Vehicle door control method and device

Abstract

The invention provides a vehicle door control method and device, and relates to the technical field of vehicle control. The method comprises the steps that a current vehicle door control mode of a vehicle is obtained; under the condition that the vehicle door control mode indicates that the vehicle door is allowed to be controlled through gestures, weight information of a plurality of seats in the vehicle is obtained; according to the weight information, a target seat bearing a target passenger is determined from the multiple seats; and if a target vehicle door corresponding to the target seat is in an open state, the face orientation and the gesture action of the target passenger are obtained, and the target vehicle door is controlled to execute the closing action according to the face orientation and the gesture action.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method and device for controlling vehicle doors. Background Technology

[0002] With the increasing popularity of electric vehicles, vehicle components are gradually shifting from simple mechanical control methods to more sophisticated electric control techniques. For example, some vehicles feature electric sliding doors, which users typically control via voice commands. While these methods meet basic functional needs, they still have limitations in practical use. In recent years, gesture control has gained attention as a contactless interaction method to enhance ease of use and a more technological feel. However, gesture-based door control is susceptible to environmental factors or unintentional actions in real-world applications, posing a risk of false triggering and affecting control accuracy and user experience. Summary of the Invention

[0003] This invention provides a method and system for controlling a car door, which addresses the technical problem of high risk of accidental touch caused by gesture control of electric sliding doors in related technologies.

[0004] In a first aspect, embodiments of the present invention provide a method for controlling a vehicle door, the method comprising: Obtain the current door control mode of the vehicle; When the door control mode indicates that the door can be controlled by gesture, obtain the weight information of multiple seats in the vehicle; Based on the weight information, the target seat carrying the target occupant is determined from the plurality of seats; If the target door corresponding to the target seat is in an open state, the facial orientation and hand gestures of the target occupant are obtained, and the target door is controlled to perform a closing action based on the facial orientation and hand gestures.

[0005] Optionally, after obtaining the current door control mode of the vehicle, the method further includes: if the door control mode indicates that the door cannot be controlled by gesture, then the target door is not controlled to change its state.

[0006] Optionally, controlling the target vehicle door to perform a closing action based on the target occupant's facial orientation and the hand gesture includes: determining whether the target occupant's facial orientation matches a preset facial orientation included in the door control method; determining whether the hand gesture matches a preset hand gesture included in the door control method; and controlling the target vehicle door to perform a closing action when the target occupant's facial orientation matches the preset facial orientation included in the door control method and the hand gesture matches the preset hand gesture included in the door control method.

[0007] Optionally, acquiring the facial orientation and hand gestures of the target occupant includes: acquiring an exterior video of the target vehicle door captured by a first camera; determining whether a user exists outside the target vehicle door based on the exterior video; if a user exists outside the target vehicle door, controlling the target vehicle door to remain open; if no user exists outside the target vehicle door, controlling a second camera to acquire a first monitoring video of the target occupant's location; and identifying the facial orientation and hand gestures of the target occupant based on the first monitoring video.

[0008] Optionally, after controlling the target vehicle door to perform a closing action based on the target occupant's facial orientation and the gesture, the method further includes: during the closing action of the target vehicle door, if it is detected that the seat belt status corresponding to the target seat changes from a secured state to an unsecured state, then controlling the target vehicle door to stop performing the closing action.

[0009] Optionally, after controlling the target vehicle door to perform a closing action based on the target occupant's facial orientation and hand gesture, the method further includes: during the closing action of the target vehicle door, controlling the lighting device corresponding to the second camera to perform a supplementary lighting action, so that the second camera can capture a second monitoring video of the target occupant during the closing action of the target vehicle door.

[0010] Optionally, after controlling the lighting device corresponding to the second camera to perform supplementary lighting, the method further includes: determining whether the target occupant maintains the gesture based on the second monitoring video; if the target occupant maintains the gesture, controlling the target door to continue performing the closing action; if the target occupant does not maintain the gesture, controlling the target door to stop performing the closing action.

[0011] Secondly, embodiments of the present invention provide a door control device, the device comprising: The acquisition module is used to acquire the current door control mode of the vehicle; and when the door control mode indicates that the door can be controlled by gesture, it acquires the weight information of multiple seats in the vehicle. The determining module is used to determine the target seat carrying the target occupant from the plurality of seats based on the weight information; The control module is used to acquire the facial orientation and hand gesture of the target occupant if the target door corresponding to the target seat is in an open state, and control the target door to perform a closing action based on the facial orientation and hand gesture.

[0012] Thirdly, embodiments of the present invention provide a vehicle, including: processor; A memory for storing instructions to be executed by the processor, wherein the processor is configured to execute the instructions to implement the method as described in the first aspect.

[0013] Fourthly, embodiments of the present invention provide a storage medium that, when instructions in the storage medium are executed by a processor of an electronic device, enables the vehicle to perform the method as described in the first aspect.

[0014] Fifthly, embodiments of the present invention provide a computer program product, the program product comprising a computer program, the computer program being executed by a processor as described in the first aspect.

[0015] According to an embodiment of the present invention, a method for controlling a vehicle door is provided. The method involves acquiring the current door control mode of the vehicle; when the door control mode indicates that hand gesture control is permitted, acquiring weight information from multiple seats within the vehicle; determining a target seat carrying a target occupant from among the multiple seats based on the weight information; if the target door corresponding to the target seat is open, acquiring the target occupant's facial orientation and hand gesture, and controlling the target door to perform a closing action based on the facial orientation and hand gesture. When the door control mode allows hand gesture control, the target door to be controlled by the target occupant is determined through weight information, and the target door is controlled collaboratively from multiple aspects, including the target occupant's facial orientation and hand gesture. Compared to controlling the door solely through hand gestures, this method incorporates more collaborative control methods, resulting in higher accuracy in the target occupant's control of the target door. This addresses, to some extent, the technical problem of high accidental activation risk associated with hand gesture control of electric sliding doors in related technologies. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 The flowchart of a door control method according to an embodiment of the present invention is shown; Figure 2 This illustrates the concept of a door control system according to one embodiment of the present invention; Figure 3 The structure of a door control device provided in one embodiment of the present invention is shown; Figure 4A structural block diagram of a vehicle provided in one embodiment of this application is shown. Detailed Implementation

[0018] As described in the background section, with the increasing popularity of electric vehicles, vehicle components have gradually shifted from simple mechanical control methods to more sophisticated electric control methods. For example, some vehicles have electric sliding doors, which users typically control by voice commands. While these methods meet basic functional requirements, they still have certain limitations in practical use. In recent years, gesture control has gained attention as a contactless interaction method to enhance ease of operation and a more technological feel. However, gesture-based door control is susceptible to environmental factors or unintentional actions in practical applications, posing a risk of false triggering and affecting control accuracy and user experience.

[0019] According to an embodiment of the present invention, a method for controlling a vehicle door is provided. The method involves acquiring the current door control mode of the vehicle; when the door control mode indicates that hand gesture control is permitted, acquiring weight information from multiple seats within the vehicle; determining a target seat carrying a target occupant from among the multiple seats based on the weight information; if the target door corresponding to the target seat is open, acquiring the target occupant's facial orientation and hand gesture, and controlling the target door to perform a closing action based on the facial orientation and hand gesture. When the door control mode allows hand gesture control, the target door to be controlled by the target occupant is determined through weight information, and the target door is controlled collaboratively from multiple aspects, including the target occupant's facial orientation and hand gesture. Compared to controlling the door solely through hand gestures, this method incorporates more collaborative control methods, resulting in higher accuracy in the target occupant's control of the target door. This addresses, to some extent, the technical problem of high accidental activation risk associated with hand gesture control of electric sliding doors in related technologies.

[0020] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the door control method provided by the embodiments of the present invention can be executed by a target device. The target device can be a single electronic device or multiple electronic devices working together. The electronic device can be a server, such as a physical server, a server cluster composed of multiple servers, or a cloud server capable of cloud computing. The electronic device can also be a vehicle's Electronic Control Unit (ECU).

[0021] Figure 1 The flowchart illustrates a vehicle door control method provided by an embodiment of the present invention. For example... Figure 1 As shown, the door control method provided in this embodiment of the invention includes steps 110 to 150.

[0022] Step 110: Obtain the current door control mode of the vehicle.

[0023] In this embodiment of the invention, the vehicle can be any vehicle, such as a pure electric vehicle, a hybrid vehicle, or a gasoline-powered vehicle. For ease of control, the vehicle doors can be electric sliding doors. Door control methods can include various ways to control the doors, such as whether or not to enable gesture control. Considering that some vehicle users prefer gesture control while others do not, each user's door control method can be entered into the vehicle's central control screen, allowing users to choose whether or not to enable the gesture control function. The door control method can include an option to enable or disable gesture control. When the user enables gesture control, the door control method indicates that gesture control is allowed. If the user does not enable gesture control, the door control method will not allow gesture control. In addition to enabling or disabling gesture control, the door control method can also further configure the door control actions, such as using a default action or customizing a personalized action. To ensure user comfort and intuitiveness during gesture recognition, the default gesture control action can be a pushing motion from the back to the front.

[0024] In this embodiment of the invention, when a minor is detected in the vehicle, the current door control method can be defaulted to a closing gesture control door, in order to better control the door closing and reduce the occurrence of accidents. Specifically, the presence of a minor can be determined by the vehicle user setting the vehicle's locking mode in advance, or by using weight information as described in steps 120 to 130 below.

[0025] In this embodiment of the invention, if the gesture control option for the door is enabled in the current door control mode of the vehicle, it is considered that the door control mode indicates that the door can be controlled by gesture, and step 120 can be executed.

[0026] Step 120: If the door control mode indicates that the door can be controlled by gesture, obtain the weight information of multiple seats in the vehicle.

[0027] In this embodiment of the invention, the vehicle configuration is typically four doors with five or seven seats. Since the three seats in the last row of a seven-seat configuration are usually far from the doors, in this embodiment, the vehicles described below are all four-door, five-seat vehicles. Other numbers of doors and seats can be referenced in this embodiment and will not be elaborated upon here. Weight collectors can be installed on multiple seats within the vehicle to collect data on the weight load of the various seats. These weight collectors can be weight sensors or weight sensors. The electronic control unit can use the weight values ​​collected from the weight collectors on the seats as the weight information corresponding to the multiple seats.

[0028] In this embodiment of the invention, after obtaining the weight information corresponding to each seat, the current slope of the vehicle can be determined from the height difference between the front and rear suspensions. If the current slope of the vehicle is less than a preset slope threshold, step 120 is executed to determine the target seat carrying the target occupant from among the multiple seats based on the weight information. If the current slope of the vehicle is not less than the preset slope threshold, during the execution of step 120, the weight information can be processed according to trigonometric functions and the current slope of the vehicle to obtain more accurate weight information for each seat in the vehicle.

[0029] Step 130: Based on the weight information, determine the target seat carrying the target occupant from among the plurality of seats.

[0030] In this embodiment of the invention, to prevent safety accidents caused by misoperation by minors, such as pinching accidents, adults can be set as target occupants. Based on the weight information of each seat, the weight of the occupant in each seat is determined, and whether the occupant in the seat is an adult is determined by the occupant's weight, thereby identifying the seat containing an adult as the target seat. If the occupant's weight determines that the occupant in the seat is a minor, then subsequent step 140 is not executed.

[0031] In this embodiment of the invention, not only can the target seat be determined solely based on weight information, but also facial videos of occupants on each seat can be obtained by combining the vehicle's internal cameras (such as the second camera described below). The facial video analysis is used to determine whether the occupant is an adult target passenger, and the facial video analysis results are double-verified with the weight information judgment results, thereby making the determined target seat more accurate.

[0032] In this embodiment of the invention, even when all the vehicle doors are closed, the target occupant may still perform various hand gestures, thereby triggering step 140 to cause the doors to close repeatedly. If the doors are closed repeatedly, they may overheat due to anti-pinch and locking mechanisms. Therefore, in step 140, the target occupant's hand gestures are acquired while the target door is open.

[0033] Step 140: If the target door corresponding to the target seat is in the open state, obtain the facial orientation and hand gesture of the target occupant, and control the target door to perform a closing action based on the facial orientation and hand gesture.

[0034] In this embodiment of the invention, the door closest to the target seat can be designated as the target door. For example, when the driver's seat is the target seat, the front left door is the target door. Considering the presence of a middle seat in the rear of the vehicle, and since the middle seat is equidistant from both rear doors, either of the two rear doors can be designated as the target door. In this embodiment of the invention, when the target vehicle door is open, the facial orientation and hand gestures of the target occupant in the target seat can be acquired. The electronic control unit can simultaneously acquire video including the target occupant's facial information while a camera installed near the target seat is capturing the occupant's hand gestures and changes in hand position. Image recognition is then performed on the acquired video to determine the target occupant's facial orientation and hand gestures.

[0035] In this embodiment of the invention, the hand gestures of the target occupant can be matched according to preset control actions in the door control method, thereby controlling the target door based on the matching result. When the middle rear seat of the vehicle corresponds to two target doors, and both target doors are open, the door closest to the hand of the target occupant performing the hand gesture can be designated as the target door. For example, when the target occupant is in the middle rear seat and performs a hand gesture with their right hand, the right rear door can be designated as the target door for performing the closing action.

[0036] In this embodiment of the invention, not only are accidental door operations caused by occupants' inadvertent hand gestures, but the surrounding scenery is also easily captured when collecting the occupant's identity information and hand gestures, leading to misidentification and accidental operation of the target door. Therefore, when the door control method allows for hand gesture control, the target door to be controlled by the occupant is determined by weight information, and the target door is controlled collaboratively from multiple aspects, including the occupant's facial orientation and hand gestures. Compared to controlling the door solely through hand gestures, this incorporates more collaborative control methods, resulting in higher accuracy in the occupant's control of the target door. This addresses, to some extent, the technical problem of high risk of accidental operation when controlling electric sliding doors via hand gestures in related technologies.

[0037] In this embodiment of the invention, after obtaining the current door control mode of the vehicle in step 110, if the door control mode corresponding to the target occupant includes the function of closing the door by gesture control, it is considered that the door control mode indicates that the door cannot be controlled by gesture, and the target door is not controlled to change its state. When the target door is in the open state, the working state of the target door is not changed according to the target occupant's gesture action, and the target door is controlled to remain in the open state.

[0038] In this embodiment of the invention, since the default gesture is similar to a traditional waving gesture, when the target occupant makes a gesture, it may just be an unintentional wave, such as a wave while turning to the side. To avoid this situation, step 140 controls the target door to perform a closing action based on the target occupant's facial orientation and the gesture. This may include: determining whether the target occupant's facial orientation matches a preset facial orientation included in the door control method; determining whether the gesture matches a preset gesture included in the door control method; and controlling the target door to perform a closing action when the target occupant's facial orientation matches the preset facial orientation included in the door control method and the gesture matches the preset gesture included in the door control method.

[0039] In this embodiment of the invention, the preset facial orientation in the door control method can typically be set to the target occupant's facial orientation being positive. This means that when the target occupant waves their hand to perform a preset gesture, they are facing the camera directly in front of the vehicle. In this case, the target door is controlled to close. If either the target occupant's facial orientation or gesture does not conform to the preset settings in the door control method, the target door remains open.

[0040] In this embodiment of the invention, as described above, the door control method can include not only enabling or disabling the gesture control function for the door, but also, after enabling the gesture control function, further setting of the control actions for controlling the door, such as using a default control action or customizing a personalized control action. Therefore, before determining whether the target occupant's gesture action matches the preset gesture in the door control method, the target occupant's unique identity information, such as fingerprint information, or facial information of the target occupant while obtaining their facial orientation, can be obtained. Subsequently, based on the target occupant's unique identity information, the target occupant's identity is matched, thereby determining the personalized gesture corresponding to the target occupant, enabling the target occupant to control the door more accurately while achieving personalized door control.

[0041] In this embodiment of the invention, to ensure thermal balance during camera operation, continuous data acquisition and algorithm analysis are not performed when the car door is open, thereby reducing workload. Furthermore, the default gesture is a wave from back to front, which easily conflicts with traditional waving goodbye or an elder calling a younger person; to avoid this scenario, step 140, obtaining the target occupant's facial orientation and gesture, includes: acquiring external video footage from the first camera outside the target car door; determining whether a user exists outside the target car door based on the external video; if a user exists outside the target car door, controlling the target car door to remain open; if no user exists outside the target car door, controlling the second camera to acquire a first monitoring video of the target occupant's location; and identifying the target occupant's identity information and gesture based on the first monitoring video.

[0042] In this embodiment of the invention, the first camera can be a camera installed outside the vehicle to collect video footage from outside the target vehicle door. Based on the video footage, the electronic control unit can determine whether a user is outside the target vehicle door using image recognition technology. In the process of determining whether a user is outside the target vehicle door using the video footage, radar outside the target vehicle door can also be used to detect whether a user is outside the target vehicle door. When a user is outside the target vehicle door, the gesture control door function is disabled, and the target vehicle door remains open. If no user is outside the target vehicle door, a second camera installed inside the vehicle is controlled to collect a first monitoring video of the target occupant's location. Image analysis is performed based on the first monitoring video to identify the target occupant's identity information and gestures, wherein the identity information includes the target occupant's facial information and / or facial orientation.

[0043] In this embodiment of the invention, after controlling the target vehicle door to perform a closing action based on the target occupant's facial orientation and hand gesture, if the seat belt status corresponding to the target seat changes from a secured state to an unsecured state during the closing action of the target vehicle door, it is considered that the target occupant currently has a need to get off the vehicle immediately. Therefore, the target vehicle door is controlled to stop performing the closing action and perform an opening action to facilitate the target occupant's exit from the vehicle.

[0044] In this embodiment of the invention, after controlling the target vehicle door to perform a closing action based on the target occupant's facial orientation and hand gesture, the light source entering the vehicle interior from the outside is reduced due to the target vehicle door closing action. In order to better enable the second camera to capture the second monitoring video of the target occupant during the target vehicle door closing action, the lighting device corresponding to the second camera is controlled to perform a supplementary lighting action during the target vehicle door closing action.

[0045] In this embodiment of the invention, after controlling the lighting device corresponding to the second camera to perform supplementary lighting, the second camera can more accurately capture a second monitoring video of the target occupant during the closing action of the target vehicle door. Based on the second monitoring video, it is determined whether the target occupant maintains the hand gesture. If the target occupant maintains the hand gesture, the target vehicle door is controlled to continue closing; if the target occupant does not maintain the hand gesture, the target vehicle door is controlled to stop closing.

[0046] In this embodiment of the invention, if the target occupant does not maintain the gesture action, for example, by pausing the gesture action or changing the hand state from the default forward and backward waving to the up and down waving, the target door is controlled to stop performing the closing action, and the moving target door performs a motion pause.

[0047] Figure 2 The present invention illustrates a door control method concept provided by some embodiments thereof. Figure 2 In the method shown, at least one second camera is installed inside the vehicle. For example, each seat can have its own second camera, or multiple seats can share a single second camera. Based on the account and password information logged into the vehicle system, the system determines that the user has enabled gesture control of the doors, allowing door control via gestures. After determining the current door control mode, the system confirms that multiple conditions are met, including the presence of an adult occupant on the seat (as indicated by a weight sensor), the presence of a first-generation camera outside the vehicle, and radar detection (determining no user outside the door and the door being open). Once these conditions are met, the second camera begins to collect the first monitoring video of the target occupant. Image analysis is performed on the collected video to determine if the target occupant is performing a preset gesture in the door control mode while simultaneously checking if their face is facing the second camera as preset. If not, for example, if the target occupant is waving out the window, it is determined that the occupant is waving unconsciously, and the door remains open. If so, the door is closed. During the closing process of the target vehicle door, the lighting device provides supplementary lighting to the second camera, enabling the second camera to capture a second monitoring video of the target occupant during the door closing process. The system then analyzes whether the target occupant maintains a hand gesture in the second monitoring video. If the target occupant's hand gesture is not maintained and instead moves up or down, the closing action of the target vehicle door is stopped. If the target occupant maintains a hand gesture in the second monitoring video, the closing action of the target vehicle door continues until the target vehicle door is completely closed.

[0048] In this embodiment of the invention, the door lock signal of the target door can be used to determine whether the target door is fully closed. Once the target door is fully closed, the gesture control door function is automatically disabled.

[0049] Figure 3 An embodiment of the present invention provides a door control device 300. For example... Figure 3 As shown, the door control device 300 provided in this embodiment of the invention includes: The acquisition module 310 is used to acquire the current door control mode of the vehicle; when the door control mode indicates that the door can be controlled by gesture, it acquires the weight information of multiple seats in the vehicle. The determining module 320 is used to determine the target seat carrying the target occupant from the plurality of seats based on the weight information; The control module 330 is used to acquire the facial orientation and hand gesture of the target occupant if the target door corresponding to the target seat is in an open state, and control the target door to perform a closing action based on the facial orientation and hand gesture.

[0050] In this embodiment of the invention, after obtaining the current door control mode of the vehicle, the control module 330 is further configured to not control the target door to change its state if the door control mode indicates that the door cannot be controlled by gesture.

[0051] In this embodiment of the invention, during the process of controlling the target vehicle door to perform a closing action based on the target occupant's facial orientation and the gesture, the control module 300 is specifically used to: determine whether the target occupant's facial orientation conforms to a preset facial orientation included in the door control method; determine whether the gesture conforms to a preset gesture included in the door control method; and control the target vehicle door to perform a closing action when the target occupant's facial orientation conforms to the preset facial orientation included in the door control method and the gesture conforms to the preset gesture included in the door control method.

[0052] In this embodiment of the invention, during the process of acquiring the facial orientation and hand gestures of the target occupant, the control module 330 is specifically configured to: acquire the exterior video of the target vehicle door captured by the first camera; determine whether there is a user outside the target vehicle door based on the exterior video; if there is a user outside the target vehicle door, control the target vehicle door to remain open; if there is no user outside the target vehicle door, control the second camera to acquire the first monitoring video of the location of the target occupant; and identify the facial orientation and hand gestures of the target occupant based on the first monitoring video.

[0053] In this embodiment of the invention, after controlling the target vehicle door to perform a closing action based on the target occupant's facial orientation and the gesture, the control module 330 is further configured to: during the closing action of the target vehicle door, if it is detected that the seat belt status corresponding to the target seat changes from a secured state to an unsecured state, then control the target vehicle door to stop performing the closing action.

[0054] In this embodiment of the invention, after controlling the target vehicle door to perform a closing action based on the target occupant's facial orientation and hand gesture, the control module 330 is further configured to: control the lighting device corresponding to the second camera to perform a supplementary lighting action during the closing action of the target vehicle door, so that the second camera can collect a second monitoring video of the target occupant during the closing action of the target vehicle door.

[0055] The control module 330 is further configured to, after controlling the lighting device corresponding to the second camera to perform the supplementary lighting action, also be configured to: determine whether the target occupant maintains the gesture action based on the second monitoring video; if the target occupant maintains the gesture action, control the target door to continue performing the closing action; if the target occupant does not maintain the gesture action, control the target door to stop performing the closing action.

[0056] Figure 4 This is a structural block diagram of a vehicle provided in an embodiment of this application. Figure 3 As shown, the vehicle provided in this embodiment includes a processor 410 and a memory 420, wherein the memory is used to store instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the above method.

[0057] In an exemplary embodiment, the electronic device may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0058] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions that can be executed by a processor of a device to perform the described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc. This non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of an electronic device, enables the vehicle to perform... Figure 1 The method shown.

[0059] This application also provides a computer program product, including a computer program, which, when executed by a processor, performs... Figure 1 The method shown.

[0060] The above description does not provide detailed technical specifications regarding the structure of each layer. However, those skilled in the art should understand that layers and regions of desired shapes can be formed using various technical means. Furthermore, to form the same structure, those skilled in the art can also design methods that are not entirely identical to those described above. Additionally, although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be advantageously combined.

[0061] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other modifications and adjustments to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all modifications and adjustments falling within the scope of the invention.

[0062] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims and their equivalents, this invention is also intended to include these modifications and variations.

Claims

1. A method for controlling a vehicle door, characterized in that, The method includes: Obtain the current door control mode of the vehicle; When the door control mode indicates that the door can be controlled by gesture, obtain the weight information of multiple seats in the vehicle; Based on the weight information, the target seat carrying the target occupant is determined from the plurality of seats; If the target door corresponding to the target seat is in an open state, the facial orientation and hand gestures of the target occupant are obtained, and the target door is controlled to perform a closing action based on the facial orientation and hand gestures.

2. The method according to claim 1, characterized in that, After obtaining the vehicle's current door control mode, the method further includes: If the door control method indicates that the door cannot be controlled by gestures, then the target door will not be controlled to change its state.

3. The method according to claim 1, characterized in that, The step of controlling the target vehicle door to close based on the target occupant's facial orientation and hand gestures includes: Determine whether the target occupant's facial orientation matches the preset facial orientation included in the door control method; Determine whether the gesture action conforms to the preset gesture actions included in the door control method; If the target occupant's facial orientation matches a preset facial orientation included in the door control method, and the gesture action matches a preset gesture action included in the door control method, the target door is controlled to perform a closing action.

4. The method according to claim 1, characterized in that, The acquisition of the target occupant's facial orientation and hand gestures includes: Acquire the exterior video of the target vehicle door captured by the first camera; Based on the video footage outside the vehicle, determine whether a user is outside the target vehicle door; If there is a user outside the target door, then control the target door to remain open; If there is no user outside the target vehicle door, the second camera is controlled to collect the first monitoring video of the target occupant's location; Based on the first monitoring video, the facial orientation and hand gestures of the target occupant are identified.

5. The method according to claim 1, characterized in that, After controlling the target vehicle door to close based on the target occupant's facial orientation and hand gestures, the method further includes: If, during the closing action of the target door, it is detected that the seat belt status corresponding to the target seat has changed from a secured state to an unsecured state, then the target door is controlled to stop closing.

6. The method according to claim 4, characterized in that, After controlling the target vehicle door to close based on the target occupant's facial orientation and hand gestures, the method further includes: During the closing action of the target vehicle door, the lighting device corresponding to the second camera is controlled to perform supplementary lighting, so that the second camera can capture a second monitoring video of the target occupant during the closing action of the target vehicle door.

7. The method according to claim 6, characterized in that, After controlling the lighting device corresponding to the second camera to perform supplementary lighting, the method further includes: Based on the second monitoring video, determine whether the target occupant maintains the hand gesture; If the target occupant maintains the hand gesture, the target door continues to close. If the target occupant does not maintain the hand gesture, control the target door to stop closing.

8. A control device for a vehicle door, characterized in that, The device includes: The acquisition module is used to acquire the current door control mode of the vehicle; and when the door control mode indicates that the door can be controlled by gesture, it acquires the weight information of multiple seats in the vehicle. The determining module is used to determine the target seat carrying the target occupant from the plurality of seats based on the weight information; The control module is used to acquire the facial orientation and hand gesture of the target occupant if the target door corresponding to the target seat is in an open state, and control the target door to perform a closing action based on the facial orientation and hand gesture.

9. A vehicle, characterized in that, include: processor; A memory for storing instructions to be executed by the processor, wherein the processor is configured to execute the instructions to implement the method as described in any one of claims 1 to 7.

10. A storage medium, wherein instructions in the storage medium, when executed by a processor of a vehicle, enable the vehicle to perform the method as described in any one of claims 1 to 7.

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