Bus door automatic control system and method, electronic equipment and storage medium

Abstract

The invention discloses an automatic bus door control system and method, electronic equipment and a storage medium, and relates to the field of bus door control. The station module is used for detecting the position state of the vehicle relative to a preset station area; the vehicle module is used for capturing and screening vehicle door action requests; the platform module is in communication connection with the vehicle module; the vehicle module captures and screens vehicle door action requests by detecting internal and external environment states of a vehicle; the detection of the internal and external environment state comprises the steps that the station module is in communication connection with the vehicle module, and the station module detects the position state of the vehicle relative to the preset station area and sends the position state to the vehicle module. Through the control system, the accelerator pedal and the brake pedal are associated with the bus door opening and closing system, automatic opening and closing of the bus door are controlled by the pedals, a driver does not need to manually control opening and closing of the bus door any more, and the workload of the driver is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bus door control, in particular to a bus vehicle door automatic control system, a bus vehicle door automatic control method, an electronic device and a storage medium. BACKGROUND

[0002] At present, the bus door is manually controlled by the driver, and is opened and closed hundreds of times a day, which causes a large workload to the driver. Therefore, it is necessary to control the opening and closing of the door without manual operation of the driver, so as to reduce the workload of the driver.

[0003] Some buses attempt to assist door control through "passenger bell prompt" and "station staff assistance", but there are obvious defects:

[0004] Passengers rely on the bell to operate actively, and old passengers and outsiders may forget to press the bell due to unfamiliarity with the process, resulting in missed opening of the door by the driver;

[0005] The bell sound is easily covered by environmental noise (such as passenger conversation and vehicle engine sound) during peak hours, and the driver cannot accurately identify it;

[0006] The mode relying on manual assistance is affected by the state of the staff (such as staff negligence and temporary off-duty), and has poor stability and cannot form a standardized control logic.

[0007] The existing manual control mode requires the driver to operate frequently, which not only aggravates fatigue and increases safety hazards, but also restricts the operation efficiency. With the increase of urban bus passenger flow and the improvement of fine management demand, an intelligent control system capable of automatically associating the vehicle state (such as speed and stopping position), the passenger state (such as boarding and alighting progress) and the door action is needed to solve the inherent defects of manual operation from the root. SUMMARY

[0008] The purpose of the present application is to provide a bus vehicle door automatic control system, a bus vehicle door automatic control method, an electronic device and a storage medium, which aims to solve the technical problem that the bus door is manually controlled by the driver, and is opened and closed hundreds of times a day, which causes a large workload to the driver.

[0009] The present application provides the following solutions:

[0010] According to one aspect of the present application, a bus vehicle door automatic control system is provided, which comprises a station module and a vehicle module.

[0011] The station module is used for detecting the position state of the vehicle relative to a preset station area.

[0012] The vehicle module is used for capturing and screening the door action request; the station module is in communication connection with the vehicle module;

[0013] Further, the vehicle module captures and screens the door action request by detecting the environment state inside and outside the vehicle;

[0014] Detecting the environment state inside and outside the vehicle includes that, based on the communication connection between the station module and the vehicle module, the station module detects the position state of the vehicle relative to the preset station area and sends to the vehicle module.

[0015] Further, the vehicle module captures and screens the door action request by detecting the environment state inside and outside the vehicle;

[0016] The station module includes a first position sensor, a second position sensor, a third position sensor and a fourth position sensor;

[0017] The first position sensor, the second position sensor, the third position sensor and the fourth position sensor are sequentially arranged on the road of the preset station area;

[0018] The vehicle passes above the first position sensor, the second position sensor, the third position sensor or / and the fourth position sensor to trigger the first position sensor, the second position sensor, the third position sensor or / and the fourth position sensor;

[0019] Wherein, the first position sensor, the second position sensor, the third position sensor and the fourth position sensor, the position sensor adjacent position interval is less than the length of the vehicle, the position sensor interval position is greater than the length of the vehicle.

[0020] Further, the vehicle module captures and screens the door action request by detecting the environment state inside and outside the vehicle;

[0021] The preset station area includes a first station area, a second station area and a third station area;

[0022] Wherein, the vehicle passes above the first position sensor, the second position sensor, the third position sensor or / and the fourth position sensor to trigger the first position sensor, the second position sensor, the third position sensor or / and the fourth position sensor includes:

[0023] Triggering the second position sensor and the third position sensor corresponds to the first station area;

[0024] Triggering the first position sensor and the second position sensor, or triggering the third position sensor and the fourth position sensor, corresponds to the second station area;

[0025] Triggering the first position sensor or the fourth position sensor corresponds to the third station area.

[0026] Further, the vehicle module captures and screens the door action request by detecting the environment state inside and outside the vehicle;

[0027] The vehicle module comprises: a visual recognition module, a pedal recognition module, a speed recognition module, and a door control module.

[0028] The visual recognition module is configured to recognize the safety state of the door opening and closing active area.

[0029] The pedal recognition module is configured to recognize the operation state of the accelerator pedal and the brake pedal.

[0030] The speed recognition module is configured to recognize the speed state of the vehicle movement.

[0031] The door control module is configured to control the opening or closing of the door.

[0032] According to the vehicle module, the in-vehicle and out-vehicle environment states are detected, the door action request is captured and screened, and it is determined whether the vehicle enters the first station area.

[0033] If yes, it is determined according to the speed recognition module whether the speed of the vehicle movement is a “zero speed” state.

[0034] If yes, it is determined according to the speed recognition module whether the operation state of the accelerator pedal and the brake pedal is that only the brake pedal is stepped on.

[0035] If yes, it is determined according to the visual recognition module whether the door opening and closing active area is in a safe state.

[0036] If yes, a request for controlling the opening or closing of the door is generated.

[0037] Further, the vehicle module comprises:

[0038] According to the request for controlling the opening or closing of the door, it is determined whether the vehicle is out of the first station area.

[0039] If no, the door opening or closing action is controlled according to the request for controlling the opening or closing of the door.

[0040] If yes, it is determined according to the visual recognition module whether the door is in a closed state.

[0041] If it is determined that the door is in a closed state, the request for controlling the opening of the door is not responded.

[0042] If it is determined that the door is not in a closed state, it is determined whether the door opening and closing active area is in a safe state.

[0043] If the door opening and closing active area is in a safe state, the request for controlling the closing of the door is executed.

[0044] Further, the vehicle module comprises:

[0045] The vehicle module further comprises a passenger abnormal request module and a brake control module.

[0046] a passenger abnormal request module for receiving a passenger triggered switch action signal;

[0047] a brake control module for vehicle deceleration control;

[0048] determining whether the vehicle is located in a first station area, a second station area or a third station area according to the received passenger triggered switch action signal;

[0049] if yes, determining whether the current vehicle speed is less than a preset safety speed threshold;

[0050] if the current vehicle speed is less than the preset safety speed threshold, generating a brake request according to the received passenger triggered switch action signal;

[0051] determining whether the accelerator pedal is depressed beyond a preset depth according to the brake control module for vehicle deceleration control;

[0052] if the accelerator pedal is depressed beyond the preset depth, the brake control module does not respond to the brake request;

[0053] if the accelerator pedal is not depressed beyond the preset depth, the brake control module responds to the brake request;

[0054] during the process of responding to the brake request, continuously monitoring the accelerator pedal and determining whether the accelerator pedal is depressed beyond the preset depth;

[0055] if yes, the brake control module terminates the brake request being responded.

[0056] Further comprising:

[0057] determining whether the vehicle is located in a first station area, a second station area or a third station area according to the received passenger triggered switch action signal comprises:

[0058] if the vehicle is located in the first station area, generating a brake request instruction at the same time as generating a request for controlling the vehicle door to open or close;

[0059] according to the generation of the brake request instruction at the same time as the generation of the request for controlling the vehicle door to open or close, the brake control module responds to the brake request at the same time as the vehicle door control module responds to the request for controlling the vehicle door to open.

[0060] Further comprising:

[0061] determining whether the accelerator pedal is depressed beyond the preset depth according to the pedal identification module, or determining whether the speed of the vehicle moving is greater than or equal to the preset safety speed threshold according to the speed identification module;

[0062] if yes, the function of generating a brake request according to the received passenger triggered switch action signal is disabled.

[0063] According to two aspects of the present application, a bus vehicle door automatic control method is provided, comprising:

[0064] detecting a position state of the vehicle relative to a preset station area;

[0065] capturing and screening a vehicle door action request; capturing and screening a vehicle door action request by detecting an environment state inside and outside the vehicle;

[0066] detecting a position state of the vehicle relative to a preset station area, and sending to a vehicle module;

[0067] The position state comprises a first station area, a second station area and a third station area.

[0068] According to three aspects of the present application, an electronic device is provided, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;

[0069] The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of a bus vehicle door automatic control method.

[0070] According to four aspects of the present application, a computer readable storage medium is provided, which stores a computer program executable by an electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of a bus vehicle door automatic control method.

[0071] Compared with the prior art, the present application has the following advantages:

[0072] The present application associates the accelerator pedal, the brake pedal and the vehicle door opening and closing system through a control system, realizes automatic opening and closing of the bus door controlled by the pedal, and the driver no longer needs to manually control the opening and closing of the door, thereby reducing the working load of the driver.

[0073] The present application increases a visual recognition module to judge the safety state of the door opening and closing activity area in real time through communication between the bus station and the vehicle, avoids misopening the door when there are pedestrians and obstacles, and only allows generation of a door opening and closing request when the vehicle is at "zero speed" and only the brake pedal is stepped on to ensure that the vehicle is stable, thereby fundamentally eliminating the risk of opening the door when the vehicle is not stable and is running.

[0074] When the passenger abnormal request triggers braking, the present application only responds when the vehicle speed is lower than a safety threshold and the accelerator is not deeply stepped on, and if the accelerator is suddenly deeply stepped on, the braking will be immediately terminated, thereby avoiding the risk of emergency braking caused by misoperation, guaranteeing the driver's dominance over the vehicle, and preventing conflict between the system and manual operation.

[0075] This application distinguishes between the first, second, and third station areas, allowing normal door operation only in the core stopping area (first area), while the edge areas serve only as transitions, thereby reducing the safety hazards of misoperation at non-stop locations.

[0076] This application uses position sensors to accurately determine the vehicle's position relative to the station, quickly identify whether the vehicle has entered the core parking area, and reduce waiting time caused by ambiguous position judgment; when the conditions are met, the door control is automatically triggered, reducing the time cost of manual operation by the driver. Attached Figure Description

[0077] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0078] Figure 1 This is a structural diagram of an automatic control system for bus doors provided in one or more embodiments of the present invention.

[0079] Figure 2 This is a flowchart of an automatic control method for bus doors provided by one or more embodiments of the present invention.

[0080] Figure 3 This is a block diagram of an electronic device for an automatic control method for bus doors provided in one or more embodiments of the present invention. Detailed Implementation

[0081] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0082] Figure 1 This is a structural diagram of an automatic control system for bus doors provided in one or more embodiments of the present invention.

[0083] like Figure 1 The system shown includes:

[0084] Platform module and vehicle module;

[0085] The platform module is used to detect the position of vehicles relative to a preset station area;

[0086] A vehicle module is configured to capture and screen a door action request; and a station module is in communication with the vehicle module.

[0087] Further, the vehicle module captures and screens the door action request by detecting an environment state inside and outside the vehicle.

[0088] The detection of the environment state inside and outside the vehicle includes that, based on the communication between the station module and the vehicle module, the station module detects a position state of the vehicle relative to a preset station area and sends the position state to the vehicle module.

[0089] Specifically, the conventional bus relies on the experience of a driver or a simple GPS positioning to determine a stop state, which is prone to the risk of misalignment of the door and the station due to incomplete parking or parking deviation. Through the communication between the station module and the vehicle module, the relative position of the vehicle and the preset station area can be captured in real time, so as to ensure that the vehicle completely enters the station, is parked stably, and triggers an opening instruction.

[0090] Further, the station module comprises:

[0091] The station module comprises a first position sensor, a second position sensor, a third position sensor, and a fourth position sensor.

[0092] The first position sensor, the second position sensor, the third position sensor, and the fourth position sensor are sequentially arranged on a road of the preset station area.

[0093] The vehicle passes above the first position sensor, the second position sensor, the third position sensor, or / and the fourth position sensor to trigger the first position sensor, the second position sensor, the third position sensor, or / and the fourth position sensor.

[0094] The first position sensor, the second position sensor, the third position sensor, and the fourth position sensor are arranged with a distance between adjacent position sensors being less than a length of the vehicle and a distance between the position sensors being greater than the length of the vehicle.

[0095] Specifically, the vehicle position is accurately identified by the plurality of position sensors, the current state of the vehicle is determined by identifying the vehicle position, including that the vehicle is entering, is parked stably, and is leaving, and the state of the vehicle is accurately determined by the position sensors, including that:

[0096] Only the first sensor is triggered, indicating that the vehicle has just entered the station (the head enters and the tail does not enter);

[0097] The first and second sensors are triggered, indicating that the vehicle is entering (the vehicle body partially enters);

[0098] The second and third sensors are triggered, indicating that the vehicle completely enters and is parked stably (the core area of the vehicle body is in the station).

[0099] Third + Fourth sensor trigger → Vehicle is preparing to depart (head is about to leave, tail is still in the area);

[0100] Only fourth sensor trigger → Vehicle is departing (tail is about to leave). This state recognition ensures that the vehicle door is only opened during the stable parking phase of "second + third trigger", avoiding action during vehicle movement.

[0101] Further, comprising:

[0102] The preset station area includes: a first station area, a second station area, and a third station area;

[0103] Wherein, the vehicle passes above the first position sensor, the second position sensor, the third position sensor or / and the fourth position sensor, triggering the first position sensor, the second position sensor, the third position sensor or / and the fourth position sensor includes:

[0104] Triggering the second position sensor and the third position sensor corresponds to the first station area;

[0105] Triggering the first position sensor and the second position sensor, or triggering the third position sensor and the fourth position sensor, corresponds to the second station area;

[0106] Triggering the first position sensor or the fourth position sensor corresponds to the third station area.

[0107] Specifically, the first station area is triggered by the second and third sensors simultaneously, and the adjacent distance between the two is less than the length of the vehicle;

[0108] Simultaneous triggering includes: the main part of the vehicle body (at least from the front of the vehicle to the middle of the vehicle body) has covered above the second and third sensors;

[0109] Because the distance between the first and third sensors is greater than the length of the vehicle, at this time the tail of the vehicle does not exceed the first sensor (otherwise the first sensor will be triggered), and the head does not exceed the fourth sensor (otherwise the fourth sensor will be triggered); that is, the vehicle is completely in the "core parking area" of the station, and the vehicle door can be accurately aligned with the platform.

[0110] The second station area is triggered by the first and second sensors, when the head of the vehicle has passed the second sensor, but the tail may still be outside the first sensor, indicating that the vehicle is entering the station.

[0111] The second station area is triggered by the third and fourth sensors, when the tail of the vehicle has passed the third sensor, but the head may have approached the outside of the fourth sensor, indicating that the vehicle is departing.

[0112] The above two cases show that the vehicle parking position is slightly offset, but part of the vehicle body is still within the limited range of the station.

[0113] When the third station area is triggered by the fourth sensor, the vehicle is about to leave the station, only the tail covers the fourth sensor, and the main body of the vehicle body has left the station; both of these two cases show that the vehicle is not in the effective parking state, which belongs to the "non-parking area".

[0114] Through the above scheme, the system can identify whether the vehicle is in the core area or the edge area or the non-parking area in real time through the sensor trigger combination, and the quantization accuracy reaches the sensor spacing level, which provides a clear judgment basis for the vehicle door control, and the identification accuracy of "qualified parking" is significantly improved.

[0115] Further, comprising:

[0116] The vehicle module comprises a visual recognition module, a pedal recognition module, a speed recognition module, and a vehicle door control module.

[0117] The visual recognition module is configured to identify the safety state of the vehicle door opening and closing active area.

[0118] The pedal recognition module is configured to identify the control state of the accelerator pedal and the brake pedal.

[0119] The speed recognition module is configured to identify the speed state of the vehicle movement.

[0120] The vehicle door control module is configured to control the opening or closing of the vehicle door.

[0121] According to the vehicle module, the vehicle door action request is captured and screened by detecting the internal and external environment state of the vehicle, and it is judged whether the vehicle enters the first station area.

[0122] If yes, according to the speed recognition module, it is judged whether the speed of the vehicle movement is "zero speed" state.

[0123] If yes, according to the speed recognition module, it is judged whether the control state of the accelerator pedal and the brake pedal is that only the brake pedal is stepped on.

[0124] If yes, according to the visual recognition module, it is judged whether the vehicle door opening and closing active area is in a safe state.

[0125] If yes, a request for controlling the opening or closing of the vehicle door is generated.

[0126] Specifically, by locking the first station area, triggering the vehicle door operation, and ensuring that the vehicle is completely stationary before entering the next step, dynamic door opening is avoided.

[0127] Specifically, by locking the first station area, triggering the vehicle door operation, and ensuring that the vehicle is completely stationary before entering the next step, dynamic door opening is avoided.

[0128] Further comprising:

[0129] According to the request for controlling the opening or closing of the vehicle door, it is determined whether the vehicle is out of the first station area;

[0130] If no, the action of opening or closing the vehicle door is controlled according to the response of the vehicle door control module to the request for controlling the opening or closing of the vehicle door;

[0131] If yes, it is determined whether the vehicle door is in the closed state according to the visual recognition module;

[0132] If it is determined that the vehicle door is in the closed state, the request for opening the vehicle door is not responded to;

[0133] If it is determined that the vehicle door is not in the closed state, it is determined whether the vehicle door opening and closing active area is in a safe state;

[0134] If the vehicle door opening and closing active area is in the safe state, the request for closing the vehicle door is executed.

[0135] Specifically, according to the request for controlling the opening or closing of the vehicle door, it is determined whether the vehicle is out of the first station area, and further, the position state of the vehicle is determined. There is a problem of vehicle coasting. If there is no coasting state, the request for controlling the opening or closing of the vehicle door is responded to.

[0136] Further comprising:

[0137] The vehicle module further comprises a passenger abnormal request module and a brake control module;

[0138] The passenger abnormal request module is configured to receive a switch action signal triggered by a passenger;

[0139] The brake control module is configured to control the deceleration of the vehicle;

[0140] According to the received switch action signal triggered by the passenger, it is determined whether the vehicle is located in the first station area, the second station area or the third station area;

[0141] If yes, it is determined whether the current vehicle speed is less than a preset safe speed threshold;

[0142] If the current vehicle speed is less than the preset safe speed threshold, a brake request is generated according to the received switch action signal triggered by the passenger;

[0143] According to the brake control module for controlling the deceleration of the vehicle, it is determined whether the accelerator pedal is depressed beyond a preset depth;

[0144] If the accelerator pedal is depressed beyond the preset depth, the brake control module does not respond to the brake request;

[0145] If the accelerator pedal is not stepped beyond the preset depth, the brake control module responds to the brake request;

[0146] During the process of responding to the brake request, the accelerator pedal is continuously monitored and it is determined whether the accelerator pedal is stepped beyond the preset depth;

[0147] If yes, the brake control module terminates the brake request being responded.

[0148] Specifically, it is determined whether the vehicle has a parking intention by determining whether the current vehicle speed is less than a preset safety speed threshold.

[0149] When the brake control module is used for vehicle deceleration control, it is determined whether the driver has a control intention by determining whether the accelerator pedal is stepped beyond the preset depth, and when the accelerator pedal is stepped beyond the preset depth, it is proved that the vehicle is driving away from the station at this time, and the brake request is not responded at this time.

[0150] Further, comprising:

[0151] According to the received switch action signal triggered by the passenger, it is determined whether the vehicle is located in the first station area, the second station area or the third station area, comprising:

[0152] If the vehicle is located in the first station area, a brake request instruction is generated at the same time as a request for controlling the opening or closing of the vehicle door is generated;

[0153] According to the generation of the brake request instruction at the same time as the request for controlling the opening or closing of the vehicle door is generated, the brake control module responds to the brake request at the same time as the vehicle door control module responds to the request for controlling the opening of the vehicle door.

[0154] Further, comprising:

[0155] According to the pedal identification module, it is determined whether the accelerator pedal is stepped beyond the preset depth, or according to the speed identification module, it is determined whether the speed of the vehicle moving is greater than or equal to a preset safety speed threshold;

[0156] If yes, the function of generating a brake request according to the received switch action signal triggered by the passenger is disabled.

[0157] Specifically, by judging the stepping depth of the accelerator when the vehicle starts, the function of generating a brake request according to the switch action signal triggered by the passenger is selected to be executed, and when the stepping depth of the accelerator when the vehicle starts is greater than or equal to the preset safety speed threshold, the function of generating a brake request according to the switch action signal triggered by the passenger is no longer responded.

[0158] It is worth noting that although the system only discloses the platform module and the vehicle module, it does not mean that the system is limited to the above basic function modules. On the contrary, the meaning expressed by the present application is that on the basis of the above basic function modules, a person skilled in the art can add one or more function modules to form an infinite number of embodiments or technical solutions in combination with the prior art. That is to say, the system is open rather than closed, and the protection scope of the present application claimed cannot be limited to the above disclosed basic function modules just because the present embodiment discloses only individual basic function modules.

[0159] According to another preferred embodiment, a vehicle door automatic control system is provided, comprising: an image acquisition module, a signal triggering module, a signal receiving module, a speed module, a signal source module, a vehicle-mounted receiving module, and a vehicle door execution module;

[0160] The signal source module is in communication connection with the vehicle-mounted receiving module, and is used to confirm that the vehicle is in a target parking area;

[0161] The signal triggering module includes a braking triggering unit and an acceleration triggering unit. The braking triggering unit, the speed module, and the image acquisition module are respectively in electrical connection with the signal receiving module. When the vehicle-mounted receiving module confirms that the vehicle enters the target parking area, the braking triggering unit is triggered, the speed module detects that the vehicle speed is zero, and the image acquisition module detects that the vehicle door area is not blocked, the signal receiving module sends an opening signal to the vehicle door execution module;

[0162] The acceleration triggering unit and the image acquisition module are respectively in electrical connection with the signal receiving module. When the image acquisition module detects that the vehicle door area is not blocked by objects and the acceleration triggering unit is triggered, the signal receiving module sends a closing signal to the vehicle door execution module.

[0163] Further, the image acquisition module includes: a binocular vision acquisition unit, an internal infrared light supplement component, three-dimensional space information of the vehicle door area is obtained through a binocular vision depth estimation algorithm, an object form is identified through a deep learning target detection algorithm, and a motion state is analyzed through a target tracking algorithm, so as to realize the differentiation of the blocking object type.

[0164] Further, the system further includes: a positioning module;

[0165] The speed module includes: a vehicle speed sensor, and the vehicle speed sensor is in dual-mode fusion with the positioning module. When the vehicle speed signal is abnormal, the vehicle speed state is checked in real time through the positioning module.

[0166] Further, it includes:

[0167] The triggering conditions for opening the vehicle door include: the braking triggering unit executes a complete braking state for ≥1 second; and in linkage with the signal source module, only after the signal source module triggers the station voice to enter the opening state.

[0168] Further, the trigger condition for closing the door further comprises: the acceleration trigger unit action signal lasts ≥ 0.5 seconds, and the signal receiving module detects that the gearbox is in forward gear; the door edge is provided with an infrared opposite sensor, and when an object is detected to extend into during the closing process, the anti-pinch pause and reverse opening of 30% opening degree are triggered, and the closing is reattempted after 1 second.

[0169] Further, the system further comprises:

[0170] The system further comprises: an in-vehicle door opening request module and a driving end, the in-vehicle door opening request module is communicatively connected to the signal receiving module, and is configured to send a door opening instruction application to the signal receiving module;

[0171] The signal receiving module is configured to, after receiving the door opening instruction application,

[0172] determine whether the vehicle is parked in the target parking area;

[0173] if yes, send a door opening trigger instruction to the door execution module in response to the instruction of the brake trigger unit;

[0174] if no, send a brake instruction to the brake trigger unit, and feed back brake state information to the driving end, and output a temporary parking door opening prompt.

[0175] Further, the signal receiving module further comprises a door opening permission determination logic, comprising:

[0176] Multi-dimensional determination is performed in combination with the vehicle position state, the vehicle running state, the safety detection result and the instruction priority;

[0177] When the vehicle is in the target parking area, it is determined that the door can be opened only when the following conditions are met: the speed module detects that the vehicle speed is zero, the brake trigger unit is in a fully braked state, the image acquisition module confirms that there is no occlusion in the door area, and no door opening prohibition instruction is issued by the driving end;

[0178] When the vehicle is not in the target parking area, it is determined that the door can be opened only in an emergency, and the following conditions must be met simultaneously: the in-vehicle door opening request module issues an emergency door opening instruction, the speed module detects that the vehicle speed is zero, the image acquisition module confirms that there is no occlusion in the door area, and the driving end issues a temporary door opening permission instruction;

[0179] If the signal receiving module detects that the system has a fault and the fault degradation mechanism has not been triggered, it is determined that the door is prohibited to be opened, and the driving end is fed back with a fault state; if the fault degradation mechanism has been triggered, it is determined whether the door is allowed to be opened according to the manual instruction of the driving end.

[0180] Further, the system further comprises:

[0181] Determining whether a vehicle is parked in the target parking area includes: obtaining the relative position data between the vehicle's current position and the target parking area;

[0182] Call the preset relative position threshold parameter;

[0183] The relative position data is compared with a threshold parameter;

[0184] Determine whether the relative position data is greater than a threshold parameter;

[0185] If yes, then check if there is a valid door opening command request in the vehicle door opening request module;

[0186] When a valid door opening command request is detected, the system further determines whether there is a nearby target parking area:

[0187] If there is a nearby target parking area, control the vehicle to drive to that area and respond to the door opening command;

[0188] If there is no nearby target parking area, a braking command is sent to the braking trigger unit and the braking status is fed back to the driver. At the same time, a temporary parking and door opening prompt is output.

[0189] If not, then the door opening instruction request will be responded to directly based on the door opening permission determination logic.

[0190] Furthermore, it also includes: a fault degradation mechanism: when a core component fails, it automatically switches to semi-manual mode, and the driver controls the doors via manual buttons, with pedal signals serving as auxiliary prompts; the dashboard is equipped with an emergency manual knob that can forcibly disconnect the automatic control logic.

[0191] Furthermore, including:

[0192] The signal receiving module communicates with the engine ECU and sends a signal to the engine ECU to limit power output when the door is not fully closed.

[0193] Figure 2 This is a flowchart of an automatic control method for bus doors provided by one or more embodiments of the present invention.

[0194] like Figure 2 The methods shown include:

[0195] Step S1: Detect the vehicle's position relative to the preset station area;

[0196] Step S2: Capture and filter door action requests; Step S3: Capture and filter door action requests by detecting the state of the environment inside and outside the vehicle.

[0197] Step S4: Detect the vehicle's position relative to the preset station area and send it to the vehicle module;

[0198] The position state comprises: a first station area, a second station area and a third station area.

[0199] Specifically, the driver does not need to manually judge the position and environmental safety, the system directly generates a vehicle door control request through automatic detection and screening, reduces the burden of vehicle door operation decision, avoids operation errors caused by driver experience differences (such as inaccurate judgment of beginners), and significantly improves the consistency and reliability of vehicle door control.

[0200] Figure 3 is an electronic device structure block diagram of a bus vehicle door automatic control method provided by one or more embodiments of the application.

[0201] As shown in Figure 3 The application provides an electronic device, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus.

[0202] The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the bus vehicle door automatic control method.

[0203] The application also provides a computer readable storage medium, which stores a computer program executable by an electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the bus vehicle door automatic control method.

[0204] For the method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the application are not limited to the action sequence described, because according to the embodiments of the application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the application.

[0205] From the above description of the embodiments, those skilled in the art can clearly understand that the application can be realized by means of software plus necessary universal hardware platforms. Based on such understanding, the technical solutions of the application can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server or a network device, etc.) execute the methods described in the various embodiments or some parts of the embodiments of the application.

[0206] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An automatic control system for bus doors, characterized in that, The automatic control system for bus doors includes: a platform module and a vehicle module; The platform module is used to detect the position of vehicles relative to a preset station area; The vehicle module is used to capture and filter door action requests; The platform module and the vehicle module are connected for communication. It also includes the vehicle module detecting the state of the environment inside and outside the vehicle to capture and filter door action requests; The detection of the vehicle's internal and external environmental status includes, based on the communication connection between the platform module and the vehicle module, the platform module detects the vehicle's position relative to a preset station area and sends the information to the vehicle module.

2. The automatic control system for bus doors according to claim 1, characterized in that, The platform module includes: a first position sensor, a second position sensor, a third position sensor, and a fourth position sensor; The first position sensor, the second position sensor, the third position sensor, and the fourth position sensor are sequentially installed on the road in the preset station area; The vehicle passes over the first position sensor, the second position sensor, the third position sensor, and / or the fourth position sensor, triggering the first position sensor, the second position sensor, the third position sensor, and / or the fourth position sensor; Among them, the first position sensor, the second position sensor, the third position sensor and the fourth position sensor have a spacing between adjacent positions that is less than the length of the vehicle, and a spacing between positions that is greater than the length of the vehicle.

3. The automatic control system for bus doors according to claim 2, characterized in that, The preset station areas include: a first station area, a second station area, and a third station area; The triggering of the first position sensor, second position sensor, third position sensor, and / or fourth position sensor by the vehicle passing above the first position sensor, second position sensor, third position sensor, and / or fourth position sensor includes: Trigger the second and third position sensors, corresponding to the first station area; Trigger the first and second position sensors, or trigger the third and fourth position sensors, corresponding to the second station area; Trigger the first or fourth position sensor, corresponding to the third station area.

4. The automatic control system for bus doors according to claim 3, characterized in that, The vehicle module includes: a vision recognition module, a pedal recognition module, a speed recognition module, and a door control module; The visual recognition module is used to identify the safety status of the door opening and closing area; The pedal recognition module is used to identify the operating status of the accelerator and brake pedals; The speed recognition module is used to identify the speed status of the vehicle. The door control module is used to control the opening or closing of the doors; The vehicle module detects the state of the environment inside and outside the vehicle, captures and filters door action requests, and determines whether the vehicle has entered the first station area. If yes, then the speed recognition module determines whether the vehicle's speed is "zero". If yes, then based on the speed recognition module, determine whether the control state is that only the brake pedal is being pressed, and the accelerator or brake pedal is being pressed. If yes, then the visual recognition module determines whether the door opening / closing area is in a safe state. If so, then generate a request to control the opening or closing of the car door.

5. The automatic control system for bus doors according to claim 4, characterized in that, Based on the generated request to open or close the vehicle door, determine whether the vehicle has left the first station area; If yes, no, then the door opening or closing action is controlled according to the door control module's response to the request to control the door to open or close; If yes, then the visual recognition module determines whether the car door is closed. If the system determines that the door is closed, it will not respond to requests to open the door. If it is determined that the car door is not closed, then determine whether the area where the car door can be opened or closed is in a safe state; If the door opening / closing area is in a safe state, then execute the request to close the door.

6. The automatic control system for bus doors according to claim 5, characterized in that, The vehicle module also includes: a passenger abnormality request module and a braking control module; The passenger error request module is used to receive switch action signals triggered by passengers. Braking control module, used for vehicle deceleration control; Based on the switch action signal triggered by the passenger, determine whether the vehicle is located in the first station area, the second station area, or the third station area; If yes, then determine whether the current vehicle speed is less than the preset safe speed threshold; If the current vehicle speed is less than the preset safe speed threshold, a braking request will be generated based on the switch action signal triggered by the passenger. Based on the braking control module used for vehicle deceleration control, it is determined whether the accelerator pedal is pressed beyond the preset depth; If the accelerator pedal is pressed beyond the preset depth, the brake control module will not respond to the braking request; If the accelerator pedal is not pressed beyond the preset depth, the brake control module will respond to the braking request. During the response to a braking request, the accelerator pedal is continuously monitored and it is determined whether the accelerator pedal is pressed beyond a preset depth. If yes, then the braking control module terminates the braking request it is responding to.

7. The automatic control system for bus doors according to claim 6, characterized in that, The step of determining whether the vehicle is located in the first station area, the second station area, or the third station area based on the received switch action signal triggered by the passenger includes: If the vehicle is located in the first station area, a braking request command is generated at the same time as a request to control the opening or closing of the doors; While generating the braking request command, a request to control the opening or closing of the door is also generated. The braking control module responds to the braking request, and the door control module responds to the request to control the opening of the door.

8. A method for automatically controlling the doors of a bus, characterized in that, The automatic control method for bus doors includes: Detect the vehicle's position relative to a preset station area; Capture and filter door action requests; capture and filter door action requests by detecting the state of the environment inside and outside the vehicle; The vehicle's position relative to the preset station area is detected and sent to the vehicle module. The location status includes: a first station area, a second station area, and a third station area.

9. An electronic device, comprising: The processor, communication interface, memory, and communication bus are connected, with the processor, communication interface, and memory communicating with each other via the communication bus. The memory stores a computer program that, when executed by a processor, causes the processor to perform the steps of a bus door automatic control method as described in claim 8.

10. A computer-readable storage medium, characterized in that, It stores a computer program that can be executed by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the automatic control method for bus doors as claimed in claim 8.

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