suspension rising control command. When the triggered air suspension state signal is suspension falling and the collision risk warning for the automatic operation of any door on the left or right side is detected, generate a suspension pause control command; conversely, when the triggered air suspension state signal is suspension falling and the collision risk warning for the automatic operation of the tailgate is not detected, generate a suspension falling control command.

10. A vehicle, characterized in that, It includes a vehicle body and the vehicle door switch control system based on a surround camera as described in any one of claims 1-4, or executes the vehicle door switch control method based on a surround camera as described in any one of claims 5-9.

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