Vehicle door opening control method and device, vehicle and computer readable storage medium

Abstract

The invention provides a vehicle door opening control method and device, a vehicle and a computer readable storage medium. The vehicle door opening control method comprises the steps that when the hand of a user intersects with a vehicle door of a vehicle, whether the hand is a user door opening gesture for opening the vehicle door or not is detected; and if the gesture is the user door opening gesture, determining the prediction time of the potential collision risk between the vehicle door and the obstacles around the vehicle door. And according to the door opening gesture of the user and the predicted time, a vehicle door is controlled to be locked or opened. Therefore, the collision risk when the vehicle door is opened can be effectively reduced or eliminated, and the safety performance of the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, and in particular to a vehicle door opening control method and device, a vehicle, and a computer readable storage medium. BACKGROUND

[0002] With the improvement of people's living standards, the safety problem brought by the large-scale popularization of vehicles is increasingly concerned. Users are prone to ignore the surrounding environment when opening the vehicle door, which may cause the vehicle door to collide with the vehicle, pedestrians or other obstacles, resulting in property loss and personal injury. At present, when opening the vehicle door, the user mainly relies on the observation of the user himself on the surrounding environment, so the safety hidden danger is large and the safety performance of the vehicle is poor. SUMMARY

[0003] The present application provides a vehicle door opening control method, device, vehicle and computer readable storage medium, which can effectively reduce or eliminate the collision risk when the vehicle door is opened, and improve the safety performance of the vehicle.

[0004] The present application provides a vehicle door opening control method, which comprises: detecting whether it is a user opening gesture for opening the vehicle door when the user's hand crosses the vehicle door; if it is the user opening gesture, determining a prediction time of potential collision risk of the vehicle door and obstacles around the vehicle door; controlling the vehicle door to be locked or opened according to the user opening gesture and the prediction time.

[0005] Further, the method further comprises: if it is not the user opening gesture, returning to continue to detect whether it is a user opening gesture for opening the vehicle door until it is determined that it is the user opening gesture, and then continuing to determine the prediction time of potential collision risk of the vehicle door and obstacles around the vehicle door.

[0006] Further, before the step of detecting whether it is a user opening gesture for opening the vehicle door when the user's hand crosses the vehicle door, the method further comprises: obtaining object information when crossing the vehicle door; determining whether the object information is human hand information; if the object information is human hand information, determining whether the human hand information is human hand information of a specific group of people; if the human hand information is human hand information of a specific group of people, performing the step of detecting whether it is a user opening gesture for opening the vehicle door when the user's hand crosses the vehicle door; The method further comprises: If the object information is not the personnel information or the personnel information of a specific group, a risk warning is issued, and the step of predicting the potential collision risk between the car door and obstacles around the car door is directly executed.

[0007] Furthermore, obtaining object information when intersecting with a vehicle door includes: Obtain a depth map of the object collected by sensors installed at the vehicle door; The depth value corresponding to each pixel in the depth map is converted into point data in three-dimensional space to obtain point cloud data, which is used as the object information.

[0008] Furthermore, the method also includes: periodically acquiring point cloud data at set intervals; If the object information is hand information, determining whether the hand information belongs to a specific group of people includes: If the object information is determined to be human hand information, the location information of key points is extracted from the point cloud data; the key points include the longest fingertip point and the center point of the wrist. Determine the straight-line distance from the longest fingertip to the center point of the wrist, and compare the straight-line distance with a first preset value; If the straight-line distance is greater than or equal to the first preset value, then the hand information is determined to be the hand information of a specific group of people; if the straight-line distance is less than the first preset value, then the hand information is determined not to be the hand information of a specific group of people.

[0009] Furthermore, the method also includes: periodically acquiring point cloud data at set intervals; The detection of whether it is a user's door-opening gesture includes: The location information of key points is extracted from the point cloud data; the key points include the longest fingertip point, the thumb fingertip point, and the center point of the wrist; In a three-dimensional coordinate system, compare the coordinates of the longest fingertip at the current moment with the coordinates of the longest fingertip at the previous moment; Compare the coordinates of the center point of the wrist with the coordinates of the longest fingertip. Compare the coordinates of the thumb tip and the coordinates of the longest fingertip; Based on the compared information, it can be detected whether the gesture is that of a user opening the car door.

[0010] Furthermore, the user's door opening gesture includes a forward-hand opening gesture and a reverse-hand opening gesture; if it is the user's door opening gesture, then determining the prediction time for the potential collision risk between the door and obstacles around the door includes: Based on the user's door-opening gesture, a first threshold for the predicted time is determined; If it is the forward-hand door opening gesture, the preset value is increased by a first value to become the first threshold; if it is the reverse-hand door opening gesture, the preset value is decreased by a second value to become the first threshold.

[0011] Furthermore, controlling the door to lock or open based on the user's door opening gesture and the predicted time includes: If the predicted time reaches the collision condition between the car door and the obstacle, then the car door is locked. If the predicted time does not meet the collision conditions of the obstacle, the door will be opened.

[0012] Furthermore, controlling the door to lock or open based on the user's door opening gesture and the predicted time includes: The predicted time is compared with a first threshold and a second threshold; If the predicted time reaches the collision condition between the vehicle door and the obstacle, then controlling the vehicle door to lock includes: If the predicted time is less than or equal to the second threshold, the door will be locked and a warning message will be issued. If the predicted time does not meet the collision condition of the obstacle, then controlling the door to open includes: If the predicted time is less than or equal to the first threshold and greater than the second threshold, then control the door to open and issue a door opening risk mitigation command; If the predicted time is greater than the first threshold, then control the car door to open.

[0013] This application provides a door opening control device, including: The detection module is used to detect whether the user's hand gesture is an opening gesture when the user's hand crosses the vehicle door. The determination module is used to determine the prediction time of the potential collision risk between the door and obstacles around the door if the user's door opening gesture is true; The processing module is used to control the door to lock or open based on the user's door opening gesture and the predicted time.

[0014] This application provides a vehicle including one or more processors for implementing the door opening control method as described in any of the preceding claims.

[0015] This application provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the door opening control method as described in any of the preceding claims.

[0016] This application discloses a vehicle door opening control method, device, vehicle, and computer-readable storage medium. If the user's door opening gesture is present, a prediction time for the potential collision risk between the door and surrounding obstacles is determined. This allows the user's door opening gesture to trigger the step of determining the prediction time for the potential collision risk, enabling timely identification of potential collision risks when the user intends to open the door. Based on the user's door opening gesture and the prediction time, the door is controlled to lock or open. Combining the user's door opening gesture with the prediction time provides dual protection for door opening safety, improving reliability and effectively reducing or eliminating the collision risk during door opening, thus reducing safety hazards and improving vehicle safety performance.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] Figure 1 The diagram shown is a flowchart of one embodiment of the door opening control method of this application; Figure 2 The diagram shown is a flowchart illustrating the specific steps of one embodiment of the door opening control method of this application. Figure 3 The following is a detailed flowchart of another embodiment of the door opening control method of this application; Figure 4 The diagram shown is a sub-flowchart of one embodiment of the door opening control method of this application; Figure 5 The diagram shown is a structural schematic of the door opening control device of this application; Figure 6 The diagram shown is a schematic diagram of the electronic device of this application. Detailed Implementation

[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0021] This application provides a vehicle door opening control method, device, vehicle, and computer-readable storage medium. The vehicle door opening control method provided by this application includes: detecting whether a user's hand gesture is used to open the vehicle door when the user's hand crosses the vehicle door; if it is a user's hand gesture, determining the predicted time of potential collision risk between the vehicle door and obstacles around the vehicle door; and controlling the vehicle door to lock or open based on the user's hand gesture and the predicted time.

[0022] This application discloses a vehicle door opening control method, device, vehicle, and computer-readable storage medium. If the user's door opening gesture is present, a prediction time for the potential collision risk between the door and surrounding obstacles is determined. This allows the user's door opening gesture to trigger the step of determining the prediction time for the potential collision risk, enabling timely identification of potential collision risks when the user intends to open the door. Based on the user's door opening gesture and the prediction time, the door is controlled to lock or open. Combining the user's door opening gesture with the prediction time provides dual protection for door opening safety, improving reliability and effectively reducing or eliminating the collision risk during door opening, thus reducing safety hazards and improving vehicle safety performance.

[0023] Figure 1 The diagram shown is a flowchart of one embodiment of the door opening control method of this application. Figure 2 The diagram shown is a flowchart illustrating the specific steps of one embodiment of the door opening control method of this application. Figure 3 The diagram shown is a detailed flowchart of another embodiment of the door opening control method of this application. See also... Figure 1 , Figure 2 and Figure 3 As shown, the door opening control method includes steps S1 to S3.

[0024] Step S1: When the user's hand crosses the vehicle door, detect whether it is a user's hand gesture to open the door.

[0025] Step S2: If the user makes a door-opening gesture, determine the predicted time of potential collision risk between the door and surrounding obstacles. For example... Figure 2 As shown, in one embodiment, the user's door-opening gesture may include a reverse-hand opening gesture, which can determine the predicted time of potential collision risk between the door and obstacles around the door when the user uses the reverse-hand opening gesture to open the door. Figure 3 As shown, in another embodiment, the user's door opening gesture may include a forward-hand door opening gesture and a reverse-hand door opening gesture. When the user's hand gesture is a forward-hand door opening gesture or a reverse-hand door opening gesture, the prediction time of the potential collision risk between the door and obstacles around the door can be determined.

[0026] Step S3: Based on the user's door opening gesture and the predicted time, control the door to lock or open. This setting, by combining the user's door opening gesture and the predicted time, provides dual protection for door control, thereby facilitating the control of door locking or opening and improving reliability.

[0027] Figure 4 The diagram shown is a sub-flowchart of one embodiment of the door opening control method of this application. See also... Figure 4 As shown, in one embodiment, before step S1, the door opening control method further includes steps S4 to S7.

[0028] Step S4: Obtain object information when intersecting with the vehicle door. Object information may refer to the object's shape, size, etc.

[0029] Step S5: Determine whether the object information is manpower information.

[0030] Step S6: If the object information is hand information, determine whether the hand information is hand information of a specific group of people. Here, hand information of a specific group of people can refer to hand information of adults.

[0031] Step S7: If the hand information is the hand information of a specific group of people, then perform the step of detecting whether the user's hand is the user's hand gesture for opening the door when the user's hand crosses the vehicle door.

[0032] The door opening control method also includes step S8.

[0033] Step S8: If the object information is not hand information or hand information of a specific group of people, a risk warning is issued, and the step of predicting the potential collision risk between the car door and obstacles around the door is directly executed. The risk warning can refer to using sound, light, touch, or other methods to alert the user to a potential misoperation. In one embodiment, if the object information is not hand information or hand information of a specific group of people, the step of detecting whether it is a user's hand gesture to open the car door can be skipped, and the step of predicting the potential collision risk between the car door and obstacles around the door can be directly executed. This effectively saves time and improves vehicle safety.

[0034] In one embodiment, step S4 includes: periodically acquiring the contour of an object intersecting with a vehicle door at a set interval. This can be achieved by periodically acquiring point cloud data at the set interval to periodically acquire the contour of the object intersecting with a vehicle door. Alternatively, it can be achieved by periodically acquiring temperature data at the set interval to periodically acquire the contour of the object intersecting with a vehicle door. The set interval can be 20ms.

[0035] In one embodiment, obtaining object information when intersecting with a vehicle door includes: Acquire a depth map of the object from sensors installed at the vehicle door. These sensors can be time-of-flight sensors.

[0036] The depth value corresponding to each pixel in the depth map is converted into point data in three-dimensional space, resulting in point cloud data, which serves as object information. Point cloud data can be a collection of multiple three-dimensional points in three-dimensional space, each point having corresponding three-dimensional coordinates.

[0037] The coordinate system in three-dimensional space is as follows: the geometric center point of the unlocking device on the inside of the car door is the origin, the direction of vehicle travel is the positive direction of the X-axis, the direction to the left perpendicular to the closed car door is the positive direction of the Y-axis, and the direction upward perpendicular to the ground is the positive direction of the Z-axis.

[0038] The sensor can be installed on the inside of the car door and supports multi-area ranging. Its detection range is a spherical space with a radius of 100mm to 300mm, centered on the geometric center point of the unlocking device on the inside of the corresponding car door. Any object within this spherical space can be effectively collected. In one embodiment, during data acquisition, a Kalman filter can be used to process the raw data to reduce noise and jitter in the measurement data.

[0039] In another embodiment, obtaining object information when intersecting with a vehicle door includes: The system acquires temperature data collected by sensors installed at the vehicle door. The temperature data includes object information temperature data and background information temperature data. The sensors can be of various types, such as thermal imaging sensors and infrared sensors; this application does not impose any restrictions.

[0040] A temperature map is generated based on the temperature data. Each pixel in the temperature map represents the temperature value at the corresponding spatial location.

[0041] Determine the boundary between object information and background information in the temperature map in order to extract the outline of the object information.

[0042] Step S5 includes: comparing whether the outline of the object information has changed between the two time points.

[0043] If the outline of the object changes between two consecutive moments, then the object information is determined to be hand information. If the outline of the object information does not change between two consecutive moments, then the object information is determined not to be hand information. That is, the object information collected by the sensor may be foreign object information such as a mobile phone, water cup, or beverage screen. This can eliminate interference from foreign objects and is helpful in determining hand posture.

[0044] In one embodiment, the method further includes: periodically acquiring point cloud data at set intervals.

[0045] Step S5 includes: comparing whether the contours of the point cloud data at the two time points have changed.

[0046] If the outline of the point cloud data changes between two consecutive time points, then the object information is determined to be hand information. If the outline of the point cloud data does not change between two consecutive time points, then the object information is determined not to be hand information.

[0047] In one embodiment, step S5 further includes: comparing the acquired point cloud data with the corresponding set contour data in a preset dataset.

[0048] If the point cloud data matches the set contour data, the object information is determined to be hand information. If the point cloud data does not match the set contour data, the object information is determined not to be hand information.

[0049] In another embodiment, step S4 includes: periodically acquiring temperature data at set intervals.

[0050] Step S5 includes: comparing whether the outline of the object information reflected by the temperature data at the two time points has changed.

[0051] If the outline of the object information reflected in the temperature data changes between two consecutive time points, then the object information is determined to be a hand. If the outline of the object information reflected in the temperature data does not change between two consecutive time points, then the object information is determined not to be a hand.

[0052] In one embodiment, step S5 further includes: comparing the acquired temperature data of the object information with a preset temperature range. If the acquired temperature data is within the preset temperature range, the object information is determined to be hand information. If the acquired temperature data is not within the preset temperature range, the object information is determined not to be hand information.

[0053] In one embodiment, the method further includes: periodically acquiring point cloud data at set intervals. Step S6 includes: If the object information is determined to be human hand information, then the location information of key points is extracted from the point cloud data; the key points include the longest fingertip point P. tip and the center point P of the wrist joint .

[0054] Determine the longest fingertip point P tip To the center point P of the wrist joint The straight-line distance L is calculated and compared with a first set value. The longest fingertip point P is... tip The coordinates in three-dimensional space are (x) tip ytip , z tip ), wrist center point P joint The coordinates in three-dimensional space are (x) joint y joint , z joint Determine the longest fingertip point P. tip To the center point P of the wrist joint The formula for the straight-line distance L is: .

[0055] If the straight-line distance is greater than or equal to a first preset value, the hand information is determined to be from a specific group of people. That is, the hand information collected by the sensor is from an adult's hand. If the straight-line distance is less than the first preset value, the hand information is determined to be from a different group of people. That is, the hand information collected by the sensor may be from a child's hand. This eliminates interference from children's hands, which helps improve vehicle safety performance.

[0056] In one embodiment, if the straight-line distance is greater than or equal to a first preset value, then the hand information is determined to be hand information of a specific group of people, including: If the straight-line distance is greater than or equal to the first set value, and the same sensor collects information on multiple people's hands, then the average and median of the multiple straight-line distances are determined. If both the average and median are greater than or equal to a first preset value, then the personnel information is determined to belong to a specific population. This method makes the determination of whether the information belongs to a specific population more accurate.

[0057] In this embodiment, the first set value is 136mm. The average hand length for men is 184mm, and the average hand length for women is 170mm. To facilitate the distinction between adults and children, the average hand length for women, which has the smaller average, is used for subsequent determination. Since the hand is in a bent state when naturally extended, the average hand length for women is multiplied by a coefficient of 0.8, resulting in the first set value of 170mm × 0.8 = 136mm.

[0058] In one embodiment, detecting whether it is a user's door-opening gesture includes: Extract the location information of key points from point cloud data. Key points include the longest fingertip point P. tip Thumb tip P thumb and the center point P of the wrist joint Thumb tip P thumb The coordinates in three-dimensional space are (x) thumb y thumb , z thumb ).

[0059] In a three-dimensional coordinate system, compare the coordinates y of the longest fingertip point at the current moment. tipThe coordinates y' of the longest fingertip point at the previous time step tip The size. It can be compared along the Y-axis to the coordinates of the longest fingertip at the current moment. tip The coordinates y' of the longest fingertip point at the previous time step tip The size of y. Specifically, if y tip >y' tip This indicates that the longest fingertip is moving towards the left door, continuously approaching the unlocking device on the inside of the left door. If y tip <y' tip This indicates that the longest fingertip is moving towards the right door, continuously approaching the unlocking device on the inside of the right door.

[0060] Compare the coordinates y of the center point of the wrist joint And the coordinates y of the longest fingertip tip The size. It can be compared along the Y-axis to the coordinates of the wrist's center point. joint And the coordinates y of the longest fingertip tip The size of y. Specifically, if y joint <y tip This indicates that the longest fingertip is located to the left of the center point of the wrist, and the left door is about to open. If y joint >y tip This indicates that the longest fingertip is located to the right of the center point of the wrist, and the right door is about to be opened.

[0061] Compare the coordinates x of the thumb tip thumb and the coordinates x of the longest fingertip tip The size. The coordinates of the thumb's tip (x) can be compared along the X-axis. thumb and the coordinates x of the longest fingertip tip The size of x. Specifically, if x thumb <x tip If the hand gesture is determined to be a reverse-hand opening gesture, the tip of the thumb is located behind the longest fingertip.

[0062] Based on the compared information, it can be detected whether the gesture is that of a user opening the car door.

[0063] When the user is about to open the left-side door, and the following conditions are met: tip >y' tip y joint <y tip x thumb <x tip Then the hand gesture is determined to be the reverse hand opening gesture.

[0064] When the user is about to open the right-side door, and the following conditions are met: tip <y'tip y joint >y tip x thumb <x tip This determines the hand gesture as a reverse-hand door-opening gesture. This method of determining the hand gesture is simple and highly reliable.

[0065] In one embodiment, the door opening control method further includes: periodically acquiring point cloud data at set intervals and determining whether the point cloud data is abnormal. If abnormal point cloud data is detected for consecutive set frames, a warning is issued. In this embodiment, the set frame is 10 frames. The warning may indicate that a sensor malfunction has occurred.

[0066] In one embodiment, the method further includes: if it is not a user door opening gesture, then returning to continue executing the step of detecting whether it is a user door opening gesture, until it is determined to be a user door opening gesture, then continuing to execute the step of predicting the potential collision risk between the door and obstacles around the door. In this way, the user's door opening action can be forcibly standardized to guide the user to use a user door opening gesture to open the door.

[0067] The user's door opening gesture can include a reverse-hand opening gesture. If a reverse-hand opening gesture is used, the prediction time for the potential collision risk between the door and surrounding obstacles is determined.

[0068] If the hand gesture is a normal opening gesture, the process returns to the previous step of detecting whether it is a reverse hand gesture, until it is determined to be a reverse hand gesture. Then, the process continues to determine the predicted time of potential collision risk between the door and surrounding obstacles. This enforces standardized door-opening actions, guiding users to use the reverse hand gesture, transforming the Dutch Reach (Dutch Reach) behavior into a technical constraint. It does not rely on user subjective awareness, thus reducing collisions caused by poor user safety awareness. This allows users to focus on their external environment, reducing or eliminating safety hazards when opening the door.

[0069] In one embodiment, the door opening control method further includes: If the correct hand gesture is used to open the door, a prompt message will be issued, and the correct door opening posture will be displayed through the vehicle's visual module.

[0070] In one embodiment, the door opening control method further includes: If the hand gesture for opening the door is reversed, the seat will tilt outwards until the pressure signal collected by the seat pressure sensor reaches the target value. This can be achieved by tilting the seat back or seat cushion outwards, allowing the seat to assist in natural body rotation. This not only facilitates the reverse hand gesture but also guides the user's line of sight, expanding their field of vision and thus reducing the risk of accidents.

[0071] In one embodiment, step S2 includes: If the gesture indicates the user is opening the door, then the movement information of obstacles around the door is acquired. This movement information can be collected using radar or cameras located at the rear of the vehicle. The movement information includes the current distance D between the obstacle and the door. obstacle And the relative vehicle speed V from the obstacle to the door. relative It can obtain movement information of one or more obstacles around the car door.

[0072] The collision time (TTC) of an obstacle is determined based on its movement information. It can be calculated using the following formula: .

[0073] Based on the collision time of obstacles, the predicted time of potential collision risk between the car door and obstacles around the door is determined. Specifically, when acquiring movement information of multiple obstacles around the car door, the minimum collision time among these obstacles can be selected as the predicted time.

[0074] In one embodiment, step S2 includes: The first threshold for predicting the time is determined based on the user's door-opening gesture.

[0075] If the hand gesture is for opening the door, the preset value is increased by a first value to form the first threshold; if the hand gesture is for opening the door, the preset value is decreased by a second value to form the first threshold.

[0076] The preset value, the first value, and the second value can be set according to different vehicle models. The first value and the second value can be equal or unequal. In this embodiment, if it is a forward-hand door opening gesture, the first threshold can be 5 seconds. If it is a reverse-hand door opening gesture, the first threshold can be 3 seconds. In this way, the first threshold corresponding to the prediction time can be dynamically adjusted according to the standardization of the door opening action, so as to achieve accurate risk matching and improve the scope and capability of active protection. If it is a forward-hand door opening gesture, the user's observation ability is limited, so the sensitivity of the warning can be increased accordingly. Using the preset value to increase the first value as the first threshold provides the user with extra time to react, so that measures can be taken more effectively to avoid danger. If it is a reverse-hand door opening gesture, the user's body naturally turns, which expands the field of vision, so the sensitivity of the warning can be reduced accordingly. Using the preset value to decrease the second value as the first threshold can avoid excessive interference. It has good flexibility.

[0077] In one embodiment, step S3 includes: If the predicted time reaches the point where the door collides with an obstacle, then the door will be locked.

[0078] If the predicted time does not meet the collision conditions with the obstacle, the door will be opened.

[0079] In one embodiment, step S3 includes: The prediction time is compared with a first threshold and a second threshold. In this embodiment, the second threshold is 2 seconds.

[0080] If the predicted time reaches the point where the door collides with an obstacle, then the door will be locked, including: If the predicted time is less than or equal to the second threshold, the door will be locked and a warning message will be issued. A predicted time less than or equal to the second threshold indicates a high risk of collision between the door and surrounding obstacles when the door is opened, necessitating door locking and a warning message. In this case, if the force sensor of the unlocking device detects a value greater than 100N twice consecutively, the door can be unlocked to handle unexpected situations. The warning message can be used to alert rear obstacles that the door is about to open. This can be achieved by emitting a red warning strip within a set range to the side of the vehicle using a warning module, giving obstacles time to avoid danger. The brightness of the red warning strip can be adjusted using a light sensor to adapt to different lighting conditions.

[0081] If the predicted time does not meet the collision conditions with the obstacle, the door will be controlled to open, including: If the predicted time is less than or equal to the first threshold and greater than the second threshold, then the door will be opened and a door opening risk mitigation command will be issued. A predicted time less than or equal to the first threshold and greater than the second threshold indicates that the risk of the door colliding with surrounding obstacles is low when the door is opened, so the door can be opened, but a door opening risk mitigation command must be issued.

[0082] Door opening risk mitigation commands can alleviate the risks associated with opening vehicle doors. In one embodiment, the door opening risk mitigation command includes at least one of the following: controlling the door to be in a semi-locked state or a slow-release unlocked state, limiting the door opening angle to a set angle, issuing a warning message, and controlling the vehicle's internal visual module to display a view of the rear or side of the vehicle. The door being in a semi-locked state means that the door handle must be pulled twice to open the door. The door being in a slow-release unlocked state means that the door opens slowly at a set speed to provide the user with sufficient reaction time. In this embodiment, the set angle is 8°, and the set speed is 0.2 m / s. If, when the door is in the slow-release unlocked state, the predicted time is detected to be less than or equal to a second threshold, the door opening is stopped to avoid a collision. In one embodiment, issuing a warning message can refer to issuing a warning message through means including, but not limited to, auditory, visual, and tactile means. The vehicle's internal visual module can refer to a screen installed in the front or rear of the vehicle.

[0083] If the predicted time exceeds a first threshold, the door will be opened. A predicted time exceeding the first threshold indicates that there is no risk of collision between the door and surrounding obstacles when the door is opened, and therefore the door can be opened. This linkage between multiple modules, such as the door handle, the visual module, and the warning module, forms a closed-loop protection system, significantly reducing the risk of collision between the door and surrounding obstacles.

[0084] Table 1 shows the correspondence between the prediction time range and the control scheme provided in this embodiment.

[0085] Table 1 Based on the same concept as the method described above, this application also proposes a door opening control device 100. Figure 5 The diagram shown is a structural schematic of the door opening control device 100 of this application. See also... Figure 5 As shown, the door opening control device 100 includes the following modules: The detection module 10 is used to detect whether the user's hand gesture is an opening gesture when the user's hand crosses the vehicle door. The determination module 20 is used to determine the predicted time of potential collision risk between the door and obstacles around the door if the user makes a door opening gesture. The processing module 30 is used to control the door to lock or open based on the user's door opening gesture and the predicted time.

[0086] The specific implementation process of the functions and roles of each module in the above device can be found in the implementation process of the corresponding steps in the above method, which can achieve the same technical effect, and will not be repeated here.

[0087] This application also provides a vehicle, including one or more processors, for implementing the door opening control method described above.

[0088] Figure 6 The diagram shown is a schematic representation of the electronic device of this application. See also... Figure 6 As shown, this application embodiment also provides an electronic device 40, which includes one or more processors 41 for implementing the door opening control method described above.

[0089] In one embodiment, electronic device 40 may include storage medium 42. For example, a computer-readable storage medium may store a program that can be invoked by processor 41, and may include non-volatile storage medium. In one embodiment, electronic device 40 may include memory 43 and interface 44. In one embodiment, electronic device 40 may also include other hardware depending on the actual application.

[0090] The computer-readable storage medium of this application embodiment stores a program thereon, which, when executed by processor 41, is used to implement the door opening control method as described above.

[0091] This application also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the door opening control method as described in any of the preceding claims.

[0092] This application also provides a computer program stored in a computer-readable storage medium, for example... Figure 6 The storage medium 42, and when the processor 41 executes the computer program, it causes the processor 41 to execute the door opening control method described above.

[0093] This application may take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented using any method or technology. Information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include, but are not limited to: phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0094] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A vehicle door opening control method characterized by comprising: The method comprises: detecting whether a user gesture for opening a door is a gesture for opening a door of a vehicle when a hand of the user intersects the door of the vehicle; if the user gesture for opening a door is the gesture for opening the door, determining a prediction time of a potential collision risk of the door and an obstacle around the door; controlling the door to be locked or opened according to the user gesture for opening the door and the prediction time.

2. The vehicle door opening control method according to claim 1, characterized by, The method further comprises: if the user gesture for opening a door is not the gesture for opening the door, returning to continue detecting whether a user gesture for opening a door is a gesture for opening a door of a vehicle until it is determined that the user gesture for opening a door is the gesture for opening the door, and then continuing to determine a prediction time of a potential collision risk of the door and an obstacle around the door.

3. The vehicle door opening control method according to claim 1, characterized by, Before the step of detecting whether a user gesture for opening a door is a gesture for opening a door of a vehicle when a hand of the user intersects the door of the vehicle, the method further comprises: obtaining object information when the object intersects the door of the vehicle; determining whether the object information is hand information of a person; if the object information is hand information of a person, determining whether the hand information of the person is hand information of a specific group of people; if the hand information of the person is hand information of a specific group of people, performing the step of detecting whether a user gesture for opening a door is a gesture for opening a door of a vehicle when a hand of the user intersects the door of the vehicle; The method further comprises: if the object information is not the hand information of the person or is not hand information of a specific group of people, issuing a risk prompt and directly performing the step of determining a prediction time of a potential collision risk of the door and an obstacle around the door.

4. The vehicle door opening control method according to claim 3, characterized by, The step of obtaining object information when the object intersects the door of the vehicle comprises: obtaining a depth map of the object information collected by a sensor installed at the door; converting a depth value corresponding to each pixel in the depth map into point position data in a three-dimensional space to obtain point cloud data as the object information.

5. The vehicle door opening control method according to claim 3, characterized by, The method further comprises periodically obtaining point cloud data at a set interval; The step of determining whether the hand information of the person is hand information of a specific group of people comprises: if it is determined that the object information is hand information of a person, extracting position information of key points from the point cloud data; the key points include a longest fingertip point and a wrist center point; determining a straight-line distance from the longest fingertip point to the wrist center point and comparing the straight-line distance with a first set value; if the straight-line distance is greater than or equal to the first set value, determining that the hand information of the person is hand information of a specific group of people; if the straight-line distance is less than the first set value, determining that the hand information of the person is not hand information of a specific group of people.

6. The vehicle door opening control method according to claim 1, characterized by, The method further comprises periodically obtaining point cloud data at a set interval; The step of detecting whether a user gesture for opening a door is a gesture for opening a door of a vehicle comprises: extracting position information of key points from the point cloud data; the key points include a longest fingertip point, a thumb fingertip point, and a wrist center point; comparing a coordinate value of the longest fingertip point at a current time with a coordinate value of the longest fingertip point at a previous time in a three-dimensional space coordinate system; comparing a coordinate value of the wrist center point with a coordinate value of the longest fingertip point; comparing a coordinate value of the thumb fingertip point with a coordinate value of the longest fingertip point; According to the compared information, it is detected whether the user opening gesture for opening the door is performed.

7. The door opening control method according to claim 1, characterized by, The user opening gesture includes a palm opening gesture and a back-of-hand opening gesture; and if the user opening gesture is performed, a prediction time of a potential collision risk of the door and an obstacle around the door is determined, including: According to the user opening gesture, a first threshold of the prediction time is determined. If the palm opening gesture is performed, a preset value is increased by a first value as the first threshold; and if the back-of-hand opening gesture is performed, the preset value is decreased by a second value as the first threshold.

8. The vehicle door opening control method according to claim 1, characterized by, According to the user opening gesture and the prediction time, the door is controlled to be locked or opened, including: If the prediction time reaches a collision condition of the door and the obstacle, the door is controlled to be locked. If the prediction time does not reach the collision condition of the obstacle, the door is controlled to be opened.

9. The vehicle door opening control method according to claim 8, characterized by, According to the user opening gesture and the prediction time, the door is controlled to be locked or opened, including: The prediction time is compared with a first threshold and a second threshold. If the prediction time reaches the collision condition of the door and the obstacle, the door is controlled to be locked, including: If the prediction time is less than or equal to the second threshold, the door is controlled to be locked and a warning prompt information is sent. If the prediction time does not reach the collision condition of the obstacle, the door is controlled to be opened, including: If the prediction time is less than or equal to the first threshold and greater than the second threshold, the door is controlled to be opened and an opening risk mitigation instruction is sent. If the prediction time is greater than the first threshold, the door is controlled to be opened.

10. A door opening control device characterized by comprising: It includes: A detection module is configured to detect whether a user opening gesture for opening the door is performed when a hand of a user crosses a door of a vehicle; A determination module is configured to determine a prediction time of a potential collision risk of the door and an obstacle around the door if the user opening gesture is performed; A processing module is configured to control the door to be locked or opened according to the user opening gesture and the prediction time.

11. A vehicle characterized by comprising: One or more processors are configured to implement the door opening control method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, A program is stored on the computer readable medium, and the program is executed by the processor to implement the door opening control method according to any one of claims 1 to 9.

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