Vehicle door opening and closing assistance control method and system based on machine vision and storage medium

Abstract

The invention discloses a vehicle door opening and closing assistance control method and system based on machine vision and a storage medium, and the method comprises the steps: obtaining target image information of the inner and outer sides of a target vehicle door and a vehicle door state, and detecting whether a target passenger has a door opening / closing intention or not according to the target image information; when the target passenger has the intention of opening / closing the door and the target vehicle door is in an unlocked state, performing power-on control on an electromagnet arranged on the inner side edge of the target vehicle door, so that the electromagnet and a permanent magnet arranged at the corresponding position on the vehicle body generate target acting force; and the opening / closing speed of the target vehicle door is obtained, current adjustment is conducted on the electromagnet according to the opening / closing speed, the magnitude and / or direction of the target acting force are / is changed, and therefore the opening / closing speed of the target vehicle door is adjusted. The vehicle door opening and closing convenience and safety of a user are improved, the vehicle using safety and use experience of the user are guaranteed, and the method can be widely applied to the technical field of vehicle control.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a vehicle door opening / closing assistance control method, system and storage medium based on machine vision. Background Art

[0002] Currently, the automotive industry generally uses traditional mechanical hinges or simple electric door systems to achieve the door opening and closing functions. These systems usually rely on mechanical components and are prone to wear, resulting in large opening and closing forces and low reliability. Some high-end models have started to introduce pre-opening functions and self-locking door locks to improve the user experience. However, these functions usually require multiple independent modules (such as door openers and self-locking door locks) to achieve, which not only increases the cost but also limits their application in mid-range and low-end models. In addition, when using a door opener, the opening force cannot be effectively controlled, and the closing force of the self-locking door lock during the self-locking and closing process of the door cannot be effectively controlled, which is likely to cause the door to open and close too fast, and even pose a risk of pinching the user, affecting the user's vehicle use safety and experience. Summary of the Invention

[0003] The purpose of the present invention is to solve at least to some extent one of the technical problems existing in the prior art.

[0004] To this end, an object of an embodiment of the present invention is to provide a vehicle door opening / closing assistance control method based on machine vision, which realizes intelligent assistance control when the vehicle door is opened and closed, improves the convenience and safety of the user to open and close the vehicle door, and guarantees the user's vehicle use safety and experience.

[0005] Another object of an embodiment of the present invention is to provide a vehicle door opening / closing assistance control system based on machine vision.

[0006] In order to achieve the above technical purpose, the technical solutions adopted in the embodiments of the present invention include:

[0007] In a first aspect, an embodiment of the present invention provides a vehicle door opening / closing assistance control method based on machine vision, including the following steps:

[0008] Obtain the target image information on both the inner and outer sides of the target door and the door state of the target door, and detect whether the target occupant has an intention to open / close the door according to the target image information;

[0009] When the target occupant has an intention to open / close the door and the target door is in an unlocked state, perform power-on control on the electromagnet arranged on the inner side edge of the target door, so that the electromagnet and the permanent magnet arranged at the corresponding position on the vehicle body generate a target acting force, and the target acting force is used to assist the target door to open / close after the target occupant performs the open / close action;

[0010] Obtain the opening / closing speed of the target vehicle door, and adjust the current of the electromagnet according to the opening / closing speed, so that the magnitude and / or direction of the target acting force changes, thereby adjusting the opening / closing speed of the target vehicle door.

[0011] Further, in an embodiment of the present invention, the obtaining of the target image information on both the inner and outer sides of the target vehicle door and the door state of the target vehicle door specifically includes:

[0012] When the vehicle is stationary, obtain the target image information through the camera devices arranged on both the inner and outer sides of the target vehicle door, and obtain the door state through the body controller;

[0013] Wherein, the door state includes an open / closed state and an unlocked / locked state.

[0014] Further, in an embodiment of the present invention, the detecting whether the target occupant has an intention to open / close the door according to the target image information specifically includes:

[0015] Perform human detection on the target image information to obtain the human posture image of the target occupant;

[0016] Generate human posture time series data according to the human posture images corresponding to consecutive multiple frames of the target image information;

[0017] Input the human posture time series data into a pre-trained action intention recognition model to determine whether the target occupant has an action intention to touch the door handle;

[0018] When the target occupant has an action intention to touch the door handle and the target vehicle door is in a closed state, it is determined that the target occupant has an intention to open the door;

[0019] When the target occupant has an action intention to touch the door handle and the target vehicle door is in an open state, it is determined that the target occupant has an intention to close the door.

[0020] Further, in an embodiment of the present invention, when the target occupant has an intention to open / close the door and the target vehicle door is in an unlocked state, perform power-on control on the electromagnet arranged on the inner side edge of the target vehicle door, so that the electromagnet and the permanent magnet arranged at the corresponding position on the vehicle body generate a target acting force, which specifically includes:

[0021] When the target occupant has an intention to open the door and the target vehicle door is in an unlocked state, perform power-on control on the electromagnet according to a preset first current direction and first current magnitude, so that the electromagnet and the permanent magnet generate the repulsive target acting force;

[0022] When the target occupant has an intention to close the door and the target door is in an unlocked state, the electromagnet is controlled to be energized according to a preset second current direction and second current magnitude, so that the electromagnet and the permanent magnet generate the target attractive force.

[0023] Further, in an embodiment of the present invention, the vehicle door opening / closing assistance control method further includes the following steps:

[0024] When no opening / closing action acting on the target door is detected within a preset time after the generation of the target force, the electromagnet is controlled to be de-energized.

[0025] Further, in an embodiment of the present invention, the opening / closing speed of the target door is obtained, and the current of the electromagnet is adjusted according to the opening / closing speed, so that the magnitude and / or direction of the target force changes, thereby adjusting the opening / closing speed of the target door. Specifically, it includes:

[0026] The opening / closing speed is obtained by a speed sensor provided on the target door;

[0027] When the opening speed of the target door is greater than a preset first threshold and less than or equal to a preset second threshold, the repulsive current of the electromagnet is reduced, so that the repulsive target force is reduced;

[0028] When the opening speed of the target door is greater than the second threshold, the current direction of the electromagnet is changed, so that the target force changes from repulsive to attractive;

[0029] When the closing speed of the target door is greater than a preset third threshold and less than or equal to a preset fourth threshold, the attractive current of the electromagnet is reduced, so that the attractive target action is reduced;

[0030] When the closing speed of the target door is greater than the fourth threshold, the current direction of the electromagnet is changed, so that the target force changes from attractive to repulsive.

[0031] Further, in an embodiment of the present invention, when the opening speed is greater than the first threshold and less than or equal to the second threshold, a first difference between the opening speed and the first threshold and a second difference between the second threshold and the first threshold are determined, and the ratio of the first difference to the second difference is used to determine the proportion of reducing the repulsive current;

[0032] When the opening speed is greater than the second threshold, determine the third difference between the opening speed and the second threshold and the second difference between the second threshold and the first threshold, and determine the magnitude of the attracting current after changing the current direction according to the ratio of the third difference to the second difference and the magnitude of the original repulsive current;

[0033] When the closing speed is greater than the third threshold and less than or equal to the fourth threshold, determine the fourth difference between the closing speed and the third threshold and the fifth difference between the fourth threshold and the third threshold, and determine the proportion of reducing the attracting current according to the ratio of the fourth difference to the fifth difference;

[0034] When the opening speed is greater than the fourth threshold, determine the sixth difference between the closing speed and the fourth threshold and the fifth difference between the fourth threshold and the third threshold, and determine the magnitude of the repulsive current after changing the current direction according to the ratio of the sixth difference to the fifth difference and the magnitude of the original attracting current.

[0035] In a second aspect, an embodiment of the present invention provides a vehicle door opening / closing assistance control system based on machine vision, including:

[0036] An intention detection module, configured to obtain target image information on both the inner and outer sides of a target door and the door state of the target door, and detect whether a target occupant has an intention to open / close the door according to the target image information;

[0037] An assistance start module, configured to, when the target occupant has an intention to open / close the door and the target door is in an unlocked state, perform power-on control on an electromagnet disposed on the inner side edge of the target door, so that the electromagnet generates a target acting force with a permanent magnet disposed at a corresponding position on the vehicle body, and the target acting force is used to assist the opening / closing of the target door after the target occupant performs an opening / closing action;

[0038] An assistance adjustment module, configured to obtain the opening / closing speed of the target door, and adjust the current of the electromagnet according to the opening / closing speed, so that the magnitude and / or direction of the target acting force changes, thereby adjusting the opening / closing speed of the target door.

[0039] In a third aspect, an embodiment of the present invention provides a vehicle door opening / closing assistance control device based on machine vision, including:

[0040] At least one processor;

[0041] At least one memory, configured to store at least one program;

[0042] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned vehicle door opening / closing assistance control method based on machine vision.

[0043] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, in which a program executable by a processor is stored. The program executable by the processor is used to execute the above-mentioned vehicle door opening / closing assistance control method based on machine vision when executed by the processor.

[0044] The advantages and beneficial effects of the present invention will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present invention:

[0045] The embodiment of the present invention acquires the target image information on both the inner and outer sides of the target door and the door state of the target door, and detects whether the target occupant has an intention to open / close the door according to the target image information. When the target occupant has an intention to open / close the door and the target door is in an unlocked state, the electromagnet arranged on the inner side edge of the target door is controlled to be energized, so that the electromagnet and the permanent magnet arranged at the corresponding position on the vehicle body generate a target acting force. The target acting force is used to assist the opening / closing of the target door after the target occupant performs the opening / closing action. The opening / closing speed of the target door is acquired, and the current of the electromagnet is adjusted according to the opening / closing speed, so that the magnitude and / or direction of the target acting force changes, thereby adjusting the opening / closing speed of the target door. When the embodiment of the present invention detects that the occupant has an intention to open / close the door and the door is in an unlocked state, the electromagnet arranged on the inner side edge of the door is controlled to be energized, so that it generates an acting force with the permanent magnet arranged at the corresponding position on the vehicle body. This acting force can assist the opening / closing of the door after the occupant performs the opening / closing action, and the opening / closing speed is acquired during the opening / closing process of the door. The magnitude and direction of the current of the electromagnet are adjusted according to the opening / closing speed, thereby avoiding potential safety hazards caused by too fast opening / closing speed of the door, realizing intelligent assistance control when the vehicle door is opened / closed, improving the convenience and safety of the user to open / close the door, and ensuring the vehicle use safety and experience of the user. Description of the Drawings

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following introduces the drawings required to be used in the embodiments of the present invention. It should be understood that the drawings introduced below are only for conveniently and clearly presenting some embodiments of the technical solutions in the present invention. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0047] Figure 1 It is a flowchart of the steps of a vehicle door opening / closing assistance control method based on machine vision provided by an embodiment of the present invention;

[0048] Figure 2 It is a structural block diagram of a vehicle door opening / closing assistance control system based on machine vision provided by an embodiment of the present invention;

[0049] Figure 3 It is a structural block diagram of a vehicle door opening / closing assistance control device based on machine vision provided by an embodiment of the present invention. Specific embodiments

[0050] The embodiments of the present invention 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 having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for explaining the present invention and should not be construed as a limitation of the present invention. For the step numbers in the following embodiments, they are only set for the convenience of description and explanation, and no limitation is imposed on the order between the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0051] In the description of the present invention, the meaning of "a plurality" is two or more. If the first and second are described, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features. In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention.

[0052] Referring to Figure 1 , an embodiment of the present invention provides a vehicle door opening / closing assistance control method based on machine vision, which specifically includes the following steps:

[0053] S101. Obtain the target image information on both the inner and outer sides of the target door and the door state of the target door, and detect whether the target occupant has an intention to open / close the door according to the target image information;

[0054] S102. When the target occupant has an intention to open / close the door and the target door is in an unlocked state, perform power-on control on the electromagnet arranged on the inner side edge of the target door, so that the electromagnet and the permanent magnet arranged at the corresponding position on the vehicle body generate a target acting force, and the target acting force is used to assist the opening / closing of the target door after the target occupant performs the opening / closing action;

[0055] S103. Obtain the opening / closing speed of the target door, and adjust the current of the electromagnet according to the opening / closing speed, so that the magnitude and / or direction of the target acting force changes, thereby adjusting the opening / closing speed of the target door.

[0056] Specifically, in the embodiment of the present invention, the permanent magnet is embedded in the outer panel of the vehicle body side wall (exposed through an opening and subject to rust prevention treatment), the electromagnet is embedded in the inner panel of the door (corresponding to the position of the permanent magnet), and a magnet protective layer design is adopted. The surface of the permanent magnet is covered with a wear-resistant non-magnetic material (such as a ceramic coating), and the electromagnet is encapsulated with a waterproof structure; when assisting in opening the door, the electromagnet is energized to generate a magnetic field with the same pole as the permanent magnet, and the repulsive force is used to assist in opening the door. When assisting in closing the door, the electromagnet is reversely energized to generate a magnetic field with a different pole, and the suction force is used to assist in closing; the speed sensor is used to obtain the speed of the door opening and closing, so as to adjust the current (size and direction) of the electromagnet, avoiding potential safety hazards caused by too fast door opening and closing speeds. In addition, the electromagnet in the embodiment of the present invention does not generate a magnetic field when the vehicle is powered off, does not affect the manual operation of the door, and the magnetic field strength of the electromagnet can be adjusted through the current, so as to adapt to the door weights of different vehicle models (such as the differences between SUVs and sedans).

[0057] It should be noted that the target acting force in the embodiment of the present invention is the auxiliary force for assisting the target door to open / close after the target occupant performs the door opening / closing action, that is, the target acting force itself is not sufficient to drive the door to open / close and will not accidentally trigger the automatic opening / closing of the door. The role of the target acting force is to reduce the force that the target occupant needs to apply when performing the door opening / closing action and during the door opening / closing process. In addition, the target acting force in the embodiment of the present invention is generated before the target occupant performs the door opening / closing action, so that the target occupant can perceive the assistance of the target acting force at the moment of opening / closing the door, and there will be no lagging assistance causing a sense of loss of strength or jamming, further improving the user experience.

[0058] In the embodiment of the present invention, when it is detected that the occupant has the intention to open / close the door and the door is in the unlocked state, the electromagnet arranged on the inner side edge of the door is controlled to be energized, so that it generates an acting force with the permanent magnet arranged at the corresponding position on the vehicle body. This acting force can assist the door to open / close after the occupant performs the door opening / closing action, and the opening / closing speed is obtained during the door opening / closing process. According to the opening / closing speed, the magnitude and direction of the current of the electromagnet are adjusted, so as to avoid potential safety hazards caused by too fast door opening / closing speeds, realizing intelligent assistance control during vehicle door opening and closing, improving the convenience and safety of the user when opening and closing the door, and ensuring the vehicle use safety and user experience of the user.

[0059] Further as an optional implementation manner, the target image information on both the inner and outer sides of the target door and the door state of the target door are obtained, specifically:

[0060] When the vehicle is stationary, the target image information is obtained by setting camera devices on both the inner and outer sides of the target door, and the door state is obtained through the vehicle body controller;

[0061] Among them, the door state includes the open / closed state and the unlocked / locked state.

[0062] Specifically, a camera device for capturing the user's door opening and closing actions is provided on both the inner and outer sides of the vehicle door, and the camera device starts to work only when the vehicle is stationary (and the vehicle is started); in addition, the body controller is used to obtain the opening / closing state and unlocking / locking state of the door. It should be noted that the opening / closing state of the door refers to whether the door is in an open or closed state in physical space, and the unlocking / locking state of the door refers to whether the door can be manipulated. A door in the unlocked state can be manipulated to perform the door opening / closing action, and a door in the locked state cannot be manipulated.

[0063] Further as an optional implementation manner, it is detected whether the target occupant has an intention of opening / closing the door according to the target image information, which specifically includes:

[0064] S1011. Perform human detection on the target image information to obtain the human pose image of the target occupant;

[0065] S1012. Generate human pose time series data according to the human pose images corresponding to consecutive multiple frames of target image information;

[0066] S1013. Input the human pose time series data into a pre-trained action intention recognition model to determine whether the target occupant has an intention of touching the door handle;

[0067] S1014. When the target occupant has an intention of touching the door handle and the target door is in the closed state, it is determined that the target occupant has an intention of opening the door;

[0068] S1015. When the target occupant has an intention of touching the door handle and the target door is in the open state, it is determined that the target occupant has an intention of closing the door.

[0069] Specifically, perform human detection on the target image information to obtain human key points (such as hand and upper limb key points), extract the human pose image according to the human key points, and then obtain the corresponding human pose time series data according to consecutive multiple frames of human pose images. Input the human pose time series data into a pre-trained action intention recognition model, and it can be determined whether the occupant has an intention of touching the door handle according to the trend of human pose changes. If so, and the door is in the closed state / open state, it can be determined that the occupant has an intention of opening the door / closing the door.

[0070] It should be noted that the action intention recognition model in the embodiments of the present invention can adopt a neural network model capable of processing sequential images, such as a CNN-LSTM hybrid neural network. The pre-prepared sample sequential images are input into the initialized CNN-LSTM hybrid neural network, and the loss value is determined based on the predicted value of the CNN-LSTM hybrid neural network and the label value of the sample sequential images. Then, the parameters of the CNN-LSTM hybrid neural network are optimized, and finally, the trained action intention recognition model is obtained.

[0071] Further as an optional implementation manner, when the target occupant has an intention to open / close the door and the target door is in an unlocked state, power-on control is performed on the electromagnet provided on the inner side edge of the target door, so that the electromagnet and the permanent magnet provided at the corresponding position on the vehicle body generate a target acting force, which specifically includes:

[0072] S1021. When the target occupant has an intention to open the door and the target door is in an unlocked state, power-on control is performed on the electromagnet according to a preset first current direction and a first current magnitude, so that the electromagnet and the permanent magnet generate a repulsive target acting force;

[0073] S1022. When the target occupant has an intention to close the door and the target door is in an unlocked state, power-on control is performed on the electromagnet according to a preset second current direction and a second current magnitude, so that the electromagnet and the permanent magnet generate an attractive target acting force.

[0074] Specifically, when the target occupant has an intention to open the door and the target door is in an unlocked state, power-on control is performed on the electromagnet according to a preset first current direction and a first current magnitude, so that the electromagnet and the permanent magnet generate a repulsive target acting force. The first current direction is the preset current direction for making the electromagnet generate a magnetic field with the same pole as the permanent magnet, and the first current magnitude is the current magnitude obtained by calibrating through multiple experiments in advance and capable of providing the best door opening experience for the user; when the target occupant has an intention to close the door and the target door is in an unlocked state, power-on control is performed on the electromagnet according to a preset second current direction and a second current magnitude, so that the electromagnet and the permanent magnet generate an attractive target acting force. The second current direction is the preset current direction for making the electromagnet generate a magnetic field with the opposite pole to the permanent magnet, and the second current magnitude is the current magnitude obtained by calibrating through multiple experiments in advance and capable of providing the best door closing experience for the user.

[0075] Further as an optional implementation manner, the vehicle door opening / closing assist control method further includes the following steps:

[0076] When no opening / closing action acting on the target door is detected within a preset time after the target acting force is generated, power-off control is performed on the electromagnet.

[0077] Specifically, after the target acting force is generated, if no opening / closing action on the target vehicle door is detected within a preset time (such as 2 s), the electromagnet is powered off until the next opening / closing intention is detected and the vehicle door is still in the unlocked state, and then the target acting force is generated again.

[0078] In addition, after the vehicle door is opened / closed, the electromagnet is also powered off.

[0079] Further as an optional implementation manner, obtain the opening / closing speed of the target vehicle door, and adjust the current of the electromagnet according to the opening / closing speed, so that the magnitude and / or direction of the target acting force changes, thereby adjusting the opening / closing speed of the target vehicle door, which specifically includes:

[0080] S1031. Obtain the opening / closing speed through a speed sensor provided on the target vehicle door;

[0081] S1032. When the opening speed of the target vehicle door is greater than a preset first threshold and less than or equal to a preset second threshold, reduce the repulsive current of the electromagnet, so that the repulsive target acting force is reduced;

[0082] S1033. When the opening speed of the target vehicle door is greater than the second threshold, change the current direction of the electromagnet, so that the target acting force changes from repulsive to attractive;

[0083] S1034. When the closing speed of the target vehicle door is greater than a preset third threshold and less than or equal to a preset fourth threshold, reduce the attractive current of the electromagnet, so that the attractive target acting force is reduced;

[0084] S1035. When the closing speed of the target vehicle door is greater than the fourth threshold, change the current direction of the electromagnet, so that the target acting force changes from attractive to repulsive.

[0085] Specifically, the opening / closing speed is obtained by a speed sensor provided on the target vehicle door. The opening / closing speed can be a linear speed or an angular speed, and different types of speed data can be adopted based on different types of vehicle doors. The first threshold and the second threshold are calibrated in advance through experiments. When the opening speed is less than or equal to the first threshold, it indicates that the opening speed of the vehicle door is relatively safe. When the opening speed is greater than the first threshold and less than or equal to the second threshold, it indicates that the opening speed of the vehicle door is relatively fast, and the repulsive current of the electromagnet needs to be reduced, so that the repulsive target force is reduced, thereby slightly reducing the opening speed of the vehicle door. When the opening speed is greater than the second threshold, it indicates that the opening speed of the vehicle door is too fast, and the current direction of the electromagnet needs to be changed, so that the repulsive target force becomes attractive, thereby greatly reducing the opening speed of the vehicle door. The third threshold and the fourth threshold are calibrated in advance through experiments. When the closing speed is less than or equal to the third threshold, it indicates that the closing speed of the vehicle door is relatively safe. When the closing speed is greater than the third threshold and less than or equal to the fourth threshold, it indicates that the closing speed of the vehicle door is relatively fast, and the attractive current of the electromagnet needs to be reduced, so that the attractive target force is reduced, thereby slightly reducing the closing speed of the vehicle door. When the opening speed is greater than the fourth threshold, it indicates that the closing speed of the vehicle door is too fast, and the current direction of the electromagnet needs to be changed, so that the attractive target force becomes repulsive, thereby greatly reducing the closing speed of the vehicle door.

[0086] It should be noted that although the original assistance becomes "resistance" after changing the current direction of the electromagnet, this is based on the consideration of safety factors during the opening and closing of the vehicle door, and it does not deviate from the main idea of assisting the opening and closing of the vehicle door in this application.

[0087] Further as an optional implementation manner, when the opening speed is greater than the first threshold and less than or equal to the second threshold, determine the first difference between the opening speed and the first threshold and the second difference between the second threshold and the first threshold, and determine the proportion of reducing the repulsive current according to the ratio of the first difference to the second difference;

[0088] When the opening speed is greater than the second threshold, determine the third difference between the opening speed and the second threshold and the second difference between the second threshold and the first threshold, and determine the magnitude of the attractive current after changing the current direction according to the ratio of the third difference to the second difference and the magnitude of the original repulsive current;

[0089] When the closing speed is greater than the third threshold and less than or equal to the fourth threshold, determine the fourth difference between the closing speed and the third threshold and the fifth difference between the fourth threshold and the third threshold, and determine the proportion of reducing the attractive current according to the ratio of the fourth difference to the fifth difference;

[0090] When the opening speed is greater than the fourth threshold, determine the sixth difference between the closing speed and the fourth threshold and the fifth difference between the fourth threshold and the third threshold, and determine the magnitude of the repulsive current after changing the current direction according to the ratio of the sixth difference to the fifth difference and the magnitude of the original attractive current.

[0091] Specifically, assume that the first threshold is A, the second threshold is B, the door opening speed is V1, and the original repulsive current is I1 (the magnitude of the first current). If V1 is greater than A and less than or equal to B, then the proportion of reducing the repulsive current is determined according to (V1 - A) / (B - A), that is, it is reduced to [1 - (V1 - A) / (B - A)]I1. If V1 is greater than B, then the magnitude of the attractive current after changing the current direction is determined according to (V1 - B) / (B - A), that is, (V1 - B) / (B - A)I1. Assume that the third threshold is C, the fourth threshold is D, the door opening speed is V2, and the original attractive current is I2 (the magnitude of the second current). If V2 is greater than C and less than or equal to D, then the proportion of reducing the attractive current is determined according to (V2 - C) / (D - C), that is, it is reduced to [1 - (V2 - C) / (D - C)]I2. If V2 is greater than D, then the magnitude of the repulsive current after changing the current direction is determined according to (V2 - D) / (D - C), that is, (V2 - D) / (D - C)I2.

[0092] The method steps of the embodiments of the present invention are described above. It can be recognized that when the embodiments of the present invention detect that an occupant has an intention to open / close the door and the door is in an unlocked state, the electromagnet provided on the inner side of the door is energized and controlled to generate a force with the permanent magnet provided at the corresponding position on the vehicle body. This force can assist the door to open / close after the occupant performs the opening / closing action, and the opening / closing speed is obtained during the opening / closing process of the door. The magnitude and direction of the current of the electromagnet are adjusted according to the opening / closing speed, thereby avoiding potential safety hazards caused by too fast opening / closing speed of the door, realizing intelligent assistance control when the vehicle opens and closes the door, improving the convenience and safety of the user when opening and closing the door, and ensuring the vehicle use safety and experience of the user.

[0093] Referring to Figure 2 , the embodiments of the present invention provide a vehicle door opening and closing assistance control system based on machine vision, including:

[0094] An intention detection module, configured to obtain target image information on both the inner and outer sides of the target door and the door state of the target door, and detect whether the target occupant has an intention to open / close the door according to the target image information;

[0095] A boosting start module, configured to, when the target occupant has an intention to open / close the door and the target door is in an unlocked state, energize and control the electromagnet provided on the inner side of the target door, so that the electromagnet generates a target force with the permanent magnet provided at the corresponding position on the vehicle body, and the target force is used to assist the opening / closing of the target door after the target occupant performs the opening / closing action;

[0096] The boosting adjustment module is used to obtain the opening / closing speed of the target vehicle door, adjust the current of the electromagnet according to the opening / closing speed, so that the magnitude and / or direction of the target acting force changes, thereby adjusting the opening / closing speed of the target vehicle door.

[0097] The content in the above method embodiments is applicable to the system embodiments of the present invention. The functions specifically implemented in the system embodiments of the present invention are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0098] Refer to Figure 3 , embodiments of the present invention provide a vehicle door opening / closing boosting control device based on machine vision, including:

[0099] At least one processor;

[0100] At least one memory for storing at least one program;

[0101] When the above at least one program is executed by the above at least one processor, the above at least one processor implements the above vehicle door opening / closing boosting control method based on machine vision.

[0102] The content in the above method embodiments is applicable to the device embodiments of the present invention. The functions specifically implemented in the device embodiments of the present invention are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0103] Embodiments of the present invention also provide a computer-readable storage medium, in which a processor-executable program is stored. The processor-executable program is used to execute the above vehicle door opening / closing boosting control method based on machine vision when executed by a processor.

[0104] A computer-readable storage medium according to an embodiment of the present invention can execute a vehicle door opening / closing boosting control method provided by an embodiment of the method of the present invention, can execute any combination of implementation steps of the method embodiment, and has the corresponding functions and beneficial effects of the method.

[0105] Embodiments of the present invention also disclose a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes Figure 1 the method shown.

[0106] In some alternative embodiments, the functions / operations recited in the block diagrams may not occur in the order presented in the operational illustrations. For example, depending on the functions / operations involved, two blocks shown in succession may actually be executed substantially simultaneously or the blocks may sometimes be executed in reverse order. Additionally, the embodiments presented and described in the flowcharts of the present invention are provided by way of example for the purpose of providing a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of a larger operation are performed independently.

[0107] Furthermore, although the present invention has been described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the above functions and / or features may be integrated in a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It should also be understood that a detailed discussion of the actual implementation of each module is not necessary for an understanding of the present invention. Rather, given the attributes, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the modules will be understood within the ordinary skill of an engineer. Thus, those skilled in the art can implement the present invention as set forth in the claims without undue experimentation. It should also be understood that the particular concepts disclosed are illustrative only and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0108] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0109] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definable 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.

[0110] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection portion (electronic device) having one or more wirings, 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 above-mentioned program can be printed, because the above-mentioned program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing in a suitable manner if necessary, and then storing it in a computer memory.

[0111] It should be understood that various parts of the present invention 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 by 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 suitable combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0112] In the above description of this specification, the description with reference to terms such as "one embodiment / Example", "another embodiment / Example", or "certain embodiments / Examples", etc., 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 invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0113] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

[0114] The above has specifically described the preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can also make various equivalent deformations or substitutions without violating the spirit of the present invention, and these equivalent deformations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A vehicle door opening and closing assistance control method based on machine vision, characterized in that, It includes the following steps: Obtain the target image information on both the inner and outer sides of the target vehicle door and the door state of the target vehicle door, and detect whether the target occupant has an intention to open / close the door according to the target image information; When the target occupant has an intention to open / close the door and the target vehicle door is in the unlocked state, perform power-on control on the electromagnet provided on the inner side edge of the target vehicle door, so that the electromagnet and the permanent magnet provided at the corresponding position on the vehicle body generate a target acting force, and the target acting force is used to assist the opening / closing of the target vehicle door after the target occupant performs the opening / closing action; Obtain the opening / closing speed of the target vehicle door, and adjust the current of the electromagnet according to the opening / closing speed, so that the magnitude and / or direction of the target acting force changes, thereby adjusting the opening / closing speed of the target vehicle door.

2. The method for controlling the power-assisted opening and closing of a vehicle door based on machine vision according to claim 1, wherein The obtaining of the target image information on both the inner and outer sides of the target vehicle door and the door state of the target vehicle door is specifically: When the vehicle is stationary, obtain the target image information through the camera devices provided on both the inner and outer sides of the target vehicle door, and obtain the door state through the body controller; Wherein, the door state includes an open / closed state and an unlocked / locked state.

3. The method for controlling the power assistance of a vehicle door opening and closing based on machine vision according to claim 2, wherein The detecting whether the target occupant has an intention to open / close the door according to the target image information specifically includes: Perform human detection on the target image information to obtain the human posture image of the target occupant; Generate human posture time-series data according to the human posture images corresponding to consecutive multiple frames of the target image information; Input the human posture time-series data into a pre-trained action intention recognition model to determine whether the target occupant has an intention to touch the door handle; When the target occupant has an intention to touch the door handle and the target vehicle door is in the closed state, determine that the target occupant has an intention to open the door; When the target occupant has an intention to touch the door handle and the target vehicle door is in the open state, determine that the target occupant has an intention to close the door.

4. The vehicle door opening and closing assistance control method based on machine vision according to claim 1, wherein, The performing power-on control on the electromagnet provided on the inner side edge of the target vehicle door when the target occupant has an intention to open / close the door and the target vehicle door is in the unlocked state, so that the electromagnet and the permanent magnet provided at the corresponding position on the vehicle body generate a target acting force specifically includes: When the target occupant has an intention to open the door and the target vehicle door is in the unlocked state, perform power-on control on the electromagnet according to a preset first current direction and first current magnitude, so that the electromagnet and the permanent magnet generate the repulsive target acting force; When the target occupant has an intention to close the door and the target vehicle door is in the unlocked state, perform power-on control on the electromagnet according to a preset second current direction and second current magnitude, so that the electromagnet and the permanent magnet generate the attractive target acting force.

5. A vehicle door opening / closing assistance control method based on machine vision according to claim 1, characterized in that The vehicle door opening / closing assistance control method further includes the following steps: When no opening / closing action acting on the target vehicle door is detected within a preset time after the target acting force is generated, perform power-off control on the electromagnet.

6. A vehicle door opening and closing assistance control method based on machine vision according to any one of claims 1 to 5, characterized in that, Obtaining the opening / closing speed of the target door, adjusting the current of the electromagnet according to the opening / closing speed, so that the magnitude and / or direction of the target force changes, thereby adjusting the opening / closing speed of the target door, which specifically includes: Obtaining the opening / closing speed through a speed sensor provided on the target door; When the opening speed of the target door is greater than a preset first threshold and less than or equal to a preset second threshold, reducing the repulsive current of the electromagnet so that the repulsive target force decreases; When the opening speed of the target door is greater than the second threshold, changing the current direction of the electromagnet so that the target force changes from repulsion to attraction; When the closing speed of the target door is greater than a preset third threshold and less than or equal to a preset fourth threshold, reducing the attracting current of the electromagnet so that the attracting target force decreases; When the closing speed of the target door is greater than the fourth threshold, changing the current direction of the electromagnet so that the target force changes from attraction to repulsion.

7. The method for controlling the assistance of opening and closing a vehicle door based on machine vision according to claim 6, wherein: When the opening speed is greater than the first threshold and less than or equal to the second threshold, determining a first difference between the opening speed and the first threshold and a second difference between the second threshold and the first threshold, and determining the proportion of reducing the repulsive current according to the ratio of the first difference to the second difference; When the opening speed is greater than the second threshold, determining a third difference between the opening speed and the second threshold and a second difference between the second threshold and the first threshold, and determining the magnitude of the attracting current after changing the current direction according to the ratio of the third difference to the second difference and the magnitude of the original repulsive current; When the closing speed is greater than the third threshold and less than or equal to the fourth threshold, determining a fourth difference between the closing speed and the third threshold and a fifth difference between the fourth threshold and the third threshold, and determining the proportion of reducing the attracting current according to the ratio of the fourth difference to the fifth difference; When the opening speed is greater than the fourth threshold, determining a sixth difference between the closing speed and the fourth threshold and a fifth difference between the fourth threshold and the third threshold, and determining the magnitude of the repulsive current after changing the current direction according to the ratio of the sixth difference to the fifth difference and the magnitude of the original attracting current.

8. A vehicle door opening and closing assistance control system based on machine vision, characterized in that, Including: An intention detection module for obtaining target image information on both the inner and outer sides of the target door and the door state of the target door, and detecting whether the target occupant has an intention to open / close the door according to the target image information; An assistance start module for, when the target occupant has an intention to open / close the door and the target door is in an unlocked state, controlling the energization of an electromagnet provided on the inner side edge of the target door, so that the electromagnet generates a target force with a permanent magnet provided at a corresponding position on the vehicle body, and the target force is used to assist the opening / closing of the target door after the target occupant performs the opening / closing action; The assisting adjustment module is configured to obtain the opening / closing speed of the target vehicle door, adjust the current of the electromagnet according to the opening / closing speed, so that the magnitude and / or direction of the target acting force changes, thereby adjusting the opening / closing speed of the target vehicle door.

9. A vehicle door opening and closing assistance control device based on machine vision, characterized in that, It includes: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements a machine vision-based vehicle door opening / closing assisting control method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that, The program executable by the processor is used to execute a machine vision-based vehicle door opening / closing assisting control method according to any one of claims 1 to 7 when executed by the processor.

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