Vehicle door side obstacle early warning method and program product

Abstract

The invention discloses a vehicle door side obstacle early warning method and a program product, and the method comprises the steps: responding to an event that the vehicle speed of a target vehicle is smaller than a preset vehicle speed and the duration reaches a preset duration, and collecting the ultrasonic radar data of a vehicle door side at a plurality of moments through an ultrasonic radar sensor installed at a vehicle door; for the ultrasonic radar data at each moment, the relative distance between an obstacle and the vehicle door is determined according to the ultrasonic radar data; for the single obstacle, the relative movement speed between the obstacle and the vehicle door is determined according to the relative distances corresponding to the obstacle at the multiple moments; according to the relative distance between the barrier and the target vehicle and the relative movement speed, carrying out barrier early warning on the vehicle door side; therefore, obstacle early warning with low cost and high reliability is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to a vehicle door side obstacle warning method and program product. BACKGROUND

[0002] With the continuous growth of the number of cars, the safety risk of collision between the vehicle and the side pedestrian, non-motor vehicle or other vehicle when the vehicle door is opened in the scenarios of parking and low-speed driving is increasingly prominent, and the demand for vehicle door side obstacle warning function is increasingly urgent.

[0003] In the related art, vehicle door side obstacle warning relies on side camera or rearview mirror camera to collect vehicle door side environment images, and then detects and determines the obstacles through image recognition algorithm. However, such image recognition method is greatly affected by light conditions and weather conditions, and is prone to problems of obstacle missed identification and misidentification, and the warning reliability is difficult to guarantee. At the same time, real-time processing of high-definition images requires high-performance special chips to provide computing power support, resulting in high hardware cost, which is not conducive to large-scale popularization and application. Therefore, there is an urgent need for a vehicle door side obstacle warning method to realize low-cost and high-reliability obstacle warning. SUMMARY

[0004] The present application provides a vehicle door side obstacle warning method and program product to solve the problems of dependence on camera collection and image recognition in the related art, great influence of environmental factors such as light and weather, insufficient warning reliability and high hardware cost.

[0005] According to an aspect of the present application, a vehicle door side obstacle warning method is provided, which comprises:

[0006] In response to an event that the vehicle speed of a target vehicle is less than a preset vehicle speed and the duration reaches a preset duration, collecting ultrasonic radar data of the vehicle door side at multiple time points by an ultrasonic radar sensor installed at the vehicle door;

[0007] For the ultrasonic radar data at each time point, determining the relative distance between the obstacle and the vehicle door according to the ultrasonic radar data;

[0008] For a single obstacle, determining the relative motion speed between the obstacle and the vehicle door according to the corresponding relative distances of the obstacle at multiple time points;

[0009] According to the relative distance and the relative motion speed between the obstacle and the target vehicle, performing obstacle warning on the vehicle door side.

[0010] According to another aspect of the present application, a vehicle door side obstacle warning device is provided, which comprises:

[0011] An ultrasonic radar data collection module is configured to, in response to an event that a vehicle speed of a target vehicle is less than a preset vehicle speed and a duration of the event reaches a preset duration, collect ultrasonic radar data of a side of a door of the target vehicle at multiple time points by an ultrasonic radar sensor installed at the door.

[0012] A relative distance determination module is configured to, for the ultrasonic radar data at each of the time points, determine a relative distance between an obstacle and the door according to the ultrasonic radar data.

[0013] A relative motion speed determination module is configured to, for a single obstacle, determine a relative motion speed between the obstacle and the door according to the relative distances of the obstacle at the multiple time points.

[0014] An obstacle warning module is configured to perform obstacle warning of the side of the door according to the relative distance and the relative motion speed between the obstacle and the target vehicle.

[0015] According to another aspect of the present disclosure, an electronic device is provided, and the electronic device includes:

[0016] at least one processor; and

[0017] a memory connected with the at least one processor; wherein

[0018] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the door-side obstacle warning method according to any one of the embodiments of the present disclosure.

[0019] According to another aspect of the present disclosure, a computer readable storage medium is provided, and the computer readable storage medium stores computer instructions for enabling a processor to perform the door-side obstacle warning method according to any one of the embodiments of the present disclosure when the processor executes the computer instructions.

[0020] According to another aspect of the present disclosure, the embodiments of the present disclosure further provide a computer program product, which includes a computer program for implementing the door-side obstacle warning method according to any one of the embodiments of the present disclosure when the computer program is executed by a processor.

[0021] The technical scheme of the embodiment of the application first, through the ultrasonic radar sensor installed at the door, collecting the ultrasonic radar data of the door side at multiple times in response to the event that the vehicle speed of the target vehicle is less than the preset vehicle speed and the duration reaches the preset duration; setting the trigger condition can accurately screen the scene with high risk of door opening collision such as low-speed driving and parking of the vehicle, avoid unnecessary sensor start, save energy consumption, improve the pertinence of early warning, collect data at multiple times, provide continuous and rich basic data for subsequent calculation of relative motion speed, and improve data reliability; then, according to the ultrasonic radar data, the relative distance between the obstacle and the door is determined according to the ultrasonic radar data; by calculating the relative distance, the real-time tracking of the position of the obstacle is realized, and accurate basis is provided for risk judgment; then, according to the relative distance corresponding to the obstacle at multiple times, the relative motion speed between the obstacle and the door is determined; by calculating the relative motion speed, it is accurately judged whether the obstacle is close to or away from the door, and the false alarm probability is greatly reduced; finally, according to the relative distance and the relative motion speed between the obstacle and the target vehicle, the obstacle warning on the door side is carried out; the relative distance and the relative motion speed are comprehensively determined for warning, so that the warning decision is more comprehensive and more suitable for actual risk scene, the warning accuracy is improved; accurate detection of the obstacle is realized, the timeliness and rationality of the warning are ensured, and the safety in the door opening process is comprehensively ensured.

[0022] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the application, nor is it used to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creating laborious work.

[0024] Figure 1 It is a flow chart of a door side obstacle warning method provided by the first embodiment of the application;

[0025] Figure 2 It is a flow chart of a door side obstacle warning method provided by the second embodiment of the application;

[0026] Figure 3 It is a structural schematic diagram of a door side obstacle warning device provided by the third embodiment of the application;

[0027] Figure 4 FIG. 1 is a structural schematic diagram of an electronic device implementing a vehicle door side obstacle warning method according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiment of the present application will be described clearly and completely below in combination with the drawings in the embodiment of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", "target" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] It should be noted that the modification of "one" or "multiple" mentioned in the present disclosure is illustrative but not restrictive, and those skilled in the art should understand that unless otherwise explicitly indicated in the context, it should be understood as "one or more".

[0031] The names of the messages or information exchanged between the plurality of devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of the messages or information.

[0032] It can be understood that before using the technical solutions disclosed in the embodiments of the present disclosure, the type, scope of use, use scenario and the like of the personal information involved in the present disclosure should be informed to the user and the authorization of the user should be obtained through appropriate means in accordance with relevant laws and regulations.

[0033] For example, when responding to the active request of the user, prompt information is sent to the user to explicitly prompt the user that the operation requested to be performed will require the acquisition and use of the personal information of the user. Thus, the user can voluntarily choose whether to provide personal information to the electronic device, application program, server or storage medium and the like software or hardware performing the operation of the technical solutions of the present disclosure according to the prompt information.

[0034] As an optional but non-limiting implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0035] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0036] It is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and related provisions.

[0037] Example 1

[0038] Figure 1 This is a flowchart illustrating a door-side obstacle warning method according to Embodiment 1 of the present invention. This embodiment is applicable to warning of obstacles on the door side. The method can be executed by a door-side obstacle warning device, which can be implemented in hardware and / or software, optionally through an electronic device, such as a mobile terminal, PC, or server. Figure 1 As shown, the method may specifically include:

[0039] S110. In response to an event that the speed of the target vehicle is less than a preset speed and the duration reaches a preset duration, ultrasonic radar data on the side of the door is collected at multiple times using an ultrasonic radar sensor installed at the door.

[0040] The target vehicle can be understood as a vehicle that needs to predict potential collision risks on the side of its doors. The vehicle speed refers to the distance moved by the target vehicle per unit of time during driving or stationary, which can be obtained by reading the vehicle speed signal of the vehicle CAN bus, ensuring the real-time and accuracy of the vehicle speed data. The preset speed can be a threshold speed preset for triggering the start of data collection by the ultrasonic radar sensor. The preset time length can be a time threshold preset for triggering the start of data collection by the ultrasonic radar sensor. The duration refers to the length of time during which the vehicle speed of the target vehicle is continuously maintained below the preset speed. The ultrasonic radar sensor can be a sensor device fixed at a preset position of the door of the target vehicle, capable of emitting ultrasonic waves and receiving reflected echoes from obstacles, for collecting door-side environmental data. The ultrasonic radar data can be understood as the echo signal data related to the door-side environment received by the ultrasonic radar sensor after emitting ultrasonic waves at each time, providing a basic data source for subsequent obstacle analysis.

[0041] Optionally, after the vehicle is powered on, the vehicle speed signal of the vehicle CAN bus can be read in real time. When the vehicle speed of the target vehicle is less than the preset speed and the duration reaches the preset time length, the ultrasonic radar sensor installed at the door is automatically activated for cyclic detection. The ultrasonic radar sensor installed on the left and right doors emits ultrasonic pulses alternately and receives reflected signals in real time, and the door-side ultrasonic radar data at multiple times is collected. For example, assuming that the preset speed is 20 km / h and the preset time length is 3 seconds, when the vehicle speed is less than 20 km / h for 3 seconds, the ultrasonic radar sensor is activated for monitoring and is ready to start cyclic detection.

[0042] On the basis of the above scheme, the ultrasonic radar sensor is installed at a preset position of at least one door of the target vehicle, and the ultrasonic radar sensor is connected to the domain controller or the parking radar controller of the target vehicle. The preset position of the at least one door where the ultrasonic radar sensor is installed can be a position determined by simulation and real vehicle test verification to be suitable for the installation of the ultrasonic radar sensor and capable of covering the door-side detection range, for example, the ultrasonic radar sensor can be installed at the lower middle part of the door of the target vehicle.

[0043] The domain controller refers to a core control unit in the target vehicle responsible for overall management of a certain functional domain, capable of receiving sensor data and controlling early warning execution. The parking radar controller refers to a control unit in the target vehicle responsible for managing the parking radar, which can process data collected by the ultrasonic radar sensor and cooperate with other controllers to realize the early warning function.

[0044] Specifically, the ultrasonic radar sensor can be connected to the vehicle-mounted parking radar controller or domain controller through a standardized communication mode such as a CAN bus, and the vehicle door control unit signal can be read through an Advanced Driver Assistance Systems Controller Area Network (ADAS CAN) to realize data transmission and instruction interaction between the ultrasonic radar sensor and the domain controller or the parking radar sensor, without the need to add an independent Electronic Control Unit (ECU), thereby reducing the overall vehicle manufacturing cost and post-dimension difficulty.

[0045] By setting the ultrasonic radar sensor to be installed at a preset position of at least one vehicle door and connected to the domain controller or the parking radar controller, it can be ensured that the sensor can effectively cover the detection range of the vehicle door side, thereby ensuring the comprehensiveness of data collection; at the same time, relying on the existing domain controller or parking radar controller of the vehicle, without the need to additionally add a special control unit, the hardware modification cost and compatibility risk of the vehicle door side obstacle warning are reduced.

[0046] S120, for each of the ultrasonic radar data at the time, determining the relative distance between the obstacle and the vehicle door according to the ultrasonic radar data.

[0047] The obstacle can be an object located on the side of the target vehicle door and possibly colliding with the vehicle door, for example, the obstacle can include but is not limited to pedestrians, non-motor vehicles, other vehicles, fixed buildings, and various types. The relative distance refers to the straight-line distance between the obstacle and the target vehicle door.

[0048] Optionally, for the ultrasonic radar data at each time, a preprocessing operation can be performed, specifically including filtering, amplifying, and other processing of the original echo signal, identifying the effective obstacle reflection signal therein, excluding environmental interference such as ground and air turbulence, filtering out irrelevant noise, and avoiding interference signals to cause subsequent distance calculation errors.

[0049] On the basis of the above scheme, the ultrasonic radar data includes ultrasonic wave transmission time and echo reception time; the relative distance between the obstacle and the vehicle door is determined according to the ultrasonic radar data, including: determining the time-of-flight difference value according to the ultrasonic wave transmission time and the echo reception time, and determining the relative distance between the obstacle and the vehicle door according to the time-of-flight difference value.

[0050] The ultrasonic wave emission time refers to a specific time point at which the ultrasonic wave radar sensor emits an ultrasonic wave to the environment on the side of the vehicle door. The echo reception time refers to a specific time point at which the ultrasonic wave radar sensor receives a reflected echo signal after the ultrasonic wave is reflected by an obstacle. The time-of-flight difference can be understood as the difference between the echo reception time and the ultrasonic wave emission time, that is, the total time of the ultrasonic wave from emission to reflection back to the sensor.

[0051] Specifically, based on the preprocessed ultrasonic wave radar data, the difference between the echo reception time and the ultrasonic wave emission time can be calculated, and the relative distance between the obstacle and the vehicle door can be determined in combination with the speed of sound.

[0052] The distance is derived by the time-of-flight difference, the distance calculation process is standardized and traceable, the accuracy of the relative distance data is ensured, errors caused by missing data dimensions or fuzzy calculation logic are avoided, and reliable basic data support is provided for subsequent relative motion speed analysis and early warning judgment.

[0053] S130, for a single obstacle, determining a relative motion speed between the obstacle and the vehicle door according to the relative distances of the obstacle at multiple time points.

[0054] The relative motion speed refers to the moving speed of the obstacle relative to the vehicle door.

[0055] Optionally, the relative motion speeds between the obstacles and the vehicle door can be determined respectively based on the relative distances of the obstacles at multiple time points.

[0056] On the basis of the above scheme, optionally, determining the relative motion speed between the obstacle and the vehicle door according to the relative distances of the obstacle at multiple time points comprises: determining a plurality of distance change amounts and a plurality of time intervals corresponding to the distance change amounts according to the relative distances between the obstacle and the vehicle door at multiple time points; and determining the relative motion speed between the obstacle and the vehicle door according to the plurality of distance change amounts and the time intervals corresponding thereto.

[0057] The distance change amount can be the difference between the relative distances of the obstacle at two adjacent time points. The distance change amount can be used to reflect the change trend of the distance between the obstacle and the vehicle door, such as approaching the vehicle, moving away from the vehicle, or being relatively stationary. The time interval refers to the length of time between two adjacent collection time points, which can be determined according to the collection frequency of the ultrasonic wave radar sensor.

[0058] Specifically, the obstacle detection can be performed continuously multiple times, a plurality of distance change amounts can be calculated based on the relative distance data collected at multiple time points according to a difference algorithm, and the relative motion speed between the obstacle and the vehicle door can be determined according to the plurality of distance change amounts and the time intervals corresponding thereto.

[0059] The static distance data is converted into a dynamic speed index through the correlation calculation of the distance change amount at multiple time points and the corresponding time interval, the motion trend of the obstacle is accurately captured, the speed derivation based on continuous data avoids the accidental influence of single data, and the calculation of the relative motion speed is more scientific and stable; meanwhile, without additional sensor hardware, the logical operation of the existing data can enrich the analysis dimension of the obstacle state, thereby improving the comprehensiveness of the risk judgment under the premise of controlling the cost.

[0060] S140, performing obstacle warning on the door side according to the relative distance between the obstacle and the target vehicle and the relative motion speed.

[0061] The obstacle warning can be an operation of issuing a warning to the vehicle occupant through a preset mode when it is analyzed that the door-side obstacle has a collision risk.

[0062] Specifically, the corresponding obstacle warning mode can be determined according to the relative distance between the obstacle and the target vehicle and the relative motion speed, and the obstacle warning on the door side can be performed.

[0063] The technical scheme of the embodiment of the application first, in response to the event that the vehicle speed of the target vehicle is less than the preset vehicle speed and the duration reaches the preset duration, the ultrasonic radar sensor installed at the door collects the ultrasonic radar data of the door side at multiple time points; setting the trigger condition can accurately filter the scene with high collision risk of the open door, such as low-speed driving and parking of the vehicle, avoid unnecessary sensor start, save energy consumption, improve the pertinence of warning, collect data at multiple time points, provide continuous and rich basic data for subsequent calculation of relative motion speed, and improve data reliability; then, for each of the ultrasonic radar data at the time, the relative distance between the obstacle and the door is determined according to the ultrasonic radar data; by calculating the relative distance, the real-time tracking of the position of the obstacle is realized, and accurate basis is provided for risk judgment; then, for a single obstacle, the relative motion speed between the obstacle and the door is determined according to the corresponding relative distance of the obstacle at multiple time points; by calculating the relative motion speed, it is accurately judged whether the obstacle is close to or away from the door, and the false alarm probability is greatly reduced; finally, the obstacle warning on the door side is performed according to the relative distance between the obstacle and the target vehicle and the relative motion speed; the relative distance and the relative motion speed are comprehensively determined for warning, so that the warning decision is more comprehensive and more suitable for the actual risk scene, and the warning accuracy is improved; accurate detection of the obstacle is realized, the timeliness and rationality of the warning are ensured, and the safety during the opening of the door is comprehensively guaranteed.

[0064] Embodiment two

[0065] Figure 2 A flowchart of a vehicle door side obstacle early warning method provided for the second embodiment of the present application is further described in detail the specific implementation of the vehicle door side obstacle early warning according to the relative distance and the relative motion speed of the obstacle and the target vehicle. The specific implementation can be referred to the description of the present embodiment. Wherein, the same or similar technical features as the foregoing embodiments are not described again. As shown in the figure, the method can specifically include: Figure 2

[0066] S210, in response to the event that the vehicle speed of the target vehicle is less than the preset vehicle speed and the duration reaches the preset duration, collecting the ultrasonic radar data of the vehicle door side at multiple time points by the ultrasonic radar sensor installed at the vehicle door.

[0067] S220, for the ultrasonic radar data at each time point, determining the relative distance between the obstacle and the vehicle door according to the ultrasonic radar data.

[0068] S230, for a single obstacle, determining the relative motion speed between the obstacle and the vehicle door according to the corresponding relative distance of the obstacle at multiple time points.

[0069] S240, determining the target obstacle from the obstacles according to the corresponding relative motion speed of the obstacle, and performing the vehicle door side obstacle early warning according to the relative distance between the target obstacle and the target vehicle.

[0070] Wherein, the target obstacle refers to the obstacle with collision risk selected from all detected obstacles according to the relative motion speed, for example, the target obstacle can be the obstacle approaching the vehicle door quickly.

[0071] On the basis of the above scheme, optionally, the target obstacle is determined from the obstacles according to the corresponding relative motion speed of the obstacle, including: in the case that the corresponding relative motion speed of the obstacle is greater than a preset speed threshold, the obstacle is determined as the target obstacle, and the preset speed threshold is at least used to indicate that the obstacle moves along the direction approaching the target vehicle.

[0072] Wherein, the preset speed threshold can be a pre-set speed threshold, and the preset speed threshold is at least used to indicate that the obstacle moves along the direction approaching the target vehicle to determine whether the obstacle has collision risk.

[0073] ​Optionally, the obstacle corresponding to the relative motion speed greater than the preset speed threshold value in the obstacle can be screened, that is, the obstacle whose motion trajectory is towards the target vehicle and causes the relative distance to the door to continuously decrease is determined as the target obstacle. The preset speed threshold value can be greater than or equal to 0. When the preset speed threshold value is 0, all obstacles moving towards the door and having positive relative motion speed can be target obstacles, achieving comprehensive coverage of potential close-in risks. Meanwhile, in order to further improve the screening accuracy, the preset speed threshold value can also be set to a value greater than 0, so as to trigger the warning only for the obstacle that is quickly closing in, achieving a balance between warning sensitivity and anti-interference.

[0074] In addition, when the relative motion speed corresponding to the obstacle is less than the preset speed threshold value, it can be determined that the obstacle will gradually move away from the target vehicle or be relatively stationary, and the obstacle is ignored to avoid invalid warning of a risk-free target.

[0075] By determining the target obstacle through the preset speed threshold value, the determination of the target obstacle is more objective and operable, avoiding the deviation caused by subjective judgment, accurately locking the obstacle that really exists the collision risk, greatly improving the accuracy of the warning, and reducing unnecessary interference of the warning on the user.

[0076] On the basis of the above scheme, the obstacle warning on the door side according to the relative distance between the target obstacle and the target vehicle can include: determining a target side warning area in which the target obstacle is located from a plurality of side warning areas on the door side according to the relative distance between the target obstacle and the target vehicle, wherein the side warning area is determined based on the distance from the door; and performing the obstacle warning on the door side according to the target side warning area and a preset warning mode corresponding to the target side warning area.

[0077] The side warning area refers to a spatial area on the door side that is divided based on the distance between the obstacle and the door and is used to distinguish the risk level. The target side warning area refers to the side warning area corresponding to the relative distance in which the target obstacle is currently located. The preset warning mode can be a mode preset for each side warning area to alert the passenger.

[0078] Optionally, a plurality of side warning areas on the door side can be divided according to the degree of collision risk, and then the target side warning area in which the target obstacle is located is determined according to the relative distance between the target obstacle and the target vehicle, and the obstacle warning on the door side is performed based on the preset warning mode corresponding to the target side warning area.

[0079] Optionally, the side pre-warning area can be determined based on the distance from the door, for example, a semicircle or a sector is drawn with the ultrasonic radar sensor mounting point on the door as the center and the distance from the door as the radius to determine the side pre-warning area in the form of a graph, so as to maximize the coverage of the potential collision range on the door side and avoid the occurrence of a detection blind area.

[0080] By dividing the door side space into multiple pre-warning areas according to the distance, the pre-warning level is directly related to the actual risk of the obstacle, and the differentiated pre-warning effect can be presented according to the different distances of the obstacles, so that the passengers can clearly perceive the risk degree, and the side pre-warning area is determined based on the distance from the door, which ensures the rationality and consistency of the area division and provides a clear basis for the subsequent landing of the graded pre-warning.

[0081] On the basis of the above-mentioned scheme, optionally, the plurality of side pre-warning areas include a first pre-warning area, a second pre-warning area and a third pre-warning area; the preset pre-warning mode corresponding to the first pre-warning area includes a warning light constant on; the preset pre-warning mode corresponding to the second pre-warning area includes the warning light of the target vehicle flashing at a first frequency and the in-vehicle buzzer alarming at a second frequency; the preset pre-warning mode corresponding to the third pre-warning area includes the warning light of the target vehicle flashing at a third frequency and the in-vehicle buzzer alarming at a fourth frequency; the risk degree of the first pre-warning area, the second pre-warning area and the third pre-warning area increases in turn; the third frequency is higher than the first frequency and / or the fourth frequency is higher than the second frequency.

[0082] The first pre-warning area can be the area with the lowest risk degree in the side pre-warning area, which is farthest from the door and can be used to prompt the passengers to pay attention to the potential risk target on the door side in advance. The second pre-warning area can be the area with the medium risk degree in the side pre-warning area, which is between the first pre-warning area and the third pre-warning area, and can be used to remind the passengers that the risk is approaching and to prepare for risk avoidance. The third pre-warning area can be the area with the highest risk degree in the side pre-warning area, which is closest to the door and can be used to urgently warn the passengers to immediately stop the door opening or take evasive action. The warning light can be a high-brightness LED warning light set in the left and right side A-pillar interior panels or the inner side of the outside rearview mirror cover, which can distinguish different obstacle risk levels through constant on and different flashing frequencies. The in-vehicle buzzer can be a device installed inside the target vehicle that can realize the prompting function by emitting a buzzing sound, ensuring that the driver can also perceive the risk in time in a noisy environment.

[0083] Exemplarily, when the target obstacle is in the first-level warning area and the relative operating speed of the target obstacle and the door is greater than the preset speed threshold, a mild prompt is triggered, the warning light on the side of the corresponding door of the target vehicle is always on, no auditory alarm is performed, and over-interference with the normal operation of the driver is avoided; when the target obstacle enters the second-level warning area, a moderate alarm is triggered, the warning light on the side of the corresponding door flashes at a first frequency, and a buzzer in the vehicle is activated to alarm at a second frequency, prompting the driver to pay attention to danger avoidance; when the target obstacle enters the third-level warning area, a strong alarm is triggered, the warning light on the side of the corresponding door flashes at a third frequency, and the buzzer in the vehicle alarms at a fourth frequency, reminding the driver to be more vigilant.

[0084] Through the division of the three-level warning areas and the corresponding warning modes, a scientific warning that the risk level is positively correlated with the warning intensity is realized, different warning areas match different light flashing frequencies and buzzer alarm frequencies, and the higher the risk is, the greater the warning intensity is, so that the passenger can quickly identify the risk level through the senses, the intuitiveness and warning effect of the warning are improved, through the hierarchical warning, over-warning in a low-risk scenario is avoided, and in a high-risk scenario, the passenger is reminded through strong stimulation, and the effectiveness and humanization of the warning are considered.

[0085] On the basis of the above scheme, optionally, after the obstacle warning of the door side is performed according to the target side warning area and the preset warning mode corresponding to the target side warning area, the method further comprises: in response to the target obstacle leaving the target side warning area, stopping performing the obstacle warning operation corresponding to the target side warning area.

[0086] Specifically, when the relative distance between the target obstacle and the door exceeds the distance range of the target side warning area currently in, the obstacle warning operation corresponding to the target side warning area is stopped, and whether the current target obstacle is in other side warning areas on the door side is judged synchronously, if yes, the target side warning area corresponding to the target obstacle is determined again, and the obstacle warning operation corresponding to the target side warning area is performed, realizing dynamic switching of the warning level; if the relative distance between the target obstacle and the door exceeds all side warning areas on the door side or the relative operating speed of the target obstacle is less than the preset speed threshold, the obstacle warning operation is automatically stopped, the warning light is turned off, the buzzer stops working, and the monitoring ready state is restored, and the change of the environment on the door side is continuously detected.

[0087] By stopping the warning after the obstacle leaves the warning area, the timeliness and rationality of the warning operation are ensured, the problem that the warning continues although the obstacle has left the risk range is avoided, the invalid interference with the passenger is reduced, the use experience is improved, the warning function has dynamic adjustment capability, the timely reminder when the risk exists is ensured, and the normal state is quickly restored after the risk is eliminated, so that the warning operation is more complete and intelligent.

[0088] The technical scheme of the embodiment of the present application determines a target obstacle from the obstacles according to the relative motion speed corresponding to the obstacle, and performs obstacle warning on the side of the door according to the relative distance between the target obstacle and the target vehicle; the target obstacle with potential collision risk is screened out according to the relative motion speed, and the warning is triggered based on the relative distance, so that the false warning interference caused by the static obstacle or the obstacle far away from the vehicle is effectively excluded, the pertinence of the warning is ensured, and the actual scene demand is better met.

[0089] Embodiment three

[0090] Figure 3 A structural schematic diagram of a door-side obstacle warning device provided by the third embodiment of the present application. The device is used to execute the door-side obstacle warning method provided by any of the above embodiments. The device and the door-side obstacle warning method of each of the above embodiments belong to the same inventive concept, and the details not described in the embodiment of the door-side obstacle warning device can be referred to the above embodiments of the door-side obstacle warning method. As shown in the figure, the device comprises an ultrasonic radar data acquisition module 310, a relative distance determination module 320, a relative motion speed determination module 330 and an obstacle warning module 340. Figure 3

[0091] The ultrasonic radar data acquisition module 310 is configured to, in response to an event that the speed of the target vehicle is less than a preset speed and the duration reaches a preset duration, acquire ultrasonic radar data on the side of the door at multiple time points by an ultrasonic radar sensor installed on the door; the relative distance determination module 320 is configured to, for the ultrasonic radar data at each time point, determine the relative distance between an obstacle and the door according to the ultrasonic radar data; the relative motion speed determination module 330 is configured to, for a single obstacle, determine the relative motion speed between the obstacle and the door according to the relative distance corresponding to the obstacle at multiple time points; and the obstacle warning module 340 is configured to perform obstacle warning on the side of the door according to the relative distance and the relative motion speed between the obstacle and the target vehicle.

[0092] ​The technical scheme of the embodiment of the application first, through the ultrasonic radar data acquisition module 310, in response to the event that the vehicle speed of the target vehicle is less than the preset vehicle speed and the duration reaches the preset duration, through the ultrasonic radar sensor installed at the door, the ultrasonic radar data of the door side is collected at multiple times; setting the trigger condition can accurately filter the scene with high risk of door opening collision such as low-speed driving and parking, avoid unnecessary sensor start, save energy consumption, improve the pertinence of early warning, collect data at multiple times, provide continuous and rich basic data for subsequent calculation of relative motion speed, and improve data reliability; then, the relative distance determination module 320 determines the relative distance between the obstacle and the door according to the ultrasonic radar data for each of the ultrasonic radar data at the time; by calculating the relative distance, the real-time tracking of the position of the obstacle is realized, and accurate basis is provided for risk judgment; then, the relative motion speed determination module 330 determines the relative motion speed between the obstacle and the door according to the corresponding relative distance of the obstacle at multiple times for a single obstacle; by calculating the relative motion speed, it is accurately judged whether the obstacle is close to or away from the door, and the false alarm probability is greatly reduced; finally, the obstacle warning module 340 performs obstacle warning on the door side according to the relative distance and the relative motion speed between the obstacle and the target vehicle; the relative distance and the relative motion speed are determined in two dimensions, so that the early warning decision is more comprehensive and more in line with the actual risk scene, and the early warning accuracy is improved; accurate detection of the obstacle is realized, the timeliness and rationality of early warning are ensured, and the safety during the door opening process is comprehensively ensured.

[0093] On the basis of the above scheme, optionally, the ultrasonic radar data includes ultrasonic wave emission time and echo reception time; the relative distance determination module 320 includes: a relative distance determination submodule. Wherein, the relative distance determination submodule is used for determining the time of flight difference according to the ultrasonic wave emission time and the echo reception time, and determining the relative distance between the obstacle and the door according to the time of flight difference.

[0094] On the basis of the above scheme, optionally, the relative motion speed determination module 330 includes: a distance-time change amount determination submodule and a relative motion speed determination submodule. Wherein, the distance-time change amount determination submodule is used for determining a plurality of distance change amounts and a plurality of time intervals corresponding to the distance change amounts according to the relative distance between the obstacle and the door at multiple times; the relative motion speed determination submodule is used for determining the relative motion speed between the obstacle and the door according to a plurality of distance change amounts and time intervals corresponding thereto.

[0095] On the basis of the above-mentioned scheme, optionally, the obstacle warning module 340 comprises an obstacle warning sub-module. Among them, the obstacle warning sub-module is used for determining a target obstacle from the obstacles according to the relative motion speed corresponding to the obstacles, and performing obstacle warning on the door side according to the relative distance between the target obstacle and the target vehicle.

[0096] On the basis of the above-mentioned scheme, optionally, the obstacle warning sub-module comprises a target obstacle determination unit. Among them, the target obstacle determination unit is used for determining the obstacle as a target obstacle in the case that the relative motion speed corresponding to the obstacle is greater than a preset speed threshold, and the preset speed threshold is used at least to indicate that the obstacle moves along the direction close to the target vehicle.

[0097] On the basis of the above-mentioned scheme, optionally, the obstacle warning sub-module comprises a target side warning area determination unit and an obstacle warning unit. Among them, the target side warning area determination unit is used for determining a target side warning area where the target obstacle is located from a plurality of side warning areas on the door side according to the relative distance between the target obstacle and the target vehicle, wherein the side warning area is determined based on the distance from the door; the obstacle warning unit is used for performing obstacle warning on the door side according to the target side warning area and the preset warning mode corresponding to the target side warning area.

[0098] On the basis of the above-mentioned scheme, optionally, the plurality of side warning areas comprises a first warning area, a second warning area and a third warning area; the preset warning mode corresponding to the first warning area comprises a warning light constant on; the preset warning mode corresponding to the second warning area comprises that the warning light of the target vehicle flashes at a first frequency and the in-vehicle buzzer alarms at a second frequency; the preset warning mode corresponding to the third warning area comprises that the warning light of the target vehicle flashes at a third frequency and the in-vehicle buzzer alarms at a fourth frequency; the risk degree of the first warning area, the second warning area and the third warning area increases in turn; the third frequency is higher than the first frequency and / or the fourth frequency is higher than the second frequency.

[0099] On the basis of the above-mentioned scheme, optionally, the obstacle warning sub-module comprises an obstacle warning stop unit. Among them, the obstacle warning stop unit is used for stopping performing the obstacle warning operation corresponding to the target side warning area in response to the target obstacle leaving the target side warning area after performing the obstacle warning on the door side according to the target side warning area and the preset warning mode corresponding to the target side warning area.

[0100] Optionally, the ultrasonic radar sensor is installed at a preset position of at least one door of the target vehicle, and is connected with a domain controller or a parking radar controller of the target vehicle.

[0101] The vehicle door side obstacle early warning device provided by the embodiment of the application can execute the vehicle door side obstacle early warning method provided by any of the embodiments of the application, and has the corresponding function modules and beneficial effects of the execution method.

[0102] Embodiment four

[0103] Figure 4 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the application described and / or claimed in this document.

[0104] As shown in Figure 4 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected with the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected with each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0105] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, a loudspeaker, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0106] The processor 11 can be various general and / or special purpose processing components having processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the vehicle door side obstacle warning method.

[0107] In some embodiments, the vehicle door side obstacle warning method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the vehicle door side obstacle warning method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the vehicle door side obstacle warning method by any other suitable means, such as by means of firmware.

[0108] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0109] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a machine or a remote machine or a server.

[0110] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0111] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0112] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0113] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0114] In particular, the processes described above with reference to the flow charts can be implemented as computer software programs in accordance with embodiments of the application. For example, embodiments of the application include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program comprising program code for executing the methods illustrated by the flow charts. In such embodiments, the computer program can be downloaded and installed from a network via the communication unit 19, or installed from the storage unit 18, or installed from the ROM 12. When the computer program is executed by the processor 11, the above-described functions defined in the methods of the embodiments of the application are performed.

[0115] It should be understood that the steps shown in the various forms of flow charts above can be reordered, added to, or deleted from. For example, the steps recited in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0116] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall fall within the protection scope of the present application.

Claims

1. A vehicle door side obstacle warning method characterized by comprising: The method comprises: in response to an event that the vehicle speed of a target vehicle is less than a preset vehicle speed and the duration reaches a preset duration, collecting, by an ultrasonic radar sensor installed at a vehicle door, ultrasonic radar data of the side of the vehicle door at multiple time points; for the ultrasonic radar data at each time point, determining a relative distance between an obstacle and the vehicle door according to the ultrasonic radar data; for a single obstacle, determining a relative motion speed between the obstacle and the vehicle door according to the relative distances of the obstacle at multiple time points; performing obstacle warning on the side of the vehicle door according to the relative distance and the relative motion speed of the obstacle and the target vehicle.

2. The vehicle door side obstacle warning method according to claim 1, characterized by, The ultrasonic radar data comprises ultrasonic wave transmission time and echo reception time; the determining of the relative distance between the obstacle and the vehicle door according to the ultrasonic radar data comprises: determining a time-of-flight difference value according to the ultrasonic wave transmission time and the echo reception time, and determining the relative distance between the obstacle and the vehicle door according to the time-of-flight difference value.

3. The vehicle door side obstacle warning method according to claim 1, characterized by, The determining of the relative motion speed between the obstacle and the vehicle door according to the relative distances of the obstacle at multiple time points comprises: determining multiple distance change amounts and multiple time intervals corresponding to the distance change amounts according to the relative distances between the obstacle and the vehicle door at multiple time points; determining the relative motion speed between the obstacle and the vehicle door according to the multiple distance change amounts and the time intervals corresponding to the distance change amounts.

4. The vehicle door side obstacle warning method according to claim 1, characterized by, The performing of the obstacle warning on the side of the vehicle door according to the relative distance and the relative motion speed of the obstacle and the target vehicle comprises: determining a target obstacle from the obstacle according to the relative motion speed of the obstacle, and performing the obstacle warning on the side of the vehicle door according to the relative distance of the target obstacle and the target vehicle.

5. The vehicle door side obstacle warning method according to claim 4, characterized by, The determining of the target obstacle from the obstacle according to the relative motion speed of the obstacle comprises: in a case that the relative motion speed of the obstacle is greater than a preset speed threshold, determining the obstacle as the target obstacle, wherein the preset speed threshold is used at least to indicate that the obstacle moves in a direction close to the target vehicle.

6. The vehicle door side obstacle warning method according to claim 4, characterized by, The performing of the obstacle warning on the side of the vehicle door according to the relative distance of the target obstacle and the target vehicle comprises: determining a target side warning area in which the target obstacle is located from multiple side warning areas on the side of the vehicle door according to the relative distance of the target obstacle and the target vehicle, wherein the side warning areas are determined based on the distance from the vehicle door; performing the obstacle warning on the side of the vehicle door according to the target side warning area and a preset warning mode corresponding to the target side warning area.

7. The vehicle door side obstacle warning method according to claim 6, characterized by, The multiple side warning areas comprise a first warning area, a second warning area and a third warning area; and the preset warning mode corresponding to the first warning area comprises a constant light of a warning light. The preset warning mode corresponding to the second early warning area includes that the warning light of the target vehicle flashes at a first frequency and the buzzer in the vehicle alarms at a second frequency; The preset warning mode corresponding to the third early warning area includes that the warning light of the target vehicle flashes at a third frequency and the buzzer in the vehicle alarms at a fourth frequency; the risk degree of the first early warning area, the second early warning area and the third early warning area increases in turn; The third frequency is higher than the first frequency and / or the fourth frequency is higher than the second frequency.

8. The vehicle door side obstacle warning method according to claim 6, characterized by, After the obstacle warning of the door side is performed according to the target side early warning area and the preset warning mode corresponding to the target side early warning area, the method further comprises: In response to the target obstacle leaving the target side early warning area, the obstacle warning operation corresponding to the target side early warning area is stopped.

9. The vehicle door side obstacle warning method according to claim 1, characterized by, The preset position of at least one door of the target vehicle is provided with an ultrasonic radar sensor, and the ultrasonic radar sensor is connected with a domain controller or a parking radar controller of the target vehicle.

10. A computer program product comprising a computer program, characterized in that, The computer program, when executed by a processor, implements the door side obstacle warning method according to any one of claims 1-9.

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