Driving control method of side step, vehicle-mounted controller and vehicle

Abstract

This application provides a side step drive control method, an on-board controller, and a vehicle, relating to the field of vehicle control technology. The method includes: analyzing the door frame images of adjacent vehicles to obtain the door frame area and aspect ratio; when the door frame area and aspect ratio meet preset triggering conditions, confirming that the door of the adjacent vehicle is open, and automatically triggering the side step of the target vehicle to unfold in the door opening direction, thereby increasing the distance between the two vehicles and effectively avoiding collisions between the door of the adjacent vehicle and the target vehicle when the door is open. This achieves the technical effect of significantly reducing the risk of door collisions and improving vehicle safety in complex environments, thus solving the technical problem that existing door protection technologies cannot effectively avoid door opening collisions.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a side pedal drive control method, an on-board controller, and a vehicle. Background Technology

[0002] With the continuous shrinking of urban parking spaces, vehicles parked side by side at high density are prone to collisions with neighboring vehicles when drivers or passengers open their doors, resulting in costly damages such as paint scratches and dents.

[0003] Existing fixed anti-collision strips, manual observation, or passive protection methods cannot detect dynamic risks in real time, nor can they adapt to the narrow and ever-changing parking environment, resulting in poor protection and frequent accidents. Summary of the Invention

[0004] In view of this, this application provides a side step drive control method, an on-board controller, and a vehicle, which solves the technical problem that existing door protection technologies cannot effectively prevent door opening collisions.

[0005] As a first aspect of this application, this application provides a side step drive control method, comprising: acquiring images of the door frames of adjacent vehicles to obtain door frame images; wherein the adjacent vehicles are located on the left and right sides of a target vehicle; analyzing the door frame images to obtain the door frame area and aspect ratio, wherein the aspect ratio is used to characterize the ratio of the height to the width of the door frame of the adjacent vehicle; if the door frame area and aspect ratio meet a preset trigger condition, confirming that the door of the adjacent vehicle is in an open state, and triggering the target side step of the target vehicle to unfold, so as to avoid the door frame of the adjacent vehicle hitting the target vehicle when the door is opened, wherein the target side step unfolds in the opening direction of the door of the adjacent vehicle. When the door frame area and aspect ratio meet the preset trigger condition, confirming that the door of the adjacent vehicle is in an open state, and automatically triggering the side step of the target vehicle to unfold in the opening direction of the door, thereby increasing the distance between the two vehicles, effectively avoiding collision between the door of the adjacent vehicle and the target vehicle when the door is opened, and significantly reducing the risk of the door being hit.

[0006] Optionally, the preset triggering conditions include: the area of ​​the door frame is greater than or equal to a first preset safety threshold, and the aspect ratio is greater than a first set value. The first preset safety threshold is within a preset safety range and dynamically changes based on the environment in which the target vehicle is located. By setting reasonable triggering conditions, it is ensured that the system can accurately determine whether the door is open and take collision avoidance measures when necessary, effectively improving vehicle safety in complex environments.

[0007] Optionally, the first preset safety threshold dynamically changes based on the environment in which the target vehicle is located, including: determining the light intensity based on the environment; if the light intensity is less than or equal to the first preset intensity, lowering the lower limit of the preset safety range; and if the light intensity is greater than or equal to the second preset intensity, raising the upper limit of the preset safety range. By dynamically adjusting the first preset safety threshold according to the ambient light intensity, it is possible to more accurately determine whether the door is open. This dynamic adjustment mechanism can effectively reduce misjudgments caused by changes in ambient light.

[0008] Optionally, triggering the deployment of the target vehicle's side step includes: controlling the target side step to deploy at a first preset rate to a set angle at a uniform speed. By controlling the target side step to deploy at a first preset rate to a set angle at a uniform speed, measures can be taken in a timely manner to increase the distance between the vehicle and the adjacent vehicle when the door of an adjacent vehicle is detected to be open, thereby effectively avoiding collisions and ensuring timely and stable protection in emergency situations, thereby effectively reducing the risk of collisions and improving vehicle safety.

[0009] Optionally, triggering the deployment of the target side step of the target vehicle further includes: dynamically monitoring the lateral distance between the target side step and the door frame of the adjacent vehicle to obtain the real-time lateral clearance; when the real-time lateral clearance is less than a first preset safety clearance, controlling the target side step to decelerate at a second preset rate until the real-time lateral clearance is less than the second preset safety clearance, and then controlling the target side step to stop, wherein the second preset safety clearance is less than the first preset safety clearance. By dynamically monitoring the real-time lateral clearance between the target side step and the door frame of the adjacent vehicle, and adjusting the deployment speed of the side step according to a preset safety clearance threshold, the deployment action of the side step can be flexibly controlled while ensuring safety. This effectively avoids the risk of collision due to the side step deploying too quickly or at too close a distance.

[0010] Optionally, after triggering the deployment of the target side step of the target vehicle, the method includes: if the number of times the door frame area of ​​an adjacent vehicle is detected to be less than a second preset safety threshold exceeds a set number, controlling the target side step of the target vehicle to retract, wherein the second preset safety threshold is less than a first preset safety threshold. By monitoring changes in the door frame area and combining this with the set number of retractions, it is possible to accurately determine whether the doors of adjacent vehicles have been closed. Once it is confirmed that the door is closed, the target side step is promptly retracted to ensure that the vehicle returns to its normal state in a safe condition.

[0011] Optionally, after confirming that the door of an adjacent vehicle is open, the method includes: generating a warning signal, the warning signal including at least: a collision-side door indicator, a risk level, and pop-up information, wherein the risk level is determined by the width of the adjacent vehicle's door; and sending the warning signal to the owner of the target vehicle. By generating a warning signal containing a door indicator, risk level, and pop-up information, and sending it to the host device for display via the vehicle's communication network, the method can promptly and accurately remind the owner of the open status of the adjacent vehicle's door and potential risks, thereby improving the owner's reaction speed and reducing collisions caused by open doors.

[0012] Optionally, images of the door frames of adjacent vehicles are acquired to obtain door frame images. This includes: acquiring images of adjacent vehicles at a preset frequency to obtain an initial image set; preprocessing the initial image set; and performing object detection on the preprocessed standard image set to obtain the door frame images. By acquiring images of adjacent vehicles at a preset frequency and performing preprocessing and object detection on the acquired images, image information of the door frames can be accurately extracted. This information is used to determine whether the door is open, thereby providing crucial data for the vehicle safety system and avoiding collision risks caused by open doors.

[0013] As a second aspect of this application, this application provides an on-board controller that can execute the side pedal drive control method described above.

[0014] As a third aspect of this application, this application provides a vehicle that includes the aforementioned on-board controller.

[0015] As a fourth aspect of this application, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the side pedal drive control method described above.

[0016] Using the above technical solution, the side step driving control method provided in this application acquires images of the door frames of adjacent vehicles to obtain door frame images; wherein, the adjacent vehicles are located on the left and right sides of the target vehicle; the door frame images are analyzed to obtain the door frame area and aspect ratio, wherein the aspect ratio is used to characterize the ratio of the height to the width of the door frame of the adjacent vehicle; if the door frame area and aspect ratio meet the preset triggering conditions, it is confirmed that the door of the adjacent vehicle is in the open state, and the target side step of the target vehicle is triggered to unfold, so as to avoid the door frame of the adjacent vehicle hitting the target vehicle when the door of the adjacent vehicle is opened, wherein the target side step unfolds in the opening direction of the door of the adjacent vehicle. It is easy to notice that when the door frame area and aspect ratio meet the preset triggering conditions, it is confirmed that the door of the adjacent vehicle is open, and the side step of the target vehicle is automatically triggered to unfold in the direction of the door opening, thereby increasing the distance between the two vehicles. This effectively avoids collisions between the adjacent vehicle's door and the target vehicle when the door is open, achieving a significant reduction in the risk of door collisions and thus improving the vehicle's safety in complex environments. This solves the technical problem that existing door protection technologies cannot effectively prevent door opening collisions. Attached Figure Description

[0017] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0018] Figure 1 The diagram shows a flowchart of a side pedal drive control method provided in an embodiment of this application.

[0019] Figure 2 The diagram shown is a schematic of the drive control logic of the side pedal provided in an embodiment of this application.

[0020] Figure 3 The diagram shown is a device block diagram of an on-board controller provided in an embodiment of this application. Detailed Implementation

[0021] In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, top, bottom, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the figures). If the specific posture changes, the directional indication will also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0022] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] Application Overview As described in the background section, with the continuous shrinking of urban parking spaces, vehicles are parked side-by-side at high density. When drivers or passengers open their doors, they are highly likely to collide with neighboring vehicles, causing costly damage such as paint scratches and dents. Existing fixed anti-collision strips, manual observation, or passive protection methods cannot detect dynamic risks in real time, nor can they adaptively adjust to narrow and changeable parking environments, resulting in poor protection and frequent accidents.

[0024] During their research, the inventors discovered that existing vehicle door protection technologies cannot effectively prevent door opening collisions. Therefore, this application provides a side step drive control method. This method analyzes images of the door frames of adjacent vehicles to obtain the door frame area and aspect ratio. When the door frame area and aspect ratio meet preset triggering conditions, it confirms that the adjacent vehicle's door is open and automatically triggers the target vehicle's side step to unfold in the door opening direction. This increases the distance between the two vehicles, effectively preventing collisions between the adjacent vehicle's door and the target vehicle when the door is open. This significantly reduces the risk of door collisions, thereby improving vehicle safety in complex environments.

[0025] Exemplary methods As a first aspect of this application, this application provides a method for driving control of side pedals. Figure 1 The diagram shows a flowchart of a side pedal drive control method provided in an embodiment of this application. Figure 1 As shown, the method includes the following steps: S101, acquire images of the door frames of adjacent vehicles to obtain door frame images; wherein, the adjacent vehicles are located on the left and right sides of the target vehicle. Specifically, the target vehicles are equipped with cameras used to capture images of the door frames of adjacent vehicles. These cameras are typically mounted on both sides of the target vehicle, facing the door area of ​​the adjacent vehicles.

[0026] The term "adjacent vehicles" refers to vehicles located to the left and right of the target vehicle. These vehicles are parked side-by-side on both sides of the target vehicle.

[0027] The aforementioned door frame appears as a rectangular or near-rectangular area in the image, its shape and size depending on the actual dimensions and angle of the door. It's important to note that the door frame is a key area for detecting the door's status. By analyzing the image of the door frame, it's possible to determine whether the door is open, and the angle and extent of its opening.

[0028] The aforementioned car door frame image includes at least information such as the outline, color, and texture of the adjacent car doors.

[0029] In one optional embodiment, a camera mounted on the target vehicle captures real-time images of the door frames of adjacent vehicles located to the left and right of the target vehicle, obtaining image data of the door frames. These images serve as the basis for subsequent analysis to determine whether the doors of adjacent vehicles are open, thereby providing crucial information to the vehicle safety system to avoid potential collision risks.

[0030] S102, Analyze the door frame image to obtain the door frame area and aspect ratio, where the aspect ratio is used to characterize the ratio of the height to the width of the door frame of adjacent vehicles. Specifically, the aforementioned door frame area can be used to represent the size of the pixel area occupied by the door frame in the image. This area can be obtained by calculating the area of ​​the circumscribed rectangle.

[0031] It's important to note that the door frame area is a crucial indicator of a car door's status. When a door is open, its projected area increases. By calculating the door frame area, it's possible to determine if the door is open. Specifically, the door's projected area is smallest when it's fully closed. At this point, the door frame area S is a known baseline value. This area is the area of ​​the door projected vertically onto the ground when closed. As the door gradually opens from its closed state, the angle between the door and the car body gradually increases from 0 degrees. With the increasing angle, the volume occupied by the door in space increases, and its projected area in the vertical direction also increases accordingly.

[0032] The aforementioned aspect ratio can be used to represent the ratio of the height to the width of the door frame, and is used to characterize the shape features of the door frame.

[0033] Aspect ratio is an important feature that can be used to distinguish car doors from other potential interfering objects. For example, the aspect ratio of a car door is usually within a certain range, while the aspect ratio of other objects (such as billboards, tree branches, etc.) may be different. By calculating the aspect ratio, these interfering objects can be eliminated, improving the accuracy of detection.

[0034] In one optional embodiment, during the analysis of the car door frame image, an edge detection algorithm can be used to identify the outline of the car door frame. Simultaneously, a contour extraction algorithm is used to find the circumscribed rectangle of the car door frame. The circumscribed rectangle is the smallest rectangle that completely contains the outline of the car door frame. Then, the area and aspect ratio of the car door frame are calculated. The aspect ratio is used to distinguish the car door from other possible interfering objects. The area of ​​the car door frame is used to determine whether the door of a neighboring vehicle is open. If the area of ​​the car door frame exceeds a preset threshold and the aspect ratio matches the characteristics of a car door, then the car door is considered to be in an open state.

[0035] S103, if the area and aspect ratio of the door frame meet the preset triggering conditions, confirm that the door of the adjacent vehicle is in the open state, and trigger the target side step of the target vehicle to unfold, so as to avoid the door frame of the adjacent vehicle hitting the target vehicle when it is opened. The target side step unfolds in the direction of the door opening of the adjacent vehicle.

[0036] Optionally, the preset triggering conditions include: the area of ​​the door frame is greater than or equal to a first preset safety threshold, and the aspect ratio is greater than a first set value, wherein the first preset safety threshold is within a preset safety range, and the first preset safety threshold changes dynamically based on the environment in which the target vehicle is located.

[0037] Specifically, the aforementioned preset triggering conditions can be used to represent pre-defined side step triggering rules, used to determine whether the doors of adjacent vehicles are open. These conditions are based on two key features: the door frame area and the aspect ratio.

[0038] The aforementioned first preset safety threshold is dynamically calculated based on the reference area S of the closed door. For example, it could be 1.2S or 1.21S, etc. The first preset safety threshold is not specifically limited here and can be adjusted according to the actual situation.

[0039] However, it should be noted that the first preset safety threshold is within a preset safety range (for example, it could be [1.2S, 1.25S], etc.). This range is to ensure that the threshold is within a reasonable range and to avoid misjudgment due to the threshold being set too high or too low.

[0040] Meanwhile, the aforementioned first preset safety threshold dynamically changes based on the environment in which the target vehicle is located. For example, factors such as lighting conditions and weather conditions may affect the accuracy of image acquisition, therefore the threshold needs to be dynamically adjusted to adapt to different environmental conditions.

[0041] The aforementioned first setting value is used to represent the pre-set aspect ratio of the adjacent vehicle door.

[0042] Generally, the height-to-width ratio of car doors is usually between 1.5 and 2.0, while the height-to-width ratio of other objects (such as billboards, tree branches, etc.) may be lower.

[0043] In one optional embodiment, if the door frame area and aspect ratio simultaneously meet preset triggering conditions—that is, the door frame area is greater than or equal to a first preset safety threshold, and the aspect ratio is greater than a first set value—then it is confirmed that the door of the adjacent vehicle is open. This triggers the deployment of the side steps of the target vehicle, which deploy in the direction of the door opening of the adjacent vehicle, thereby increasing the distance between the two vehicles and providing a buffering effect to reduce the impact force during a collision.

[0044] By setting reasonable trigger conditions, it is possible to accurately determine whether the car door is open and take collision avoidance measures when necessary, effectively improving the safety of the vehicle in complex environments.

[0045] Using the above technical solution, the side step driving control method provided in this application acquires images of the door frames of adjacent vehicles to obtain door frame images; wherein, the adjacent vehicles are located on the left and right sides of the target vehicle; the door frame images are analyzed to obtain the door frame area and aspect ratio, wherein the aspect ratio is used to characterize the ratio of the height to the width of the door frame of the adjacent vehicle; if the door frame area and aspect ratio meet the preset triggering conditions, it is confirmed that the door of the adjacent vehicle is in the open state, and the target side step of the target vehicle is triggered to unfold, so as to avoid the door frame of the adjacent vehicle hitting the target vehicle when the door of the adjacent vehicle is opened, wherein the target side step unfolds in the opening direction of the door of the adjacent vehicle. It is easy to notice that when the door frame area and aspect ratio meet the preset triggering conditions, it is confirmed that the door of the adjacent vehicle is open, and the side step of the target vehicle is automatically triggered to unfold in the direction of the door opening, thereby increasing the distance between the two vehicles. This effectively avoids collisions between the adjacent vehicle's door and the target vehicle when the door is open, achieving a significant reduction in the risk of door collisions and thus improving the vehicle's safety in complex environments. This solves the technical problem that existing door protection technologies cannot effectively prevent door opening collisions.

[0046] Optionally, the first preset safety threshold is dynamically adjusted based on the environment in which the target vehicle is located, including: determining the light intensity based on the environment in which the target vehicle is located; if the light intensity is less than or equal to the first preset intensity, lowering the lower limit of the preset safety range; and if the light intensity is greater than or equal to the second preset intensity, raising the upper limit of the preset safety range.

[0047] Specifically, the aforementioned first preset intensity can be used to represent a preset first light intensity, for example, it can be 50 lux or 52 lux, etc. The first preset intensity is not specifically limited here and can be adjusted according to the actual situation.

[0048] The second preset intensity mentioned above is greater than the first preset intensity. For example, it can be 200 lux or 202 lux, etc. The second preset intensity is not specifically limited here and can be adjusted according to the actual situation.

[0049] Typically, target vehicles are also equipped with photosensors to monitor the ambient light intensity in real time. Light intensity affects the quality of images captured by the camera. In darker environments, the camera may not accurately capture details of the door frame; while in brighter environments, overexposure may occur, affecting the accuracy of image analysis. Therefore, a first preset safety threshold can be dynamically adjusted based on the ambient light intensity.

[0050] In one optional embodiment, when the ambient light intensity is less than or equal to a first preset intensity, the environment is considered dark, and the image captured by the camera may be too dark, resulting in a lower detected value for the door frame area. Therefore, the lower limit of the preset safety range needs to be lowered, for example, from 120% to 110%, to avoid the detected door frame area being lower than the actual value due to excessively dark environments, thus missing the detection of an open door. Conversely, when the ambient light intensity is greater than or equal to a second preset intensity, the environment is considered bright, and the image captured by the camera may be overexposed, resulting in a higher detected value for the door frame area. In this case, the upper limit of the preset safety range can be increased, for example, from 125% to 130%, to avoid the detected door frame area being higher than the actual value due to excessively bright environments, thus misjudging the situation of an open door.

[0051] By dynamically adjusting the first preset safety threshold based on the ambient light intensity, it is possible to more accurately determine whether the car door is open. This dynamic adjustment mechanism can effectively reduce misjudgments caused by changes in ambient light.

[0052] Optionally, triggering the deployment of the target side step of the target vehicle includes: controlling the target side step to deploy at a first preset rate to a set angle at a uniform speed.

[0053] Specifically, the aforementioned first preset rate can be used to represent the first rate at which the side pedal unfolds. For example, it can be 0.5° / ms, etc. This rate is preset to ensure that the side pedal can unfold quickly and smoothly, while avoiding unnecessary impact on the vehicle or passengers due to excessive speed.

[0054] The aforementioned set angle indicates that the side step has been extended to a specific angle, which is preset according to the vehicle's design and safety requirements. For example, it could be 30°, etc. After being extended to the set angle, the side step can provide maximum protection while avoiding other problems caused by over-extension (such as interference with the ground or other objects).

[0055] During the side step deployment process, the motor current can be monitored in real time. Under normal operation, the motor current should remain within a preset normal range, for example, 0.8-1.2A. If the motor current is detected to exceed the normal range (below 0.8A or above 1.2A), the protection mechanism will be triggered immediately. This protection mechanism can prevent the motor from being damaged due to overload, short circuit or other faults, while ensuring the safety and reliability of the entire deployment process.

[0056] Simultaneously, the maximum unfolding angle of the target side step can be limited. For example, the maximum unfolding angle of the target side step can be limited to 45°±2°, meaning the unfolding angle of the side step cannot exceed 47° or be lower than 43°. This angle range is set according to actual application requirements to ensure that the side step provides sufficient protection when unfolded without interfering with other components or the ground due to excessive unfolding. Specifically, hardware-level limit protection can be implemented through a software encoder. By monitoring the rotation angle of the motor and sending a stop signal when the preset maximum angle is reached, hardware-level limit protection is achieved. By setting the maximum unfolding angle and using a software encoder to implement hardware-level limit protection, it is ensured that the side step unfolds within a safe range, avoiding mechanical failure or collision risks caused by excessive angle.

[0057] In one optional embodiment, by controlling the target side step to unfold at a first preset rate to a set angle, measures can be taken in a timely manner to increase the distance between the vehicle and the adjacent vehicle when the door of an adjacent vehicle is detected to be open, thereby effectively avoiding collisions and ensuring timely and stable protection in emergency situations, thereby effectively reducing the risk of collisions and improving vehicle safety.

[0058] Optionally, triggering the deployment of the target side step of the target vehicle further includes: dynamically monitoring the lateral distance between the target side step and the door frame of the adjacent vehicle to obtain the real-time lateral spacing; when the real-time lateral spacing is less than the first preset safety spacing, controlling the target side step to decelerate at a second preset rate until the real-time lateral spacing is less than the second preset safety spacing, and controlling the target side step to stop running, wherein the second preset safety spacing is less than the first preset safety spacing.

[0059] Specifically, the aforementioned real-time lateral spacing can be used to represent the real-time distance between the target side step and the adjacent vehicle door frame during the side step deployment process. This distance changes dynamically as the side step is deployed.

[0060] The aforementioned first preset safety distance can be used to represent a pre-set first safety distance between the target side step and the adjacent door frame. For example, it can be 14cm or 15cm, etc. The first preset safety distance is not specifically limited here and can be adjusted according to the actual situation.

[0061] The aforementioned second preset rate is used to represent the speed of the side pedal during the deceleration phase; for example, it could be 1° / ms, etc.

[0062] The aforementioned second preset safety distance is smaller than the first preset safety distance and is used to determine when it is necessary to completely stop the side pedal deployment action. For example, it can be 10cm, etc.

[0063] In one optional embodiment, during the deployment of the target side step of the target vehicle, ultrasonic radar and vision fusion technology can be used to dynamically monitor the lateral distance between the target side step and the door frame of the adjacent vehicle. When the real-time lateral distance is less than a first preset safety distance, it is determined that the distance between the side step and the door frame of the adjacent vehicle is too close, posing a collision risk, and therefore deceleration measures need to be taken. That is, the target side step is controlled to decelerate at a second preset rate, wherein the deceleration rate can be set according to actual needs to ensure that the side step can decelerate smoothly and avoid the risk of collision due to excessive speed. When the real-time lateral distance further decreases and is less than the second preset safety distance, it is determined that the distance between the side step and the door frame of the adjacent vehicle is too close, posing a high collision risk, and therefore the target side step is immediately controlled to stop running.

[0064] By dynamically monitoring the real-time lateral distance between the target side step and the door frame of adjacent vehicles, and adjusting the side step deployment speed according to a preset safety distance threshold, the deployment action of the side step can be flexibly controlled while ensuring safety. This effectively avoids the risk of collision due to the side step deploying too quickly or too close to the vehicle.

[0065] Optionally, after triggering the deployment of the target side step of the target vehicle, the method includes: if the number of times the door frame area of ​​the adjacent vehicle is detected to be less than the second preset safety threshold is greater than a set number, controlling the target side step of the target vehicle to retract, wherein the second preset safety threshold is less than the first preset safety threshold.

[0066] Specifically, the second preset safety threshold, which is lower than the first preset safety threshold, is used to determine whether the car door is closed. When the car door is closed, its bounding box area will be significantly reduced, typically less than 80% of the first preset safety threshold.

[0067] The aforementioned set number of counts is used to confirm the door's closed state. The door can only be confirmed as closed after multiple consecutive (e.g., 5 times) detections showing the door frame area is less than the second preset safety threshold.

[0068] In one optional embodiment, after the target side step of the target vehicle is triggered to unfold, if the door frame area of ​​the adjacent vehicle is detected to be less than the second preset safety threshold multiple times (more than a set number), it is considered that the door of the adjacent vehicle has been closed, and at this time the target side step of the target vehicle is controlled to retract.

[0069] In practical applications, the feedback signal from the motor position sensor can be used to further confirm the door's closing status. For example, when the motor position sensor indicates that the door angle is less than or equal to 5°, it can be confirmed that the door has been fully retracted.

[0070] Meanwhile, to avoid false triggering due to slight shaking of the car door, a certain delay (e.g., 1 second) can be made after confirming that the door is closed before closing the pop-up window or performing other related operations. This delay mechanism can effectively reduce false alarms.

[0071] By monitoring changes in the area of ​​the door frame and combining this with a set number of cycles and feedback from the motor position sensor, it is possible to accurately determine whether the doors of adjacent vehicles have closed. Once the door is confirmed to be closed, the target side step is promptly retracted to ensure the vehicle returns to normal operation safely, while avoiding accidental triggering due to slight door movement.

[0072] Optionally, after confirming that the doors of adjacent vehicles are open, the method includes: generating a warning signal, the warning signal including at least: a collision-side door identifier, a risk level, and pop-up information, wherein the risk level is determined by the width of the doors of adjacent vehicles; and sending the warning signal to the owner of the target vehicle.

[0073] Specifically, the aforementioned collision-side door markings clearly indicate whether the left or right door is open. This helps drivers quickly identify the source of the risk, such as "left door" or "right door".

[0074] The risk levels mentioned above can be determined based on the opening range (or area) of the doors of adjacent vehicles. Specifically, the larger the door opening range, the higher the collision risk. The risk levels can be divided into several categories: Level 1 (low risk): small door opening range, low collision risk; Level 2 (medium risk): medium door opening range, moderate collision risk; Level 3 (high risk): large door opening range, high collision risk.

[0075] The aforementioned pop-up information, visual cues corresponding to risk levels, are used to remind the driver. The pop-up information may include color changes and flashing frequency. For example: flashing red: corresponds to high risk (level 3), indicating an emergency requiring immediate attention; yellow warning: corresponds to medium risk (level 2), indicating attention is needed, but not an emergency; blue prompt: corresponds to low risk (level 1), indicating minor risk requiring only attention.

[0076] In one optional embodiment, upon confirming that the door of an adjacent vehicle is open, a warning signal can be generated and the vehicle owner notified. Specifically, by generating a warning signal containing door identification, risk level, and pop-up information, and transmitting it to the host computer via the vehicle's communication network, the system can promptly and accurately alert the vehicle owner to the open status of the adjacent vehicle's door and potential risks. This improves the owner's reaction speed and reduces collisions caused by open doors.

[0077] Optionally, images of the door frames of adjacent vehicles are acquired to obtain door frame images, including: acquiring images of adjacent vehicles at a preset frequency to obtain an initial image set; preprocessing the initial image set; and performing target detection on the preprocessed standard image set to obtain door frame images.

[0078] Specifically, the aforementioned preset frequency can be used to represent a pre-set image acquisition frequency, which can be 100ms, 105ms, etc. There is no specific limitation on the preset frequency here, and it can be adjusted according to the actual situation.

[0079] By acquiring images at a preset frequency, a series of images can be obtained, which constitute an initial image set. These images contain various states of the door frames of adjacent vehicles, including the open and closed states of the doors.

[0080] Preprocessing the initial image set improves image quality, reduces noise, and enhances image features, leading to more accurate subsequent object detection. Preprocessing steps typically include denoising, grayscale conversion, normalization, and edge enhancement. After preprocessing, the image quality in the initial image set is improved, forming a standard image set that is more suitable for object detection.

[0081] The aforementioned object detection is used to identify and locate car door frames from images. It typically includes edge detection, wheel library extraction, and feature extraction. Object detection extracts images of the car door frames from a standard image set. These images contain detailed information about the car door frames, such as their location, size, and shape, providing a foundation for subsequent door status analysis.

[0082] By acquiring images of adjacent vehicles at a preset frequency and then preprocessing and detecting the targets in the acquired images, image information of the door frames can be accurately extracted. This information is used to determine whether the door is open, thus providing crucial data for the vehicle safety system and preventing collision risks caused by open doors.

[0083] Figure 2 The diagram shown is a schematic of the drive control logic for a side pedal provided in an embodiment of this application. Figure 2 As shown, it includes: Cameras are used to capture images of adjacent vehicles; The central control unit is responsible for receiving image data from the camera, performing image processing and analysis, and controlling the unfolding and retraction of the side steps; The cockpit main unit is used to provide door collision risk warnings via pop-up reminders when the door frame area and aspect ratio meet preset trigger conditions. The side pedal motor is used to receive the unfolding and retracting signals, control the unfolding, retracting or stopping of the target side pedal on the target vehicle, and provide real-time feedback of the side pedal position signal to the central control unit.

[0084] Exemplary vehicle controller As a second aspect of this application, this application provides an on-board controller that can execute the side pedal drive control method described above.

[0085] Figure 3 The diagram shown is a device block diagram of an on-board controller provided in an embodiment of this application.

[0086] like Figure 3 As shown, the vehicle controller 3 includes one or more processors 31 and a memory 32.

[0087] The processor 31 may be a CPU (Central Processing Unit) or other form of processing unit with data processing and / or instruction execution capabilities, and may control other components in the vehicle controller 3 to perform desired functions.

[0088] The memory 32 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, RAM (Random Access Memory) and / or cache memory. The non-volatile memory may include, for example, ROM (Read-Only Memory), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 31 may execute the program instructions to implement the side pedal drive control methods of the various embodiments of this application described above, and / or other desired functions.

[0089] In one example, the vehicle controller 3 may include an input device 33 and an output device 34, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0090] When the vehicle controller 3 is a standalone device, the input device 33 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0091] In addition, the input device 33 may also include, for example, a keyboard, a mouse, etc.

[0092] The output device 34 can output various information to the outside, including determined distance information, direction information, etc. The output device 34 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0093] Of course, for the sake of simplicity, Figure 3 Only some of the components of the vehicle controller 3 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the vehicle controller 3 may include any other suitable components depending on the specific application.

[0094] As a third aspect of this application, this application provides a vehicle that includes the aforementioned on-board controller.

[0095] As a fourth aspect of this application, this application provides a computer-readable storage medium storing a computer program for performing the steps in the side pedal drive control method of the various embodiments described above.

[0096] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), EPROM (Erasable Programmable Read-Only Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0097] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program information. When the computer program information is run by a processor, it causes the processor to execute the steps in the side pedal drive control methods of various embodiments of this application.

[0098] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0099] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0100] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0101] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

Claims

1. A drive control method for a side pedal, characterized in that, The method includes: Images of the door frames of adjacent vehicles are acquired to obtain door frame images; wherein, the adjacent vehicles are located on the left and right sides of the target vehicle; The door frame image is analyzed to obtain the door frame area and aspect ratio, wherein the aspect ratio is used to characterize the ratio of the height to the width of the door frame of the adjacent vehicle. If the area and aspect ratio of the door frame meet the preset triggering conditions, it is confirmed that the door of the adjacent vehicle is in the open state, and the target side step of the target vehicle is triggered to unfold, so as to avoid the door frame of the adjacent vehicle hitting the target vehicle when the door is opened. The target side step unfolds in the direction of the door opening of the adjacent vehicle.

2. The drive control method for the side pedal according to claim 1, characterized in that, The preset triggering conditions include: the area of ​​the door frame is greater than or equal to a first preset safety threshold, and the aspect ratio is greater than a first set value, wherein the first preset safety threshold is within a preset safety range, and the first preset safety threshold changes dynamically based on the environment of the target vehicle.

3. The side pedal drive control method according to claim 2, characterized in that, The first preset safety threshold changes dynamically based on the environment in which the target vehicle is located, including: Determine the light intensity based on the environment in which the target vehicle is located; If the light intensity is less than or equal to the first preset intensity, the lower limit of the preset safety range will be reduced. If the light intensity is greater than or equal to the second preset intensity, the upper limit of the preset safety range will be increased.

4. The drive control method for the side pedal according to claim 1, characterized in that, The triggering of the target side step deployment of the target vehicle includes: The target side step is controlled to unfold at a first preset speed to a set angle.

5. The drive control method for the side pedal according to claim 1, characterized in that, The triggering of the target side step deployment of the target vehicle also includes: The lateral distance between the target side step and the door frame of the adjacent vehicle is dynamically monitored to obtain the real-time lateral spacing; When the real-time lateral distance is less than the first preset safety distance, the target side pedal is controlled to decelerate at a second preset rate until the real-time lateral distance is less than the second preset safety distance, and the target side pedal is controlled to stop running, wherein the second preset safety distance is less than the first preset safety distance.

6. The drive control method for the side pedal according to claim 1, characterized in that, After triggering the deployment of the target side step of the target vehicle, the method includes: If the number of times the door frame area of ​​the adjacent vehicle is less than the second preset safety threshold is greater than a set number, the target side step of the target vehicle is controlled to retract, wherein the second preset safety threshold is less than the first preset safety threshold.

7. The drive control method for the side pedal according to claim 1, characterized in that, After confirming that the door of the adjacent vehicle is open, the method includes: A warning signal is generated, which includes at least: a collision-side door indicator, a risk level, and pop-up information, wherein the risk level is determined by the door width of the adjacent vehicle; The warning signal will be sent to the owner of the target vehicle.

8. The drive control method for the side pedal according to claim 1, characterized in that, The step of acquiring images of the door frames of adjacent vehicles to obtain door frame images includes: Images of the adjacent vehicles are acquired at a preset frequency to obtain an initial image set; The initial image set is preprocessed, and the preprocessed standard image set is subjected to target detection to obtain the car door frame image.

9. A vehicle-mounted controller, characterized in that, The vehicle controller can execute the side pedal drive control method described in any one of claims 1-8.

10. A vehicle, characterized in that, The vehicle includes the on-board controller as described in claim 9.

Images