Vehicle door control method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle door control method and device, electronic equipment and a storage medium. The method comprises the steps that physical features of a target object are obtained; the physical features comprise shoulder breadth and face-shoulder distance; when the target object and the vehicle door are in the first relative position relation, the first opening degree of the vehicle door is determined according to the shoulder width and the first vehicle door size parameter; the first relative position relation is the position relation when the body of the target object does not enter the vehicle body; when the target object and the vehicle door are in the second relative position relation, the second opening degree of the vehicle door is determined according to the shoulder width and the second vehicle door size parameter; the second relative position relation is the position relation that at least part of the body of the target object enters the vehicle body; and the target opening degree of the vehicle door is determined according to the first opening degree and the second opening degree, and the vehicle door is controlled to be opened at the target opening degree according to the target opening degree. The vehicle door can be opened at the target angle matched with the target object, and the target user can get on and off the vehicle conveniently.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automotive technology, and in particular to a vehicle door control method, device, electronic device, and storage medium. Background Art

[0002] With the development of the smart car industry and social economy, vehicles have gradually become a common means of transportation in people's lives. Electric doors have become standard equipment on some vehicles. Electric doors improve the intelligence of vehicles by automatically opening and closing the doors.

[0003] In the related art, by triggering the electric door switch, the electric door is opened at a fixed opening angle so that people can get on and off the vehicle.

[0004] Due to individual differences, users have different body shapes and heights. When people need to get on and off the vehicle, the fixed electric door opening angle is difficult to meet the needs of different people. The above solution can only manually set the maximum opening angle of the electric door, which is inconvenient to operate and affects the user's driving experience. Summary of the Invention

[0005] In view of the above problems, embodiments of the present invention are proposed to provide a vehicle door control method, device, electronic device, and storage medium that overcome the above problems or at least partially solve the above problems.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows: In a first aspect, an embodiment of the present application discloses a vehicle door control method, the method comprising: Acquiring physical features of the target object; the physical features include shoulder width and face-shoulder distance; When the target object and the vehicle door are in a first relative position relationship, determining a first door opening according to the shoulder width and the first door size parameter; the first relative position relationship is when the target object's body has not yet entered the vehicle body; When the target object and the vehicle door are in a second relative position relationship, determining a second door opening according to the shoulder width and a second door size parameter; the second relative position relationship is a position relationship in which at least a portion of the target object's body enters the vehicle body; A target opening degree of the vehicle door is determined according to the first opening degree and the second opening degree, and the vehicle door is controlled to open at the target opening degree according to the target opening degree.

[0007] Optionally, determining the target door opening according to the first opening and the second opening includes: selecting a larger value from the first opening degree and the second opening degree as a candidate opening degree; The sum of the candidate opening and a preset compensation opening is used as the target opening; the preset compensation opening is determined according to the vehicle model and the position of the door.

[0008] Optionally, when the target object and the vehicle door are in the first relative positional relationship, before determining the first door opening according to the shoulder width and the first door size parameter, the method further includes: During the process of the target object performing the vehicle-getting action, obtaining the key point positions of the target object's body contour, the key point positions of the vehicle door, and the key point positions of the vehicle body in the same coordinate system; Determining the relative positions of the target object, the vehicle door, and the vehicle body based on the key point positions of the body contour of the target object, the key point positions of the vehicle door, and the key point positions of the vehicle body; If the angle between the shoulder of the target object and the vehicle door side is equal to the angle between the target object and the vehicle body side according to the relative position, then determining that the target object and the vehicle door are in a first relative position relationship; If it is determined according to the relative position that one side of the shoulder of the target object enters the vehicle, and the angle between the shoulder of the target object and the vehicle body is within a preset angle range, it is determined that the target object and the vehicle door are in a second relative position relationship.

[0009] Optionally, determining the first door opening according to the shoulder width and the first door size parameter includes: calculating a first ratio between the square of the shoulder width and twice the square of the first door dimension parameter, wherein the first door dimension parameter is the distance between the door hinge side and the seat back; A result of subtracting the first ratio from one is used as an input of an arc cosine function, and an output of the arc cosine function is used as the first opening.

[0010] Optionally, if the angle between the target object's shoulder and the vehicle body is 90 degrees, determining the second door opening according to the face-to-shoulder distance and the second door size parameter includes: calculating a second ratio between the face-to-shoulder distance and a second door dimension parameter; the second door dimension parameter being the distance between the door hinge side and the middle position of the seat; The second ratio is used as an input of an inverse sine function, and an output of the inverse sine function is used as the second opening.

[0011] Optionally, obtaining the physical features of the target object includes: Acquire a target image containing the target object; The target image is input into the trained network model to identify the facial feature points and shoulder feature points corresponding to the target object, and the shoulder width and face-shoulder distance corresponding to the target object are output based on the position information corresponding to the facial feature points and shoulder feature points.

[0012] Optionally, after determining a target door opening according to the first opening and the second opening, and controlling the door to open at the target opening, the method further includes: The target opening is recorded, and when it is detected that the electric door switch for controlling the automatic opening of the vehicle door is triggered, the vehicle door is controlled to open according to the target opening.

[0013] In a second aspect, an embodiment of the present application discloses a vehicle door control device, the device comprising: An acquisition module, used to acquire the physical features of the target object; a first determining module configured to determine a first door opening according to the shoulder width and a first door dimension parameter when the target object and the door are in a first relative position relationship; the first relative position relationship being a position relationship when the target object's body has not yet entered the vehicle body; a second determining module configured to determine a second door opening according to the face-to-shoulder distance and a second door size parameter when the target object and the door are in a second relative position relationship; the second relative position relationship being a position relationship in which at least a portion of the target object's body enters the vehicle body; A control module is configured to determine a target opening of the vehicle door according to the first opening and the second opening, and control the vehicle door to open at the target opening according to the target opening.

[0014] In a third aspect, an embodiment of the present application discloses an electronic device comprising a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the method described in the first aspect are implemented.

[0015] In a fourth aspect, an embodiment of the present application discloses a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0016] In an embodiment of the present application, a target object's physical features are acquired; the physical features include shoulder width and face-shoulder distance; when the target object is in a first relative positional relationship with the vehicle door, a first door opening is determined based on the shoulder width and a first door dimension parameter; the first relative positional relationship is when the target object's body has not yet entered the vehicle body; when the target object is in a second relative positional relationship with the vehicle door, a second door opening is determined based on the shoulder width and a second door dimension parameter; the second relative positional relationship is when the target object's body is at least partially inside the vehicle body; a target door opening is determined based on the first and second openings, and the door is controlled to open at the target opening according to the target opening. The method of the present application can acquire the user's physical features when the user is getting on or off the vehicle, and determine the door opening corresponding to each boarding scenario based on the user's physical features, thereby comprehensively determining the target door opening for the target object based on the different scenarios. This allows the door to open at a target angle that matches the target object, making it easier for the target user to get on or off the vehicle without having to manually adjust the door opening, simplifying user operations, and improving the vehicle's riding experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a door control method provided by an embodiment of the present application; Figure 2 is a schematic diagram of a first relative position relationship provided in an embodiment of the present application; Figure 3 is a schematic diagram of a second relative position relationship provided in an embodiment of the present application; Figure 4 This is another vehicle door control method provided by an embodiment of the present application; Figure 5 is a block diagram of a vehicle door control device provided in an embodiment of the present application; Figure 6 is a block diagram of an electronic device provided in an embodiment of the present application; Figure 7 This is another schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The following describes exemplary embodiments of the present application in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0019] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, the term "and / or" in the specification and claims is used to describe the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0020] refer to Figure 1 , Figure 1 A vehicle door control method provided in an embodiment of the present application includes: Step 101: Acquire the physical features of the target object; the physical features include shoulder width and face-shoulder distance.

[0021] In an embodiment of the present application, data of people getting on the vehicle can be collected through on-board sensors such as cameras, millimeter-wave radars, lidars, etc., and then physical features can be extracted in combination with machine learning algorithms.

[0022] Specifically, a button can be installed on the outside of each door of the vehicle to trigger the electric door to open. The vehicle body can be equipped with a camera. When the user outside the vehicle triggers the door to open by pressing the door button, the camera can simultaneously capture the image of the user to be boarded. By recognizing the image of the user to be boarded, the physical features of the user to be boarded are determined. The physical features may include: shoulder width and face-shoulder distance. The shoulder width can be the straight-line distance between the feature points of the left and right shoulders, and the face-shoulder distance can be the horizontal distance between the feature points of the face and the feature points of the opposite shoulder. Figure 2 , shoulder width can be Figure 2 W1 in, reference Figure 3 , the face-shoulder distance can be Figure 3 W2 in.

[0023] Furthermore, the specific steps of determining physical features may include: collecting image data through the camera on the side of the car door, for example, it may be the result of collection by multiple cameras, and then identifying the image data based on the existing deep learning algorithm for image recognition to determine the shoulder width and face-shoulder distance of the person who opens the car door, that is, the distance from the left face to the right shoulder or the right face to the left shoulder: For the image data collected by the camera, grayscale and smoothing preprocessing can be performed first. Grayscale processing is to make R=G=B in the RGB image model, and convert the color image containing brightness and color into a grayscale image. The smoothing preprocessing of the image is to eliminate image noise, and then the image feature points in the image data are extracted for subsequent network model recognition. For deep learning algorithms, you can choose a relatively mature convolutional neural network model, such as AlexNet, GoogleNet, ResNet, VGG models, etc., and then use public data sets such as the COCO data set, KITTI, IMDB-23K data set, etc. to train the convolutional neural network model (CNN), and continuously optimize network parameters such as convolution kernels, number of convolution layers, number of fully connected layers and their number of neurons, etc., until the loss function is in a convergence state and the recognition accuracy is at a high level. After the model is in a stable state, the model can be deployed on the vehicle to identify the image of the target object captured by the camera, determine the shoulder width and face-shoulder distance of the target object, and then determine the target opening of the corresponding door based on the physical features to facilitate users on that side to get on and off the vehicle.

[0024] Step 102 , when the target object and the vehicle door are in a first relative position relationship, determine a first door opening according to the shoulder width and a first door size parameter; the first relative position relationship is the position relationship when the target object's body has not yet entered the vehicle body.

[0025] In the examples of this application, refer to Figure 2 , Figure 2 The schematic diagram shows a first relative position relationship between the target object and the vehicle door. The first relative position relationship is the position relationship when the target object's body has not yet entered the vehicle body. After identifying the first relative position relationship, the optimal boarding angle under the first relative position relationship can be calculated. Figure 2 In the first relative position relationship, the angle J1 between the passenger body and the door side and the angle J1 between the passenger body and the vehicle body side (J N1 +2J1=180°) equal to standing at the door. At this time, the passenger has not yet boarded the car. There is a gap between the left shoulder and the door and the right shoulder and the car body. The size of the gap can be set according to the actual situation. At this time, the first door opening can be determined based on the shoulder width and the first door dimension parameter combined with trigonometric functions. The first door dimension parameter can be the distance between the door hinge side and the seat backrest. Figure 2 , the first door size parameter can be Figure 2 In C1, at this time, the first door size parameter is used as the waist length of the approximately isosceles triangle formed by the door, the user's body and the car body.

[0026] Step 103 , when the target object and the vehicle door are in a second relative position relationship, determine a second opening of the vehicle door according to the face-to-shoulder distance and a second vehicle door size parameter; the second relative position relationship is a position relationship in which at least part of the target object's body enters the vehicle body.

[0027] In the examples of this application, refer to Figure 3 , Figure 3 A schematic diagram illustrates a second relative positional relationship between the target object and the vehicle door. For example, in this second relative positional relationship, the target object, the vehicle door, and the vehicle body can form a right triangle. In this case, the target object's face-to-shoulder distance serves as the right-angled side of the triangle, and the second door dimension parameter represents the hypotenuse. The second door dimension parameter can be represented by the distance between the door hinge and the center of the seat. The center of the seat can be the middle of the seat along the length of the vehicle. Using trigonometric functions, the second opening degree can also be calculated.

[0028] Step 104 : determining a target opening of the vehicle door according to the first opening and the second opening, and controlling the vehicle door to open at the target opening according to the target opening.

[0029] In an embodiment of the present application, after determining the first opening and the second opening based on the different boarding postures of the target user, the larger value of the two can be selected as the candidate opening. Furthermore, the determined candidate opening can be compensated to obtain the final target opening, so that the final target opening is more in line with the actual needs of the person boarding the vehicle, thereby improving the convenience and experience of getting on and off the vehicle.

[0030] This application calculates the target door opening in different boarding scenarios by integrating the target object feature data and the positional relationship between the target object and the door, thereby determining the actual door opening for the target object, improving the convenience and comfort of getting on and off the door. For users with thin bodies, the door opening can be reduced to shorten the door opening and closing time. For users with tall bodies, the door opening can be increased to improve the comfort of getting on and off the vehicle, so that the door control can be intelligently met the needs of different users.

[0031] In summary, in an embodiment of the present application, the physical features of the target object are obtained; the physical features include shoulder width and face-shoulder distance; when the target object and the vehicle door are in a first relative position relationship, the first opening of the vehicle door is determined based on the shoulder width and the first door size parameter; the first relative position relationship is the position relationship when the target object's body has not yet entered the vehicle body; when the target object and the vehicle door are in a second relative position relationship, the second opening of the vehicle door is determined based on the shoulder width and the second door size parameter; the second relative position relationship is the position relationship when the target object's body at least partially enters the vehicle body; the target opening of the vehicle door is determined based on the first opening and the second opening, and the vehicle door is controlled to open at the target opening according to the target opening. The method of the present application can obtain the user's physical characteristics when the user gets on or off the vehicle, and determine the corresponding door openings in different boarding scenarios based on the user's physical characteristics, thereby comprehensively determining the target openings of the corresponding target objects based on different scenarios, so that for the target objects, the door can be opened at a target angle that matches the target objects, making it convenient for the target users to get on or off the vehicle, and there is no need to manually adjust the door openings, which simplifies user operations and improves the vehicle riding experience.

[0032] refer to Figure 4 , Figure 4 Another vehicle door control method provided in an embodiment of the present application includes: Step 201: Acquire the physical features of the target object; the physical features include shoulder width and face-shoulder distance.

[0033] Optionally, step 201 includes: Sub-step 2011, obtaining a target image containing the target object; In sub-step 2012, the target image is input into the trained network model to identify the facial feature points and shoulder feature points corresponding to the target object, and the shoulder width and face-shoulder distance corresponding to the target object are output based on the position information corresponding to the facial feature points and shoulder feature points.

[0034] In the embodiment of the present application, for sub-steps 2011 and 2012, multi-angle cameras can be deployed on both sides of the vehicle door and on the roof to capture the target image of the target object. The multi-angle cameras can avoid the problem of single-viewpoint occlusion. When a state indicating the door opening action is detected, such as the door switch being triggered or the door opening angle changing, the camera is activated to automatically capture the target image of the target object to ensure that the capture timing is synchronized with the position of the person. After the target image is captured, the target image is first preprocessed, including: converting the RGB three-channel image into a single-channel grayscale image to eliminate color interference and reduce the complexity of subsequent calculations. The image is smoothed using a filter function such as a Gaussian filter or a median filter to reduce noise and obtain a preprocessed target image.

[0035] The target image is input into a trained network model to identify the shoulder width and face-shoulder distance corresponding to the target object. The network model can be a convolutional neural network model, such as AlexNet, GoogleNet, ResNet, VGG model, etc., and the network model is trained using sample images containing facial feature points and shoulder feature points. The training dataset can be a publicly available dataset online, such as the COCO dataset, KITTI, IMDB-23K dataset, etc., or a custom dataset, which can be sample images matching the vehicle model. The network parameters, such as the convolution kernel, the number of convolution layers, the number of fully connected layers and their number of neurons, are continuously optimized during the training process until the loss function converges and the recognition accuracy is at a high level, thereby obtaining a trained network model.

[0036] After the trained network model is fed into the target image, it identifies the target subject's facial and shoulder landmarks. Facial landmarks can include key locations such as the left and right cheekbones and the left and right facial contours, which characterize facial geometry. Shoulder landmarks can include the left and right acromion endpoints. The shoulder width and face-to-shoulder distance are then calculated using the coordinates of the extracted facial and shoulder landmarks.

[0037] Step 202 , when the target object and the vehicle door are in a first relative position relationship, determine a first door opening according to the shoulder width and a first door size parameter; the first relative position relationship is the position relationship when the target object's body has not yet entered the vehicle body.

[0038] In the examples of this application, refer to Figure 2 , Figure 2 A schematic diagram of the first relative position relationship is shown. After identifying the first relative position relationship, the optimal boarding angle under the first relative position relationship can be calculated. Figure 2 , in the first relative position relationship, the angle between the passenger body and the door side and the body side angle J1 (J N1 +2J1=180°) equal to the vehicle's shoulder width. At this point, before any passengers board the vehicle, a gap between the left shoulder and the vehicle door and the right shoulder and the vehicle body is sufficient. The size of the gap can be set based on actual conditions and is not limited in this embodiment of the present application. In this case, the first door opening can be determined based on the shoulder width and the first door dimension parameter.

[0039] Optionally, step 202 includes: Sub-step 2021, calculating a first ratio between the square of the shoulder width and twice the square of the first door dimension parameter; the first door dimension parameter is the distance between the door hinge side and the seat back; Sub-step 2022: using the result of subtracting the first ratio from one as the input of an arc cosine function, and using the output of the arc cosine function as the first opening.

[0040] In the embodiment of the present application, the calculation of the first opening can be determined according to a first formula, which is expressed as: .

[0041] Among them, J N1 is the first opening, W1 is the shoulder width, C1 is the first door size parameter, and the first door size parameter is the distance between the door hinge side and the seat back.

[0042] The length of the door can refer to the length of the door top side. The first door size parameter is the distance between the door hinge side and the seat back. Figure 2 In the first relative position relationship, the target object, the vehicle door, and the vehicle body form an isosceles triangle. At this time, the shoulder width of the target object serves as the base of the isosceles triangle, and the first vehicle door size parameter represents the waist length of the isosceles triangle. The first vehicle door size parameter can be represented by the distance between the door hinge side and the front side of the seat back.

[0043] The first door size C1 = A × door length, take A times the door length (0 < A ≤ 1) as Figure 2 The length of the waist of the isosceles triangle in the scene, A, can be determined based on the ratio of the distance between the door hinge side and the front side of the seat back to the door length when the vehicle leaves the factory.

[0044] Step 203 , when the target object and the vehicle door are in a second relative position relationship, determine a second door opening according to the shoulder width and a second door size parameter; the second relative position relationship is a position relationship in which at least part of the target object's body enters the vehicle body.

[0045] Optionally, the angle between the target object's shoulder and the vehicle body is 90 degrees, and step 203 includes: Sub-step 2031, calculating a second ratio between the face-to-shoulder distance and the second door size parameter; the second door size parameter is the distance between the door hinge side and the middle position of the seat; Sub-step 2032: using the second ratio as input of an inverse sine function, and using the output of the inverse sine function as the second opening.

[0046] In the embodiment of the present application, in the second relative position relationship, the angle between the target object's shoulder and the vehicle body is approximately 90 degrees, and the second opening can be determined according to a second formula, which is expressed as:

[0047] Among them, J N2 is the second opening, W2 is the face-shoulder distance, C2 is the second door size parameter, and the second door size parameter is the distance between the door hinge side and the middle position of the seat.

[0048] In the embodiment of the present application, the length of the door can refer to the length of the top side of the door, and the second door size parameter is the distance between the door hinge side and the middle of the seat. Figure 3 In the second relative position relationship, the target object, the door, and the vehicle body form a right triangle. At this time, the face-shoulder distance of the target object serves as the right-angled side of the right triangle, and the second door size parameter represents the hypotenuse of the right triangle. The second door size parameter can be represented by the distance between the door hinge side and the middle of the seat. The middle of the seat can be the middle position of the seat in the length direction of the vehicle.

[0049] The second door size parameter C2 = B × door length, where B is determined based on the ratio of the position from the front end of the side door to the middle of the seat cushion inside the side door to the total door length when leaving the factory.

[0050] Step 204: Select the larger value from the first opening and the second opening as a candidate opening; Step 205 : taking the sum of the candidate opening and a preset compensation opening as the target opening; the preset compensation opening is determined according to the vehicle model and the position of the door.

[0051] In an embodiment of the present application, for steps 204 and 205, after determining the first opening and the second opening, the larger value of the two can be selected as the candidate opening. In order to make the final door opening a more comfortable opening for the user, the determined candidate opening is also compensated here, and the compensated opening is used as the target opening.

[0052] The preset compensation opening can be determined based on the vehicle model and door position. Furthermore, it can also be determined in combination with shoulder width and face-shoulder distance. The final formula for determining the compensation opening is:

[0053] Among them, J C Determined by the model, for example, a sedan is given a 2° compensation, and an SUV and larger models are given a 1° compensation; J W Depending on the front and rear door type, 1° compensation is applied to the front door and 1.5° to the rear door (this can also be calibrated based on actual conditions). W1 represents shoulder width, and W2 represents face-to-shoulder distance. The above compensation values ​​are for example purposes only and can be set based on different vehicle models. This embodiment of the application does not limit this.

[0054] The calculation formula for the target opening is obtained by the above method:

[0055] J N Indicates the target opening, J N1 Indicates the first opening, J N2 represents the second opening, and J0 represents the compensation opening.

[0056] Optionally, before step 201, the method further includes: Step 206, while the target object is performing a vehicle-getting action, obtaining key point positions of the target object's body contour, vehicle door key point positions, and vehicle body key point positions in the same coordinate system; Step 207, determining the relative positions of the target object, the vehicle door, and the vehicle body based on the key point positions of the target object's body contour, the key point positions of the vehicle door, and the key point positions of the vehicle body; Step 208: If the angle between the target object's shoulder and the vehicle door side is equal to the angle between the target object's shoulder and the vehicle body side, then it is determined that the target object and the vehicle door are in a first relative position relationship. Step 209: If it is determined based on the relative position that one shoulder of the target object has entered the vehicle, and the angle between the shoulder of the target object and the vehicle body is within a preset angle range, it is determined that the target object and the vehicle door are in a second relative position relationship.

[0057] In this embodiment of the present application, for steps 206 to 209, the process of determining the relative positional relationship between the target object and the vehicle door may include: during the vehicle boarding process, data of the target object is collected using radar and cameras on the vehicle body, and the target object, vehicle body, and door are mapped to the same coordinate system. Key points of the target object's body contour may include: shoulder endpoints (acromion points), elbows, hips, knees, head center points, and torso midline endpoints. Key points of the door may include door edge endpoints and door hinge mounting points. Key points of the vehicle body may include door frame pillar endpoints, door waistline feature points, and pedal edge points. Based on the key points of the target object's body contour, the door key points, and the vehicle body key points in the same coordinate system, the relative position of the target object, the vehicle door, and the vehicle body is calculated. The relative position includes the spatial distance between the target object, the vehicle door, and the vehicle body, as well as the angle between the target object, the vehicle door, and the vehicle body. Based on the relative position, it can be determined whether the target object and the vehicle door have a first relative positional relationship or a second relative positional relationship. According to different boarding scenarios, the door opening of the electric door when boarding the vehicle in different scenarios can be calculated, and the target opening can be comprehensively determined based on different scenarios, so that the determined target opening is more compatible with the body shapes of different boarding people, thereby improving the user experience.

[0058] If the angle between the target object's shoulder and the vehicle body is within a preset angle range, the target object and the vehicle door are determined to be in a second relative positional relationship. The preset angle range can be, for example, 90-120 degrees. If the second relative positional relationship is a 90-degree angle between the target object and the vehicle body, the second opening can be calculated with reference to sub-steps 2031 and 2023. If the second relative positional relationship is a 90-degree angle between the target object and the vehicle body, the second opening can be determined using the Law of Sines. According to the Law of Sines, the ratio of the second door dimension parameter to the angle between the target object and the vehicle body is equal to the ratio of the face-to-shoulder distance to the second opening. Based on this relationship, the second opening can be determined. It should be noted that the preset angle range can be adjusted according to actual needs and is not limited in this application. Furthermore, when the face-to-shoulder distance is used in calculating the second opening, to further increase the accuracy of the calculation, if the camera detects that the body portion entering the vehicle is only a shoulder, the face-to-shoulder distance can be compensated for to increase the accuracy of the calculation.

[0059] Optionally, the method further includes: Step 210 , recording the target opening, and when detecting that the electric door switch for controlling the automatic opening of the vehicle door is triggered, controlling the vehicle door to open according to the target opening.

[0060] In an embodiment of the present application, after the target opening is determined, the target opening can be recorded. When the target object gets off the vehicle, if it is detected that the electric door switch that controls the automatic opening of the door is triggered, the door is automatically controlled to open according to the target opening to facilitate the user getting on and off the vehicle.

[0061] Furthermore, during the execution of the method of the present application, the anti-collision radar on the vehicle door can detect obstacles in real time during the door opening process. If so, the electric door opening is immediately terminated and, based on the current electric door opening angle, it is estimated whether a passenger can board the vehicle. If so, the vehicle waits for the passenger to board. If not, a voice reminder is given. When a user boards all four doors of the vehicle, a target opening angle can be determined for each door. If the relevant physical characteristics of the boarding user are not recognized for a door on a side, the electric door opening operation can be performed according to a preset default opening angle. For example, the default opening angle of the electric door can be set to 60%. The default opening angle can be set based on user needs, and this is not limited in the present embodiment. For the driver's and passenger's seats, the target door opening angles can be permanently recorded. Each time the electric door is opened, the door will always open at the recorded target opening angle to facilitate boarding and alighting. For the rear doors, a check can be performed each time the door is used. After the user boards the vehicle, the recorded target opening angle data is reset. The next time a user boards the vehicle, the method of the present application is executed again to determine the target opening angle corresponding to the user waiting to board. If multiple passengers get on the same side door in the rear row, the target opening can be determined according to the physical characteristics of the first user to get on the vehicle, and the door can be opened to the target opening.

[0062] In summary, in an embodiment of the present application, the physical features of the target object are obtained; the physical features include shoulder width and face-shoulder distance; when the target object and the vehicle door are in a first relative position relationship, the first opening of the vehicle door is determined based on the shoulder width and the first door size parameter; the first relative position relationship is the position relationship when the target object's body has not yet entered the vehicle body; when the target object and the vehicle door are in a second relative position relationship, the second opening of the vehicle door is determined based on the shoulder width and the second door size parameter; the second relative position relationship is the position relationship when the target object's body at least partially enters the vehicle body; the target opening of the vehicle door is determined based on the first opening and the second opening, and the vehicle door is controlled to open at the target opening according to the target opening. The method of the present application can obtain the user's physical characteristics when the user gets on or off the vehicle, and determine the corresponding door openings in different boarding scenarios based on the user's physical characteristics, thereby comprehensively determining the target openings of the corresponding target objects based on different scenarios, so that for the target objects, the door can be opened at a target angle that matches the target objects, making it convenient for the target users to get on or off the vehicle, and there is no need to manually adjust the door openings, which simplifies user operations and improves the vehicle riding experience.

[0063] refer to Figure 5 , Figure 5 The present invention provides a vehicle door control device, which includes: An acquisition module 301 is used to acquire the physical features of a target object; a first determining module 302 configured to determine a first door opening according to the shoulder width and a first door dimension parameter when the target object and the door are in a first relative position relationship; the first relative position relationship being a position relationship when the target object's body has not yet entered the vehicle body; a second determining module 303 configured to determine a second door opening according to the shoulder width and a second door dimension parameter when the target object and the door are in a second relative position relationship; the second relative position relationship being a position relationship in which at least a portion of the target object's body enters the vehicle body; The control module 304 is configured to determine a target opening of the vehicle door according to the first opening and the second opening, and control the vehicle door to open at the target opening according to the target opening.

[0064] Optionally, the control module includes: a first determining submodule, configured to select a larger value from the first opening degree and the second opening degree as a candidate opening degree; The second determining submodule is configured to take the sum of the candidate opening and a preset compensation opening as the target opening; the preset compensation opening is determined according to the vehicle model and the position of the door.

[0065] Optionally, when the target object and the vehicle door are in the first relative positional relationship, before determining the first door opening according to the shoulder width and the first door size parameter, the device further includes: The first submodule is used to obtain the key point positions of the body contour, the door key point positions and the body key point positions of the target object in the same coordinate system during the process of the target object performing the vehicle getting action; A second submodule is configured to determine relative positions among the target object, the vehicle door, and the vehicle body based on key point positions of the target object's body contour, the vehicle door key point positions, and the vehicle body key point positions; a third submodule, configured to determine that the target object and the vehicle door are in a first relative position relationship if the angle between the target object's shoulder and the vehicle door side is equal to the angle between the target object's shoulder and the vehicle body side according to the relative position; The fourth submodule is used to determine that the target object and the vehicle door are in a second relative position relationship if it is determined based on the relative position that one side of the target object's shoulder enters the vehicle and the angle between the target object's shoulder and the vehicle body is within a preset angle range.

[0066] Optionally, the first determining module includes: a first calculation submodule, configured to calculate a first ratio between the square of the shoulder width and twice the square of the first door dimension parameter; the first door dimension parameter being the distance between the door hinge side and the seat back; The second calculation submodule is configured to use a result of subtracting the first ratio from one as an input of an arccosine function, and use an output of the arccosine function as the first opening.

[0067] Optionally, the angle between the target object's shoulder and the vehicle body is 90 degrees, and the second determining module includes: a third calculation submodule, configured to calculate a second ratio between the face-to-shoulder distance and the second door size parameter; the second door size parameter being the distance between the door hinge side and the middle position of the seat; The fourth calculation submodule is configured to use the second ratio as an input of an inverse sine function and use an output of the inverse sine function as the second opening.

[0068] Optionally, the acquisition module includes: An image acquisition submodule, configured to acquire a target image containing the target object; The recognition submodule is used to input the target image into the trained network model, identify the facial feature points and shoulder feature points corresponding to the target object, and output the shoulder width and face-shoulder distance corresponding to the target object based on the position information corresponding to the facial feature points and shoulder feature points.

[0069] Optionally, the device further comprises: The memory module is used to record the target opening degree, and when it is detected that the electric door switch for controlling the automatic opening of the vehicle door is triggered, control the vehicle door to open according to the target opening degree.

[0070] In summary, in an embodiment of the present application, the physical features of the target object are obtained; the physical features include shoulder width and face-shoulder distance; when the target object and the vehicle door are in a first relative position relationship, the first opening of the vehicle door is determined based on the shoulder width and the first door size parameter; the first relative position relationship is the position relationship when the target object's body has not yet entered the vehicle body; when the target object and the vehicle door are in a second relative position relationship, the second opening of the vehicle door is determined based on the shoulder width and the second door size parameter; the second relative position relationship is the position relationship when the target object's body at least partially enters the vehicle body; the target opening of the vehicle door is determined based on the first opening and the second opening, and the vehicle door is controlled to open at the target opening according to the target opening. The method of the present application can obtain the user's physical characteristics when the user gets on or off the vehicle, and determine the corresponding door openings in different boarding scenarios based on the user's physical characteristics, thereby comprehensively determining the target openings of the corresponding target objects based on different scenarios, so that for the target objects, the door can be opened at a target angle that matches the target objects, making it convenient for the target users to get on or off the vehicle, and there is no need to manually adjust the door openings, which simplifies user operations and improves the vehicle riding experience.

[0071] Reference Figure 6 , the electronic device 600 may include one or more of the following components: a processing component 602 , a memory 604 , a power component 606 , a multimedia component 608 , an audio component 610 , an input / output (I / O) interface 612 , a sensor component 614 , and a communication component 616 .

[0072] The processing component 602 generally controls the overall operation of the electronic device 600, such as operations associated with display, phone calls, data communications, camera operation, and recording operations. The processing component 602 may include one or more processors 620 to execute instructions to perform all or part of the steps of the above-described method. In addition, the processing component 602 may include one or more modules to facilitate interaction between the processing component 602 and other components. For example, the processing component 602 may include a multimedia module to facilitate interaction between the multimedia component 608 and the processing component 602.

[0073] The memory 604 is used to store various types of data to support operations on the electronic device 600. Examples of such data include instructions for any application or method operating on the electronic device 600, contact data, phone book data, messages, pictures, multimedia, etc. The memory 604 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0074] The power supply assembly 606 provides power to the various components of the electronic device 600. The power supply assembly 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device 600.

[0075] The multimedia component 608 includes a screen that provides an output interface between the electronic device 600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, it may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensors can not only sense the boundaries of a touch or slide action, but also detect the duration and pressure associated with the touch or slide action. In some embodiments, the multimedia component 608 includes a front-facing camera and / or a rear-facing camera. When the electronic device 600 is in an operating mode, such as a capture mode or a multimedia mode, the front-facing camera and / or the rear-facing camera can receive external multimedia data. Each front-facing camera and the rear-facing camera can have a fixed optical lens system or have focal length and optical zoom capabilities.

[0076] The audio component 610 is used to output and / or input audio signals. For example, the audio component 610 includes a microphone (MIC) that is used to receive external audio signals when the electronic device 600 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals can be further stored in the memory 604 or transmitted via the communication component 616. In some embodiments, the audio component 610 also includes a speaker for outputting audio signals.

[0077] I / O interface 612 provides an interface between processing component 602 and peripheral interface modules, such as a keyboard, click wheel, buttons, etc. These buttons may include but are not limited to: a home button, volume buttons, a start button, and a lock button.

[0078] The sensor assembly 614 includes one or more sensors for providing various aspects of status assessment for the electronic device 600. For example, the sensor assembly 614 can detect the open / closed state of the electronic device 600, the relative positioning of components, such as the display and keypad of the electronic device 600. The sensor assembly 614 can also detect changes in the position of the electronic device 600 or a component of the electronic device 600, the presence or absence of user contact with the electronic device 600, the orientation or acceleration / deceleration of the electronic device 600, and temperature changes of the electronic device 600. The sensor assembly 614 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 614 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 614 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0079] The communication component 616 is used to facilitate wired or wireless communication between the electronic device 600 and other devices. The electronic device 600 can access a wireless network based on a communication standard, such as WiFi, a carrier network (such as 2G, 3G, 4G or 5G), or a combination thereof. In an exemplary embodiment, the communication component 616 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 616 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0080] In an exemplary embodiment, the electronic device 600 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to implement a tire nail puncture identification method provided in an embodiment of the present application.

[0081] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 604 including instructions. The instructions can be executed by the processor 620 of the electronic device 600 to perform the above method. For example, the non-transitory storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0082] Figure 77 is a block diagram of an electronic device 700 according to an exemplary embodiment. For example, the electronic device 700 can be provided as a server. Figure 7 The electronic device 700 includes a processing component 722, which further includes one or more processors, and a memory resource represented by a memory 732 for storing instructions executable by the processing component 722, such as an application. The application stored in the memory 732 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 722 is configured to execute the instructions to perform a vehicle door control method provided in an embodiment of the present application.

[0083] The electronic device 700 may further include a power supply component 726 configured to perform power management of the electronic device 700, a wired or wireless network interface 750 configured to connect the electronic device 700 to a network, and an input / output (I / O) interface 758. The electronic device 700 may operate based on an operating system stored in the memory 732, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, or the like.

[0084] An embodiment of the present application also provides a computer program product, including a computer program, which implements the vehicle door control method when executed by a processor.

[0085] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0086] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle door control method, characterized in that: The method comprises: Acquiring physical features of the target object; the physical features include shoulder width and face-shoulder distance; When the target object and the vehicle door are in a first relative position relationship, determining a first door opening according to the shoulder width and the first door size parameter; the first relative position relationship is when the target object's body has not yet entered the vehicle body; When the target object and the vehicle door are in a second relative positional relationship, determining a second door opening according to the face-to-shoulder distance and a second door size parameter; the second relative positional relationship being a positional relationship in which at least a portion of the target object's body enters the vehicle body; A target opening degree of the vehicle door is determined according to the first opening degree and the second opening degree, and the vehicle door is controlled to open at the target opening degree according to the target opening degree.

2. The method according to claim 1, characterized in that The determining of the target door opening according to the first opening and the second opening includes: selecting a larger value from the first opening degree and the second opening degree as a candidate opening degree; The sum of the candidate opening and a preset compensation opening is used as the target opening; the preset compensation opening is determined according to the vehicle model and the position of the door.

3. The method according to claim 1, characterized in that Before determining the first door opening according to the shoulder width and the first door size parameter when the target object and the door are in a first relative positional relationship, the method further includes: During the process of the target object performing the vehicle-getting action, obtaining the key point positions of the target object's body contour, the key point positions of the vehicle door, and the key point positions of the vehicle body in the same coordinate system; Determining the relative positions of the target object, the vehicle door, and the vehicle body based on the key point positions of the body contour of the target object, the key point positions of the vehicle door, and the key point positions of the vehicle body; If the angle between the shoulder of the target object and the vehicle door side is equal to the angle between the shoulder of the target object and the vehicle body side according to the relative position, then it is determined that the target object and the vehicle door are in a first relative position relationship; If it is determined according to the relative position that one side of the shoulder of the target object enters the vehicle, and the angle between the shoulder of the target object and the vehicle body is within a preset angle range, it is determined that the target object and the vehicle door are in a second relative position relationship.

4. The method according to claim 1, wherein The determining the first door opening according to the shoulder width and the first door size parameter includes: calculating a first ratio between the square of the shoulder width and twice the square of the first door dimension parameter, wherein the first door dimension parameter is the distance between the door hinge side and the seat back; A result of subtracting the first ratio from one is used as an input of an arc cosine function, and an output of the arc cosine function is used as the first opening.

5. The method according to claim 1, wherein If the angle between the target object's shoulder and the vehicle body is 90 degrees, determining the second door opening according to the face-to-shoulder distance and the second door size parameter includes: calculating a second ratio between the face-to-shoulder distance and a second door dimension parameter; the second door dimension parameter being the distance between the door hinge side and the middle position of the seat; The second ratio is used as an input of an inverse sine function, and an output of the inverse sine function is used as the second opening.

6. The method according to claim 1, wherein The acquiring of the physical features of the target object includes: Acquire a target image containing the target object; The target image is input into the trained network model to identify the facial feature points and shoulder feature points corresponding to the target object, and the shoulder width and face-shoulder distance corresponding to the target object are output based on the position information corresponding to the facial feature points and shoulder feature points.

7. The method according to claim 1, characterized in that After determining the target opening of the vehicle door according to the first opening and the second opening, and controlling the vehicle door to open at the target opening, the method further includes: The target opening is recorded, and when it is detected that the electric door switch for controlling the automatic opening of the vehicle door is triggered, the vehicle door is controlled to open according to the target opening.

8. A door control device, characterized in that: The device comprises: An acquisition module, used to acquire the physical features of the target object; a first determining module configured to determine a first door opening according to the shoulder width and a first door dimension parameter when the target object and the door are in a first relative position relationship; the first relative position relationship being a position relationship when the target object's body has not yet entered the vehicle body; a second determining module configured to determine a second door opening according to the face-to-shoulder distance and a second door size parameter when the target object and the door are in a second relative position relationship; the second relative position relationship being a position relationship in which at least a portion of the target object's body enters the vehicle body; A control module is configured to determine a target opening of the vehicle door according to the first opening and the second opening, and control the vehicle door to open at the target opening according to the target opening.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method according to any one of claims 1 to 7.

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