Vehicle door opening prompting method and vehicle

Abstract

The embodiment of the invention discloses a vehicle door opening prompting method and a vehicle. The vehicle door opening prompting method comprises the steps that under the condition that it is detected that a vehicle door is about to be opened, the obstacle height of an obstacle in a preset area is detected; the preset area comprises an area range passed by a vehicle door when the vehicle is in a parking state and the vehicle door is in an open state from a closed state; determining the vehicle door height at the current moment; when it is determined that the door opening risk exists on the basis of the vehicle door height and the obstacle height, and the vehicle comprises an active suspension, the vehicle door height of the vehicle door with the obstacle side is increased through the active suspension, and the adjusted vehicle door height is obtained; determining a door opening risk in the process of opening the vehicle door based on the adjusted vehicle door height; and outputting corresponding safe door opening prompt information based on the door opening risk. According to the invention, the safety of opening the door of the vehicle can be improved.

Description

Technical Field

[0001] This application relates to the field of vehicle safety, and includes, but is not limited to, a method for indicating when a vehicle door is opened and a vehicle. Background Technology

[0002] Roadsides often have raised objects such as curbs or flower beds, and parking spaces are usually located near these objects. The height of these raised objects varies in different locations, and the vehicle height also varies depending on the type of vehicle. When a user opens or closes a door to get in or out of the car, the door on the side closest to the raised object may collide with it.

[0003] In related technologies, it is usually done manually to determine whether the car door will collide with a curb or flower bed when it is opened. When the distance between the car door and the ground and the height of the curb or flower bed are not significantly different, it is difficult for a person to accurately determine whether the car door will collide with the curb or flower bed. Or, when the car door is slightly higher than the curb or flower bed, as the number of people in the vehicle increases, the overall weight of the vehicle increases, and the chassis height of the vehicle will decrease to a certain extent, thus reducing the safety when the vehicle door is opened. Summary of the Invention

[0004] To address the aforementioned technical problems, this application aims to provide a vehicle door opening prompt method and a vehicle that can improve safety when opening vehicle doors.

[0005] The technical solution of this application is implemented as follows: In a first aspect, embodiments of this application provide a vehicle door opening notification method, the vehicle door opening notification method comprising: When it is detected that the car door is about to be opened, the height of obstacles in a preset area is detected; the preset area includes the area that the car door passes through when the vehicle is parked and the door changes from the closed state to the open state. Determine the current door height; If it is determined that there is a risk in opening the door based on the door height and the obstacle height, and the vehicle includes an active suspension, the door height on the side with the obstacle is raised using the active suspension to obtain the adjusted door height. The risk of opening the door during the process of opening the door is determined based on the adjusted door height. Based on the aforementioned risks associated with opening the door, corresponding safety prompts for opening the door are output.

[0006] Secondly, embodiments of this application provide a vehicle door opening prompt method, the vehicle door opening prompt method comprising: When it is detected that the car door is about to be opened, the height of obstacles in a preset area is detected; the preset area includes the area that the car door passes through when the vehicle is parked and the door changes from the closed state to the open state. Determine the current door height; The risk of opening the door during the opening process is determined based on the door height and the obstacle height. Based on the aforementioned risks associated with opening the door, corresponding safety prompts for opening the door are output.

[0007] Thirdly, embodiments of this application provide an electronic device, which includes a memory and a processor. The memory stores a computer program or instructions, which, when executed by the processor, implement the method provided in the first aspect or the method provided in the second aspect.

[0008] Thirdly, this application provides a vehicle including computer-executable instructions or a computer program, which, when executed by a processor, implement the method provided in the first aspect or the method provided in the second aspect.

[0009] Fourthly, this application also provides a storage medium storing a computer program or instructions that, when executed by a processor, implement any of the methods provided in the first aspect or the second aspect.

[0010] Fifthly, this application also provides a computer program product, which includes a computer program or instructions that, when executed by a processor, implement any of the methods provided in the first aspect or any of the methods provided in the second aspect.

[0011] This application provides a vehicle door opening warning method and a vehicle. The vehicle door opening warning method includes: detecting the height of an obstacle within a preset area when a door is detected to be about to be opened; the preset area includes the area traversed by the door when the vehicle is parked and the door moves from a closed state to an open state; determining the current door height; if a risk of opening the door is determined based on the door height and the obstacle height, and the vehicle includes an active suspension, raising the door height of the door on the side with the obstacle using the active suspension to obtain an adjusted door height; determining the door opening risk during the door opening process based on the adjusted door height; and outputting corresponding safe door opening warning information based on the door opening risk. The above-described solution, when the vehicle detects that a door is about to be opened, determines the height of obstacles within the area the door passes through as it moves from a closed to an open state while the vehicle is stationary, and determines the current door height. Based on the door height and obstacle height, the opening risk during the opening process is determined. If an opening risk is determined and the vehicle includes an active suspension, the active suspension is used to raise the door height on the side with the obstacle, resulting in an adjusted door height. Based on this adjusted door height, the opening risk during the opening process is finally determined, and corresponding opening warning information is output. The door can then be opened safely based on the opening warning information, eliminating the need for manual risk assessment and improving vehicle door opening safety. Attached Figure Description

[0012] Figure 1 A flowchart illustrating a vehicle door opening notification method provided in this application embodiment; Figure 2 An exemplary diagram illustrating the position between a vehicle and an obstacle, provided for embodiments of this application. Figure 1 ; Figure 3 An exemplary diagram illustrating the position between a vehicle and an obstacle, provided for embodiments of this application. Figure 2 ; Figure 4 A schematic flowchart of an exemplary vehicle door opening prompt method provided in this application embodiment; Figure 5 A schematic diagram of an exemplary vehicle door opening prompt structure frame provided for an embodiment of this application; Figure 6 A schematic diagram of the composition structure of a vehicle provided in an embodiment of this application; Figure 7 This is a schematic diagram of the composition structure of an electronic device provided in an embodiment of this application.

[0013] It should be noted that the terms "first" and "second" mentioned above are only used to distinguish between different options and do not represent the degree of superiority or inferiority of the options or their priority in the implementation process. Detailed Implementation

[0014] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0015] This application provides a vehicle door opening notification method, which is applied to a vehicle. Figure 1 A flowchart of a vehicle door opening prompt method provided in this application embodiment is shown below. Figure 1 As shown, vehicle door opening notification methods may include: S101. When it is detected that the door is about to be opened, detect the height of obstacles in the preset area.

[0016] The vehicle door opening prompt method provided in this application embodiment is applicable to scenarios where a safe door opening prompt is given when opening a vehicle door.

[0017] In this application embodiment, the vehicle can be a sedan, SUV, sports car, van, bus, truck, tractor, passenger car, etc., or other types of vehicles. The specific vehicle category can be determined according to the actual situation, and this application embodiment does not limit it.

[0018] In this application embodiment, the condition of detecting that the car door is about to be opened includes receiving the vehicle unlocking command but the car door has not yet been opened, or the vehicle door lock is in the open state and the car door has not yet been opened, etc., and may also include other specific conditions, which can be determined according to the actual situation. This application embodiment does not limit this.

[0019] In this embodiment, the unlocking command can be transmitted to the vehicle via a digital key (such as a Bluetooth key, radio frequency key, ultra-wideband (UWB) key, etc.) or via the vehicle's mobile phone key (a key confirmed after authentication between the mobile phone and the vehicle). The specific method of receiving the vehicle unlocking command can be determined according to the actual situation, and this embodiment does not limit it.

[0020] In this embodiment, the vehicle is equipped with a Direct Time of Flight (DTOF) camera or a lidar, which can be used to detect the height of obstacles in a preset area; other methods can also be used to detect the height of obstacles in the preset area; the specific method for detecting the height of obstacles in the preset area can be determined according to the actual situation, and this embodiment does not limit it.

[0021] It should be noted that if the obstacle height of obstacles within a preset area is detected using DTOF cameras or LiDAR, then DTOF cameras or LiDAR can be configured around the vehicle. For example, four DTOF cameras, four LiDARs, three DTOF cameras and one LiDAR, or three LiDARs and one DTOF camera can be configured around the vehicle. The specific method of configuring DTOF cameras or LiDARs in the vehicle can be determined according to the actual situation, and this application does not limit this.

[0022] It should be noted that existing vehicles equipped with fisheye cameras and millimeter-wave radar can only identify objects and their location, but cannot accurately determine the height of obstacles. This application, by configuring DTOF cameras or lidar around the vehicle, enables the identification of the height information of obstacles around the vehicle while simultaneously achieving assisted driving.

[0023] Understandably, by installing DTOF cameras on vehicles, the height of obstacles can be accurately identified, providing precise warnings to users of the risks when opening doors.

[0024] In this embodiment of the application, the preset area includes the area that the vehicle door passes through when the vehicle is parked and the door changes from a closed state to an open state.

[0025] In this embodiment of the application, obstacles include protruding objects such as curbs, stones, or flower beds along roads in the city. The specific obstacles can be determined according to the actual situation, and this embodiment of the application does not limit them.

[0026] It should be noted that the vehicle is equipped with a function switch. When the function switch is turned on and the door is detected to be about to be opened, the vehicle door opening prompt method in this application can be executed.

[0027] S102. Determine the door height at the current moment.

[0028] In this embodiment, the vehicle determines the door height at a given time after detecting the obstacle height within a preset area; or, the vehicle first determines the door height at the current time and then detects the obstacle height within the preset area; or the vehicle determines the door height at the current time while simultaneously detecting the obstacle height within the preset area. The specific determination can be made according to the actual situation, and this embodiment does not limit this.

[0029] In this embodiment, a sensor can be used to detect the current door height; if the vehicle is equipped with an active suspension, the current door height can also be determined based on the active suspension; the current door height can also be determined based on the initial height of the door when the vehicle is unloaded and the current load situation of the vehicle; the specific method for determining the current door height can be determined according to the actual situation, and this embodiment does not limit it.

[0030] It should be noted that the door height specifically refers to the height of the bottom of the door from the ground. Specifically, if sensors are used to detect the current door height, the bottom of the door can be measured to determine the height. If active suspension is used to determine the current door height, the initial door height at the suspension reference height can be obtained, the current height after the active suspension is raised can be determined, and the bottom of the door can be measured from the ground based on the current height, the suspension reference height, and the initial door height. Alternatively, the bottom of the door can be measured from the initial door height when the vehicle is unloaded, and the current load condition of the vehicle to determine the current door height.

[0031] It should be noted that the number of active suspensions in a vehicle can be determined according to the actual situation, and this application embodiment does not limit this.

[0032] It should be noted that the active suspension in the vehicle can be an air suspension, a hydraulic suspension, or other active suspensions. The specific active suspension can be determined according to the actual situation, and this application embodiment does not limit it.

[0033] S103. If it is determined that there is a risk in opening the door based on the door height and the obstacle height, and the vehicle includes an active suspension, the door height of the door on the side with the obstacle is raised using the active suspension to obtain the adjusted door height.

[0034] In this embodiment, after the vehicle detects the height of obstacles in a preset area and determines the current door height, if it is determined that there is a risk in opening the door based on the door height and the obstacle height, and the vehicle includes an active suspension, the active suspension is used to raise the door height on the side with the obstacle, thus obtaining the adjusted door height.

[0035] In this embodiment, the door height and obstacle height can be directly compared to determine the door opening risk; alternatively, the door opening risk can be determined based on the door height and obstacle height. The specific method for determining the door opening risk based on the door height and obstacle height can be determined according to the actual situation, and this embodiment does not limit it.

[0036] In this embodiment, the height of the door on the side with the obstacle can be increased by using the active suspension to raise the overall height of the vehicle, thus obtaining the adjusted door height. Alternatively, the active suspension can be used to raise only the door on the side with the obstacle, that is, only the active suspension closest to the door on the obstacle side is adjusted to the suspension limit position, thereby raising the door height on the side with the obstacle, thus obtaining the adjusted door height. Other methods can also be used to raise the door height on the side with the obstacle using the active suspension to obtain the adjusted door height. The specific method of using the active suspension to raise the door height on the side with the obstacle to obtain the adjusted door height can be determined according to the actual situation, and this embodiment does not limit it.

[0037] S104. Determine the door opening risk during the door opening process based on the adjusted door height.

[0038] In this embodiment, the vehicle uses active suspension to raise the door height on the side with the obstacle. After obtaining the adjusted door height, the opening risk during the opening process is determined based on the adjusted door height.

[0039] It should be noted that door opening risks include both non-existent and present risks. Present risks include the risk of the door colliding with or being scraped by an obstacle during the opening process; non-existent risks mean there is no risk of the door colliding with or being scraped by an obstacle during the opening process.

[0040] In this embodiment, the risk of opening the door can be determined based on the adjusted door height and the obstacle height. For example, the adjusted door height can be compared with the obstacle height to determine the risk of opening the door; alternatively, other methods can be used to determine the risk based on the adjusted door height and the obstacle height. The specific method for determining the risk of opening the door during the opening process based on the adjusted door height can be determined according to the actual situation, and this embodiment does not limit this approach.

[0041] S105. Based on the risk of opening the door, output the corresponding safe door opening prompt information.

[0042] In this embodiment of the application, after the vehicle determines the risk of opening the door during the process of opening the door based on the adjusted door height, it outputs corresponding safe door opening prompt information based on the risk of opening the door.

[0043] In this embodiment of the application, if the risk of opening the door is "there is a risk in opening the door", the output safety warning message can be "there is a risk in opening the door"; if the risk of opening the door is "there is no risk in opening the door", the output safety warning message can be "there is no risk in opening the door".

[0044] It should be noted that the safety door opening prompt information can be voice information, text information, light information, or other forms of information. The specific safety door opening prompt information can be determined according to the actual situation, and this application embodiment does not limit it in this way.

[0045] Understandably, when a vehicle detects that a door is about to be opened, it determines the height of obstacles within the area the door passes through as it moves from a closed to an open state while the vehicle is stationary. It then determines the current door height and, based on the door height and obstacle heights, assesses the risk of the door opening. If a risk is identified and the vehicle includes an active suspension system, the active suspension is used to raise the door height on the side with the obstacle, resulting in an adjusted door height. This adjusted door height is then used to further determine the risk of the door opening and outputs a corresponding opening warning message. This allows the door to be opened safely based on the warning message, eliminating the need for manual risk assessment and improving vehicle door opening safety.

[0046] In this embodiment of the application, when it is detected that the car door is about to be opened, the height of the obstacle in the preset area can be detected; then the height of the car door at the current moment can be determined; and the opening risk during the opening process can be determined based on the car door height and the obstacle height; finally, based on the opening risk, the corresponding safe opening prompt information can be output.

[0047] In this embodiment, the door height and obstacle height can be directly compared to determine the door opening risk during the opening process; alternatively, the door height can be adjusted first, and then the adjusted door height can be compared with the obstacle height to determine the door opening risk; other methods can also be used to determine the door opening risk based on the door height and obstacle height. The specific method for determining the door opening risk based on the door height and obstacle height can be determined according to the actual situation, and this embodiment does not limit it.

[0048] Understandably, when a vehicle detects that a door is about to be opened, it determines the height of obstacles within the area that the door passes through when it moves from a closed to an open state while the vehicle is stationary, and also determines the current door height. Based on the door height and obstacle height, it assesses the risk of the door opening during the opening process and outputs corresponding door opening warning information. The door can then be opened safely based on the warning information, eliminating the need for manual risk assessment and improving vehicle door opening safety.

[0049] The following is a detailed explanation of how the door height is determined at the current moment in step S102: In this embodiment of the application, the process of determining the door height at the current moment includes: determining the number of seats occupied in the vehicle when the active suspension is not included; and determining the door height based on the initial height of the door, the number of seats occupied, and preset height adjustment parameters.

[0050] In this embodiment, pressure sensors can be installed at the seats in the vehicle to determine the number of seats occupied; alternatively, other methods can be used to determine the number of seats occupied. The specific method for determining the number of seats occupied can be determined according to the actual situation, and this embodiment does not limit it.

[0051] It should be noted that the number of seats occupied can be 0, 1, or multiple. The specific number of seats occupied can be determined according to the actual situation, and this application embodiment does not limit this.

[0052] In this embodiment, the preset height adjustment parameter can be a parameter configured in the vehicle, a parameter transmitted to the vehicle from other devices, or a parameter obtained by the vehicle through other means. The specific way the vehicle obtains the preset height adjustment parameter can be determined according to the actual situation, and this embodiment does not limit it.

[0053] It should be noted that the preset height adjustment parameter can be the height by which the vehicle chassis lowers when each seat is occupied.

[0054] In this embodiment of the application, the process of determining the door height based on the initial height of the door, the number of seats occupied, and the preset height adjustment parameters includes: determining the product between the number of seats occupied and the preset height adjustment parameters to obtain the door lowering height, and subtracting the door lowering height from the initial height to obtain the door height at the current moment.

[0055] In this embodiment of the application, the process of determining the door height at the current moment includes: in the case that the vehicle includes an active suspension, obtaining a first height difference between the current height of the active suspension and the suspension reference height; and determining the door height based on the first height difference and the initial height of the door.

[0056] It should be noted that the suspension reference height can be the height of the active suspension from the ground at its reference position in the vehicle. The reference position of the active suspension can be the initial position of the active suspension in the vehicle when its height has not been adjusted.

[0057] In this embodiment, the height of the active suspension at the suspension reference position can be detected using the active suspension to obtain the suspension reference height; alternatively, other sensors can be used to detect the height of the active suspension at the reference position to obtain the suspension reference height. The specific method for determining the suspension reference height can be determined according to the actual situation, and this embodiment does not limit it.

[0058] In this embodiment, the active suspension can be used to detect its current height at the current position, or other sensors can be used to detect the current height of the active suspension at the current position. The specific method for determining the current height of the active suspension can be determined according to the actual situation, and this embodiment does not limit it.

[0059] It should be noted that the active suspension can measure its current height at the current position, and it can also measure its suspension reference height at the suspension reference position (or the suspension reference height obtained from elsewhere). The vehicle determines the height difference between the current height and the suspension reference height to obtain the first height difference. The first height difference can also be the height difference directly measured by the active suspension as it moves from the suspension reference height to its current position. The specific method for obtaining the first height difference can be determined according to the actual situation, and this application does not limit this aspect.

[0060] It should also be noted that the first height difference can be the current height minus the suspension reference height, or the first height difference can be the suspension reference height minus the current height. The specific first height difference can be determined according to the actual situation, and this application embodiment does not limit it in this way.

[0061] It should also be noted that the first height difference can be positive or negative, and the specific first height difference can be determined according to the actual situation. This application does not limit this.

[0062] In this embodiment of the application, the initial height of the car door can be the height of the bottom of the car door from the ground, which is set when the vehicle leaves the factory.

[0063] In this embodiment of the application, the method of determining the door height based on the first height difference and the initial height of the door includes determining the sum of the initial height and the first height difference to obtain the door height; or determining the difference between the initial height and the first height difference to obtain the door height.

[0064] It should be noted that after the height of the active suspension in the vehicle is adjusted, the height of all components of the vehicle will also be adjusted accordingly. That is, the height difference between the current height of the active suspension and the suspension reference height is the same as the height difference between the current door height and the initial height of the door. In other words, the result of subtracting the initial height of the door from the current door height is the first height difference.

[0065] It should also be noted that if the first height difference is the current height minus the suspension reference height, then there is a corresponding first height difference that is the door height minus the initial height; if the first height difference is the suspension reference height minus the current height, then there is a corresponding first height difference that is the initial height minus the door height.

[0066] In this embodiment of the application, when the vehicle has not been modified, the height information of the vehicle foundation is clear, that is, the distance from the bottom of the door to the ground is known.

[0067] In this embodiment of the application, the process of determining the door height based on the first height difference and the initial height of the door includes: determining the occupancy status of the seats in the vehicle; determining the vehicle height adjustment offset based on the occupancy status of the seats; and determining the door height based on the first height difference, the vehicle height adjustment offset, and the initial height of the door.

[0068] It should be noted that the seat occupancy status includes the number of seats occupied. If the seat occupancy status includes the number of seats occupied, the process of determining the vehicle height adjustment offset based on the number of seats occupied includes: looking up the vehicle height adjustment offset in a first preset table based on the number of seats occupied; or determining the vehicle height adjustment offset based on the number of seats occupied and preset height adjustment parameters; or determining the vehicle height adjustment offset based on the number of seats occupied in other ways. The specific method for determining the vehicle height adjustment offset based on the number of seats occupied can be determined according to the actual situation, and this application embodiment does not limit it in this way.

[0069] It should be noted that the vehicle height adjustment offset includes the amount of sag when the overall height of the vehicle drops due to the load (due to the occupancy of seats).

[0070] In this embodiment, pressure sensors can be installed at the seats in the vehicle to determine the number of seats occupied; alternatively, other methods can be used to determine the number of seats occupied. The specific method for determining the number of seats occupied can be determined according to the actual situation, and this embodiment does not limit it.

[0071] It should be noted that the number of seats occupied can be 0, 1, or multiple. The specific number of seats occupied can be determined according to the actual situation, and this application embodiment does not limit this.

[0072] In this embodiment of the application, the method for determining the vehicle height adjustment offset based on the number of occupied seats and the preset height adjustment parameters includes: determining the product of the number of occupied seats and the preset height adjustment parameters to obtain the vehicle height adjustment offset.

[0073] In this embodiment, the first preset table can be a table configured in the vehicle, a table transmitted to the vehicle from other devices, or a table obtained by the vehicle through other means. The specific way of obtaining the first preset table can be determined according to the actual situation, and this embodiment does not limit it.

[0074] It should be noted that the height at which the car door is lowered is the offset amount for vehicle height adjustment.

[0075] In this embodiment, the process of determining the door height based on a first height difference, a vehicle height adjustment offset, and the initial height of the door includes: determining the difference between the first height difference and the vehicle height adjustment offset; determining the initial height of the door and the sum of the difference; and thus obtaining the door height. The first height difference is the height difference measured by the active suspension as it moves from the suspension reference height to its current position.

[0076] For example, the first height difference can also be the height difference measured directly by the active suspension when it moves from the suspension reference height to the current height of the current position. The first height difference is 10 cm. Since the seats in the vehicle are occupied and there is a load in the vehicle, the overall vehicle height drops by 2 cm, that is, the vehicle height adjustment offset is 2 cm. The initial height of the door is 15 cm. Then, based on the actual height that the active suspension raises the vehicle by, the difference between the first height difference and the vehicle height adjustment offset is 10-2=8 cm. Therefore, the door height is also raised by 8 cm from the initial height. That is, the door height is the sum of the initial height and the difference (that is, the difference between the first height difference and the vehicle height adjustment offset), which is 15+8=23 cm.

[0077] Understandably, using the number of occupied seats to determine the vehicle height adjustment offset allows for the determination of the actual lifting height of the door when the seats are occupied, thus improving the accuracy of determining the door height.

[0078] In this embodiment, seat occupancy status may include seat occupancy distribution and the number of seats occupied. The process of determining the vehicle height adjustment offset at the occupied location based on the seat occupancy distribution and preset height adjustment parameters includes: looking up the vehicle height adjustment offset in a second preset table based on the number of occupied seats and the seat occupancy distribution; or determining the vehicle height adjustment offset based on the number of occupied seats, the seat occupancy distribution, and the preset height adjustment parameters; or determining the vehicle height adjustment offset at the occupied location based on the seat occupancy distribution and preset height adjustment parameters in other ways. The specific method for determining the vehicle height adjustment offset at the occupied location based on the seat occupancy distribution and preset height adjustment parameters can be determined according to the actual situation, and this embodiment does not limit this method.

[0079] It should be noted that the vehicle height adjustment offset includes the amount of sag when the overall height of the vehicle is not horizontal (i.e., tilted) due to localized load (caused by the occupancy of seats).

[0080] In this embodiment, the second preset table can be a table configured in the vehicle, a table transmitted to the vehicle from other devices, or a table obtained by the vehicle through other means. The specific way of obtaining the second preset table can be determined according to the actual situation, and this embodiment does not limit it.

[0081] For example, the first height difference can also be the height difference measured directly by the active suspension when it moves from the suspension reference height to the current height of the current position. This first height difference is 10 centimeters. Due to the occupation of some seats in the vehicle, a local area of ​​the vehicle is under load, causing the local area of ​​the vehicle (i.e., the area where the door with the obstacle is located) to drop by 3 centimeters. That is, the vehicle height adjustment offset is 3 centimeters. The initial height of the door is 15 centimeters. Based on the fact that the active suspension actually raises the vehicle by the difference between the first height difference and the vehicle height adjustment offset, which is 10-3=7 centimeters, the door height is also raised by 7 centimeters from the initial height. That is, the door height is the sum of the initial height and this difference (i.e., the difference between the first height difference and the vehicle height adjustment offset), which is 15+7=22 centimeters.

[0082] Understandably, by using the number of occupied seats to determine the vehicle height adjustment offset in a local area of ​​the vehicle (i.e., the area where the door with the obstacle is located), the actual lifting height of the door (the door with the obstacle) when the active suspension is used to lift the door height is determined when a local seat in the vehicle is occupied, thus improving the accuracy of determining the door height.

[0083] Understandably, determining the current door height based on the vehicle's active suspension or the number of occupied seats allows for the assessment of door opening risks based on both the door height and obstacle height. This enables the output of corresponding door opening warning messages, allowing for safe door opening without the need for manual risk assessment, thus improving vehicle door opening safety.

[0084] The following is a detailed explanation of the method used in step S103 to raise the door height on the side with the obstacle present by utilizing the active suspension, thereby obtaining the adjusted door height: In this embodiment, the process of raising the door height of the vehicle door on the side with the obstacle using active suspension to obtain the adjusted door height includes: raising the first active suspension on the first door side to the suspension limit position; controlling the second active suspension on the second door side below the suspension limit position; determining the first door height of the first door based on the suspension limit position and the position of the second active suspension; and using the first door height as the adjusted door height.

[0085] It should be noted that the first side door is the door on the side where there is an obstacle within the first preset area of ​​the vehicle; the second side door is the door on the side where there is no obstacle within the second preset area of ​​the vehicle.

[0086] In this embodiment, after determining the current door height, the door height on the side with the obstacle is raised using the active suspension. Before obtaining the adjusted door height, a preset safety height is determined based on the obstacle height and a preset safety factor. If the door height is less than the preset safety height, it is determined that there is a risk in opening the door.

[0087] In this application embodiment, when the door height is less than the preset safe height and the vehicle does not include an active suspension, the risk of opening the door is determined to be a risk of opening the door; or when the door height is less than the preset safe height and the vehicle includes an active suspension but the door height on the side with the obstacle is not raised using the active suspension, the risk of opening the door is determined to be a risk of opening the door.

[0088] In this embodiment of the application, after determining the current door height, before determining the door opening risk during the door opening process based on the adjusted door height, if the door height is greater than or equal to the preset safe height, the door opening risk is determined to be no risk; if the door height is less than the preset safe height and the vehicle does not include an active suspension, the door opening risk is determined to be a risk.

[0089] In this embodiment of the application, the process of determining the door opening risk based on the adjusted door height includes: if the adjusted door height is greater than or equal to a preset safe height, determining that there is no risk in opening the door; and if the adjusted door height is less than the preset safe height, determining that there is a risk in opening the door.

[0090] The following section details the method for determining the door opening risk during the door opening process based on door height and obstacle height: Specifically, the process of determining the door opening risk during the opening of the car door based on the door height and the obstacle height includes: determining a preset safety height based on the obstacle height and a preset safety factor; and determining the door opening risk during the opening of the car door based on the preset safety height and the door height.

[0091] In this embodiment, the preset safety factor can be a factor configured in the vehicle, a factor transmitted to the vehicle from other devices, or a factor obtained by the vehicle through other means. The specific way in which the vehicle obtains the preset safety factor can be determined according to the actual situation, and this embodiment does not limit it.

[0092] It should be noted that the preset safety factor is greater than the preset coefficient. The preset coefficient can be 1, 1.5, or other values. The specific preset coefficient can be determined according to the actual situation, and this application embodiment does not limit it.

[0093] In this embodiment of the application, the preset safety height can be determined by multiplying the obstacle height and the preset safety factor.

[0094] In this embodiment, a preset safe height and the door height can be compared to determine the risk of opening the door. For example, if the door height is greater than or equal to the preset safe height, the risk of opening the door is determined to be no risk; if the door height is less than the preset safe height, the risk of opening the door is determined to be a risk.

[0095] In this embodiment, the process of determining the door opening risk based on a preset safety height and door height includes: determining that there is no risk of opening the door when the door height is greater than or equal to the preset safety height; determining that there is a risk of opening the door when the door height is less than the preset safety height and the vehicle does not include an active suspension; adjusting the door height based on the active suspension to obtain an adjusted door height when the door height is less than the preset safety height and the vehicle includes an active suspension; determining that there is no risk of opening the door when the adjusted door height is greater than or equal to the preset safety height; and determining that there is a risk of opening the door when the adjusted door height is less than the preset safety height.

[0096] In this embodiment of the application, when the height of the car door is less than the preset safe height and the vehicle does not include an active suspension, the height of the vehicle cannot be adjusted based on the active suspension, that is, the height of the car door cannot be adjusted. At this time, it can be determined that there is a risk of opening the door.

[0097] In this embodiment, when the door height is less than a preset safe height and the vehicle includes an active suspension, the vehicle height can be adjusted upwards based on the active suspension. With the vehicle height increased, the bottom of the door will also increase. By comparing the increased bottom height of the door with the preset safe height, the risk of opening the door is determined. Specifically, if the adjusted door height is greater than or equal to the preset safe height, the risk of opening the door is determined to be no risk; if the adjusted door height is less than the preset safe height, the risk of opening the door is determined to be a risk.

[0098] In this embodiment, if the adjusted door height is greater than or equal to the obstacle height, the risk of opening the door can be determined as no risk; if the adjusted door height is less than the obstacle height, the risk of opening the door can be determined as present. Specific implementation methods can be determined based on actual circumstances, and this embodiment does not limit this.

[0099] In this embodiment of the application, the method of adjusting the door height based on the active suspension to obtain the adjusted door height includes two methods. The first method includes: adjusting the height of each active suspension in the vehicle to the suspension limit position; and determining the target height when each active suspension is at the suspension limit position; determining a second height difference between the target height and the current height of the active suspension; and determining the adjusted door height based on the second height difference and the door height.

[0100] In this embodiment, the method of adjusting the height of each active suspension in the vehicle to the suspension limit position can be determined according to the actual situation, and this embodiment does not limit it.

[0101] For example, if the vehicle includes four active suspensions, the height of all four active suspensions in the vehicle is adjusted to their suspension limit positions.

[0102] In this embodiment of the application, each active suspension can be used to determine the height corresponding to its extreme suspension position, and then the average height of these active suspensions can be determined to obtain the target height.

[0103] In this embodiment of the application, the process of determining the second height difference between the target height and the current height of the active suspension includes determining the difference between the target height and the current height to obtain the second height difference.

[0104] In this embodiment of the application, the process of determining the adjusted door height based on the second height difference and the door height includes determining the sum of the second height difference and the door height to obtain the adjusted door height.

[0105] In this embodiment, the process of determining the second height difference between the target height and the current height of the active suspension may also include determining the difference between the current height and the target height to obtain the second height difference. The second height difference can be positive or negative, and the specific second height difference can be determined according to actual circumstances; this embodiment does not limit this.

[0106] Correspondingly, the process of determining the adjusted door height based on the second height difference and the door height includes determining the difference between the door height and the second height difference, thereby obtaining the adjusted door height.

[0107] For example, such as Figure 2As shown: There is an obstacle at point A within the preset area. The height of each active suspension in the vehicle can be adjusted to the suspension limit position. The target height when each active suspension is at the suspension limit position is determined. The second height difference between the target height and the current height of the active suspension is determined. Based on the second height difference and the door height, the adjusted door height H_door is determined. If the adjusted door height is greater than or equal to the preset safety height (the preset safety height is greater than the obstacle height HA), the risk of opening the door is determined to be no risk.

[0108] In this embodiment of the application, the method of adjusting the door height based on the active suspension to obtain the adjusted door height includes two methods. The second method includes: raising the first active suspension on the first door side to the suspension limit position; controlling the second active suspension on the second door side to be lower than the suspension limit position; determining the first door height of the first door based on the suspension limit position and the position of the second active suspension; and using the first door height as the adjusted door height.

[0109] It should be noted that the first side door is the door on the side where there is an obstacle within the first preset area of ​​the vehicle; the second side door is the door on the side where there is no obstacle within the second preset area of ​​the vehicle.

[0110] Specifically, raising the first active suspension on the first side door to the suspension limit position includes: raising the first active suspension on the first side door to the suspension limit position when there is an obstacle in the first preset area of ​​the first side door of the vehicle and there is no obstacle in the second preset area of ​​the second side door of the vehicle.

[0111] In this embodiment, controlling the second active suspension on the second side door to be below the suspension limit position includes: determining a target height when the first active suspension is at the suspension limit position; determining the adjusted position height of the second active suspension on the second side door based on the target height, a first distance, and a second distance; and controlling the second active suspension to be lowered to the adjusted position corresponding to the adjusted position height. The adjusted position of the second active suspension is below the suspension limit position.

[0112] In this embodiment of the application, the height of the first side door is determined based on the suspension limit position and the position of the second active suspension, including: determining the rising height of the first side door at the obstacle position based on the target height, the lowering position height, the third distance and the fourth distance; and determining the height of the first side door based on the rising height and the target height.

[0113] It should be noted that the first distance is the distance between the outermost part of the second side door and the first active suspension when the second side door is in the open state; the second distance is the distance between the outermost part of the second side door and the second active suspension when the second side door is in the open state.

[0114] It should be noted that the third distance is the distance between the first active suspension and the second active suspension; the fourth distance is the distance between the first active suspension and the obstacle.

[0115] For example, the first side door of the vehicle can be the door on the right front side of the vehicle, and the first preset area includes the area that the right front side door of the vehicle passes through when the vehicle is parked, from the closed state to the open state.

[0116] For example, the second side door of the vehicle can be the left front door of the vehicle, and the second preset area includes the area that the left front door of the vehicle passes through when the vehicle is parked, from the closed state to the open state.

[0117] In this embodiment, the method of adjusting the first active suspension on the first side door to the suspension limit position can be determined according to the actual situation, and this embodiment does not limit it.

[0118] In this embodiment of the application, the target height at which the first active suspension is located can be determined using the first active suspension.

[0119] In this embodiment, the process of determining the adjusted position height of the second active suspension on the second side door based on the target height, the first distance, and the second distance includes determining the product between the target height and the first distance to obtain a first product, and determining the quotient of the first product and the second distance to obtain the adjusted position height. Alternatively, it may involve determining the quotient of the first distance and the second distance, and then determining the product of the quotient and the target height to obtain the adjusted position height.

[0120] In this embodiment of the application, the process of determining the lowering position height H1 of the second active suspension on the second side door based on the target height H2, the first distance L1, and the second distance L2 is as shown in formula (1): (1) In this embodiment of the application, the process of determining the rising height of the first side door at the obstacle position based on the target height, the lowering position height, the third distance, and the fourth distance includes: determining the third height difference between the target height and the lowering position height, determining the quotient of the third height difference and the third distance, and determining the product of the quotient and the fourth distance to obtain the rising height.

[0121] In this embodiment, the lifting height of the first side door at the obstacle location is determined based on the target height H2, the lowering position height H1, the third distance L3, and the fourth distance L4. The process is shown in formula (2): (2) In this embodiment, the process of determining the adjusted door height based on the rise height and the target height includes: determining the sum of the rise height and the target height to obtain the adjusted door height. Specifically, the adjusted door height at this time is the height of the bottom of the first side door at the obstacle position from the ground.

[0122] For example, based on Figure 2 If the adjusted door height H is less than the obstacle height HA, it can be based on... Figure 3 The adjusted door height is determined using the following method: Specifically, if obstacle A exists within the first preset area of ​​the vehicle's first side door (i.e., the right front door) and there is no obstacle within the second preset area of ​​the vehicle's second side door (i.e., the left front door), the first active suspension on the first side door is kept at its limit position; the target height H2 when the first active suspension is at its limit position is determined; the height of the second active suspension is reduced. At this point, the height of the bottom of the door at obstacle A will increase, while the height of the obstacle remains unchanged. If the height of the bottom of the door at obstacle A is greater than the height of the obstacle, then it is determined that opening the door will not result in a collision. The vehicle door length is fixed, and the distance L3 between the two active suspensions (i.e., the distance between points B and C) is also fixed. Using point B as the base point, the distance L2 from the outermost edge of the left door to point B, and the distance L5 from the outermost edge of the right door to point B, can be obtained. The distance L4 is the distance at which the DTOF sensor or lidar detects the obstacle. The maximum height Hmax of the active suspension (…) Figure 3 The horizontal dashed line in the diagram represents the value H2. As the height of H1 decreases, the increase in the height of the bottom of the car door at point A from the ground compared to the original value H2 (i.e., the rise in height) is... The value of H1 is [(H2-H1) / L3]*L4. Theoretically, H1 can continue to decrease, as long as the height of H5 is greater than 0. The distance from point B to the outermost side of the left door is a fixed value L2, the distance from point C to the outermost side of the left door is a fixed value L1, and H2 is a fixed value of Hmax. Then there exists (H2-H5) / L2=(H1-H5) / L1. It can be deduced that H5=[(L2 / L1)*H1-H2] / (L2 / L1-1). When H5=0, the minimum height of H1 is H2*L1 / L2. Substituting the determined H1 into the above formula (2), the rising height of the first side door at the obstacle position can be determined. Based on the altitude of ascent Based on the target height H2, determine the adjusted door height H3. It should be noted that H4 is the height of the outermost part of the right-side door from the ground.

[0123] In this embodiment, the adjusted door height can be determined first based on the first method (i.e., the adjusted door height determined when the height of each active suspension in the vehicle is adjusted to the suspension limit position). If the corresponding adjusted door height is less than the preset safe height, the adjusted door height can be determined in the second method (i.e., the active suspension on one side of the vehicle is at the suspension limit position, while the active suspension on the other side of the vehicle is not at the suspension limit position, thereby using the active suspension to raise the height of the door on the side with the obstacle, thus obtaining the adjusted door height). Specifically, the process can begin by adjusting the height of each active suspension unit in the vehicle to its suspension limit position; determining the target height when each active suspension unit is at its limit position; determining the second height difference between the target height and the current height of the active suspension units; based on the second height difference and the door height, determining the adjusted door height; if the adjusted door height is less than a preset safe height, and if there is an obstacle in the first preset area of ​​the first door and no obstacle in the second preset area of ​​the second door, raising the first active suspension unit on the first door side to its suspension limit position; determining the target height when the first active suspension unit is at its suspension limit position; determining the lowering position height of the second active suspension unit on the second door side after adjustment based on the target height, the first distance, and the second distance; determining the rising height of the first door at the obstacle location based on the target height, the lowering position height, the third distance, and the fourth distance; and determining the adjusted door height based on the rising height and the target height. If the adjusted door height is still less than the preset safe height at this point, then the risk of opening the door is determined to be present.

[0124] In this embodiment, under certain scenarios, after the car door is opened, the active suspension height will decrease as more passengers enter the vehicle. When the active suspension reaches its maximum height threshold, there is a risk of opening the door without a collision, but closing the door may result in a scratch. In such scenarios, when a user opens the door from the outside, the system should advise the user to move away from obstacles before getting into the vehicle (especially on the driver's side).

[0125] In this embodiment of the application, the process of outputting a corresponding safe door opening prompt based on the door opening risk includes: if it is determined that there is no risk in opening the door, determining that the safe door opening prompt indicates that there is no risk in opening the door; if it is determined that there is a risk in opening the door, determining that the safe door opening prompt indicates that there is a risk in opening the door; and outputting the safe door opening prompt.

[0126] In this embodiment of the application, the safe door opening prompt information includes either no risk in opening the door or a risk in opening the door.

[0127] In this embodiment, the safety door opening prompt message can be output by voice, or by image or text, or by indicator light, or by other means. The specific method of outputting the safety door opening prompt message can be determined according to the actual situation, and this embodiment does not limit it.

[0128] In this embodiment, when there is no risk in opening the door, a safe door opening prompt message is sent to the user, allowing the user to open the door directly based on the prompt message. When there is a risk in opening the door, the user is also prompted by the same prompt message, allowing the user to drive to a location where there is no risk before opening the door, or to enter or exit from the other side of the vehicle, thus improving the safety of opening the vehicle door.

[0129] In this embodiment of the application, when it is determined that there is a risk of opening the door, while outputting a safe door opening prompt message, the door on the side where there is a risk of opening the door can also be locked so that the user can enter and exit from the other side door.

[0130] In this embodiment of the application, the process of outputting a safe door opening prompt message includes: outputting a safe door opening prompt message based on the vehicle's headlights; and / or, outputting a safe door opening prompt message based on a display screen in the vehicle; and / or, outputting a safe door opening prompt message based on a player in the vehicle.

[0131] In this embodiment, the vehicle lights include door panel ambient lights configured in the vehicle. The safety door opening warning information is output through changes in the color of the door panel ambient lights or by illuminating different colored indicator lights. For example, if the door panel ambient light is green when opening a door from the inside of the vehicle, it indicates that there is no risk in opening the door; if the door panel ambient light is red, it indicates that there is no risk in opening the door.

[0132] In this embodiment, the vehicle lights also include digital headlights configured in the vehicle, which can project safe door opening prompts. The specific vehicle lights can be determined based on actual conditions, and this embodiment does not limit this.

[0133] For example, if digital headlights are used to output safe door opening prompts, the corresponding text or images can be projected using the digital headlights to output safe door opening prompts.

[0134] In this embodiment, if the safety door opening prompt information is output based on the player, the player can play the content corresponding to the safety door opening prompt information, or play different music. For example, if there is no risk in opening the door, music A can be played, and if there is a risk in opening the door, music B can be played. The specific method of outputting the safety door opening prompt information based on the player can be determined according to the actual situation, and this embodiment does not limit it.

[0135] In this embodiment, a player or loudspeaker can also be used to output a safe door opening prompt message. The specific method of outputting the safe door opening prompt message can be determined according to the actual situation, and this embodiment does not limit it.

[0136] Understandably, by comparing the preset safe height determined based on the obstacle height with the door height, the risk of opening the door during the opening process is determined. If a risk is identified during door opening, the obstacle is avoided by either raising the vehicle height through active suspension to increase the door height, or by raising the door height through different active suspension heights on both sides of the vehicle. This achieves a safe door opening solution. If neither of these methods can avoid the obstacle, a safe door opening prompt is directly output to avoid the obstacle, thereby improving the safety of opening the vehicle door.

[0137] For example, such as Figure 4 As shown: When the vehicle is switched to P gear and unlocked, or when the vehicle is unlocked from the outside (i.e., when an unlock command is received), the height information HA of obstacles on the left and right sides of the vehicle (i.e., the height of obstacles within the preset area) is obtained using LiDAR or a DTOF camera. If the vehicle includes an active suspension, the first height difference between the current height of the active suspension and the suspension reference height is obtained. Based on the first height difference and the initial height of the door, the door height Hx is determined. If the vehicle does not include an active suspension, the number of occupied seats n is determined. Based on the initial door height H0, the number of occupied seats, and the preset height adjustment parameter a, the door height Hx is determined. The obstacle height HA and the preset safety factor are then used to determine the final height. Determine the preset safe height *HA. When the door height Hx is greater than or equal to the preset safe height. In the case of *HA, the risk of opening the door is determined to be no risk; when the door height Hx is less than the preset safe height. *In cases where HA (High Altitude Area) and the vehicle does not include active suspension, the risk of door opening is determined to be a risk that exists; this applies when the door height Hx is greater than the obstacle height but less than the preset safety height. *In the case of HA (or door height Hx less than or equal to obstacle height) and the vehicle including active suspension, the door height is adjusted based on the active suspension to obtain the adjusted door height; if the adjusted door height is greater than or equal to the preset safe height, the risk of opening the door is determined to be no risk; if the adjusted door height is less than the preset safe height, the risk of opening the door is determined to be a risk.

[0138] For example, such as Figure 5 As shown: The vehicle's cabin is equipped with a function switch. When this function switch is turned on, the vehicle door opening prompt method described in this application can be executed. The cabin also includes in-vehicle and out-of-vehicle voice prompts and in-vehicle display screen information prompts, which can output safe door opening prompt information based on these voice prompts and information prompts. The vehicle also includes an autonomous driving function, which can identify obstacle coverage and the distance between obstacles and the vehicle based on components within the autonomous driving function. The vehicle also includes domain control and active suspension, which can detect the active suspension height (including the current height of the active suspension, the suspension reference height, etc.) and the height of obstacles to determine the door opening risk during the door opening process. Based on the door opening risk, the domain control can also output corresponding safe door opening prompt information through projected headlights or in-vehicle door panel ambient lighting.

[0139] Based on the same inventive concept as the above-mentioned vehicle door opening prompt method, this application provides a vehicle 1 corresponding to a vehicle door opening prompt method; Figure 6 A schematic diagram of the composition structure of a vehicle provided in this application embodiment. Figure 1 The vehicle 1 may include: The detection unit 11 is used to detect the height of obstacles in a preset area when the door is about to be opened; the preset area includes the area that the door passes through when the vehicle is parked and the door changes from a closed state to an open state. The determining unit 12 is used to determine the door height at the current moment; and to determine the door opening risk during the door opening process based on the adjusted door height. The adjustment unit 13 is used to raise the door height of the door on the side with the obstacle by using the active suspension when it is determined that there is a risk of opening the door based on the door height and the obstacle height, and the vehicle includes an active suspension, so as to obtain the adjusted door height. Output unit 14 is used to output corresponding safe door opening prompt information based on the door opening risk.

[0140] In some embodiments of this application, the device further includes a control unit; The adjustment unit 13 is used to raise the first active suspension on the first side door to the suspension limit position; the first side door is the door on the side of the vehicle where there is an obstacle in the first preset area; The control unit is used to control the second active suspension on the second side door to be lower than the suspension limit position; the second side door is a door in a second preset area of ​​the vehicle where there are no obstacles; The determining unit 12 is used to determine the height of the first side door of the first side door based on the suspension limit position and the position of the second active suspension; and to use the height of the first side door as the adjusted door height.

[0141] In some embodiments of this application, the vehicle further includes an acquisition unit; The acquisition unit is used to acquire a first height difference between the current height of the active suspension and the suspension reference height when the vehicle includes an active suspension. The determining unit 12 is used to determine the height of the car door based on the first height difference and the initial height of the car door.

[0142] In some embodiments of this application, the determining unit 12 is used to determine the occupancy status of the seats in the vehicle; determine the vehicle height adjustment offset based on the occupancy status of the seats; and determine the door height based on the first height difference, the vehicle height adjustment offset, and the initial height of the door.

[0143] In some embodiments of this application, the determining unit 12 is used to determine the number of seats occupied in the vehicle when the vehicle does not include an active suspension; and to determine the door height based on the initial height of the door, the number of seats occupied, and a preset height adjustment parameter.

[0144] In some embodiments of this application, the determining unit 12 is used to determine a preset safety height based on the height of the obstacle and a preset safety factor; and to determine that there is a risk in opening the door if the height of the door is less than the preset safety height.

[0145] In some embodiments of this application, the determining unit 12 is used to determine that the door opening risk is no risk when the door height is greater than or equal to the preset safety height; and to determine that the door opening risk is a risk when the door height is less than the preset safety height and the vehicle does not include an active suspension.

[0146] In some embodiments of this application, the determining unit 12 is used to determine that the door opening risk is no risk when the adjusted door height is greater than or equal to the preset safety height; and to determine that the door opening risk is a risk when the adjusted door height is less than the preset safety height.

[0147] It should be noted that, in practical applications, the detection unit 11, determination unit 12, adjustment unit 13 and output unit 14 mentioned above can be implemented by the processor 21 on the electronic device, specifically by a CPU (Central Processing Unit), MPU (Microprocessor Unit), DSP (Digital Signal Processor) or Field Programmable Gate Array (FPGA), etc.; the data storage mentioned above can be implemented by the memory 22 on the electronic device.

[0148] This application also provides an electronic device, such as... Figure 7 As shown, the electronic device includes a processor 21, a memory 22, and a communication bus 23. The memory 22 communicates with the processor 21 through the communication bus 23. The memory 22 stores programs executable by the processor 21. When the program is executed, the processor 21 executes the vehicle door opening prompt method as described above.

[0149] In practical applications, the aforementioned memory 22 can be volatile memory, such as random-access memory (RAM); or non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); or a combination of the above types of memory, and provide instructions and data to the processor 21.

[0150] This application provides a computer-readable storage medium having a computer program thereon, which, when executed by a processor 21, implements the vehicle door opening prompt method as described above.

[0151] For example, this application also provides a computer program product, including a computer program that can be executed by a processor 21 in an electronic device to complete the steps described in the aforementioned vehicle door opening prompt method.

[0152] Understandably, when a vehicle detects that a door is about to be opened, it determines the height of obstacles within the area the door passes through as it moves from a closed to an open state while the vehicle is stationary. It then determines the current door height and, based on the door height and obstacle heights, assesses the risk of the door opening. If a risk is identified and the vehicle includes an active suspension system, the active suspension is used to raise the door height on the side with the obstacle, resulting in an adjusted door height. This adjusted door height is then used to further determine the risk of the door opening and outputs a corresponding opening warning message. This allows the door to be opened safely based on the warning message, eliminating the need for manual risk assessment and improving vehicle door opening safety.

[0153] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0154] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0155] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0156] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0157] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application.

Claims

1. A vehicle door opening prompting method characterized by comprising: The method comprises: detecting an obstacle height of an obstacle in a preset area under the condition that it is detected that a vehicle door is about to be opened; the preset area comprises a range of an area through which the vehicle passes when the vehicle door is from a closed state to an open state in a parking state; determining a current door height; in the case where it is determined that there is a risk in opening the door based on the door height and the obstacle height, and the vehicle comprises an active suspension, lifting the door height of the door on the side where the obstacle exists by using the active suspension to obtain an adjusted door height; determining a door opening risk in the process of opening the door based on the adjusted door height; outputting corresponding safe door opening prompt information based on the door opening risk.

2. The method of claim 1, wherein, The method comprises: raising a first active suspension on a first side of a first door to a suspension limit position; the first door is a door on the side where the obstacle exists in a first preset area of the vehicle; controlling a second active suspension on a second side of a second door to be lower than the suspension limit position; the second door is a door on the side where there is no obstacle in a second preset area of the vehicle; determining a first door height of the first door based on the suspension limit position and the position of the second active suspension; and taking the first door height as the adjusted door height.

3. The method of claim 1, wherein, The method comprises: in the case where the vehicle comprises an active suspension, obtaining a first height difference between a current height of the active suspension and a suspension reference height; determining the door height based on the first height difference and an initial height of the door.

4. The method of claim 3, wherein, The method comprises: determining whether a seat in the vehicle is occupied; determining a vehicle height adjustment offset based on whether the seat is occupied; determining the door height based on the first height difference, the vehicle height adjustment offset and the initial height of the door.

5. The method of claim 1, wherein, The method comprises: in the case where the vehicle does not comprise an active suspension, determining a number of seats in the vehicle that are occupied; determining the door height based on an initial height of the door, the number of seats that are occupied and a preset height adjustment parameter.

6. The method of claim 1, wherein, The method further comprises: determining a preset safety height based on the obstacle height and a preset safety coefficient; determining that there is a risk in opening the door in the case where the door height is less than the preset safety height.

7. The method of claim 6, wherein, The method further comprises: in the case where the door height is greater than or equal to the preset safety height, determining that the door opening risk is that there is no risk in opening the door; in the case where the door height is less than the preset safety height and the vehicle does not comprise an active suspension, determining that the door opening risk is that there is a risk in opening the door.

8. The method of claim 1, wherein, The opening door risk in the process of opening the door is determined based on the adjusted door height, including: In a case where the adjusted door height is greater than or equal to the preset safety height, it is determined that the opening door risk is that there is no risk in opening the door; In a case where the adjusted door height is less than the preset safety height, it is determined that the opening door risk is that there is a risk in opening the door.

9. A vehicle door opening prompting method characterized by comprising: The method comprises: Under the condition that the door is detected to be about to be opened, the obstacle height of an obstacle in a preset area is detected; the preset area includes the area range passed by the door when the vehicle is in a parking state and the door is from a closed state to an open state; A current door height is determined; An opening door risk in the process of opening the door is determined based on the door height and the obstacle height; Based on the opening door risk, corresponding safety door opening prompt information is output.

10. A vehicle comprising computer executable instructions or a computer program, characterized in that, The computer executable instructions or the computer program are executed by the processor to implement the method in any one of claims 1 to 9.

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