Vehicle door opening safety warning method and device and vehicle

Abstract

The embodiment of the application provides a vehicle door opening safety early warning method and device and a vehicle, and relates to the technical field of vehicle control. In the case that the first vehicle is in a parking state and there is a user in the vehicle, the opening safety of each door of the first vehicle is risk evaluated, the opening risk level of each door is obtained, and in the case that it is detected that the user in the vehicle performs a door opening behavior on the target door of the first vehicle, the door opening safety awareness degree of the user in the vehicle is determined according to a plurality of door opening action information corresponding to the door opening behavior, so that the corresponding target safety early warning strategy is determined and executed according to the opening risk level of the target door and the door opening safety awareness degree of the user in the vehicle, and the door opening safety awareness degree of the user in the vehicle is negatively correlated with the early warning level corresponding to the target safety early warning strategy. The technical scheme provides a safety early warning strategy that is adapted to the actual door opening behavior of the user and the current environment of the vehicle, and can effectively reduce the occurrence of collision accidents.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, device and vehicle for providing a safety warning when a vehicle door is opened. Background Technology

[0002] When a vehicle is stationary and a user opens the door, they may not pay attention to the surrounding environment, causing the door to collide with obstacles, pedestrians, or other vehicles, resulting in a traffic accident.

[0003] In related technologies, some vehicles are equipped with a DOW (Door Open Warning) system. The DOW system can issue a safety warning to the user when the vehicle is parked and the user is about to open the door, based on potential collision risks around the door. However, different users inside the vehicle are different. If the safety warning method is determined solely by the obstacles around the door, the determined safety warning method will lack specificity, making it difficult to effectively avoid collisions. Summary of the Invention

[0004] In view of the above problems, this application provides a vehicle door opening safety warning method, device, and vehicle that overcomes or at least partially solves the above problems. The technical solution is as follows: In a first aspect, embodiments of this application provide a vehicle door opening safety warning method, including: When the first vehicle is parked and there is a user inside, a risk assessment is performed on the opening safety of each door of the first vehicle to obtain the opening risk level of each door. If it is detected that a user inside the vehicle performs an opening action on the target door of the first vehicle, the user's level of door opening safety awareness is determined based on multiple door opening action information corresponding to the opening action. Based on the risk level of the target vehicle door being opened and the level of safety awareness of the user inside the vehicle, a corresponding target safety warning strategy is determined and implemented; wherein, the level of safety awareness of the user inside the vehicle is negatively correlated with the warning level corresponding to the target safety warning strategy.

[0005] Secondly, embodiments of this application provide a vehicle door opening safety warning device, comprising: The door opening risk assessment module is used to assess the opening safety of each door of the first vehicle when the first vehicle is parked and there is a user inside the vehicle, and to obtain the opening risk level of each door. The door opening safety awareness determination module is used to determine the level of door opening safety awareness of the user inside the vehicle based on multiple door opening action information corresponding to the door opening behavior when the user inside the vehicle is detected to be opening the target door of the first vehicle. The safety warning module is used to determine and execute a corresponding target safety warning strategy based on the risk level of the target door opening and the safety awareness of the user inside the vehicle; wherein the safety awareness of the user inside the vehicle is negatively correlated with the warning level corresponding to the target safety warning strategy.

[0006] Thirdly, embodiments of this application provide a vehicle, the vehicle including a memory for storing executable program code; and a processor for calling and running the executable program code from the memory, causing the vehicle to perform the steps of the vehicle door opening safety warning method as described in the first aspect.

[0007] Fourthly, embodiments of this application provide an electronic device, including a processor; and a memory arranged to store computer-executable instructions configured to be executed by the processor, the computer-executable instructions being executed by the processor to implement the steps of the vehicle door opening safety warning method as described in the first aspect.

[0008] Fifthly, embodiments of this application provide a computer-readable storage medium for storing computer-executable instructions, which, when executed by a processor, implement the steps of the vehicle door opening safety warning method as described in the first aspect.

[0009] In a sixth aspect, embodiments of this application provide a computer program product, the computer program product including a computer program, which, when executed by a processor, implements the steps of the vehicle door opening safety warning method as described in the first aspect.

[0010] The technical solution provided in this application, when the first vehicle is parked and a user is inside, performs a risk assessment on the opening safety of each door of the first vehicle to obtain the opening risk level of each door. Furthermore, when it is detected that a user inside the vehicle is attempting to open a target door of the first vehicle, the user's level of awareness regarding door opening safety is determined based on multiple door opening actions. Therefore, based on the opening risk level of the target door and the user's level of awareness, a corresponding target safety warning strategy is determined and executed. The user's level of awareness regarding door opening safety is negatively correlated with the warning level corresponding to the target safety warning strategy. Thus, the lower the user's level of awareness regarding door opening safety, the higher the warning level of the safety warning strategy applied to that user. It is evident that this technical solution, in providing door opening safety warning services to users, does not only rely on the risk level of the door opening, but also combines the risk level of the door the user wants to open with the user's level of awareness of door opening safety. This allows for a more suitable safety warning strategy, ensuring that the determined safety warning strategy is adapted to the user's actual door opening behavior and the vehicle's current environment. This enhances the user-specificity of the safety warning strategy and helps provide users with more reliable door opening safety protection, thereby effectively reducing the occurrence of collision accidents.

[0011] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0012] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic flowchart illustrating a vehicle door opening safety warning method according to an embodiment of this application; Figure 2 This is a schematic flowchart of a vehicle door opening safety warning method provided in another embodiment of this application; Figure 3 This is a schematic block diagram of a vehicle door opening safety warning system provided in one embodiment of this application; Figure 4 This is a schematic diagram of the structure of a vehicle door opening safety warning device according to an embodiment of this application; Figure 5This is a schematic diagram of the hardware structure of a vehicle provided in one embodiment of this application. Detailed Implementation

[0013] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0014] When a vehicle is stationary and a resident opens a door, the resident may not notice the surrounding environment, potentially causing the door to collide with obstacles, pedestrians, or other vehicles, resulting in a traffic accident. Some vehicles are equipped with a DOW (Door Open Warning) system, which provides a safety warning to the resident when the vehicle is parked and they are about to open the door, based on potential collision risks. However, the inventors have discovered that different resident users vary; for example, they may have different opening force and different levels of awareness regarding door safety. Therefore, relying solely on obstacles around the door to determine the safety warning method would lack specificity, making it difficult to effectively prevent collisions.

[0015] Therefore, to address the technical problem that existing vehicle door opening safety warning methods lack user-specificity and thus fail to effectively prevent collisions, this application provides a vehicle door opening safety warning method. By assessing the opening safety of each door of the first vehicle while it is parked and a user is inside, a risk level for each door is obtained. Furthermore, when a user is detected opening a target door of the first vehicle, the user's level of awareness regarding door opening safety is determined based on multiple door opening actions. Based on the target door opening risk level and the user's level of awareness, a corresponding target safety warning strategy is determined and implemented. The user's level of awareness is negatively correlated with the warning level corresponding to the target safety warning strategy. Thus, the lower the user's level of awareness regarding door opening safety, the higher the warning level of the safety warning strategy applied to that user. It is evident that this technical solution, in providing door opening safety warning services to users, does not only rely on the risk level of the door opening, but also combines the risk level of the door the user wants to open with the user's level of awareness of door opening safety. This allows for a more suitable safety warning strategy, ensuring that the determined safety warning strategy is adapted to the user's actual door opening behavior and the vehicle's current environment. This enhances the user-specificity of the safety warning strategy and helps provide users with more reliable door opening safety protection, thereby effectively reducing the occurrence of collision accidents.

[0016] Figure 1 This is a schematic flowchart illustrating a vehicle door opening safety warning method provided in an embodiment of this application, such as... Figure 1 As shown, the method includes: S102, when the first vehicle is parked and there is a user inside, a risk assessment is performed on the opening safety of each door of the first vehicle to obtain the opening risk level of each door.

[0017] Optionally, the first vehicle can be determined to be in a parked state by acquiring target vehicle parameters, provided that the target vehicle parameters meet the parking determination conditions. These target vehicle parameters include, but are not limited to, vehicle speed, gear position, and parking signal. Parking determination conditions include, but are not limited to: vehicle speed less than or equal to a preset speed threshold; gear position being a preset gear; and the acquisition of a parking signal; etc.

[0018] In applications, the presence of a user inside the vehicle can be determined through methods such as cockpit camera capture, detection of seatbelt buckle status, and seat sensor monitoring. To avoid false positives, a combination of these methods can be used; this application does not limit this approach. Specifically, capturing cockpit images with a cockpit camera and then analyzing those images can determine the presence of a user. Detecting seatbelt buckle status indicates the presence of a user if the seatbelt is buckled, and the absence of a user if the seatbelt is not buckled. Monitoring the weight on the seat using seat sensors can also determine the presence of a user.

[0019] S104, when it is detected that a user inside the vehicle performs a door-opening action on the target door of the first vehicle, the user inside the vehicle determines the level of door-opening safety awareness based on multiple door-opening action information corresponding to the door-opening action.

[0020] The door opening action information may include head posture information, contact status information with the interior door handle, center of gravity shift information, issued voice command for opening the door, and trigger information for the emergency unlock button inside the vehicle. Optionally, the emergency unlock button can be a physical button located anywhere inside the vehicle, or it can be a virtual button displayed on the vehicle's central control screen. In practical applications, the number and type of emergency unlock buttons can be set according to application needs, and this application embodiment does not limit this. In addition, a clear text label or image label can be set on the emergency unlock button to indicate the function of the button to the user.

[0021] Head posture information can include facial orientation, gaze direction, head rotation angle, and changes in gaze direction. Based on this information, it's possible to analyze whether the user is looking at the door and / or rearview mirror, or observing the vehicle's surroundings, thus obtaining a result regarding the user's door-opening safety awareness. Furthermore, head posture information can serve as a basis for determining the urgency with which the user intends to open the door.

[0022] Contact status information for the interior door handle can include contact pressure, contact duration, pressure change rate, pulling force or pressing force, pulling duration or pressing duration, and number of pulls or presses. Specifically, if the interior door handle is a pull handle, the contact status information includes pulling force, pulling duration, and number of pulls; if the interior door handle is a physical button, the contact status information includes pressing force, pressing duration, and number of presses. Based on this contact status information, it is possible to analyze the user's actions such as light touch, firm grip, and sustained pressing, thereby obtaining the user's door opening safety awareness assessment results. Furthermore, the contact status information can serve as a basis for determining the degree of urgency with which the user tries to open the door.

[0023] In this embodiment, based on the center of gravity shift information, it is possible to analyze whether the user is turning sideways to prepare to open the door, the degree of sideways movement, etc., thereby obtaining the user's door-opening safety awareness recognition result. In addition, the center of gravity shift information can be used as a basis for determining the urgency of the user in opening the door.

[0024] In this embodiment, based on multiple door-opening action information corresponding to the door-opening behavior, multiple door-opening safety awareness recognition results of the user can be obtained. Then, combined with the preset credibility weights corresponding to each door-opening behavior, the degree of door-opening safety awareness of the user in the vehicle can be obtained.

[0025] S106. Based on the risk level of the target door opening and the level of safety awareness of the users inside the vehicle, determine and implement the corresponding target safety warning strategy.

[0026] The level of door opening safety awareness among vehicle occupants is negatively correlated with the warning level corresponding to the target safety warning strategy. For example, using "high," "medium," and "low" to represent the level of door opening safety awareness and the corresponding warning level, if a vehicle occupant's door opening safety awareness is low, a target safety warning strategy with a medium or high warning level can be used to issue a safety warning to that vehicle occupant. If the vehicle occupant's door opening safety awareness is medium, a target safety warning strategy with a low or high warning level can be used to issue a safety warning to that vehicle occupant. If the vehicle occupant's door opening safety awareness is high, a target safety warning strategy with a medium or low warning level can be used to issue a safety warning to that vehicle occupant.

[0027] In application, considering that the target safety warning strategy is jointly determined by the opening risk level of the target car door and the level of door opening safety awareness of the users inside the car, the level of door opening safety awareness of the users inside the car is negatively correlated with the warning level corresponding to the target safety warning strategy. This means that when the opening risk level of the target car door is at the same level, the level of door opening safety awareness of the users inside the car is negatively correlated with the warning level corresponding to the target safety warning strategy.

[0028] For example, using "low," "medium," and "high" to represent the risk level of the target vehicle door opening, the user's awareness of door opening safety, and the warning level, then if the risk level of the target vehicle door opening is low, and the user's awareness of door opening safety is also low, a target safety warning strategy with a medium or high warning level can be used to issue a safety warning to the user. If the user's awareness of door opening safety is medium, a target safety warning strategy with a low, medium, or high warning level can be used to issue a safety warning to the user. If the user's awareness of door opening safety is high, a target safety warning strategy with a low warning level can be used to issue a safety warning to the user.

[0029] The technical solution provided in this application, when the first vehicle is parked and a user is inside, performs a risk assessment on the opening safety of each door of the first vehicle to obtain the opening risk level of each door. Furthermore, when it is detected that a user inside the vehicle is attempting to open a target door of the first vehicle, the user's level of awareness regarding door opening safety is determined based on multiple door opening actions. Therefore, based on the opening risk level of the target door and the user's level of awareness, a corresponding target safety warning strategy is determined and executed. The user's level of awareness regarding door opening safety is negatively correlated with the warning level corresponding to the target safety warning strategy. Thus, the lower the user's level of awareness regarding door opening safety, the higher the warning level of the safety warning strategy applied to that user. It is evident that this technical solution, in providing door opening safety warning services to users, does not only rely on the risk level of the door opening, but also combines the risk level of the door the user wants to open with the user's level of awareness of door opening safety. This allows for a more suitable safety warning strategy, ensuring that the determined safety warning strategy is adapted to the user's actual door opening behavior and the vehicle's current environment. This enhances the user-specificity of the safety warning strategy and helps provide users with more reliable door opening safety protection, thereby effectively reducing the occurrence of collision accidents.

[0030] In one specific embodiment, a risk assessment is performed on the opening safety of each door of the first vehicle to obtain the opening risk level of each door (i.e., S102), which can be executed as follows: steps A1-A4. In this embodiment, target obstacles can be screened from each obstacle in the environment where the first vehicle is located, which is sensed by multiple sensors in the first vehicle, and the opening risk level of each door can be determined according to the motion state information of the target obstacles and the preset risk assessment rules.

[0031] Step A1: Obtain obstacle information for each obstacle in the environment where the first vehicle is located, collected by multiple sensors in the first vehicle.

[0032] The obstacles can include static obstacles, pedestrians, vehicles, etc. Static obstacles include trees, walls, roadblocks, etc. Vehicles can include motor vehicles and non-motor vehicles. The obstacle information collected by each sensor includes several of the following: obstacle type information, speed, acceleration, direction of movement, trajectory, and distance to the corresponding door of the first vehicle.

[0033] In this application, the first vehicle is equipped with multiple sensors for obstacle detection, such as millimeter-wave radar, surround-view cameras, side-view cameras, and lidar. Based on this, obstacle information can include the speed of the obstacle detected by the millimeter-wave radar and its distance from the corresponding door in the first vehicle; the obstacle type, acceleration, direction of motion, and trajectory information collected and analyzed by the surround-view and side-view cameras; and the speed, acceleration, trajectory, and distance from the corresponding door in the first vehicle detected and analyzed by the lidar.

[0034] In applications, relying solely on obstacle information collected by a single sensor often fails to accurately distinguish static obstacles, leading to their misjudgment as threats and triggering unnecessary safety warnings. Furthermore, the movement trajectory of obstacles (such as whether pedestrians are approaching vehicle doors or bicycles will avoid them) is difficult to determine, resulting in missed warnings (failure to warn of actual risks) or false alarms (warnings about non-threatening targets). Static obstacles include, for example, lampposts, trash cans, and parked bicycles. Therefore, this embodiment, compared to vehicles using a single sensor for obstacle perception, allows the first vehicle to collect more comprehensive and accurate obstacle information, reducing the probability of misjudging static obstacles and their movement trajectories, thereby decreasing the likelihood of missed or false safety warnings.

[0035] Step A2: Based on the obstacle information of each obstacle, determine the trajectory prediction information of each obstacle within a preset time period in the future.

[0036] Using the obstacle information exemplified in step A1, in the application, for each obstacle, the trajectory prediction information of the obstacle within a preset time period can be determined based on the obstacle's speed, acceleration, direction of motion, and trajectory.

[0037] Step A3: Based on the trajectory prediction information of each obstacle within a preset time period and preset filtering conditions, select target obstacles from the obstacles. The target obstacles are those related to the safe opening of the doors of the first vehicle.

[0038] Specifically, based on the trajectory prediction information of an obstacle within a preset future time period, it can be determined whether the obstacle's trajectory conflicts with the opening path of the corresponding vehicle door, thus obtaining a door opening conflict identification result. At this point, the preset filtering condition can be used to select obstacles whose door opening conflict identification results indicate a conflict, and these are designated as target obstacles. Therefore, based on the door opening conflict identification result and the preset filtering condition, if the door opening conflict identification result indicates a conflict, then the obstacle is identified as a target obstacle; if the door opening conflict identification result indicates no conflict, then the obstacle is not a target obstacle.

[0039] Step A4: Based on the motion state information of the target obstacle and the preset risk assessment rules, determine the opening risk level of each door. The motion state information includes obstacle information and trajectory prediction information within a preset future time period.

[0040] Using the obstacle information exemplified in step A1, in this embodiment, the motion state information may include type information, speed, acceleration, direction of motion, trajectory, distance between the obstacle and the corresponding door in the first vehicle, and trajectory prediction information within a preset time period.

[0041] In this embodiment, by installing multiple sensors for obstacle detection in the first vehicle and collecting obstacle information using each sensor, compared to a vehicle using a single sensor, the obstacle information collected by multiple sensors is more comprehensive. Furthermore, since there is some overlap in the obstacle information collected by different sensors, automatic correction of some obstacle information can be achieved. This avoids misjudging the type or trajectory of obstacles due to incomplete or inaccurate obstacle information collection, thus preventing misjudgments of the door opening risk level. This reduces the possibility of missed or false safety warnings, and helps lower the probability of the user disabling the door opening safety warning function. Moreover, by filtering target obstacles from each obstacle in the environment detected by multiple sensors in the first vehicle, and determining the opening risk level of each door based on the target obstacle's motion state information and preset risk assessment rules, a basis is provided for determining subsequent safety warning strategies. This helps provide users with safety warning strategies corresponding to the opening risk level of the door they wish to open.

[0042] In one specific embodiment, based on the motion state information of the target obstacle and the preset risk assessment rules, the opening risk level of each vehicle door is determined (i.e., step A4), which can be executed as follows: step A41 or step A42: Step A41: For each car door, if there is an inconsistency in the motion status information of the target obstacle corresponding to the car door, then the risk level of opening the car door is determined to be a misjudgment.

[0043] In cases where multiple sensors collect inconsistent data on the same obstacle, the motion state information is considered inconsistent. Using the obstacle information exemplified in step A1, if the speed of the obstacle detected by millimeter-wave radar differs from the speed of the obstacle detected and analyzed by lidar (i.e., different sensors collect different speeds of the same obstacle), then the motion state information is considered inconsistent. Similarly, if the distance between the obstacle detected by millimeter-wave radar and the corresponding door in the first vehicle differs from the distance detected and analyzed by lidar, then the motion state information is considered inconsistent. Finally, if the acceleration (or trajectory) of the obstacle collected and analyzed by the surround-view and side-view cameras differs from the acceleration (or trajectory) of the obstacle detected and analyzed by lidar, then the motion state information is considered inconsistent.

[0044] Step A42: If there is no data inconsistency in the motion state information of the target obstacle corresponding to the door, then the opening risk level of the door is determined according to the first correspondence between the motion state information of the target obstacle corresponding to the door and the preset risk level.

[0045] The number of target obstacles corresponding to a vehicle door can be one or more. When a vehicle door corresponds to a single target obstacle, the opening risk level of the vehicle door can be determined based on the first correspondence between the motion state information of the target obstacle and the preset risk level.

[0046] When a vehicle door corresponds to multiple target obstacles, multiple opening risk levels of the door can be determined based on a first correspondence between the motion state information of each target obstacle and a preset risk level. Therefore, when an in-vehicle user is detected opening a target door of the first vehicle, the target obstacle corresponding to the target door at the time of the opening action is determined, and the opening risk level of the door determined by that target obstacle is used as the basis for determining the final safety warning strategy.

[0047] Optionally, the risk level of opening the car door can be characterized by high, medium, low, and no risk, or by Level I, Level II, and Level III, or by Level 1, Level 2, and Level 3. The specific characterization method can be set according to actual application requirements, and this application embodiment does not limit it.

[0048] Taking the use of high, medium, low, and no-risk characterization to represent the opening risk level of a car door as an example, based on the first correspondence between the motion state information of the target obstacle and the preset risk level, the opening risk level of the car door can be determined to be high when the target obstacle is a high-speed approaching motor vehicle; the opening risk level of the car door can be determined to be medium or low when the target obstacle is a low-speed pedestrian whose direction deviates from the first vehicle; and the opening risk level of the car door can be determined to be low or no-risk when the target obstacle is a stationary object.

[0049] In this embodiment, by performing data consistency judgment on obstacle information perceived by multiple sensors, the possibility of misjudging obstacles is reduced. Thus, based on different data consistency results, the risk level of door opening is determined in a corresponding manner, which can improve the reliability of the determined risk level of door opening and reduce the probability of false alarms in safety warnings.

[0050] In one specific embodiment, when it is detected that a user inside the vehicle performs a door-opening action on a target door of the first vehicle, the user's level of door-opening safety awareness is determined based on multiple door-opening action information corresponding to the door-opening action (i.e., S104), which can be performed as follows: Steps B1-B3: Step B1: If it is detected that a user inside the vehicle performs an opening action on the target door of the first vehicle, obtain multiple opening action information corresponding to the opening action.

[0051] In this embodiment, the door opening action information may include head posture information, contact status information with the inner door handle, center of gravity shift information, and the issued voice command to open the door.

[0052] Step B2: Based on the acquired information on multiple door opening actions, determine the door opening safety awareness recognition result corresponding to each door opening behavior.

[0053] Optionally, the results of door opening safety awareness recognition can be represented in the form of levels, scores, etc.

[0054] Step B3: Based on the door opening safety awareness recognition results corresponding to each door opening behavior and the preset credibility weights corresponding to each door opening behavior, determine the level of door opening safety awareness of the user inside the vehicle.

[0055] Optionally, the level of awareness of door safety can be represented by a rating system, a score, or other similar methods.

[0056] In this embodiment, by specifying the detailed steps for determining the level of door opening safety awareness of the user inside the vehicle based on multiple door opening action information corresponding to the door opening behavior, it is beneficial to quickly and accurately determine the level of door opening safety awareness of the user inside the vehicle.

[0057] In one specific embodiment, the multiple door opening action information includes head posture information and contact status information with the interior door handle, and the door opening safety awareness recognition result is a door opening safety awareness score. In this embodiment, based on the acquired multiple door opening action information, determining the door opening safety awareness recognition result corresponding to each door opening behavior (i.e., step B2) can be performed as follows: Steps C1 and C2: Step C1: Input the acquired head posture information into the image analysis model for head posture analysis processing to obtain the head orientation and gaze direction of the user inside the vehicle. Based on the second correspondence between the head orientation and gaze direction and the preset safety awareness score, determine the first door opening safety awareness score corresponding to the head posture information.

[0058] The head posture information can be an image of the user inside the vehicle captured by a cockpit camera. The image analysis model can be selected according to specific application requirements, and this application embodiment does not limit this.

[0059] For example, the preset safety awareness scores, from low to high, can include 0, 30, 70, 100, etc. The second correspondence can include a correspondence between a head facing the car door and the gaze being directed at the rearview mirror and a safety awareness score of 100; a head facing the car door and the gaze being directed out the window and a safety awareness score of 70; a head facing the car door but the gaze being directed at the car door and a safety awareness score of 30; a head facing the front of the car and the gaze being directed horizontally forward and a safety awareness score of 0, and so on. Therefore, based on the acquired head posture information, if it is determined that the user's head is facing the car door and the gaze is directed at the rearview mirror, the first door opening safety awareness score corresponding to the head posture information can be determined to be 100.

[0060] Step C2: Based on the third correspondence between the contact status information of the inner door handle and the preset safety awareness score, determine the second door opening safety awareness score corresponding to the contact status information.

[0061] The contact status information of the interior door handle can be collected by sensors on the interior door handle. If the interior door handle of the first vehicle is a capacitive door handle, the contact status information can be directly collected by that capacitive door handle. It is understood that, in application, the safety awareness score, and the third correspondence between the contact status information of the interior door handle and the safety awareness score, can be set according to specific application requirements, and will not be elaborated here. Therefore, based on the acquired contact status information, the corresponding second door opening safety awareness score can be determined.

[0062] Based on this, according to the door opening safety awareness recognition results corresponding to each door opening behavior and the preset credibility weights corresponding to each door opening behavior, the degree of door opening safety awareness of the user in the vehicle is determined (i.e., step B3). This can be performed as follows: Based on the first door opening safety awareness score, the second door opening safety awareness score, and the preset credibility weights corresponding to each door opening behavior, the degree of door opening safety awareness of the user in the vehicle is determined.

[0063] The credibility weights for each door opening action can include: the head posture credibility weight corresponding to the head posture information, and the hand contact state credibility weight corresponding to the contact state information of the inner door handle. For example, the head posture credibility weight can be set to 60%, and the hand contact state credibility weight can be set to 40%.

[0064] The level of door opening safety awareness of users inside the vehicle can be represented by a grade. In implementation, a score range corresponding to each level of door opening safety awareness can be set. Then, by weighting and calculating a comprehensive score based on multiple door opening safety awareness scores and their corresponding credibility weights, the score range in which the comprehensive score is located can be determined, thereby determining the level of door opening safety awareness of users inside the vehicle.

[0065] In one specific embodiment, in addition to head posture information and contact status information with the inner door handle, the multiple door opening action information may also include center of gravity offset information. In this embodiment, based on the execution of the above steps C1 and C2, step C3 can be combined to determine the door opening safety awareness recognition result corresponding to each door opening behavior based on the acquired multiple door opening action information (i.e., step B2).

[0066] Step C3: Based on the fourth correspondence between the center of gravity offset information and the preset safety awareness score, determine the third door opening safety awareness score corresponding to the center of gravity offset information.

[0067] The center of gravity shift information can be obtained by the seat sensors. It is understandable that, in application, the safety awareness score, and the fourth correspondence between the center of gravity shift information and the safety awareness score, can be set according to specific application requirements, which will not be elaborated here. Therefore, based on the obtained center of gravity shift information, the corresponding third-door opening safety awareness score can be determined.

[0068] Based on this, according to the door opening safety awareness recognition results corresponding to each door opening behavior and the preset credibility weights corresponding to each door opening behavior, the degree of door opening safety awareness of the user in the vehicle is determined (i.e., step B3). This can be performed as follows: Based on the first door opening safety awareness score, the second door opening safety awareness score, the third door opening safety awareness score, and the preset credibility weights corresponding to each door opening behavior, the degree of door opening safety awareness of the user in the vehicle is determined.

[0069] The credibility weights for each door opening action may include: the head posture credibility weight corresponding to head posture information, the hand contact state credibility weight corresponding to the contact state information of the door handle, and the body center of gravity shift weight corresponding to the center of gravity shift information. For example, the head posture credibility weight can be set to 40%, the hand contact state credibility weight can be set to 30%, and the body center of gravity shift weight can be set to 30%.

[0070] In one specific embodiment, the multiple door opening action information includes contact status information of the interior door handle and the issued door opening voice command, and the door opening safety awareness recognition result is the door opening safety awareness score. In this embodiment, based on the acquired multiple door opening action information, the door opening safety awareness recognition result corresponding to each door opening behavior is determined (i.e., step B2), which can be executed as follows: Steps D1 and D2: Step D1: Based on the fifth correspondence between the contact status information of the inner door handle and the preset safety awareness score, determine the fourth door opening safety awareness score corresponding to the contact status information.

[0071] It is understandable that steps D1 and C2 are similar steps. The repetition and different labeling are to facilitate the explanation of how to determine the door opening safety awareness recognition results corresponding to each door opening behavior when the door opening action information is different.

[0072] Step D2: Based on the sixth correspondence between the door opening voice command and the preset safety awareness score, determine the fifth door opening safety awareness score corresponding to the door opening voice command.

[0073] The voice command for opening the door can be a command spoken by the user inside the vehicle, such as "open the door," "open the passenger door," or "open the right rear door." It's understandable that, in practice, the safety awareness score, and the sixth correspondence between the voice command for opening the door and the safety awareness score, can be set according to specific application needs, which will not be elaborated upon here. Therefore, based on the obtained voice command for opening the door, the corresponding fifth safety awareness score for opening the door can be determined.

[0074] Based on this, according to the door opening safety awareness recognition results corresponding to each door opening behavior and the preset credibility weights corresponding to each door opening behavior, the degree of door opening safety awareness of the user in the vehicle is determined (i.e., step B3). This can be performed as follows: Based on the fourth door opening safety awareness score, the fifth door opening safety awareness score, and the preset credibility weights corresponding to each door opening behavior, the degree of door opening safety awareness of the user in the vehicle is determined.

[0075] The credibility weights for each door-opening action may include: the credibility weight of hand contact status corresponding to the contact status information of the door handle, and the credibility weight of voice corresponding to the issued door-opening voice command. For example, the credibility weight of hand contact status can be set to 50%, and the credibility weight of voice can be set to 50%.

[0076] In one specific embodiment, based on the risk level of the target door opening and the user's awareness of door opening safety, a corresponding target safety warning strategy is determined and executed (i.e., S106), which can be performed as follows: Steps E1-E4: Step E1: Determine the corresponding first safety warning strategy based on the risk level of opening the target door.

[0077] In the application, the vehicle door can employ a door lock mechanism that supports adjustable opening damping. Optionally, this door lock mechanism can be an electromagnetic door lock mechanism that supports stepless damping adjustment. This electromagnetic door lock mechanism can precisely adjust the thrust required to open the door (i.e., opening damping) by controlling the current magnitude when locked. Alternatively, the door lock mechanism can be an electromagnetic or mechanical door lock with several fixed damping modes, including "low damping," "medium damping," and "high damping / locking."

[0078] In this embodiment, the first safety warning strategy may include adding door opening damping to the target door corresponding to the risk level of the target door's opening. Furthermore, the first safety warning strategy may also include vehicle light warnings and vehicle sound warnings corresponding to the risk level of the target door's opening. The vehicle light warning methods and vehicle sound warning methods corresponding to different door opening risk levels may be the same or different.

[0079] Compared to existing safety warning strategies that only provide audible and visual alarms or directly lock the car doors, the safety warning strategy in this embodiment includes audible and visual alarms and physical intervention. The physical intervention method is only to increase the door opening damping corresponding to the risk level of opening, rather than locking the door, thus achieving a flexible intervention effect. This provides a safe passage for emergency escape of users in the vehicle in case of an emergency, and can ensure the safety of users in the vehicle to the greatest extent.

[0080] In this embodiment, the warning level corresponding to the first safety warning strategy is positively correlated with the opening risk level of the target vehicle door. For example, when the opening risk level of the target vehicle door is low, the corresponding first safety warning strategy can be set to a low-level safety warning strategy, such as only the exterior rearview mirror indicator light remaining constantly lit. In this case, without additional door opening damping, the target vehicle door can be pushed open normally. When the opening risk level of the target vehicle door is medium, the corresponding first safety warning strategy can be set to a medium-level safety warning strategy, such as the ambient light turning yellow, a single warning sound, and an increase in door opening damping by 50%. In this case, the target vehicle door requires slightly more force to push open. When the risk level of opening the target door is high, the corresponding first safety warning strategy can be set to a high-level safety warning strategy, such as the ambient light turning red, all vehicle warning lights flashing, buzzer alarm, and 100% increase in door opening damping. At this time, the target door is completely locked. The damping can only be completely released to unlock the target door if the user inside the vehicle meets the first forced door opening condition, or if the emergency unlock button inside the first vehicle is triggered.

[0081] For example, if the risk level of the target door being opened is misjudged, and no safety warning has been issued based on the current risk level of the target door being opened, then the obtained risk level will be ignored, meaning no safety warning action will be taken. It is understood that this misjudgment is based on inconsistencies in the data regarding the same obstacle collected by multiple sensors.

[0082] If a safety warning has already been issued based on the risk level of the target vehicle door being opened, but a misjudgment is determined based on real-time obstacle information—for example, if a vehicle approaching at high speed suddenly changes lanes—the risk level of the target vehicle door before and after the lane change will differ. Before the lane change, the risk level might be high, while after the lane change, it might be low or no risk. In this case, a misjudgment can be confirmed. To address such misjudgments, the occupants can be alerted via vibration of the interior door handle and / or the central control screen of the first vehicle, and the ongoing safety warning behavior can be automatically and quickly deactivated.

[0083] The central control screen of the first vehicle can display information such as "risk cleared" and "false alarm".

[0084] Step E2: Determine the appropriate strategy adjustment information based on the level of safety awareness of the users inside the vehicle when opening the doors.

[0085] In the case where the first safety warning strategy includes increasing the door opening damping corresponding to the opening risk level of the target door, the strategy adjustment information may include an adjustment coefficient corresponding to the level of door opening safety awareness of the users inside the vehicle. The adjustment coefficient is used to adjust the door opening damping.

[0086] If the primary safety warning strategy includes vehicle light warnings and vehicle sound warnings corresponding to the risk level of the target door opening, then the strategy adjustment information can include adjustments to the sound and light warnings corresponding to the level of awareness of door opening safety among the users inside the vehicle. These adjustments can include adjusting the intensity and type of sound and light warnings.

[0087] Using the example from step E1, if the first safety warning strategy is that only the exterior rearview mirror indicator light is constantly on, and the user's door opening safety awareness level is high, then the strategy adjustment information may include changing the vehicle light warning from only the exterior rearview mirror indicator light being constantly on to not performing any safety warning behavior. If the user's door opening safety awareness level is low, then the strategy adjustment information may include changing the vehicle light warning from only the exterior rearview mirror indicator light being constantly on to the ambient light turning yellow, adding a vehicle sound warning, and increasing the door opening damping by a first percentage (such as 30%, 50%, etc.).

[0088] For example, when the first safety warning strategy includes: ambient light turning yellow, a single beep, and an increase of 50% in door opening resistance, if the user's door opening safety awareness level is high, then the strategy adjustment information may include changing the vehicle light warning from ambient light turning yellow to only the exterior rearview mirror indicator light remaining constantly on, changing the vehicle sound warning from a single beep to no sound warning, and reducing the first proportion of door opening resistance. If the user's door opening safety awareness level is low, then the strategy adjustment information may include changing the vehicle light warning from ambient light turning yellow to ambient light turning red, changing the vehicle sound warning from a single beep to a buzzer alarm, and increasing the second proportion (e.g., 30%, 50%, etc.) of door opening resistance.

[0089] Step E3: Adjust the first security warning strategy according to the strategy adjustment information to obtain the target security warning strategy.

[0090] Understandably, after the adjustment, the warning level corresponding to the target safety warning strategy will differ from the warning level corresponding to the first safety warning strategy. For example, in this embodiment, if the user's awareness of door opening safety is low, the warning level corresponding to the target safety warning strategy will be higher than the warning level corresponding to the first safety warning strategy. Conversely, if the user's awareness of door opening safety is high, the warning level corresponding to the target safety warning strategy will be lower than or equal to the warning level corresponding to the first safety warning strategy.

[0091] Step E4: Issue safety warnings to users inside the vehicle according to the target safety warning strategy.

[0092] In this embodiment, a first safety warning strategy corresponding to the opening risk level of the target door is determined, and corresponding strategy adjustment information is determined based on the user's awareness of door opening safety. The first safety warning strategy is then adjusted according to the strategy adjustment information to obtain the target safety warning strategy. This approach helps to provide users with a safety warning strategy that corresponds to their awareness of door opening safety and the opening risk level of the door they want to open. This improves the user-specificity of the safety warning strategy and provides users with more reliable door opening safety protection, thereby effectively reducing the occurrence of collision accidents.

[0093] In one specific embodiment, the urgency level of the user's door opening action can be determined based on multiple door opening action information corresponding to the user's door opening behavior. Therefore, if the urgency level meets the first mandatory door opening condition, the ongoing safety warning behavior is deactivated.

[0094] Specifically, based on multiple door-opening actions performed by the user inside the vehicle, the intent to open the door can be determined for each action. Then, based on the intent recognition results for each action and the preset confidence weights for each action, the urgency level of the user inside the vehicle is determined. It is understood that the method for determining the urgency level is similar to the method for determining the user's level of door-opening safety awareness; detailed steps can be found in steps B1-B3 above, and will not be repeated here.

[0095] In this embodiment, the door opening action information may include head posture information, contact status information with the interior door handle, center of gravity shift information, and the issued voice command to open the door. For example, the contact status information with the interior door handle may include pressing and holding the interior door handle for 3 seconds.

[0096] The first mandatory door opening condition includes conditions that indicate an urgent need for the user inside the vehicle to open the door. For example, the first mandatory door opening condition can be a high level of urgency, a level of urgency greater than a preset threshold, or a level of urgency less than a preset threshold. In application, the specific first mandatory door opening condition can be determined according to application requirements.

[0097] Understandably, if the urgency level of opening the door does not meet the first mandatory door opening condition, it indicates that the urgency level of the current user inside the vehicle is generally low. In this case, the appropriate target safety warning strategy can be determined and implemented based on the risk level of the target door opening and the user's awareness of door opening safety.

[0098] In this embodiment, based on multiple door-opening actions performed by the user inside the vehicle, the door-opening intent recognition result corresponding to each action is determined. Then, a weighted calculation is performed on each door-opening intent recognition result and its corresponding reliability weight. This accurately identifies the urgency level of the user's need to open the door, avoiding situations where accidental activation leads to frequent safety warnings and the user discontinuing the door-opening safety warning function. Furthermore, by setting a first mandatory door-opening condition, when the user's urgency level is moderate, the corresponding target safety warning strategy is determined and executed based on the target door's opening risk level and the user's awareness of door safety. When the user urgently needs to open the door, the ongoing safety warning action is deactivated, facilitating emergency occupant escape.

[0099] In one specific embodiment, if the emergency unlock button inside the first vehicle is triggered, the ongoing safety warning behavior can be deactivated, allowing the user inside the vehicle to quickly open the door and escape.

[0100] In one specific embodiment, in response to the cancellation of an ongoing safety warning action, a notification can be issued to the user inside the vehicle based on vibration of the interior door handle and / or the central control screen of the first vehicle. The central control screen of the first vehicle may display "Risk Cleared" to indicate to the user that the door can now be opened normally.

[0101] To more clearly illustrate the technical solutions provided in the embodiments of this application, the following is in conjunction with... Figure 2 This application provides a further explanation of a vehicle door opening safety warning method.

[0102] Figure 2 This is a schematic flowchart illustrating a vehicle door opening safety warning method according to another embodiment of this application, such as... Figure 2 As shown, the method includes: S201, when the first vehicle is parked and there is a user inside, a risk assessment is performed on the opening safety of each door of the first vehicle to obtain the opening risk level of each door.

[0103] S202, when it is detected that a user inside the vehicle performs a door-opening action on the target door of the first vehicle, acquire multiple door-opening action information corresponding to the door-opening action.

[0104] In this embodiment, the door opening action information may include head posture information, contact status information with the inner door handle, center of gravity shift information, and the issued voice command to open the door. After executing S202, S203 and S208 can be executed respectively to determine the level of safety awareness and urgency of the user inside the vehicle based on multiple door opening action information. Thus, when the user inside the vehicle has a moderate level of urgency in opening the door, the corresponding target safety warning strategy is determined and executed based on the risk level of the target door and the user's level of safety awareness. When the user inside the vehicle urgently needs to open the door, the ongoing safety warning behavior is deactivated to facilitate emergency escape for the occupants.

[0105] S203 determines the level of door opening safety awareness of the user inside the vehicle based on the acquired information on multiple door opening actions.

[0106] In this embodiment, based on the acquired information on multiple door opening actions, the door opening safety awareness recognition result corresponding to each door opening action can be determined. Then, based on the door opening safety awareness recognition result corresponding to each door opening action and the preset credibility weight corresponding to each door opening action, the degree of door opening safety awareness of the user in the vehicle can be determined.

[0107] S204. Based on the risk level of the target door opening, determine the corresponding first safety warning strategy.

[0108] Among them, the warning level corresponding to the first safety warning strategy is positively correlated with the risk level of opening the target vehicle door.

[0109] S205 determines the corresponding strategy adjustment information based on the level of safety awareness of users inside the vehicle when opening the doors.

[0110] S206, Adjust the first security early warning strategy according to the strategy adjustment information to obtain the target security early warning strategy.

[0111] Among them, the level of safety awareness of users inside the vehicle when opening doors is negatively correlated with the warning level corresponding to the target safety warning strategy.

[0112] S207 provides safety warnings to users inside the vehicle in accordance with the target safety warning strategy.

[0113] S208 determines the urgency of the user's door opening based on multiple door opening action information obtained.

[0114] In this embodiment, the door opening intention recognition result corresponding to each door opening action can be determined based on the acquired multiple door opening action information. Then, based on the door opening intention recognition result corresponding to each door opening action and the preset confidence weight corresponding to each door opening action, the urgency level of the user in the vehicle to open the door can be determined.

[0115] S209, determine whether the urgency of opening the door meets the first mandatory door opening condition; if yes, then execute S210; if no, then continue to execute S207.

[0116] The first mandatory door opening condition includes conditions used to indicate that the user inside the vehicle urgently needs to open the door.

[0117] S210, cancel the ongoing security alert action.

[0118] The specific implementation methods of S201-S210 have been described in detail in the above embodiments and will not be repeated here.

[0119] The technical solution provided in this application, when the first vehicle is parked and a user is inside, assesses the opening safety of each door to obtain the opening risk level of each door. Furthermore, when it is detected that a user inside the vehicle is attempting to open a target door, the user's level of awareness regarding door opening safety is determined based on multiple door opening actions. Therefore, based on the target door's opening risk level and the user's level of awareness, a corresponding target safety warning strategy is determined and executed. It is evident that this technical solution, in providing door opening safety warning services to users, not only relies on the door's opening risk level but also combines the risk level of the door the user intends to open with the user's level of awareness. This allows for a more suitable safety warning strategy, ensuring the determined warning strategy is compatible with the user's actual door-opening behavior and the vehicle's current environment. This enhances the user-specificity of the safety warning strategy, providing users with more reliable door opening safety protection and effectively reducing the occurrence of collisions.

[0120] Furthermore, embodiments of this application also provide a vehicle door opening safety warning system, such as... Figure 3 As shown, the system includes a door opening risk assessment module 310, a door opening safety awareness determination module 320, and a safety early warning strategy determination module 330 connected in sequence.

[0121] The door opening risk assessment module 310 is used to assess the opening safety of each door of the first vehicle when the first vehicle is parked and there is a user inside the vehicle, and to obtain the opening risk level of each door.

[0122] The door opening safety awareness determination module 320 is used to determine the level of door opening safety awareness of the user inside the vehicle based on multiple door opening action information corresponding to the door opening behavior when the user inside the vehicle is detected to be opening the target door of the first vehicle.

[0123] The safety warning strategy determination module 330 is used to determine the corresponding target safety warning strategy based on the risk level of the target vehicle door opening and the level of door opening safety awareness of the users inside the vehicle. The level of door opening safety awareness of the users inside the vehicle is negatively correlated with the warning level corresponding to the target safety warning strategy.

[0124] In this embodiment, the vehicle door opening safety warning system further includes a camera 341, a millimeter-wave radar 342, and a lidar 343, all connected to the door opening risk assessment module 310. The camera can be a surround-view camera and / or a side-view camera. The camera, millimeter-wave radar, and lidar are all used to collect obstacle information for each obstacle in the environment in which the first vehicle is located.

[0125] In this embodiment, the vehicle door opening safety warning system also includes a cockpit camera 351, an interior door handle 352, and a seat sensor 353, all connected to the door opening safety awareness determination module 320. The cockpit camera, interior door handle, and seat sensor are all used to detect the door opening behavior performed by the user inside the vehicle on the target door of the first vehicle, and to acquire multiple door opening action information corresponding to the door opening behavior.

[0126] In this embodiment, the vehicle door opening safety warning system also includes an electromagnetic door lock 361, a buzzer 362, an exterior rearview mirror indicator light 363, an ambient light 364, and a central control screen 365, all of which are connected to the safety warning strategy determination module 330.

[0127] Regarding the vehicle door opening safety warning system in the above embodiments, the specific methods by which each unit performs its operation have been described in detail in the embodiments concerning the vehicle door opening safety warning method, and will not be elaborated upon here.

[0128] In addition, this application embodiment also provides a vehicle door opening safety warning device 400. Figure 4 This is a structural schematic diagram of a vehicle door opening safety warning device provided in one embodiment of this application. Figure 4 As shown, the device includes: The door opening risk assessment module 410 is used to assess the opening safety of each door of the first vehicle when the first vehicle is parked and there is a user inside the vehicle, and to obtain the opening risk level of each door. The door opening safety awareness determination module 420 is used to determine the level of door opening safety awareness of the user inside the vehicle based on multiple door opening action information corresponding to the door opening behavior when the user inside the vehicle is detected to be opening the target door of the first vehicle. The safety warning module 430 is used to determine and execute corresponding target safety warning strategies based on the risk level of the target door opening and the level of door opening safety awareness of the users inside the vehicle; wherein, the level of door opening safety awareness of the users inside the vehicle is negatively correlated with the warning level corresponding to the target safety warning strategy.

[0129] In one specific embodiment, the security warning module 430 includes: The early warning strategy determination unit is used to determine the corresponding first safety early warning strategy based on the risk level of opening the target door; The strategy adjustment information determination unit is used to determine the corresponding strategy adjustment information based on the level of door opening safety awareness of the users inside the vehicle. The early warning strategy adjustment unit is used to adjust the first security early warning strategy according to the strategy adjustment information to obtain the target security early warning strategy; The safety warning unit is used to provide safety warnings to users inside the vehicle in accordance with the target safety warning strategy.

[0130] In one specific embodiment, the first safety warning strategy includes adding door opening damping to the target door in accordance with the risk level of opening the target door; The strategy adjustment information includes an adjustment coefficient corresponding to the level of door opening safety awareness of the users inside the vehicle; the adjustment coefficient is used to adjust the door opening damping.

[0131] In one specific embodiment, the vehicle door opening safety warning device further includes: The door opening urgency determination module is used to determine the urgency of the door opening for the user inside the vehicle based on multiple door opening action information corresponding to the door opening behavior performed by the user inside the vehicle. The first warning cancellation module is used to cancel the ongoing safety warning behavior when the urgency of opening the door meets the first mandatory door opening condition; the first mandatory door opening condition includes conditions that indicate the urgent need of the user inside the vehicle to open the door.

[0132] In one specific embodiment, the door opening urgency determination module includes: The door opening intention recognition unit is used to determine the door opening intention recognition result corresponding to each door opening behavior based on multiple door opening action information corresponding to the door opening behavior performed by the user in the vehicle. The door opening urgency determination unit is used to determine the urgency of the user's door opening based on the door opening intention recognition results corresponding to each door opening behavior and the preset credibility weights corresponding to each door opening behavior.

[0133] In one specific embodiment, the vehicle door opening safety warning device further includes: The second warning cancellation module is used to cancel the ongoing safety warning behavior when the emergency unlock button in the first vehicle is triggered.

[0134] In one specific embodiment, the door opening risk assessment module 410 includes: The acquisition unit is used to acquire obstacle information of each obstacle in the environment where the first vehicle is located, collected by multiple sensors in the first vehicle. The trajectory prediction unit is used to determine the trajectory prediction information of each obstacle within a preset time period based on the obstacle information of each obstacle. The filtering unit is used to filter out target obstacles from among the obstacles based on the trajectory prediction information of each obstacle within a preset time period in the future and preset filtering conditions; the target obstacles are obstacles related to the opening safety of the door of the first vehicle. The door opening risk determination unit is used to determine the opening risk level of each door based on the motion state information of the target obstacle and the preset risk assessment rules; the motion state information includes obstacle information and trajectory prediction information within a preset time period in the future.

[0135] In one specific embodiment, the door opening risk determination unit is specifically used for: For each car door, if there are inconsistencies in the motion state information of the target obstacle corresponding to the door, the risk level of opening the car door is determined to be a misjudgment; in particular, if there are inconsistencies in the motion state information when multiple sensors collect the same obstacle information, there will be inconsistencies in the motion state information. If there is no data inconsistency in the motion state information of the target obstacle corresponding to the car door, the opening risk level of the car door is determined according to the first correspondence between the motion state information of the target obstacle corresponding to the car door and the preset risk level.

[0136] The technical solution provided in this application, when the first vehicle is parked and a user is inside, performs a risk assessment on the opening safety of each door of the first vehicle to obtain the opening risk level of each door. Furthermore, when it is detected that a user inside the vehicle is attempting to open a target door of the first vehicle, the user's level of awareness regarding door opening safety is determined based on multiple door opening actions. Therefore, based on the opening risk level of the target door and the user's level of awareness, a corresponding target safety warning strategy is determined and executed. The user's level of awareness regarding door opening safety is negatively correlated with the warning level corresponding to the target safety warning strategy. Thus, the lower the user's level of awareness regarding door opening safety, the higher the warning level of the safety warning strategy applied to that user. It is evident that this technical solution, in providing door opening safety warning services to users, does not only rely on the risk level of the door opening, but also combines the risk level of the door the user wants to open with the user's level of awareness of door opening safety. This allows for a more suitable safety warning strategy, ensuring that the determined safety warning strategy is adapted to the user's actual door opening behavior and the vehicle's current environment. This enhances the user-specificity of the safety warning strategy and helps provide users with more reliable door opening safety protection, thereby effectively reducing the occurrence of collision accidents.

[0137] Regarding the vehicle door opening safety warning device in the above embodiments, the specific way in which each unit performs its operation has been described in detail in the embodiments of the vehicle door opening safety warning method, and will not be elaborated here.

[0138] In addition, this application also provides a vehicle. Figure 5 This is a schematic diagram of the structure of a vehicle provided in one embodiment of this application.

[0139] For example, such as Figure 5 As shown, the vehicle 500 includes a memory 501 and a processor 502. The memory 501 stores executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform a vehicle door opening safety warning method.

[0140] This embodiment can divide the vehicle into functional modules according to the above method example. For example, each function can be assigned to a separate module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0141] When each functional module is divided according to its corresponding function, the vehicle may include: a processing module, a storage module, etc. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0142] The vehicle provided in this embodiment is used to execute the vehicle door opening safety warning method described above, and thus can achieve the same effect as the above implementation method.

[0143] When using integrated units, the vehicle may include a processing module and a storage module. The processing module is used to control and manage the vehicle's actions. The storage module supports the vehicle in executing program code and data.

[0144] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0145] Based on the same technical concept, this application also provides an electronic device for executing the methods provided in the above embodiments, corresponding to the methods provided in the above embodiments.

[0146] Electronic devices can vary considerably in configuration and performance, and may include one or more processors and memories. The memory stores computer programs. The processor executes the computer programs to implement the aforementioned vehicle door opening safety warning method.

[0147] It should be noted that the embodiments of electronic devices in this application and the method embodiments in this application are based on the same inventive concept. Therefore, the specific implementation of this embodiment can be referred to the implementation of the corresponding method described above, and the repeated parts will not be described again.

[0148] Corresponding to the methods provided in the above embodiments, based on the same technical concept, this application also provides a computer-readable storage medium (including but not limited to disk storage, CD-ROM, optical storage, etc.) storing computer program code. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle door opening safety warning method provided in the above embodiments.

[0149] This application also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement the vehicle door opening safety warning method provided in the above embodiments.

[0150] The beneficial effects of the above embodiments can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0151] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0152] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0153] In the description of this application, it should be understood that if the terms "upper", "lower", "front", "rear", "left" and "right" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0154] It should be noted that, in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0155] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A vehicle door opening safety warning method, characterized in that, include: When the first vehicle is parked and there is a user inside, a risk assessment is performed on the opening safety of each door of the first vehicle to obtain the opening risk level of each door. If it is detected that a user inside the vehicle performs an opening action on the target door of the first vehicle, the user's level of door opening safety awareness is determined based on multiple door opening action information corresponding to the opening action. Based on the risk level of the target vehicle door being opened and the level of safety awareness of the users inside the vehicle, a corresponding target safety warning strategy is determined and implemented; wherein, the level of safety awareness of the users inside the vehicle is negatively correlated with the warning level corresponding to the target safety warning strategy. The method further includes: Based on multiple door-opening action information corresponding to the door-opening behavior performed by the user inside the vehicle, the urgency level of the user opening the door is determined. If the urgency of opening the door meets the first mandatory door opening condition, the ongoing safety warning behavior is deactivated; the first mandatory door opening condition includes conditions that indicate the urgent need of the user inside the vehicle to open the door. The step of determining the urgency of the user's door opening based on multiple door opening action information corresponding to the user's door opening behavior includes: Based on the multiple door opening action information corresponding to the door opening behavior performed by the user inside the vehicle, determine the door opening intention recognition result corresponding to each door opening behavior; Based on the door opening intent recognition results corresponding to each of the door opening behaviors, and the preset credibility weights corresponding to each of the door opening behaviors, the urgency level of the user inside the vehicle to open the door is determined.

2. The method according to claim 1, characterized in that, The step of determining and implementing a corresponding target safety early warning strategy based on the risk level of the target vehicle door opening and the safety awareness of the user inside the vehicle includes: Based on the risk level of opening the target vehicle door, determine the corresponding first safety warning strategy; Based on the level of safety awareness of the users inside the vehicle regarding door opening, determine the corresponding strategy adjustment information; The first security warning strategy is adjusted according to the strategy adjustment information to obtain the target security warning strategy; Safety warnings are issued to the in-vehicle users in accordance with the target safety warning strategy.

3. The method according to claim 2, characterized in that, The first safety warning strategy includes adding opening damping to the target door that corresponds to the opening risk level of the target door; The strategy adjustment information includes an adjustment coefficient corresponding to the user's level of awareness of door opening safety; the adjustment coefficient is used to adjust the door opening damping.

4. The method according to claim 2, characterized in that, The method further includes: If the emergency unlock button inside the first vehicle is triggered, the ongoing safety warning action will be deactivated.

5. The method according to claim 1, characterized in that, The risk assessment of the opening safety of each door of the first vehicle to obtain the opening risk level of each door includes: Obtain obstacle information for each obstacle in the environment where the first vehicle is located, collected by multiple sensors in the first vehicle. Based on the obstacle information of each obstacle, determine the trajectory prediction information of each obstacle within a preset time period in the future; Based on the trajectory prediction information of each obstacle within a preset time period in the future, and preset filtering conditions, target obstacles are selected from each obstacle; the target obstacles are obstacles related to the opening safety of the doors of the first vehicle. Based on the motion state information of the target obstacle and the preset risk assessment rules, the opening risk level of each door is determined; the motion state information includes the obstacle information and the trajectory prediction information within a preset future time period.

6. The method according to claim 5, characterized in that, The method of determining the opening risk level of each vehicle door based on the motion state information of the target obstacle and preset risk assessment rules includes: For each of the vehicle doors, if there is inconsistency in the motion state information of the target obstacle corresponding to the vehicle door, the opening risk level of the vehicle door is determined to be a misjudgment; wherein, if there is inconsistency in the same obstacle information collected by multiple sensors, then there is inconsistency in the motion state information. If there is no data inconsistency in the motion state information of the target obstacle corresponding to the car door, the opening risk level of the car door is determined according to the first correspondence between the motion state information of the target obstacle corresponding to the car door and the preset risk level.

7. A vehicle door opening safety warning device, characterized in that, include: The door opening risk assessment module is used to assess the opening safety of each door of the first vehicle when the first vehicle is parked and there is a user inside the vehicle, and to obtain the opening risk level of each door. The door opening safety awareness determination module is used to determine the level of door opening safety awareness of the user inside the vehicle based on multiple door opening action information corresponding to the door opening behavior when the user inside the vehicle is detected to be opening the target door of the first vehicle. The safety warning module is used to determine and execute a corresponding target safety warning strategy based on the risk level of the target vehicle door being opened and the safety awareness level of the user inside the vehicle; wherein, the safety awareness level of the user inside the vehicle is negatively correlated with the warning level corresponding to the target safety warning strategy. The device further includes: The door opening urgency determination module is used to determine the urgency of the door opening for the user inside the vehicle based on multiple door opening action information corresponding to the door opening behavior performed by the user inside the vehicle. The first warning cancellation module is used to cancel the ongoing safety warning behavior when the urgency of opening the door meets the first mandatory door opening condition; the first mandatory door opening condition includes conditions that indicate that the user inside the vehicle urgently needs to open the door. The door opening urgency determination module includes: The door opening intention recognition unit is used to determine the door opening intention recognition result corresponding to each door opening behavior based on multiple door opening action information corresponding to the door opening behavior performed by the user in the vehicle. The door opening urgency determination unit is used to determine the urgency of the user's door opening based on the door opening intention recognition results corresponding to each door opening behavior and the preset credibility weights corresponding to each door opening behavior.

8. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor is configured to call and run the executable program code from the memory, causing the vehicle to perform the vehicle door opening safety warning method as described in any one of claims 1 to 6.

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