Vehicle anti-pinch control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle anti-pinch control method and device, a vehicle and a storage medium, and relates to the technical field of vehicle safety, and the method comprises the steps: collecting point cloud data and visual data around the vehicle; and determining a clamping event based on the point cloud data and the visual data, and performing corresponding anti-clamping processing for the determined clamping event. By collecting the multi-mode sensing data around the vehicle, high-precision detection of the human body around the vehicle is achieved, whether the clamping event occurs or not is further determined, the sensing data can comprehensively cover the area around the vehicle, missed detection and wrong detection are avoided, the detection accuracy of the clamping event is improved, the clamping event can be responded in time, and the detection accuracy of the clamping event is improved. The method improves the safety of the vehicle, and can be applied to safety detection in a vehicle parking scene.

Description

Technical Field

[0001] This application relates to the technical field of vehicle safety, and particularly to a vehicle anti-pinch control method, device, electronic device, and storage medium. Background Art

[0002] In recent years, automotive electronic technology has developed rapidly. People can open and close the car doors, windows, and front and rear hoods of the car through buttons or remote control. Along with this, the requirements for safety are also getting higher and higher. Therefore, the anti-pinch function has become an important part of automotive safety evaluation. Multiple components in the car that can be opened and closed and are prone to clamping events are outside the car. When the driver operates remotely, there are blind spots in the field of vision, and the requirements for the anti-pinch function are higher. In the related art, the clamping event is detected through the relevant data of the drive motor of the vehicle component, and the detection accuracy is relatively low, and there is a situation of missed detection, resulting in safety risks. Summary of the Invention

[0003] This application aims to solve at least one of the technical problems in the related art to some extent.

[0004] To this end, this application proposes a method, device, vehicle, and storage medium.

[0005] An embodiment of one aspect of this application proposes a vehicle anti-pinch control method, including:

[0006] Collect data information around the vehicle; the data information includes point cloud data and visual data;

[0007] Based on the data information, determine a clamping event, and perform corresponding anti-pinch processing for the determined clamping event.

[0008] Optionally, the determining the clamping event based on the data information includes:

[0009] Determine a human target detection result according to the data information, and the human target detection result is used to indicate whether there is a human around the vehicle;

[0010] Determine the visual data corresponding to the human position as target visual data according to the human target detection result, and determine the clamping event according to the target visual data.

[0011] Optionally, the determining the human target detection result according to the data information includes:

[0012] Input the data information into the first large model to determine the position of the human body;

[0013] Determine the human target detection result according to the pre-configured first area and the position of the human body, and the first area is an area near the vehicle.

[0014] Optionally, determining the human body target detection result according to the pre-configured first area and the position of the human body includes any one of the following:

[0015] When the position of the human body is within the first area, it is determined that there is a human body around the vehicle;

[0016] When the position of the human body is outside the first area, it is determined that there is no human body around the vehicle.

[0017] Optionally, determining the visual data corresponding to the human body position as the target visual data according to the human body target detection result includes:

[0018] When there is a human body around the vehicle, determining the clamping detection area where the position of the human body is located; wherein, each of the clamping detection areas is provided with a visual sensor for a vehicle component to collect the visual data;

[0019] Determining the visual data corresponding to the clamping detection area where the position of the human body is located as the target visual data.

[0020] Optionally, determining the clamping event according to the target visual data includes:

[0021] Inputting the target visual data into a second large model to determine a second area corresponding to the human body limb and a third area corresponding to the vehicle component;

[0022] Determining the clamping event according to the overlapping situation between the second area and the third area.

[0023] Optionally, determining the clamping event according to the overlapping situation between the second area and the third area includes:

[0024] Obtaining the intersection of the second area and the third area, and determining the overlapping degree based on the intersection;

[0025] When the overlapping degree is greater than a preset first overlapping degree threshold, it is determined that the clamping event occurs.

[0026] Optionally, determining the clamping event according to the overlapping situation between the second area and the third area includes:

[0027] Obtaining the intersection and union of the second area and the third area, and determining the overlapping degree based on the intersection and union;

[0028] When the overlapping degree is greater than a preset second overlapping degree threshold, it is determined that the clamping event occurs.

[0029] Optionally, performing corresponding anti-pinch processing on the determined clamping event includes:

[0030] Determine the vehicle component corresponding to the clamping event, generate a control instruction according to the vehicle component, and the control instruction is used to stop the closing action of the vehicle component.

[0031] Optionally, the anti-pinch processing corresponding to the determined clamping event includes:

[0032] Generate a prompt message according to the clamping event and / or the corresponding vehicle component;

[0033] Play the voice corresponding to the prompt message, or display the prompt message on a display device.

[0034] Optionally, the displaying the prompt message on a display device includes:

[0035] Display the target visual data corresponding to the clamping event on the display device. Another embodiment of this application provides a vehicle anti-pinch control device, including:

[0036] An acquisition module, configured to acquire data information around the vehicle; wherein, the data information includes point cloud data and visual data;

[0037] An anti-pinch detection module, configured to determine a clamping event based on the data information;

[0038] A control module, configured to perform corresponding anti-pinch processing for the determined clamping event.

[0039] Another embodiment of this application provides a vehicle, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the method described in any one of the first aspects is implemented; the vehicle further includes a display module, and the display module is configured to display data stored in the memory.

[0040] Another embodiment of this application provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method described in the foregoing aspect is implemented.

[0041] Another embodiment of this application provides a computer program product, on which a computer program is stored. When the program is executed by a processor, the method described in the foregoing aspect is implemented.

[0042] The vehicle anti-pinch control method, device, vehicle, chip and storage medium proposed in this application collect multi-modal sensing data around the vehicle, achieving highly accurate detection of the human body around the vehicle, further determining whether a pinching event occurs. The sensing data can comprehensively cover the area around the vehicle, avoiding missed and misdetected cases, improving the detection accuracy for pinching events, enabling timely response to pinching events, enhancing the safety of the vehicle, and can be applied to safety detection in the vehicle parking scenario.

[0043] Additional aspects and advantages of this application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and / or additional aspects and advantages of this application will become apparent and be readily understood from the following description of embodiments in conjunction with the drawings, where:

[0045] Figure 1 is a flowchart of a vehicle anti-pinch control method provided by an embodiment of this application;

[0046] Figure 2 is a schematic diagram of a first area provided by an embodiment of this application;

[0047] Figure 3 is a schematic structural diagram of a vehicle anti-pinch control device provided by an embodiment of this application;

[0048] Figure 4 is a schematic structural diagram of an electronic device provided by an embodiment of this application;

[0049] Figure 5 is a schematic structural diagram of a chip proposed by an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] The embodiments of this application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain this application and should not be construed as limiting this application.

[0051] In recent years, automotive electronic technology has developed rapidly. People can open and close the openable components (such as vehicle doors, windows, and front and rear engine hoods) in the vehicle through buttons or remote controls. Along with this, the requirement for safety is also getting higher and higher. Therefore, the anti-pinch function has become an important part of automotive safety evaluation. The front engine hood of the vehicle is located outside the vehicle, and there are blind spots in the driver's field of vision during remote operation, so the requirement for the anti-pinch function is higher.

[0052] The anti-pinch methods in the related art are mainly based on motor drive. When the motor is running normally, the torque and current values are in a relatively stable range. When the vehicle components driven by the motor encounter an obstacle, the mechanical resistance will suddenly increase. In order to maintain the set rotational speed, the motor needs to output a larger torque, resulting in an increase in current. The control system will preset the torque / current change threshold. When the real-time monitored value exceeds the threshold and the duration exceeds the preset time range, it is determined as a pinching event. This method has some problems. For example, there is a monitoring blind spot on the side of the front hood, which may lead to safety risks. Therefore, there is an urgent need for an anti-pinch solution that comprehensively ensures safety.

[0053] The vehicle anti-pinch control method, device, vehicle, chip, and storage medium according to the embodiments of the present application will be described below with reference to the accompanying drawings.

[0054] Figure 1 It is a schematic flow chart of a vehicle anti-pinch control provided by an embodiment of the present application.

[0055] As an implementation manner, the vehicle anti-pinch control method of the embodiment of the present application can be configured in a vehicle anti-pinch control device, and the vehicle anti-pinch control device can be applied to any electronic device, so that the electronic device can perform the vehicle anti-pinch control function.

[0056] Among them, the electronic device can be any device with computing power. For example, it can be a mobile terminal, and the mobile terminal can be a hardware device such as a mobile phone, a tablet computer, a personal digital assistant, a wearable device, etc., which has various operating systems, touch screens, and / or display screens.

[0057] As another implementation manner, the vehicle anti-pinch control method of the embodiment of the present application can also be executed by a chip with processing capabilities. The chip includes an Image Signal Processor (ISP), a Central Processing Unit (CPU), an Application-Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Field-Programmable Gate Array (FPGA), a System On A Chip (SoC), a Reduced Instruction Set Computer (RISC), etc., which will not be listed one by one here.

[0058] As Figure 1 shown, the method may include the following steps:

[0059] Step 101, collect data information around the vehicle; the data information includes point cloud data and visual data;

[0060] Step 102, determine a clamping event based on the point cloud data and visual data, and perform corresponding anti-pinch processing for the determined clamping event.

[0061] The method in this embodiment can be applied to a vehicle. Point cloud sensors and visual sensors are arranged inside and outside the vehicle. The point cloud sensor is used to obtain point cloud data (point cloud data). Point cloud data refers to a set of vectors in a three-dimensional coordinate system. The scanning data is recorded in the form of points. Each point contains three-dimensional coordinates and can carry other information about the attributes of the point, such as color, reflectivity, intensity, etc. The visual sensor is used to obtain visual data, such as image data or video data. The point cloud sensor includes a lidar system, a depth camera, an interferometric synthetic aperture radar, etc. The visual sensor includes various in-vehicle cameras or independently installed image acquisition devices, including but not limited to natural cameras, infrared imaging devices, and event cameras.

[0062] Collect the point cloud data and visual data around the vehicle. The point cloud data reflects the positions of the objects around the vehicle in three-dimensional space, and the visual data reflects the positions of the objects around the vehicle in a two-dimensional plane. Analyzing the situation around the vehicle based on the point cloud data and visual data can more accurately determine whether there is a person around the vehicle and whether the person is clamped by a certain component in the vehicle.

[0063] In a possible embodiment, the vehicle obtains and analyzes the point cloud data and visual data in the parked state to determine whether a clamping event occurs. The probability of a clamping event occurring during the driving process of the vehicle is extremely low. Therefore, performing clamping detection when the vehicle is parked effectively saves the computing power of the vehicle and improves the vehicle operation efficiency. Optionally, the vehicle is in a scenario mode such as a parking mode, a sentry mode, a camping mode, etc.

[0064] By collecting multi-modal sensing data around the vehicle, the detection of the human body around the vehicle is realized, and further determine whether a clamping event occurs. The sensing data can comprehensively cover the area around the vehicle, avoid missed detection and misdetection, improve the detection accuracy for clamping events, can react to clamping events in a timely manner, improve the safety of the vehicle, and can be applied to the safety detection in the vehicle parking scenario.

[0065] Optionally, the determining the clamping event based on the point cloud data and visual data includes:

[0066] Determine the human target detection result according to the data information, and the human target detection result is used to characterize whether there is a human body around the vehicle;

[0067] Determine the visual data corresponding to the human body position as the target visual data according to the human body target detection result, and determine the clamping event according to the target visual data.

[0068] In this embodiment, for the clamping detection of the vehicle, it is first necessary to determine that there is a human body around the vehicle before clamping may occur. First, detect the human body around the vehicle. Comprehensive analysis is performed on the point cloud data and visual data to determine whether there is a human body around the vehicle. The human body that appears around the vehicle may be a passing pedestrian, or it may be a passenger and driver who were originally sitting in the vehicle. The point cloud data reflects the three-dimensional coordinates of the objects around the vehicle. According to the point cloud data, the characteristics of the objects around the vehicle in the three-dimensional space can be extracted. The visual data reflects the position characteristics and color characteristics of the objects around the vehicle in the two-dimensional coordinate system of the visual sensor. Through the visual data, the pixels that may be the human body can be analyzed, and then combined with the point cloud data analysis of the point cloud data that may be the human body, it is possible to accurately detect whether there is a human body and the position of the human body. In the case of the presence of a human body, further analyze whether the distance between the human body and the vehicle is sufficient to cause a clamping event according to the position relationship between the position of the human body and the vehicle area, and generate a human body target detection result.

[0069] After obtaining the target detection result, it is possible to further analyze whether a clamping event has occurred according to the target detection result. In the case of no human body, or, in the case of the presence of a human body and the human body is far away from the vehicle, it means that there is no risk of being clamped, and there is no need to further perform clamping analysis. In the case of the presence of a human body and the human body is close to the vehicle, it means that there is a risk of being clamped, and it is necessary to further analyze whether a clamping event has occurred according to the visual data.

[0070] The determination process of the clamping event is further refined. First, determine the human body target detection result, and then determine the clamping event according to the visual data corresponding to the human body position, making the detection more targeted, being able to more accurately focus on the clamping risk related to the human body, reducing the processing of irrelevant data, improving the detection efficiency and accuracy, and further enhancing the performance of the vehicle anti-pinch control.

[0071] Optionally, the determining the human body target detection result according to the point cloud data and the visual data includes:

[0072] Input the data information into the first large model to determine the position of the human body;

[0073] Determine the human body target detection result according to the pre-configured first area and the position of the human body, where the first area is an area near the vehicle.

[0074] In this embodiment, the first large model is used to extract features from point cloud data and visual data to obtain high-dimensional features in these data, analyze the high-dimensional features to determine the position of the human body, and after obtaining the position of the human body, it is necessary to determine whether the human body is close enough to the vehicle and whether a clamping event may occur.

[0075] Set the first area near the vehicle. The first area is the area where a clamping event may occur. When the human body is in the first area, it means that the human body is close enough to the vehicle and may be clamped by a certain component of the vehicle, and further clamping detection is required.

[0076] In a possible embodiment, the first large model is a multi-modal fusion object detection model, whose input is image data and point cloud data. After the input data is processed by multiple layers of deep neural networks in the first large model, features are extracted and it is output whether there is a human body and the position of the human body. Optionally, the position of the human body is the coordinates of the human body in the vehicle coordinate system, and the vehicle coordinate system is a two-dimensional coordinate system parallel to the ground with the origin at the center point of the vehicle.

[0077] Input the point cloud data and visual data into the first large model to determine the position of the human body, and combine the pre-configured first area to determine the human body target detection result. By using model processing and screening of the pre-configured area, the position of the human body can be more accurately located, the accuracy of human body detection can be improved, at the same time, the processing of data in all areas around the vehicle is reduced, the computational burden is reduced, and the real-time performance and efficiency of detection are improved.

[0078] Optionally, determining the human body target detection result according to the pre-configured first area and the position of the human body includes any one of the following:

[0079] When the position of the human body is in the first area, it is determined that there is a human body around the vehicle;

[0080] When the position of the human body is outside the first area, it is determined that there is no human body around the vehicle.

[0081] Figure 2A schematic diagram of a first area provided by an embodiment of the present application. In a possible embodiment, the position of the human body is the coordinates (P_x, P_y) of the human body from the origin of the vehicle coordinate system. The conditions for configuring the range of the first area are the left side (P_left_xmin, P_left_ymin, P_left_xmax, P_left_ymax) and the right side (P_right_xmin, P_right_ymin, P_right_xmax, P_right_ymax). If the coordinates of the human body satisfy (P_x > P_left_xmin && P_x < P_left_xmax && P_y > P_left_ymin && P_y < P_left_ymax) || (P_x > P_right_xmin && P_x < P_right_xmax && P_y > P_right_ymin && P_y < P_right_ymax), it is determined that the human body is within the first area. The human body is relatively close to the vehicle and there is a risk of pinching, and it is necessary to further determine whether pinching has occurred. If the conditions are not met, it means that the human body is relatively far from the vehicle and there is no risk of pinching, and it can be considered that there is no human body around the vehicle. Here, && represents the AND logical operator, and || represents the OR logical operator.

[0082] It clarifies the specific method for determining the human body target detection result based on the relationship between the human body position and the first area. Whether the human body position is inside or outside the first area, it can accurately determine whether there is a human body around the vehicle, ensuring the comprehensiveness and accuracy of the detection, avoiding missed detection or misjudgment caused by different human body positions, and further improving the reliability of vehicle anti-pinch control.

[0083] Optionally, the visual data corresponding to the human body position determined according to the human body target detection result is target visual data, including:

[0084] In the case where there is a human body around the vehicle, determine the clamping detection area where the position of the human body is located; wherein, each of the clamping detection areas is provided with a visual sensor for a vehicle component to collect the visual data;

[0085] Determine the visual data corresponding to the clamping detection area where the position of the human body is located as the target visual data.

[0086] In this embodiment, when there is a human body around the vehicle, it is necessary to further determine whether a clamping event occurs. The first area is divided into multiple clamping detection areas, and each clamping detection area corresponds to one or more components where clamping may occur, such as: the front hood, the driver's door, the passenger's door, the left rear door, the right rear door, the trunk, etc. These vehicle components can be opened or closed by electric motors. There are multiple vision sensors configured on the vehicle, and each vision sensor is used to collect visual data of the corresponding clamping detection area. According to the position coordinates of the human body, it is possible to further determine the clamping detection area where the human body is located, and it can be determined that the human body may be clamped by automotive components in the clamping detection area and thus be in danger. Therefore, further clamping analysis is performed on the target visual data corresponding to the clamping detection area where the human body is located. Performing clamping analysis in this way can avoid the huge computational amount generated by analyzing all visual data, improve the efficiency of clamping detection, and can more timely detect clamping events.

[0087] After determining that there is a human body around the vehicle, further determine the clamping detection area where the human body is located, and use the visual data corresponding to this area as the target visual data, so that the subsequent clamping event detection can be based on more relevant and accurate data, further narrowing the detection range, improving the pertinence and accuracy of the detection, and at the same time facilitating reducing the amount of data processing and accelerating the detection speed.

[0088] Optionally, determining the clamping event according to the target visual data includes:

[0089] Inputting the target visual data into the second large model to determine the second area corresponding to the human body limb and the third area corresponding to the vehicle component;

[0090] Determining the clamping event according to the overlapping situation of the second area and the third area.

[0091] In this embodiment, the second large model is used to identify and extract the second area and the third area in the target visual data. The pixels in the second area are the human body limbs, and the pixels in the third area are the vehicle components. When clamping occurs, the human body limbs will overlap with the vehicle components. Therefore, further analysis based on whether the positions of the second area and the third area overlap and the degree of overlap can determine whether a clamping event occurs. If they overlap and the overlapping part is large, it can be determined that the possibility of a clamping event is high. If they do not overlap or the overlapping part is small, it can be determined that the possibility of a clamping event is low.

[0092] In a possible embodiment, the second large model is a multi-layer deep neural network obtained through training. By collecting a large amount of image data for training, the second large model can analyze the image to obtain the part belonging to the human body limb and the part belonging to the vehicle component in the image, thereby further determining the risk of the human body being clamped and determining whether a clamping event occurs.

[0093] In a possible embodiment, the first large model and the second large model are two functional modules of the same software.

[0094] In a possible embodiment, among the training data used for training the second large model, there are images in which a part of the limb is occluded, such as an image in which the entire hand is occluded or a part of the hand is occluded. The label data corresponding to the image is the range of the complete limb, that is, the complete arm area. The second large model trained with this training data can deduce the entire limb information of the pedestrian when the captured image contains a part of the limb of the pedestrian, and more accurately identify the area of the limb belonging to the person in the target visual data, improving the accuracy of the clamping detection.

[0095] By inputting the target visual data into the second large model, determining the second area corresponding to the human limb and the third area corresponding to the vehicle component, and determining the clamping event according to the overlapping situation between the two, a quantitative judgment of the clamping event is realized, improving the accuracy and objectivity of the detection, being able to more accurately identify the situation with a clamping risk, and enhancing the intelligent level of the vehicle anti-pinch control.

[0096] Optionally, the determining the clamping event according to the overlapping situation between the second area and the third area includes:

[0097] Obtaining the intersection of the second area and the third area, and determining the overlapping degree based on the intersection;

[0098] In the case where the overlapping degree is greater than a preset first overlapping degree threshold, it is determined that the clamping event occurs.

[0099] In this embodiment, the overlapping degree is determined by the intersection of the second area corresponding to the human limb and the third area corresponding to the vehicle component. Since the second large model can deduce the entire limb area from the image, it is possible to determine whether a clamping event occurs according to the overlapping area between the range of the limb area and the range of the vehicle component. The area of the intersection of the second area and the third area is used as the overlapping degree. The higher the overlapping degree, the higher the overlapping degree between the human limb and the vehicle component, and the higher the probability of the clamping event occurring.

[0100] In a possible embodiment, the first overlapping degree threshold is 0. As long as there is an intersection between the second area and the third area, it can be determined that the clamping event occurs.

[0101] In a possible embodiment, the first overlap threshold is a value greater than 0. When the area of the intersection of the second region and the third region is greater than the first overlap threshold, it is determined that a clamping event has occurred. Since the position of the camera is fixed, there is a certain deviation between the position of the vehicle component and the position of the human body limb in the captured image view. Even if there is a certain overlap in the image, a clamping event may not have occurred. Setting a first overlap threshold greater than 0 can reduce misjudgment and improve the accuracy of clamping detection.

[0102] Optionally, determining the clamping event according to the overlap situation between the second region and the third region includes:

[0103] Obtain the intersection and union of the second region and the third region, and determine the overlap degree based on the intersection and the union;

[0104] In the case where the overlap degree is greater than a preset overlap threshold, it is determined that the clamping event has occurred.

[0105] In this embodiment, the intersection over union (IoU) is used to determine the overlap degree between the second region and the third region. The intersection of the second region and the third region is the overlapping region, and the union of the second region and the third region is the region where the two regions are combined. The overlap degree reflects the overlap degree between the human body limb and the vehicle component. If the overlap degree is high, it indicates a high probability that the human body limb is clamped, and it can be determined that a clamping event has occurred; if the overlap degree is low, it indicates a low probability that the human body limb is clamped.

[0106] In a possible embodiment, calculate the ratio of the intersection to the union to obtain the intersection over union (IoU). The IoU reflects the proportion of the overlapping region in the total region. A certain overlap threshold is preconfigured. When the IoU is higher than this overlap threshold, it means that the overlap degree between the second region and the third region is high, that is, the overlap degree between the human body limb and the vehicle component is high, and it can be determined that a clamping event has occurred.

[0107] In a possible embodiment, for the clamping event detection of the front hood, analyze the image or video collected by the camera that captures the front hood area, determine the human body limb area therein to generate a corresponding human detection frame, and determine the vehicle component area therein to generate a corresponding front hood detection frame. Calculate the intersection over union (IoU) of the two detection frames. If the IoU is greater than the preset threshold, it is determined that a clamping event has occurred at the front hood.

[0108] In a possible embodiment, for the clamping event detection of the driver's door, analyze the image or video collected by the camera that captures the driver's door area, determine the human body limb area therein to generate a corresponding human detection frame, and determine the vehicle component area therein to generate a corresponding driver's door detection frame. Calculate the intersection over union (IoU) of the two detection frames. If the IoU is greater than the preset threshold, it is determined that a clamping event has occurred at the driver's door.

[0109] In a possible embodiment, the second overlap threshold is 0. As long as there is an intersection between the second region and the third region (i.e., there is a value of the intersection over union), it can be determined that a clamping event has occurred.

[0110] In a possible embodiment, the second overlap threshold is a value greater than 0. When the intersection over union of the second region and the third region is greater than the second overlap threshold, it is determined that a clamping event has occurred. Since the position of the camera is fixed, there is a certain deviation between the position of the vehicle component and the position of the human body limb in the captured image perspective. Even if there is a certain overlap in the image, a clamping event may not have occurred. Setting a second overlap threshold greater than 0 can reduce false positives and improve the accuracy of clamping detection.

[0111] By obtaining the intersection and union of the second region and the third region, determining the overlap based on the intersection and union, and setting a preset overlap threshold to judge the occurrence of a clamping event, a specific and quantifiable judgment criterion is provided, making the detection of clamping events more accurate and reliable, reducing the possibility of false positives, and further improving the performance of vehicle anti-pinch control.

[0112] Optionally, the corresponding anti-pinch processing for the determined clamping event includes:

[0113] Determine the vehicle component corresponding to the clamping event, generate a control instruction according to the vehicle component, and the control instruction is used to stop the closing action of the vehicle component.

[0114] In this embodiment, after determining that a clamping event has occurred, in order to prevent further harm to the human body caused by the clamping event, the vehicle component where the clamping event occurs is determined for the clamping detection area where the clamping event occurs, and a clamping signal is generated and sent into the cockpit domain controller. The cockpit domain controller generates a control instruction to control the corresponding vehicle component to stop closing, preventing the human body from being pinched. By stopping the clamping event in time through the control instruction, pinching the human body is avoided, and the safety of the vehicle is improved.

[0115] In a possible embodiment, after detecting that a clamping event has occurred to the front hood of the vehicle, a clamping signal is generated and input into the vehicle head unit. The vehicle head unit determines that the vehicle component corresponding to the clamping event is the front hood according to the clamping signal, generates a control instruction for the front hood, and sends the control instruction to the motor driving the front hood through the in-vehicle communication harness to control the motor to stop driving the front hood to close, avoiding harm to the human body.

[0116] For a determined clamping event, determine the vehicle components involved in the corresponding clamping detection area, and generate a control instruction to stop the closing action of the vehicle components, which can respond to the clamping risk in a timely and effective manner, directly prevent the actions of vehicle components that may cause harm, and thus maximize the safety of objects such as the human body, reflecting the practical application value and significance of the vehicle anti-pinch control method.

[0117] Optionally, the corresponding anti-pinch processing for the determined clamping event includes:

[0118] Generate a prompt message according to the clamping event and / or the corresponding vehicle components;

[0119] Play the voice corresponding to the prompt message, or display the prompt message on a display device.

[0120] In this embodiment, when a clamping event occurs, the people inside and outside the vehicle are reminded in a timely manner through the prompt message to warn the human body and prompt the vehicle owner to make timely handling.

[0121] In a possible embodiment, the lamps inside or outside the vehicle are controlled to display lights of a specific color, or flash at a specific frequency, to remind people inside and outside the vehicle that a clamping event has occurred.

[0122] In a possible embodiment, corresponding voice data is generated according to the prompt message and played through a speaker installed inside or outside the vehicle to remind that a clamping event has occurred.

[0123] Generate a prompt message according to the clamping event and the corresponding vehicle components, and timely remind the driver or passenger to pay attention to the occurrence of the clamping event by playing the voice or displaying the prompt message on a display device, enhancing the interactivity and promptness of the system, helping to improve the perception and reaction ability of relevant personnel to dangerous situations, and further enhancing the safety and user experience of vehicle use.

[0124] Optionally, the displaying the prompt message on a display device includes:

[0125] Display the target visual data corresponding to the clamping event on the display device.

[0126] In a possible embodiment, the prompt message is displayed on the monitors inside the vehicle, such as the electronic instrument panel, in-vehicle computer, and rear-row monitor.

[0127] Displaying the target visual data corresponding to the clamping event on the display device can provide more intuitive and detailed information about the clamping event for the driver or passenger, help them understand the clamping situation more clearly, and thus take corresponding measures more effectively, further enhancing the prompt effect and practicality of the system, and improving the safety and user satisfaction of the vehicle.

[0128] To implement the above embodiments, an embodiment of the present application further provides a vehicle anti-pinch control device.

[0129] Figure 3 It is a schematic structural diagram of a vehicle anti-pinch control device provided by an embodiment of the present application.

[0130] As Figure 3 shown, the device may include:

[0131] An acquisition module 310, configured to acquire data information around the vehicle; wherein, the data information includes point cloud data and visual data;

[0132] An anti-pinch detection module 320, configured to determine a clamping event based on the data information;

[0133] A control module 330, configured to perform corresponding anti-pinch processing for the determined clamping event.

[0134] It should be noted that the foregoing explanations of the method embodiments are also applicable to the device of this embodiment, and will not be repeated here.

[0135] To implement the above embodiments, the present application further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method described in the foregoing method embodiments is implemented.

[0136] To implement the above embodiments, the present application further provides a computer program product, on which a computer program is stored. When the computer program is executed by a processor, the method described in the foregoing method embodiments is implemented.

[0137] To implement the above embodiments, the present application further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the method described in the foregoing method embodiments is implemented.

[0138] Figure 4 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. For example, the electronic device 800 may be a mobile phone, a computer, a vehicle, a car machine, etc.

[0139] Referring to Figure 4 , the electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0140] The processing component 802 generally controls the overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communication, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above methods. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0141] The memory 804 is configured to store various types of data to support the operation of the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disks, or optical disks.

[0142] The power component 806 provides power to the various components of the electronic device 800. The power component 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the electronic device 800.

[0143] The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can not only sense the boundaries of the touch or swipe actions, but also detect the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the electronic device 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.

[0144] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC), which is configured to receive external audio signals when the electronic device 800 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, the audio component 810 further includes a speaker for outputting audio signals.

[0145] The I / O interface 812 provides an interface between the processing component 802 and a peripheral interface module, and the peripheral interface module can be a keyboard, a click wheel, buttons, etc. These buttons can include, but are not limited to: a home button, a volume button, a power button, and a lock button.

[0146] The sensor component 814 includes one or more sensors for providing status assessments of various aspects of the electronic device 800. For example, the sensor component 814 can detect the on / off state of the electronic device 800, the relative positioning of components, such as the display and keypad of the electronic device 800. The sensor component 814 can also detect a change in the position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, the orientation or acceleration / deceleration of the electronic device 800, and a change in the temperature of the electronic device 800. The sensor component 814 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 814 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 814 can further include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0147] The communication component 816 is configured to facilitate communication between the electronic device 800 and other devices in a wired or wireless manner. The electronic device 800 can access a wireless network based on communication standards, such as WiFi, 4G, or 5G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0148] In an exemplary embodiment, the electronic device 800 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above method.

[0149] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions. The above instructions may be executed by a processor 820 of the electronic device 800 to complete the above method. For example, the non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0150] To implement the above embodiments, the present application also proposes a chip, including: The chip includes a processing circuit configured to execute the method provided in the foregoing embodiments.

[0151] Figure 5 is a schematic structural diagram of a chip proposed in an embodiment of the present application. Reference may be made to Figure 5 the schematic structural diagram of the chip 1100 shown, but not limited thereto.

[0152] The chip 1100 includes a processing circuit 1101 configured to execute any of the above methods.

[0153] In some embodiments, the chip 1100 further includes one or more interface circuits 1102. Optionally, the interface circuit 1102 is connected to the memory 1103. The interface circuit 1102 may be used to receive signals from the memory 1103 or other devices, and the interface circuit 1102 may be used to send signals to the memory 1103 or other devices. For example, the interface circuit 1102 may read instructions stored in the memory 1103 and send the instructions to the processing circuit 1101.

[0154] In some embodiments, the interface circuit 1102 executes at least one of the communication steps such as sending and / or receiving in the above method, and the processing circuit 1101 executes other steps.

[0155] In some embodiments, terms such as interface circuit, interface, transceiver pin, transceiver, etc. may be used interchangeably.

[0156] In some embodiments, the chip 1100 further includes one or more memories 1103 for storing instructions. Optionally, all or part of the memories 1103 may be outside the chip 1100.

[0157] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0158] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0159] Any process or method description, whether in a flowchart or otherwise described herein, can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logic function or process, and the scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0160] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in combination with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0161] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0162] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0163] In addition, each functional unit in various embodiments of the present application may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0164] The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present application.

Claims

1. A vehicle anti-pinch control method, characterized in that, Including: Collecting data information around the vehicle; The data information includes point cloud data and visual data; Based on the data information, determining a clamping event and performing corresponding anti-pinch processing for the determined clamping event.

2. The method according to claim 1, wherein The determining the clamping event based on the data information includes: Determining a human target detection result according to the data information, where the human target detection result is used to represent whether there is a human around the vehicle; Determining the visual data corresponding to the human position as target visual data according to the human target detection result, and determining the clamping event according to the target visual data.

3. The method according to claim 2, characterized in that, The determining the human target detection result according to the data information includes: Inputting the data information into a first large model to determine the position of the human; Determining the human target detection result according to a pre-configured first area and the position of the human, where the first area is an area near the vehicle.

4. The method according to claim 3, characterized in that, The determining the human target detection result according to the pre-configured first area and the position of the human includes any one of the following: Determining that there is a human around the vehicle when the position of the human is within the first area; Determining that there is no human around the vehicle when the position of the human is outside the first area.

5. The method according to claim 4, wherein The determining the visual data corresponding to the human position as target visual data according to the human target detection result includes: When there is a human around the vehicle, determining a clamping detection area where the position of the human is located; wherein, each clamping detection area is provided with a visual sensor for a vehicle component to collect the visual data; Determining the visual data corresponding to the clamping detection area where the position of the human is located as the target visual data.

6. The method according to claim 5, characterized in that The determining the clamping event according to the target visual data includes: Inputting the target visual data into a second large model to determine a second area corresponding to the human limb and a third area corresponding to the vehicle component; Determining the clamping event according to the overlapping situation between the second area and the third area.

7. The method according to claim 6, wherein The determining the clamping event according to the overlapping situation between the second area and the third area includes: Obtaining the intersection of the second area and the third area, and determining the overlapping degree based on the intersection; Determining that the clamping event occurs when the overlapping degree is greater than a preset first overlapping degree threshold.

8. The method according to claim 6, wherein The determining the clamping event according to the overlapping situation between the second area and the third area includes: Obtaining the intersection and union of the second area and the third area, and determining the overlapping degree based on the intersection and union; Determining that the clamping event occurs when the overlapping degree is greater than a preset second overlapping degree threshold.

9. The method according to claim 1, wherein The performing corresponding anti-pinch processing for the determined clamping event includes: Determining the vehicle component corresponding to the clamping event, and generating a control instruction according to the vehicle component, where the control instruction is used to stop the closing action of the vehicle component.

10. The method according to claim 1 or 9, characterized in that, The performing corresponding anti-pinch processing for the determined clamping event includes: Generating a prompt message according to the clamping event and / or the corresponding vehicle component; Playing the voice corresponding to the prompt message, or displaying the prompt message on a display device.

11. The method according to claim 10, characterized in that, The displaying the prompt message on a display device includes: The display device displays target visual data corresponding to the clamping event.

12. A vehicle anti-pinch control device, characterized in that, It includes: A data acquisition module for acquiring data information around the vehicle; wherein, the data information includes point cloud data and visual data; An anti-pinch detection module for determining a clamping event based on the data information; A control module for performing corresponding anti-pinch processing for the determined clamping event.

13. A vehicle, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the method according to any one of claims 1-11; the vehicle further includes a display module for displaying the data stored in the memory.

14. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method according to any one of claims 1-11.

15. A computer program product, characterized in that, It includes a computer program which, when executed by the processor, implements the method according to any one of claims 1-11.

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