Vehicle door control method, device and equipment and computer readable storage medium
By visually identifying obstacles and combining the operating status information of the electric door, the collision risk is judged and the door stop is controlled, which solves the problem of insufficient hardware cost and detection range of the electric door anti-collision system, and achieves comprehensive coverage and cost control.
Patent Information
- Application Number
- CN202510512970.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-23
- Publication Date
- 2025-08-08
AI Technical Summary
In the prior art, electric door anti-collision system relies on radar sensors, and there is a problem that insufficient detection range leads to the inability to fully cover the door area, increasing hardware costs.
By visually identifying obstacles and combining the operating status information of the electric door, the collision risk between the obstacles and the doors is judged, the doors stop moving, and the collision is avoided.
It realizes obstacle detection that fully covers the door area without additional hardware installation, controls vehicle production costs, and improves the rationality and safety of door control methods.
Smart Images
Figure CN120443930A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of electrical control technology, and in particular to a vehicle door control method, device, equipment, and computer-readable storage medium. Background Art
[0002] With the improvement of vehicle electrification, users and the market have put forward higher requirements for the intelligence of vehicle use. It must reflect the sense of technology while also meeting the requirements of comfort and humanity. Therefore, electric swing doors have gradually become a market trend.
[0003] Currently, in order to prevent electric swing doors from being knocked or hit during their swing, the industry usually requires obstacle detection based on radar sensors, and initiates an anti-collision warning when an obstacle within the radar detection range is too close to the door.
[0004] However, this method relies on the detection accuracy and detection range of the radar. The existing radar detection range on the vehicle often cannot cover the entire door, and the addition of a new radar increases the hardware cost and design cost of the entire vehicle, making it impossible for the electric door anti-collision system to take into account both comprehensiveness and cost control. Summary of the Invention
[0005] In order to solve the above technical problems, the present disclosure provides a vehicle door control method, device, equipment and computer-readable storage medium to ensure the comprehensiveness of obstacle detection while controlling vehicle production costs.
[0006] In a first aspect, an embodiment of the present disclosure provides a vehicle door control method, comprising:
[0007] Get the operating status information of the electric door;
[0008] Performing visual recognition on obstacles in the environment where the electric door is located to obtain an obstacle recognition result;
[0009] determining, based on the obstacle recognition result and the operating status information, whether there is a collision risk between the obstacle and the electric door;
[0010] If there is a risk of collision between the obstacle and the electric door, the electric door is controlled to stop moving.
[0011] In some embodiments, the operating status information includes an operating speed, and obtaining the operating status information of the electric door includes:
[0012] Collect multiple frames of door motion images;
[0013] The operating speed of the electric door is determined according to the difference information between the multiple frames of door motion images and the operating parameters of the electric door.
[0014] In some embodiments, determining the operating speed of the electric door based on the difference information between the multiple frames of door motion images and the operating parameters of the electric door includes:
[0015] determining a first reference speed of the electric door according to difference information between the plurality of frames of door motion images;
[0016] determining a second reference speed of the electric door according to the operating parameters of the electric door;
[0017] The operating speed of the electric door is determined according to the first reference speed and the second reference speed.
[0018] In some embodiments, determining the first reference speed of the electric door based on the difference information between the multiple frames of door motion images includes:
[0019] determining a plurality of feature points on the electric door;
[0020] Acquire feature point displacement data of the plurality of feature points in the plurality of frames of vehicle door motion images;
[0021] The first reference speed is determined according to the feature point displacement data.
[0022] In some embodiments, the obstacle identification result includes the obstacle location and obstacle type;
[0023] The determining, based on the obstacle recognition result and the operating status information, whether there is a collision risk between the obstacle and the electric door includes:
[0024] Determining, based on the type of the obstacle, whether the obstacle will cause damage to the electric door;
[0025] If the obstacle may cause damage to the electric door, determining whether there is a collision risk between the obstacle and the electric door based on the obstacle position and the operating status information; or,
[0026] If the obstacle will not cause damage to the electric door, it is determined that there is no collision risk between the obstacle and the electric door.
[0027] In some embodiments, if the obstacle may cause damage to the electric door, determining whether there is a collision risk between the obstacle and the electric door according to the obstacle position and the operating status information includes:
[0028] generating a plurality of obstacle prediction trajectories according to the obstacle position and the operating status information;
[0029] Among the multiple obstacle prediction trajectories, if the proportion of the number of trajectories that causes the distance between the obstacle and the electric door to be less than the first preset distance to the total number of trajectories is greater than a preset proportion, it is determined that there is a collision risk between the obstacle and the electric door.
[0030] In some embodiments, determining whether there is a collision risk between the obstacle and the electric door based on the obstacle recognition result and the operating status information includes:
[0031] monitoring the distance between the obstacle and the electric door according to the obstacle recognition result and the operating status information;
[0032] When the distance between the obstacle and the electric door is reduced to a first preset distance, it is determined that there is a collision risk between the obstacle and the electric door.
[0033] In a second aspect, an embodiment of the present disclosure provides a vehicle door control device, comprising:
[0034] An acquisition module is used to obtain the operating status information of the electric door;
[0035] an identification module, configured to visually identify obstacles in the environment where the electric door is located and obtain an obstacle identification result;
[0036] a determination module, configured to determine whether there is a collision risk between the obstacle and the electric door based on the obstacle recognition result and the operating status information;
[0037] A control module is used to control the electric door to stop moving if there is a risk of collision between the obstacle and the electric door.
[0038] In a third aspect, an embodiment of the present disclosure provides an electronic device, including:
[0039] Memory;
[0040] processor; and
[0041] computer programs;
[0042] The computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in the first aspect.
[0043] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the method described in the first aspect.
[0044] In a fifth aspect, an embodiment of the present disclosure further provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the vehicle door control method as described above is implemented.
[0045] The vehicle door control method, device, equipment and computer-readable storage medium provided by the embodiments of the present disclosure can ensure that the obstacle detection range covers the entire vehicle door area without the need for additional hardware installation, by visually identifying obstacles and comprehensively judging the collision risk between the obstacle and the electric door in combination with the operating status information of the electric door, thereby ensuring the comprehensiveness of obstacle detection, controlling vehicle production costs and improving the rationality of the vehicle door control method. BRIEF DESCRIPTION OF THE DRAWINGS
[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.
[0047] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0048] Figure 1 A flow chart of a vehicle door control method provided in an embodiment of the present disclosure;
[0049] Figure 2 A schematic diagram of the movement of an electric door provided in an embodiment of the present disclosure;
[0050] Figure 3 A schematic structural diagram of a vehicle door control device provided in an embodiment of the present disclosure;
[0051] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION
[0052] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.
[0053] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.
[0054] An embodiment of the present disclosure provides a vehicle door control method, which is described below in conjunction with specific embodiments.
[0055] Figure 1 This is a flow chart of the vehicle door control method provided by an embodiment of the present disclosure. This method can be applied to an in-vehicle terminal, such as a vehicle computer. It is understood that the vehicle door control method provided by an embodiment of the present disclosure can also be applied in other scenarios.
[0056] Below Figure 1 The door control method shown in FIG. 1 is introduced, and the specific steps of the method are as follows:
[0057] S101: Acquire operating status information of an electric door.
[0058] The vehicle-mounted terminal obtains the operating parameters of the electric door in real time to determine the current movement speed and position of the electric door.
[0059] Optionally, based on the current movement speed and position of the electric door, the position that the electric door will pass in the future is estimated.
[0060] In some embodiments, in response to the vehicle being parked, operating status information of the electric door is obtained.
[0061] In other embodiments, the operating status information of the electric door is obtained during the movement of the electric door.
[0062] The electric door movement process is the electric door swinging movement process. Optionally, the electric door movement process also includes the electric door retracting movement process.
[0063] The operating status information of the electric door includes the movement speed of the electric door and the real-time position of the electric door.
[0064] Optionally, based on the current movement speed and position of the electric door, the position that the electric door will pass in the future is estimated.
[0065] S102: Visually identify obstacles in the environment where the electric door is located to obtain an obstacle recognition result.
[0066] The camera carried on the vehicle is used to visually identify various obstacles in the environment where the electric door is located to obtain obstacle recognition results for each obstacle.
[0067] Optionally, side-view cameras on the side of the electric door can be used to visually identify obstacles in the electric door's environment. Side-view cameras are typically mounted below and / or outside the rearview mirror, or on the fender. They capture images from the side of the vehicle, covering the entire door.
[0068] The camera captures images from the side of the vehicle, identifies obstacles contained therein, and obtains obstacle recognition results for each obstacle. The obstacle recognition results include but are not limited to the location of the obstacle, the movement state of the obstacle, and the type of obstacle.
[0069] It is understandable that during the movement of the electric door, the image acquisition area of the camera changes as the position of the electric door changes. During this process, if a new obstacle is identified, the obstacle recognition result of the new obstacle is also obtained.
[0070] One possible implementation involves a primary side-view camera embedded in the outer housing of each rearview mirror. It covers a 120° horizontal field of view and an 80° vertical field of view, using a CMOS sensor and supporting infrared night vision. Alternatively, fisheye cameras on either side of the front fenders, with a 190° field of view, can cover the near-field blind spot along the door opening path. All camera housings meet IP67 protection rating, and the lens surface features a hydrophobic coating and an electrically heated defogger to ensure image clarity in rainy and snowy conditions.
[0071] S103: Determine whether there is a collision risk between the obstacle and the electric door according to the obstacle recognition result and the operating status information.
[0072] Based on the obstacle recognition results and the operating status information of the electric door, it is possible to determine whether the obstacle is likely to come into contact with the electric door, and when the obstacle comes into contact with the electric door, whether the obstacle will cause damage such as scratches to the electric door.
[0073] Furthermore, based on whether the obstacle is likely to come into contact with the electric door, and whether the obstacle will cause damage such as scratches to the electric door when the obstacle comes into contact with the electric door, a comprehensive determination is made as to whether there is a collision risk between the obstacle and the electric door.
[0074] For example, if an obstacle is located on the future trajectory of the electric door and is a hard obstacle, such as a wall or tree, then a collision risk is determined to exist between the obstacle and the electric door. For another example, if an obstacle is located on the future trajectory of the electric door but is not a hard obstacle, such as a plant, then no collision risk is determined to exist between the obstacle and the electric door. Alternatively, if the obstacle is not located on the future trajectory of the electric door, then no collision risk is determined to exist between the obstacle and the electric door.
[0075] S104: If there is a collision risk between the obstacle and the electric door, control the electric door to stop moving.
[0076] Since the electric door swings outward automatically, when a collision risk is detected, the electric door is simply controlled to stop moving to prevent the electric door from automatically retracting and hitting passengers getting on or off the vehicle.
[0077] The disclosed embodiment obtains operating status information of an electric door; visually identifies obstacles in the electric door's environment to obtain an obstacle recognition result; determines whether there is a collision risk between the obstacle and the electric door based on the obstacle recognition result and the operating status information; and if there is a collision risk between the obstacle and the electric door, controls the electric door to stop moving. The disclosed embodiment visually identifies obstacles and, in combination with the electric door's operating status information, comprehensively determines the collision risk between the obstacle and the electric door. This ensures that the obstacle detection range covers the entire door area without requiring additional hardware installation, thus ensuring comprehensive obstacle detection, controlling vehicle production costs, and improving the rationality of the door control method.
[0078] In addition, since the embodiment of the present disclosure only controls the electric door to stop moving when there is a risk of collision between an obstacle and the electric door, it prevents the electric door from automatically retracting and bumping into passengers getting on and off the vehicle, thereby ensuring the safety of the electric door control method.
[0079] Based on the above embodiment, the operating status information includes the operating speed, and obtaining the operating status information of the electric door includes: collecting multiple frames of door motion images; determining the operating speed of the electric door based on the difference information between the multiple frames of door motion images and the operating parameters of the electric door.
[0080] The camera continuously captures images of the vehicle door's motion, focusing on the electric door, to produce multiple frames of door motion images. Based on each frame of the door motion image, the relative positional relationship between the electric door and its surrounding environment is determined. The relative positional relationship between the electric door and its surrounding environment varies between different door motion images, resulting in differences between the different frames of door motion images, i.e., the difference information between the multiple frames of door motion images. Further analysis of the difference information between the multiple frames of door motion images allows the operating speed of the electric door to be determined based on the changes in the relative positional relationship between the electric door and its surrounding environment. The door operating speed determined based on the difference information between the multiple frames of door motion images is referred to as the first reference speed.
[0081] In some embodiments, a first reference speed of the electric door is determined based on the difference information between the multiple frames of door motion images, including: determining multiple feature points on the electric door; obtaining feature point displacement data of the multiple feature points in the multiple frames of door motion images; and determining the first reference speed based on the feature point displacement data.
[0082] The feature point displacement data is obtained based on the position information of each feature point in multiple frames of vehicle door motion images (such as the coordinates of the pixels corresponding to the feature point in the image).
[0083] One possible implementation involves using the ORB (Oriented FAST and Rotated BRIEF) algorithm to extract a preset number (e.g., 256) of feature points from the door surface, ensuring that these feature points cover structural features such as the door handle and door outline. Optical flow is then used to track the displacement of each feature point across multiple frames of door motion images. A displacement matrix of feature points between adjacent frames is then constructed. This displacement matrix is then converted to the real world using pre-calibrated camera parameters (focal length and pixel size). Furthermore, a first reference velocity of the door is determined based on the time interval between the multiple frames of door motion image acquisition.
[0084] On this basis, the first reference speed is corrected and compensated according to the operating parameters of the electric door to obtain a more accurate door operating speed.
[0085] Optionally, determining the operating speed of the electric door based on the difference information between the multiple frames of door motion images and the operating parameters of the electric door includes: determining a first reference speed of the electric door based on the difference information between the multiple frames of door motion images; determining a second reference speed of the electric door based on the operating parameters of the electric door; and determining the operating speed of the electric door based on the first reference speed and the second reference speed.
[0086] The operating parameters of the electric door include at least one of the following: motor voltage, motor current, moving distance, vector angle, expected operating trajectory, and ambient temperature of the electric door.
[0087] Electric doors are driven by motors. The voltage and current of the motors affect their speed and torque, which in turn affect the operating speed of the electric doors.
[0088] Figure 2 The schematic diagram of the electric door movement provided by the embodiment of the present disclosure is as follows Figure 2 As shown, the expected running trajectory 21 of the electric door's outward swing is an arc, and the moving distance is the arc length of the running trajectory of the electric door from the starting state; the vector angle is the angle at which the electric door opens. Combined with the appearance parameters of the electric door, the moving distance of the electric door can be decomposed into displacements in various directions, such as displacement parallel to the direction of the vehicle body and displacement perpendicular to the direction of the vehicle body, which is convenient for determining the position of the electric door in space and the distance between it and the obstacle.
[0089] The ambient temperature affects the performance of the motor. Under the conditions of the same motor voltage and motor current, the lower the ambient temperature, the slower the electric door runs and the lower the smoothness. In the embodiment of the present disclosure, the motor voltage and motor current of the electric door are compensated according to the ambient temperature to ensure the user experience of the electric door.
[0090] Optionally, the motor voltage and current of the electric door are adjusted based on the ambient temperature to ensure stable operation. Specifically, the motor's pulse width modulation (PWM) duty cycle is adjusted based on the ambient temperature. The lower the ambient temperature, the higher the PWM duty cycle; the higher the ambient temperature, the lower the PWM duty cycle.
[0091] In some embodiments, parameters such as motor voltage and current are collected to calculate the output power or torque of the electric door motor; the torque is converted into motor speed based on the characteristic curve of the electric door motor; the motor speed is converted into the linear speed of the door through mechanical transmission parameters; the door movement distance and the motor vector angle are used for position feedback to calibrate the accuracy of the speed calculation, and ambient temperature compensation is introduced to adjust the parameters in the calculation to cope with the impact of temperature changes, and finally a second reference speed is obtained.
[0092] In some embodiments, the estimated running trajectory of the electric door is determined based on the process from the electric door being fully closed to being fully opened, and the process from the electric door being fully opened to being fully closed (e.g., Figure 2 The system also records the position and angle of the electric door when it is fully closed and fully opened. Calibrate and learn the motor voltage, motor current, travel distance, and vector angle of the electric door during the process from fully closed to fully open, and from fully open to fully closed, to obtain the corresponding relationship between different operating conditions and the operating speed of the electric door. The corresponding relationship between ambient temperature and the motor voltage and motor current is also calibrated and recorded. Combined with the corresponding relationship between different operating conditions and the operating speed of the electric door, the corresponding relationship between different operating conditions and the operating speed of the electric door at different ambient temperatures is obtained. This allows the electric door to obtain a second reference speed by looking up a table after obtaining the operating parameters of the electric door.
[0093] Optionally, artificial intelligence model training is performed based on the correspondence between different operating conditions and the operating speed of the electric door obtained during the calibration process. The operating parameters of the electric door under different operating conditions are used as input to the second reference speed calculation model, and the corresponding operating speed of the electric door is used as the output of the second reference speed calculation model. The second reference speed calculation model is trained to obtain a trained second reference speed calculation model. During actual use, the operating parameters of the electric door obtained in real time are input into the second reference speed calculation model to obtain the second reference speed output by the second reference speed calculation model.
[0094] After obtaining the first reference speed and the second reference speed, the running speed of the electric door is further calculated. Optionally, a weighted average of the first reference speed and the second reference speed is calculated based on a preset weight of the first reference speed and the second reference speed to obtain the running speed of the electric door.
[0095] The disclosed embodiment obtains a first reference speed of the electric door by comparing the difference information between multiple frames of door motion images, obtains a second reference speed based on the operating parameters of the electric door, and further determines the operating speed of the electric door by combining the first reference speed and the second reference speed. This is equivalent to correcting and compensating the operating speed of the electric door from both visual and physical parameter perspectives, thereby improving the accuracy of determining the operating speed of the electric door and thereby improving the accuracy of the door control method.
[0096] In addition, the embodiment of the present disclosure calibrates various operating parameters of the electric door and compensates for the operating parameters at different ambient temperatures, thereby alleviating the degradation of the operating smoothness of the electric door caused by temperature and improving the user experience.
[0097] In some embodiments, the obstacle recognition result includes the obstacle position and the obstacle type; determining whether there is a collision risk between the obstacle and the electric door based on the obstacle recognition result and the operating status information includes: determining whether the obstacle will cause damage to the electric door based on the obstacle type; if the obstacle will cause damage to the electric door, determining whether there is a collision risk between the obstacle and the electric door based on the obstacle position and the operating status information; or, if the obstacle will not cause damage to the electric door, determining that there is no collision risk between the obstacle and the electric door.
[0098] Optionally, a hard obstacle is defined as an obstacle that will damage the electric door after contacting it, and a non-hard obstacle is defined as an obstacle that will not damage the electric door after contacting it.
[0099] The obstacle recognition model is pre-trained using a large number of sample obstacle images as training data, enabling it to identify different types of obstacles. It also specifies whether different obstacle types are considered hard obstacles. Specifically, several obstacle types, such as grass, can be designated as non-hard obstacles. All obstacle types not identified as non-hard obstacles are designated as hard obstacles.
[0100] For non-hard obstacles that will not cause damage to the electric door after contact with it, even if the obstacle is located within the operating range of the electric door at a future moment, the electric door can safely pass through the location of the obstacle, so the obstacle will not pose a collision risk to the electric door.
[0101] For hard obstacles that may cause damage to the electric door upon contact, it is necessary to continuously detect the relative position of the obstacle and the electric door. If the obstacle is within the operating range of the electric door at a future moment, it is determined that the obstacle will pose a collision risk to the electric door.
[0102] The disclosed embodiment identifies the types of obstacles and eliminates risks for non-hard obstacles that will not cause damage to the electric door after contact with it, while focusing on hard obstacles that will cause damage to the electric door after contact with it. This avoids collisions with the electric door and increases the possibility of the electric door completing the intended action.
[0103] In some embodiments, determining whether there is a collision risk between the obstacle and the electric door based on the obstacle recognition result and the operating status information includes: monitoring the distance between the obstacle and the electric door based on the obstacle recognition result and the operating status information; when the distance between the obstacle and the electric door is reduced to a first preset distance, determining that there is a collision risk between the obstacle and the electric door.
[0104] Preferably, after determining the type of obstacle, if the obstacle is a hard obstacle that will cause damage to the electric door after contact with the electric door, the distance between the obstacle and the electric door is monitored based on the obstacle identification result and the operating status information.
[0105] Wherein, the first preset distance is the distance between the outermost side of the electric door side rearview mirror and the electric door. Figure 2 As shown, the distance between the outermost side of the electric door side rearview mirror and the electric door is S1, and the first preset distance is S1.
[0106] Alternatively, the first preset distance is the distance between the outer edge of the camera outside the electric door side rearview mirror and the electric door.
[0107] During the outward swing of the electric door, when the distance between the obstacle and the electric door is reduced to a first preset distance, it indicates that the obstacle is too close to the electric door and the probability of a collision is high. At this time, it is determined that there is a collision risk between the obstacle and the electric door.
[0108] Optionally, the outermost side of the electric door side rearview mirror is projected onto the ground to obtain a vertical plane that is a first preset distance from the electric door. When an obstacle intrudes into the space formed by the vertical plane and the outer side of the electric door, it is determined that there is a collision risk between the obstacle and the electric door.
[0109] In some embodiments, if the obstacle is determined to be a hard obstacle that could damage the electric door upon contact, the obstacle's position and motion information are continuously monitored to determine the obstacle's direction, speed, and / or acceleration. The probability that the obstacle will be less than or equal to a first predetermined distance from the electric door in the future is calculated. If the probability is greater than a predetermined probability threshold, a collision risk is determined between the obstacle and the electric door.
[0110] Specifically, the obstacle position data of several consecutive frames is used to calculate the obstacle's displacement, and then the speed and direction are obtained. If the sensor supports it, the speed information can also be directly obtained.
[0111] Optionally, if the obstacle may cause damage to the electric door, determining whether there is a collision risk between the obstacle and the electric door based on the obstacle position and the operating status information, including: generating multiple obstacle prediction trajectories based on the obstacle position and the operating status information; among the multiple obstacle prediction trajectories, if the proportion of the number of trajectories that cause the distance between the obstacle and the electric door to be less than a first preset distance to the total number of trajectories is greater than a preset proportion, determining that there is a collision risk between the obstacle and the electric door.
[0112] Based on the direction, speed, and / or acceleration of the obstacle, multiple possible obstacle trajectories are generated to obtain multiple predicted obstacle trajectories. The proportion of trajectories that result in the distance between the obstacle and the electric door being less than a first preset distance to the total number of trajectories is counted to obtain the probability that the distance between the obstacle and the electric door in the future will be less than or equal to the first preset distance.
[0113] Among the multiple predicted obstacle trajectories, if the proportion of the number of trajectories that result in the distance between the obstacle and the electric door being less than a first preset distance to the total number of trajectories is greater than a preset proportion, then a collision risk between the obstacle and the electric door is determined to exist. Alternatively, if the proportion of the number of trajectories that result in the distance between the obstacle and the electric door being less than the first preset distance to the total number of trajectories is less than or equal to a preset proportion, then a collision risk between the obstacle and the electric door is determined to not exist.
[0114] Optionally, based on the running direction, running speed and / or acceleration of the obstacle, a plurality of possible obstacle trajectories are generated through Monte Carlo simulation.
[0115] In some embodiments, the operating range of the electric door is limited according to the current parking environment of the vehicle.
[0116] For example, when the vehicle is located in a narrow alley and detects that the side clearance of the vehicle body is less than a preset distance, the maximum opening angle of the door is automatically limited.
[0117] Alternatively, when a bus stop sign is recognized by the forward-looking camera, a dedicated warning light is activated and the time the door can be opened is limited.
[0118] Alternatively, when temporarily stopping at the roadside, if it is detected that the speed of the vehicle coming from behind in the adjacent lane is greater than a preset speed threshold, the door opening command will be delayed until the vehicle coming from behind in the adjacent lane passes.
[0119] Alternatively, when parking in a parking lot, if it is detected that the vehicle is not completely parked within the parking space lines, the door opening command will be delayed, and the user will be prompted to confirm whether to open the door and / or a parking prompt; when the user confirms to open the door for the second time, the door opening command will be executed.
[0120] Furthermore, corresponding prompt information and / or warning information is generated according to the determination of the collision risk between the obstacle and the electric door to prompt the user to pay attention.
[0121] Optionally, when there is no collision risk between the obstacle and the electric door, a prompt message is generated, for example, the real scene of the obstacle and the electric door is displayed in image form on the screen of the vehicle-mounted device; when the distance between the obstacle and the electric door is reduced to a first preset distance, a first warning message is generated to remind the user that there is a collision risk between the obstacle and the electric door; when the distance between the obstacle and the electric door is reduced to a second preset distance, a second warning message is generated to remind the user that there is a collision risk between the obstacle and the electric door at a future moment, wherein the second preset distance is greater than the first preset distance, and the warning level of the second warning message is lower than that of the first warning message, and the first warning message and / or the second warning message include but are not limited to voice warning information and image warning information.
[0122] The disclosed embodiment uses the distance between the outermost side of the rearview mirror and the electric door as a safety distance, thereby preventing the rearview mirror from being scratched while the electric door is in motion, thereby further improving the safety of the door control method.
[0123] Figure 3This is a schematic diagram of the structure of the vehicle door control device provided in the embodiment of the present disclosure. The vehicle door control device can be the vehicle-mounted device described in the above embodiment, or the vehicle door control device can be a component or assembly in the vehicle-mounted device. The vehicle door control device provided in the embodiment of the present disclosure can execute the processing flow provided in the embodiment of the vehicle door control method, such as Figure 3 As shown, the door control device 30 includes: an acquisition module 31, an identification module 32, a determination module 33, and a control module 34; the acquisition module 31 is used to obtain the operating status information of the electric door; the identification module 32 is used to visually identify obstacles in the environment where the electric door is located to obtain an obstacle identification result; the determination module 33 is used to determine whether there is a collision risk between the obstacle and the electric door based on the obstacle identification result and the operating status information; the control module 34 is used to control the electric door to stop moving if there is a collision risk between the obstacle and the electric door.
[0124] Optionally, the operating status information includes an operating speed, and the acquisition module 31 includes an acquisition unit 311 and a first determination unit 312; the acquisition unit 311 is used to acquire multiple frames of door motion images; the first determination unit 312 is used to determine the operating speed of the electric door based on the difference information between the multiple frames of door motion images and the operating parameters of the electric door.
[0125] Optionally, the first determination unit 312 is used to determine a first reference speed of the electric door based on the difference information between the multiple frames of door motion images; determine a second reference speed of the electric door based on the operating parameters of the electric door; and determine the operating speed of the electric door based on the first reference speed and the second reference speed.
[0126] Optionally, the first determination unit 312 is configured to determine a plurality of feature points on the electric door; obtain feature point displacement data of the plurality of feature points in the plurality of frames of door motion images; and determine the first reference speed based on the feature point displacement data.
[0127] Optionally, the obstacle identification result includes the obstacle position and the obstacle type; the determination module 33 includes a second determination unit 331 and a third determination unit 332; the second determination unit 331 is used to determine whether the obstacle will cause damage to the electric door based on the obstacle type; the third determination unit 332 is used to determine whether there is a collision risk between the obstacle and the electric door based on the obstacle position and the operating status information if the obstacle will cause damage to the electric door; or, if the obstacle will not cause damage to the electric door, determine that there is no collision risk between the obstacle and the electric door.
[0128] Optionally, the third determination unit 332 is used to generate multiple obstacle prediction trajectories based on the obstacle position and the operating status information; among the multiple obstacle prediction trajectories, if the proportion of the number of trajectories that cause the distance between the obstacle and the electric door to be less than a first preset distance to the total number of trajectories is greater than a preset proportion, it is determined that there is a collision risk between the obstacle and the electric door.
[0129] Optionally, the determination module 33 also includes a monitoring unit 333, which is used to monitor the distance between the obstacle and the electric door based on the obstacle identification result and the operating status information; the third determination unit 332 is also used to determine that there is a collision risk between the obstacle and the electric door when the distance between the obstacle and the electric door is reduced to a first preset distance.
[0130] Figure 3 The door control device of the illustrated embodiment can be used to implement the technical solution of the above-mentioned method embodiment. Its implementation principle and technical effects are similar and will not be repeated here.
[0131] Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present disclosure. The electronic device may be the vehicle-mounted device described in the above embodiment. The electronic device provided in the embodiment of the present disclosure may execute the processing flow provided in the embodiment of the vehicle door control method, such as Figure 4 As shown, the electronic device 40 includes: a memory 41 , a processor 42 , a computer program and a communication interface 43 ; wherein the computer program is stored in the memory 41 and is configured so that the processor 42 executes the vehicle door control method as described above.
[0132] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. The computer program is executed by a processor to implement the vehicle door control method described in the above embodiment.
[0133] In addition, an embodiment of the present disclosure further provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the vehicle door control method as described above is implemented.
[0134] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.
[0135] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.
[0136] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.
[0137] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.
[0138] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.
Claims
1. A vehicle door control method, characterized in that: The method comprises: Get the operating status information of the electric door; Performing visual recognition on obstacles in the environment where the electric door is located to obtain an obstacle recognition result; determining, based on the obstacle recognition result and the operating status information, whether there is a collision risk between the obstacle and the electric door; If there is a risk of collision between the obstacle and the electric door, the electric door is controlled to stop moving.
2. The method according to claim 1, characterized in that The operating status information includes an operating speed, and obtaining the operating status information of the electric door includes: Collect multiple frames of door motion images; The operating speed of the electric door is determined according to the difference information between the multiple frames of door motion images and the operating parameters of the electric door.
3. The method according to claim 2, characterized in that The determining the operating speed of the electric door according to the difference information between the multiple frames of door motion images and the operating parameters of the electric door includes: determining a first reference speed of the electric door according to difference information between the plurality of frames of door motion images; determining a second reference speed of the electric door according to the operating parameters of the electric door; The operating speed of the electric door is determined according to the first reference speed and the second reference speed.
4. The method according to claim 3, characterized in that The determining of a first reference speed of the electric door according to difference information between the plurality of frames of door motion images includes: determining a plurality of feature points on the electric door; Acquire feature point displacement data of the plurality of feature points in the plurality of frames of vehicle door motion images; The first reference speed is determined according to the feature point displacement data.
5. The method according to claim 1, wherein The obstacle recognition result includes the obstacle location and obstacle type; The determining, based on the obstacle recognition result and the operating status information, whether there is a collision risk between the obstacle and the electric door includes: Determining, based on the type of the obstacle, whether the obstacle will cause damage to the electric door; If the obstacle may cause damage to the electric door, determining whether there is a collision risk between the obstacle and the electric door based on the obstacle position and the operating status information; or, If the obstacle will not cause damage to the electric door, it is determined that there is no collision risk between the obstacle and the electric door.
6. The method according to claim 5, characterized in that If the obstacle may cause damage to the electric door, determining whether there is a collision risk between the obstacle and the electric door according to the obstacle position and the operating state information includes: generating a plurality of obstacle prediction trajectories according to the obstacle position and the operating status information; Among the multiple obstacle prediction trajectories, if the proportion of the number of trajectories that causes the distance between the obstacle and the electric door to be less than the first preset distance to the total number of trajectories is greater than a preset proportion, it is determined that there is a collision risk between the obstacle and the electric door.
7. The method according to claim 1, characterized in that The determining, based on the obstacle recognition result and the operating status information, whether there is a collision risk between the obstacle and the electric door includes: monitoring the distance between the obstacle and the electric door according to the obstacle recognition result and the operating status information; When the distance between the obstacle and the electric door is reduced to a first preset distance, it is determined that there is a collision risk between the obstacle and the electric door.
8. A door control device, characterized in that: include: An acquisition module is used to obtain the operating status information of the electric door; an identification module, configured to visually identify obstacles in the environment where the electric door is located and obtain an obstacle identification result; a determination module, configured to determine whether there is a collision risk between the obstacle and the electric door based on the obstacle recognition result and the operating status information; A control module is used to control the electric door to stop moving if there is a risk of collision between the obstacle and the electric door.
9. An electronic device, characterized in that: include: Memory; processor; as well as computer programs; The computer program is stored in the memory and configured to be executed by the processor to implement the method according to any one of claims 1 to 7.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.