CN105909116A - Vehicle door control method, device and system - Google Patents
Vehicle door control method, device and system Download PDFInfo
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- CN105909116A CN105909116A CN201610274787.XA CN201610274787A CN105909116A CN 105909116 A CN105909116 A CN 105909116A CN 201610274787 A CN201610274787 A CN 201610274787A CN 105909116 A CN105909116 A CN 105909116A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000012544 monitoring process Methods 0.000 claims abstract description 72
- 230000008859 change Effects 0.000 claims abstract description 39
- 238000012549 training Methods 0.000 claims description 28
- 230000003068 static effect Effects 0.000 claims description 15
- 230000002123 temporal effect Effects 0.000 claims description 13
- 230000008676 import Effects 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 238000010801 machine learning Methods 0.000 claims description 10
- 238000010276 construction Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims 1
- 230000008569 process Effects 0.000 description 15
- 230000006870 function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000006399 behavior Effects 0.000 description 4
- 230000006854 communication Effects 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000000284 resting effect Effects 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- WMFYOYKPJLRMJI-UHFFFAOYSA-N Lercanidipine hydrochloride Chemical compound Cl.COC(=O)C1=C(C)NC(C)=C(C(=O)OC(C)(C)CN(C)CCC(C=2C=CC=CC=2)C=2C=CC=CC=2)C1C1=CC=CC([N+]([O-])=O)=C1 WMFYOYKPJLRMJI-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/45—Control modes
- E05Y2400/456—Control modes for programming, e.g. learning or AI [artificial intelligence]
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses a vehicle door control method, device and system. The vehicle door control method comprises the specific steps that when the driving state change information of a vehicle is monitored, the vehicle interior monitoring information and the vehicle exterior monitoring information which correspond to the driving state change information are obtained; the vehicle interior monitoring information and the vehicle exterior monitoring information are guided into a vehicle door control model trained in advance to be matched, so that a vehicle door control instruction is obtained; and a vehicle door is controlled to be opened or closed according to the vehicle door control instruction. By means of the vehicle door control method, the accuracy and the safety of opening or closing of the vehicle door are ensured.
Description
Technical field
The application relates to technical field of information processing, is specifically related to technical field of automobile control, especially
It relates to controlling the method for car door, Apparatus and system.
Background technology
The state of vehicle can be generally divided into transport condition or resting state.In view of safety factors,
Vehicle is when transport condition, and car door does not allows to open, and only vehicle is when resting state,
Car door just can according to circumstances be opened.
Although car door is opened when stationary vehicle, but still a lot of accident can occur.Such as,
Passenger inside the vehicle, when stationary vehicle prepares to open car door, often can only get vehicle periphery certain
In the range of information, and the vehicle moved closer to, other vehicles or pedestrians cannot be made accurately
Judge.When the door is unlocked, other vehicles or pedestrians possibly be present at the position of car door opening,
Thereby result in the damage of vehicle, even jeopardize personal safety.
Summary of the invention
This application provides the control method of car door, Apparatus and system, to solve in background technology
The problem mentioned.
First aspect, this application provides a kind of method controlling car door, and described method includes:
When monitoring the transport condition change information of vehicle, obtain corresponding described transport condition change letter
Monitoring information and car external monitor information in the car of breath, described transport condition change information includes by transporting
Moving static status information or parking waiting status information, in described car, monitoring information includes car
Interior image information and Che Nei acoustic information, described car external monitor information include the outer image information of car and
The outer acoustic information of car；Monitoring information in described car and car external monitor information are imported training in advance
Car's door controlling model carries out coupling and obtains Car's door controlling instruction, and described Car's door controlling model is used for table
The corresponding relation that Zheng Chenei monitoring information and car external monitor information instruct with Car's door controlling, described car
Gate control instruction includes car door information and the temporal information of opening car door of opening car door, or closes
The car door information of car door and the temporal information of closed door；Control according to the instruction of described Car's door controlling
Being turned on and off of car door.
Second aspect, this application provides a kind of device controlling car door, and described device includes:
Monitoring information acquiring unit, for when monitoring the transport condition change information of vehicle, obtains
Monitoring information and car external monitor information, described row in the car of corresponding described transport condition change information
Sail state change information and include by moving to static status information or parking waiting status information,
Image information and Che Nei acoustic information in described car, monitoring information includes car, described car external monitor
Information includes the outer image information of car and the outer acoustic information of car；Car's door controlling instruction acquiring unit, uses
In by described car, monitoring information and car external monitor information import the Car's door controlling model of training in advance
Carrying out coupling and obtain Car's door controlling instruction, described Car's door controlling model is used for characterizing monitoring letter in car
The corresponding relation that breath and car external monitor information instruct with Car's door controlling, described Car's door controlling instruction bag
Include car door information and the temporal information of opening car door of opening car door, or the car door letter of closed door
Breath and the temporal information of closed door；Performance element, for according to the instruction control of described Car's door controlling
Being turned on and off of car door processed.
The third aspect, this application provides a kind of system controlling car door, and described system includes
State the device controlling car door of second aspect.
What the application provided controls the method for car door, Apparatus and system, is first monitoring vehicle
Transport condition change information time, obtain monitoring information and car external monitor information in car, to obtain
Comprehensively information of vehicles；Then monitoring information in car and car external monitor information are imported Car's door controlling
Model carries out coupling and obtains Car's door controlling instruction, it is possible to be turned on and off car door making accurately
Judge, control being turned on and off of car door finally according to Car's door controlling instruction, farthest protect
Car door opening or the accuracy of closedown and safety are demonstrate,proved.
Accompanying drawing explanation
By reading retouching in detail with reference to made non-limiting example is made of the following drawings
Stating, other features, purpose and advantage will become more apparent upon:
Fig. 1 a is the flow chart of the method controlling car door according to the application；
Fig. 1 b is the flow chart setting up image recognition model according to the application；
Fig. 1 c is the flow chart setting up voice recognition model according to the application；
Fig. 2 is a signal of the application scenarios of the method controlling car door according to the present embodiment
Figure；
Fig. 3 is a structural representation of the device controlling car door according to the application；
Fig. 4 is the structural representation of an embodiment of the terminal unit according to the application.
Detailed description of the invention
With embodiment, the application is described in further detail below in conjunction with the accompanying drawings.It is appreciated that
, specific embodiment described herein is used only for explaining related invention, rather than to this
Bright restriction.It also should be noted that, for the ease of describe, accompanying drawing illustrate only with
About the part that invention is relevant.
It should be noted that in the case of not conflicting, the embodiment in the application and embodiment
In feature can be mutually combined.Describe this below with reference to the accompanying drawings and in conjunction with the embodiments in detail
Application.
Fig. 1 a shows flow process Figure 100 of the method controlling car door.As shown in Figure 1a, this reality
The method controlling car door executing example comprises the following steps:
Step 101, when monitoring the transport condition change information of vehicle, obtains corresponding described
Monitoring information and car external monitor information in the car of transport condition change information.
In motion, car door does not allows to be opened vehicle, when a vehicle is at rest, and car
Door can be opened.Therefore, at vehicle by when moving to static, car door can be opened；?
When vehicle remains static, car door can also be opened.Visible, transport condition change information
Can determine with Negotiation speed monitoring device or gps signal.
Whether car door is opened judge time, need to consider in car outside monitoring information and car
Monitoring information.Wherein, in car, monitoring information includes the content that occupant speaks, such as, " I
Get off ", " enabling ", " I go down XXX "；In in car, monitoring information can also include car
Image information, such as, the face-image of occupant, the location drawing picture of occupant.Outside car
Monitoring information includes the acoustic information outside car, such as, the sound of other vehicles of vehicle periphery, car
The sound of pedestrian (especially old people and minor), the sound of car owner, car owner around
According to these sound, the sound of family and friends, also can determine that other vehicles and pedestrian are relative to car
Distance and direction；Car external monitor information includes the image information outside car, such as, car owner's
Ambient image residing for the location drawing picture of location drawing picture, car owner household and friend, vehicle, surrounding
The image of other vehicles or the image of pedestrian.Therefore, the transport condition change letter of the present embodiment
Breath includes by moving to static status information or parking waiting status information.Monitoring in described car
Information includes that image information and Che Nei acoustic information in car, described car external monitor information include outside car
Image information and the outer acoustic information of car.In above-mentioned car, monitoring information and car external monitor information are permissible
Obtained by vehicle-mounted camera and sound pick-up outfit.
Step 102, imports training in advance by monitoring information in described car and car external monitor information
Car's door controlling model carries out coupling and obtains Car's door controlling instruction.
Wherein, described Car's door controlling model is used for characterizing monitoring information and car external monitor information in car
With the corresponding relation of Car's door controlling instruction, the instruction of described Car's door controlling includes the car door of opening car door
Information and the temporal information of opening car door, or the car door information of closed door and closed door time
Between information.
Car's door controlling model is trained by monitoring information in the car that collects and car external monitor information
Come, for by the acoustic information outside to Che Neiche and the analysis of image information, determine car owner and
The intention of related personnel, so control car door open or close in the time specified.
In some optional implementations of the present embodiment, the present embodiment method also includes setting up
The step of Car's door controlling model, may comprise steps of:
The first step, sets up image recognition model and voice recognition model respectively.
Seen from the above description, in car, monitoring information and car external monitor information include that image is believed respectively
Breath and acoustic information.Accordingly, it would be desirable to set up image recognition model and the voice recognition of correspondence respectively
Model, determines the Car's door controlling instruction of correspondence according to the image result identified and acoustic consequences.
That is, image information and the outer image information of car and car door in described image recognition model is used for characterizing car
The corresponding relation of control instruction, described voice recognition model is used for characterizing acoustic information and car in car
The corresponding relation that outer acoustic information instructs with Car's door controlling.
Second step, for the weights that described image recognition model and voice recognition model are differently configured,
Described image recognition model after weighting and the combination of voice recognition model are obtained Car's door controlling mould
Type.
For different car owners, the household of car owner and friend, they get on the bus or get off and often go out
Existing motor habit and custom of speaking have (including speak content, tone color of speaking) spy of oneself
Point, and, can be judged more accurately by certain action or sound.To this end, it is permissible
Configure weights for corresponding image recognition model and voice recognition model, and weights can not be identical,
Necessary weights are big, and another weights are little, image recognition model and voice recognition otherwise occur
When the judged result of model is inconsistent, it is impossible to provide definite Car's door controlling instruction.
In some optional implementations of the present embodiment, set up the flow process of image recognition model
Figure 102 1 as shown in Figure 1 b, may comprise steps of:
Step 10211, carries in image information image information and history car respectively in history car
The car of sample image information outer sample image letter in interior sample image information of picking up the car and the described car of correspondence
Breath.
Before training image identification model, need first to gather various image information (i.e. history car
Interior image information and the outer image information of history car), such as, in driver's facial image information, car
The position image information of personnel, the motion images information of occupant, the location drawing of the outer personnel of car
As in information, the motion images information of the outer personnel of car, distance car setpoint distance image information (as
Image information at the image information of automobile tail, automobile tire) etc..Get above-mentioned each
After planting image information, pick out from these image informations and opening door of vehicle or relevant figure of closing the door
As information is as sample image information.Such as, will from personnel in car, door opening, personnel
Car, close image information corresponding to car door as the sample image information got off；Personnel are outer at car,
Door opening, personnel get on the bus, close image information corresponding to car door as the sample image information got on the bus.
Can also be using the image information at tailstock when getting on the bus or get off or the image information at tire as sample
This image information, further increases the safety got on the bus or get off.
Step 10212, respectively sample image information sample image information and car in described car
In filter out and meet sample image characteristic information and the outer sample image of car in the first car imposed a condition
Characteristic information.
Wherein, described first impose a condition and include in time conditions, operation condition and locality condition
At least one.
After getting the sample image information got off and the sample image information got on the bus, by getting off
Sample image information time corresponding with the sample image information got on the bus, action and position extract
Corresponding sample image characteristic information.Such as, each sample that process of getting off is corresponding with the process of getting on the bus
The time order and function order information of this image information, action change information and change in location information etc..
Step 10213, searches sample image characteristic information and the outer sample graph of car in corresponding described car
The first history Car's door controlling instruction as characteristic information.
Get in car after sample image characteristic information and the outer sample image characteristic information of car, permissible
Determine concrete behavior of getting off and behavior of getting on the bus, and then obtain the first history Car's door controlling of correspondence
Instruction, described first history Car's door controlling instruction includes door open command or instruction of closing the door, it is also possible to
Including specifically opening which car door.
Step 10214, utilizes machine learning method, believes based on sample image feature in described car
The outer sample image characteristic information of breath, car and the instruction of the first history Car's door controlling, training obtains image
Identify model.
By existing multiple machine learning method, by outside sample image characteristic information in car and car
Sample image characteristic information is as input information, using the first history Car's door controlling instruction as output
Information, sets up sample image characteristic information and the outer sample image characteristic information and first of car in car and goes through
The corresponding relation of history Car's door controlling instruction, obtains image recognition model.
In some optional implementations of the present embodiment, set up the flow process of voice recognition model
Figure 102 2 as illustrated in figure 1 c, may comprise steps of:
Step 10221, carries in acoustic information acoustic information and history car respectively in history car
The car of sample audio information outer sample audio letter in interior sample audio information of picking up the car and the described car of correspondence
Breath.
Before training voice recognition model, need first to gather various acoustic information (i.e. history car
Interior acoustic information and the outer acoustic information of history car), such as, the acoustic information of driver (includes man
Sound, female voice, accent), the acoustic information of other staff (may determine that it the most further in car
His personnel position in car), sound equipment or the acoustic information of broadcast in car, car other vehicles outer
The sound of the outer bicycle of acoustic information, the acoustic information of goers outside vehicle, car.Get above-mentioned
After various acoustic informations, pick out from these acoustic informations and opening door of vehicle or close the door relevant
Acoustic information is as sample audio information.Such as, will from personnel in car, door opening, personnel
Get off, close acoustic information corresponding to car door as the sample audio information got off；By personnel at car
Outward, door opening, personnel get on the bus, close acoustic information corresponding to car door as the sample audio got on the bus
Information.Can also be by the acoustic information of other vehicles when getting on the bus or get off and the acoustic information of pedestrian
As sample audio information, further increase the safety got on the bus or get off.
Step 10222, respectively sample audio information sample audio information and car in described car
In filter out and meet sample audio characteristic information and the outer sample audio of car in the second car imposed a condition
Characteristic information.
Wherein, described second impose a condition and include voice content condition, voice direction condition and set
At least one in standby audio conditions.
After getting the sample audio information got off and the sample audio information got on the bus, by getting off
Sample audio information voice content (" get off ", " I corresponding with the sample audio information got on the bus
Go down XXX "), voice direction and equipment sound (air-conditioning sound, broadcast sounds, electromotor sound
Sound) extract corresponding sample audio characteristic information.Such as, process of getting off is corresponding with the process of getting on the bus
The voice content change information of each sample image information, voice direction change information and equipment
Sound variation information etc..
Step 10223, searches sample audio characteristic information and the outer sample sound of car in corresponding described car
Second history Car's door controlling instruction of sound characteristic information.
Get in car after sample audio characteristic information and the outer sample audio characteristic information of car, permissible
Determine concrete behavior of getting off and behavior of getting on the bus, and then obtain the second history Car's door controlling of correspondence
Instruction, described second history Car's door controlling instruction includes door open command or instruction of closing the door, it is also possible to
Including specifically opening which car door.
Step 10224, utilizes machine learning method, believes based on sample audio feature in described car
The outer sample audio characteristic information of breath, car and the instruction of the second history Car's door controlling, training obtains sound
Identify model.
By existing multiple machine learning method, by outside sample audio characteristic information in car and car
Sample audio characteristic information is as input information, using the second history Car's door controlling instruction as output
Information, sets up sample audio characteristic information and the outer sample audio characteristic information and second of car in car and goes through
The corresponding relation of history Car's door controlling instruction, obtains voice recognition model.
In some optional implementations of the present embodiment, described by monitoring information in described car
Carry out coupling with the Car's door controlling model of car external monitor information importing training in advance and obtain Car's door controlling
Instruction may comprise steps of:
The first step, by image information in the car of monitoring information in described car and car external monitor information
The outer image information of car imports described image recognition model, obtains the first Car's door controlling instruction.
After obtaining above-mentioned image recognition model, by outer to image information in current car and car image letter
Breath imports described image recognition model, obtains the first Car's door controlling instruction, and the first Car's door controlling refers to
Order can include controlling which car door, when opening and when close.
Second step, by acoustic information in the car of monitoring information in described car and car external monitor information
The outer acoustic information of car imports described voice recognition model, obtains the second Car's door controlling instruction.
The process obtaining the second Car's door controlling instruction is similar with obtaining the first Car's door controlling instruction, this
Place repeats no more.
3rd step, when described first Car's door controlling instruction is identical with the second Car's door controlling instruction,
Then Car's door controlling instruction is identical with described first Car's door controlling instruction or the second Car's door controlling instruction,
Otherwise, during Car's door controlling instruction instructs with described first Car's door controlling instruction and the second Car's door controlling
Weights the greater is identical.
Wherein, weights the greater during described first Car's door controlling instruction and the second Car's door controlling instruct
Identical.
The first Car's door controlling obtained by image recognition model is instructed and by voice recognition model
The the second Car's door controlling instruction obtained may be identical, it is also possible to different, when the first Car's door controlling refers to
When making identical with the second Car's door controlling instruction, illustrate that the probability opened the door or close the door is the highest；When
When one Car's door controlling instruction is different with the second Car's door controlling instruction, image information harmony message is described
The result that breath obtains is different, at this time, it may be necessary to according to image recognition model and voice recognition model
Weights judge.The size of weights determines the excellent of image recognition model and voice recognition model
First level, the first Car's door controlling instruction obtained by image recognition model and voice recognition model and
Second Car's door controlling instruction is also corresponding with these weights.When the first Car's door controlling instruction and the second car door
During control instruction difference, Car's door controlling instruction (the first car that Car's door controlling instruction is bigger with weights
Gate control instruction or the instruction of the second Car's door controlling) identical.That is, Car's door controlling instruction is known with image
The first Car's door controlling instruction or second that in other model and voice recognition model, weights the greater obtains
Car's door controlling instruction is identical.
Step 103, controls being turned on and off of car door according to the instruction of described Car's door controlling.
After obtaining Car's door controlling instruction, the motor on car door can be controlled to control the unlatching of car door
Or close.
In some optional implementations of the present embodiment, described refer to according to described Car's door controlling
Order controls the opening and closing of car door can include following two situation:
The first, is when described transport condition change information is by when moving to static status information,
Instruct opening car door according to described Car's door controlling, and nobody gets on the bus within the first setting time
Or when getting off, closed door, otherwise, keep closing of the door state.
Car's door controlling instruction generally includes opening car door and closed door, when Car's door controlling instruction is
During opening car door, then open car door, and when detection has people to get on the bus or gets off, keep car door to beat
Open state, when getting on the bus or got off, closed door；When Car's door controlling instruction is for closing car
Men Shi, owing to vehicle moves in quiescing process, car door is originally closed, and therefore, protects
Hold closing of the door state.
The second, when described transport condition change information is parking waiting status information, according to
Described Car's door controlling instruction opening car door, and within the second setting time nobody get on the bus or under
Che Shi, closed door, otherwise, keep closing of the door state.
During parking waiting state to the control process of car door and vehicle by when moving to static to car door
Control process be similar to, here is omitted.
It is the applied field of the method controlling car door according to the present embodiment with continued reference to Fig. 2, Fig. 2
One schematic diagram of scape.Fig. 2 shows that automobile A goes out situation when stopping at traffic lights.By upper
Stating analysis to understand, the technical scheme of the application is can be obtained by when moving to static and parking waiting
Monitoring information and car external monitor information in car, and then control being turned on and off of car door.If
Parking stall parking, then the first car door control obtained according to monitoring information in car and car external monitor information
It is a lot of that system instruction instructs identical ratio regular meeting with the second Car's door controlling, easily makes accurate judgment.
The present embodiment runs into the situation that traffic lights stop in the process of moving to be come technical scheme
Illustrate.Stop at traffic light automobile A, monitor the transport condition change letter of automobile A
Breath, now obtains monitoring information and car external monitor information in car.Now, car external monitor information energy
Image information and acoustic information, Yi Jiqi that pedestrian quickly moves at motor vehicle environment enough detected
His vehicle and the image information of motorcycle and acoustic information, moreover it is possible to obtain the image of traffic lights.This
Time, even if there are the acoustic information of " getting off " etc in car being detected, or action diagram of getting off
Picture, the Car's door controlling instruction obtained by Car's door controlling model is also to maintain the operation of closing of the door.
In like manner, when in vehicle is dead ship condition, and car nobody time (car door now should be close
), if occurring in that other vehicles or pedestrians around car, even if detecting the outer personnel's of car
With corresponding image information and the acoustic information of opening the door, the Car's door controlling that Car's door controlling model obtains refers to
Order is also to maintain the operation of closing of the door.
The method that above-described embodiment of the application provides, is first monitoring the transport condition of vehicle
During change information, obtain monitoring information and car external monitor information in car, to obtain comprehensive vehicle
Information；Then monitoring information in car and car external monitor information import Car's door controlling model carry out
Join and obtain Car's door controlling instruction, it is possible to car door is turned on and off making accurately judgement, finally
Control being turned on and off of car door according to Car's door controlling instruction, farthest ensure that car door is opened
The accuracy opening or closing and safety.
With further reference to Fig. 3, as to the realization of method shown in above-mentioned each figure, the application provides
One embodiment of a kind of device controlling car door, this device embodiment and the side shown in Fig. 1
Method embodiment is corresponding.
As it is shown on figure 3, the present embodiment above-mentioned control car door device 300 include: monitoring letter
Breath acquiring unit 301, Car's door controlling instruction acquiring unit 302 and performance element 303.Wherein,
Monitoring information acquiring unit 301, for when monitoring the transport condition change information of vehicle, obtains
Take monitoring information and car external monitor information in the car of corresponding described transport condition change information, described
Transport condition change information includes by moving to static status information or parking waiting state letter
Breath, image information and Che Nei acoustic information in described car, monitoring information includes car, outside described car
Monitoring information includes the outer image information of car and the outer acoustic information of car；Car's door controlling instruction acquiring unit
302 for importing the car door control of training in advance by monitoring information in described car and car external monitor information
Simulation carries out coupling and obtains Car's door controlling instruction, and described Car's door controlling model is used for characterizing in car
The corresponding relation that monitoring information and car external monitor information instruct with Car's door controlling, described Car's door controlling
Instruction includes car door information and the temporal information of opening car door of opening car door, or closed door
Car door information and the temporal information of closed door；Performance element 303 is for according to described car door control
System instruction controls being turned on and off of car door.
In some optional implementations of the present embodiment, the device 300 controlling car door also wraps
Include: Car's door controlling model construction unit (not shown), be used for setting up Car's door controlling model,
Including: model construction subelement (not shown) and model group zygote unit (do not show in figure
Go out).Wherein, model construction subelement is for setting up image recognition model and voice recognition mould respectively
Type, described image recognition model is used for characterizing image information and car image information and car door outward in car
The corresponding relation of control instruction, described voice recognition model is used for characterizing acoustic information and car in car
The corresponding relation that outer acoustic information instructs with Car's door controlling；Model group zygote unit is for for described
Image recognition model and the differently configured weights of voice recognition model, by the described image after weighting
Identify that model and the combination of voice recognition model obtain Car's door controlling model.
In some optional implementations of the present embodiment, described model construction subelement includes
Image recognition model training module (not shown), including: sample image information retrieval submodule
Block (not shown), sample image feature information extraction submodule (not shown),
Submodule (not shown) and image recognition model training are searched in one history Car's door controlling instruction
Submodule (not shown).Wherein, sample image information retrieval submodule is for respectively from going through
Shi Chenei image information and the outer image information of history car extract sample image information and correspondence in car
The outer sample image information of the car of sample image information in described car；Sample image feature information extraction
Submodule is for screening in the sample image information of sample image information and car in described car respectively
Go out to meet sample image characteristic information and car outer sample image feature letter in the first car imposed a condition
Breath, described first imposes a condition includes in time conditions, operation condition and locality condition at least
One；First history Car's door controlling instruction is searched submodule and is used for searching sample in corresponding described car
Image feature information and the first history Car's door controlling instruction of the outer sample image characteristic information of car, institute
State the first history Car's door controlling instruction and include door open command or instruction of closing the door；Image recognition model is instructed
Practice submodule to be used for utilizing machine learning method, based on sample image characteristic information in described car,
The outer sample image characteristic information of car and the instruction of the first history Car's door controlling, training obtains image recognition
Model.
In some optional implementations of the present embodiment, described model construction subelement includes
Voice recognition model training module (not shown), including: sample audio information retrieval submodule
Block (not shown), sample audio feature information extraction submodule (not shown),
Submodule (not shown) and voice recognition model training are searched in two history Car's door controlling instructions
Submodule (not shown).Wherein, sample audio information retrieval submodule is for respectively from going through
Shi Chenei acoustic information and the outer acoustic information of history car extract sample audio information and correspondence in car
The outer sample audio information of the car of sample audio information in described car；Sample audio feature information extraction
Submodule is for screening in the sample audio information of sample audio information and car in described car respectively
Go out to meet sample audio characteristic information and car outer sample audio feature letter in the second car imposed a condition
Breath, described second imposes a condition includes voice content condition, voice direction condition and equipment sound
At least one in condition；Second history Car's door controlling instruction is searched submodule and is used for searching correspondence
Sample audio characteristic information and the second history car door of the outer sample audio characteristic information of car in described car
Control instruction, described second history Car's door controlling instruction includes door open command or instruction of closing the door；Sound
Sound identification model training submodule is used for utilizing machine learning method, based on sample sound in described car
The outer sample audio characteristic information of sound characteristic information, car and the instruction of the second history Car's door controlling, training
Obtain voice recognition model.
In some optional implementations of the present embodiment, the instruction of described Car's door controlling obtains single
Unit 302 includes: the first Car's door controlling instruction obtains subelement (not shown), the second car door
Control instruction obtains subelement (not shown) and Car's door controlling instruction determines subelement (figure
Not shown in).Wherein, the first Car's door controlling instruction obtains subelement for monitoring in described car
In the car of information, the outer image information of the car of image information and car external monitor information imports the knowledge of described image
Other model, obtains the first Car's door controlling instruction；Second Car's door controlling instruction obtains subelement and is used for
By outer for the car of acoustic information in the car of monitoring information in described car and car external monitor information acoustic information
Import described voice recognition model, obtain the second Car's door controlling instruction；Car's door controlling instruction determines
Subelement is used for when described first Car's door controlling instruction is identical with the second Car's door controlling instruction, then
Car's door controlling instruction is identical with described first Car's door controlling instruction or the second Car's door controlling instruction, no
Then, Car's door controlling instruction is weighed in described first Car's door controlling instruction and the instruction of the second Car's door controlling
Value the greater is identical.
In some optional implementations of the present embodiment, described performance element 303 includes
One performs subelement (not shown) and second performs subelement (not shown).Wherein,
First performs subelement is used at described transport condition change information being by moving to static state
During information, instruct opening car door, nobody within the first setting time according to described Car's door controlling
When getting on the bus or get off, closed door, otherwise, keep closing of the door state；Second performs son list
Unit is for when described transport condition change information is parking waiting status information, according to described car
Gate control instruction opening car door, when within the second setting time, nobody gets on the bus or gets off, closes
Car door, otherwise, keeps closing of the door state.
The present embodiment additionally provides a kind of system controlling car door, and described system includes above-mentioned control
The device of car door processed.
Below with reference to Fig. 4, it illustrates the terminal unit be suitable to for realizing the embodiment of the present application
The structural representation of computer system 400.
As shown in Figure 4, computer system 400 includes CPU (CPU) 401, its
Can be according to the program being stored in read only memory (ROM) 402 or from storage part 408
It is loaded into the program in random access storage device (RAM) 403 and performs various suitable action
And process.In RAM403, also storage has system 400 to operate required various program sums
According to.CPU401, ROM402 and RAM403 are connected with each other by bus 404.Input/
Output (I/O) interface 405 is also connected to bus 404.
It is connected to I/O interface 405: include the importation of touch-control entr screen etc. with lower component
406；Output part 407 including such as liquid crystal display (LCD) and speaker etc.；Bag
Include the storage part 408 of flash memory, hard disk etc.；And include such as LAN card, modem
Deng the communications portion 409 of NIC.Communications portion 409 is via the net of such as the Internet
Network performs communication process.Driver 410 is connected to I/O interface 405 also according to needs.Detachably
Medium 411, such as disk, CD, magneto-optic disk, semiconductor memory etc., as required
It is arranged in driver 410, in order to the computer program read from it is pacified as required
Load storage part 408.
Especially, according to embodiment of the disclosure, the process described above with reference to flow chart is permissible
It is implemented as computer software programs.Such as, embodiment of the disclosure and include a kind of computer journey
Sequence product, it includes the computer program being tangibly embodied on machine readable media, above-mentioned meter
Calculation machine program comprises the program code for performing the method shown in flow chart.In such enforcement
In example, this computer program can be downloaded and installed from network by communications portion 409,
And/or be mounted from detachable media 411.
Flow chart in accompanying drawing and block diagram, it is illustrated that according to the various embodiment of the application system,
Architectural framework in the cards, function and the operation of method and computer program product.This point
On, each square frame in flow chart or block diagram can represent a module, program segment or code
A part, a part for above-mentioned module, program segment or code comprise one or more for
Realize the executable instruction of the logic function of regulation.It should also be noted that at some as replacement
In realization, the function marked in square frame can also be sent out to be different from the order marked in accompanying drawing
Raw.Such as, two square frames succeedingly represented can essentially perform substantially in parallel, they
Sometimes can also perform in the opposite order, this is depending on involved function.It is also noted that
It is, the square frame in each square frame in block diagram and/or flow chart and block diagram and/or flow chart
Combination, can realize by the special hardware based system of the function or operation that perform regulation,
Or can realize with the combination of specialized hardware with computer instruction.
Being described in the embodiment of the present application involved unit can be real by the way of software
Existing, it is also possible to realize by the way of hardware.Described unit can also be arranged on process
In device, for example, it is possible to be described as: a kind of processor includes monitoring information acquiring unit, car door
Control instruction acquiring unit and performance element.Wherein, the title of these unit is under certain conditions
It is not intended that the restriction to this unit itself.Such as, performance element is also described as " using
In the unit performing Car's door controlling instruction ".
As on the other hand, present invention also provides a kind of nonvolatile computer storage media,
This nonvolatile computer storage media can be in above-described embodiment included in said apparatus
Nonvolatile computer storage media；Can also be individualism, be unkitted allocate in terminal non-
Volatile computer storage medium.Above-mentioned nonvolatile computer storage media storage have one or
The multiple program of person, when said one or multiple program are performed by an equipment so that above-mentioned
Equipment: when monitoring the transport condition change information of vehicle, obtains corresponding described transport condition
Monitoring information and car external monitor information in the car of change information, described transport condition change information bag
Include by moving to static status information or parking waiting status information, monitoring information in described car
Including image information in car and Che Nei acoustic information, described car external monitor information includes the outer image of car
Information and the outer acoustic information of car；
Monitoring information in described car and car external monitor information are imported the Car's door controlling mould of training in advance
Type carries out coupling and obtains Car's door controlling instruction, and described Car's door controlling model is used for characterizing monitoring in car
The corresponding relation that information and car external monitor information instruct with Car's door controlling, described Car's door controlling instructs
Including car door information and the temporal information of opening car door of opening car door, or the car door of closed door
Information and the temporal information of closed door；
Being turned on and off of car door is controlled according to the instruction of described Car's door controlling.
Above description is only the preferred embodiment of the application and saying institute's application technology principle
Bright.It will be appreciated by those skilled in the art that invention scope involved in the application, do not limit
In the technical scheme of the particular combination of above-mentioned technical characteristic, also should contain simultaneously without departing from
In the case of described inventive concept, above-mentioned technical characteristic or its equivalent feature carry out combination in any
And other technical scheme formed.Such as features described above and (but not limited to) disclosed herein
The technical characteristic with similar functions is replaced mutually and the technical scheme that formed.
Claims (13)
1. the method controlling car door, it is characterised in that described method includes:
When monitoring the transport condition change information of vehicle, obtain corresponding described transport condition and become
Monitoring information and car external monitor information in the car of change information, described transport condition change information includes
By moving to static status information or parking waiting status information, monitoring information bag in described car
Including image information and Che Nei acoustic information in car, described car external monitor information includes car outer image letter
Breath and the outer acoustic information of car；
Monitoring information in described car and car external monitor information are imported the Car's door controlling mould of training in advance
Type carries out coupling and obtains Car's door controlling instruction, and described Car's door controlling model is used for characterizing monitoring in car
The corresponding relation that information and car external monitor information instruct with Car's door controlling, described Car's door controlling instructs
Including car door information and the temporal information of opening car door of opening car door, or the car door of closed door
Information and the temporal information of closed door；
Being turned on and off of car door is controlled according to the instruction of described Car's door controlling.
Method the most according to claim 1, it is characterised in that described method also includes:
Set up the step of Car's door controlling model, including:
Setting up image recognition model and voice recognition model respectively, described image recognition model is used for
The corresponding relation that in sign car, image information and the outer image information of car instruct with Car's door controlling, described
Voice recognition model is used for characterizing acoustic information and the outer acoustic information of car in car and instructs with Car's door controlling
Corresponding relation；
For the weights that described image recognition model and voice recognition model are differently configured, incite somebody to action after weighting
Described image recognition model and voice recognition model combination obtain Car's door controlling model.
Method the most according to claim 2, it is characterised in that described set up image recognition
Model includes:
Image information is extracted image information and history car in history car sample graph respectively in car
As the outer sample image information of the car of sample image information in information and the described car of correspondence；
Sample image information and car, sample image information filters out in described car respectively and meet
Sample image characteristic information and the outer sample image characteristic information of car, institute in first car imposed a condition
State first to impose a condition at least one included in time conditions, operation condition and locality condition；
Search sample image characteristic information and the outer sample image characteristic information of car in corresponding described car
First history Car's door controlling instruction, described first history Car's door controlling instruction include door open command or
Close the door instruction；
Utilize machine learning method, based on sample image characteristic information, the outer sample of car in described car
Image feature information and the instruction of the first history Car's door controlling, training obtains image recognition model.
Method the most according to claim 2, it is characterised in that described set up voice recognition
Model includes:
Acoustic information extracts acoustic information and history car in history car sample sound respectively in car
The outer sample audio information of the car of sample audio information in message breath and the described car of correspondence；
Sample audio information and car, sample audio information filters out in described car respectively and meet
Sample audio characteristic information and the outer sample audio characteristic information of car, institute in second car imposed a condition
State second to impose a condition and include in voice content condition, voice direction condition and equipment audio conditions
At least one；
Search sample audio characteristic information and the outer sample audio characteristic information of car in corresponding described car
Second history Car's door controlling instruction, described second history Car's door controlling instruction include door open command or
Close the door instruction；
Utilize machine learning method, based on sample audio characteristic information, the outer sample of car in described car
Sound characteristic information and the instruction of the second history Car's door controlling, training obtains voice recognition model.
Method the most according to claim 2, it is characterised in that described will in described car supervise
The Car's door controlling model of measurement information and car external monitor information importing training in advance carries out coupling and obtains car
Gate control instruction includes:
By outer for the car of image information in the car of monitoring information in described car and car external monitor information image
Information imports described image recognition model, obtains the first Car's door controlling instruction；
By outer for the car of acoustic information in the car of monitoring information in described car and car external monitor information sound
Information imports described voice recognition model, obtains the second Car's door controlling instruction；
When described first Car's door controlling instruction is identical with the second Car's door controlling instruction, then car door control
System instruction is identical with described first Car's door controlling instruction or the second Car's door controlling instruction, otherwise, and car
Gate control instruction is bigger with weights in described first Car's door controlling instruction and the instruction of the second Car's door controlling
Person is identical.
Method the most according to claim 2, it is characterised in that described according to described car door
Control instruction controls the opening and closing of car door and includes:
When described transport condition change information is by when moving to static status information, according to institute
State Car's door controlling instruction opening car door, and nobody gets on the bus or gets off within the first setting time
Time, closed door, otherwise, keep closing of the door state；
When described transport condition change information is parking waiting status information, according to described car door
Control instruction opening car door, and when within the second setting time, nobody gets on the bus or gets off, close
Close car door, otherwise, keep closing of the door state.
7. the device controlling car door, it is characterised in that described device includes:
Monitoring information acquiring unit, is used for when monitoring the transport condition change information of vehicle,
Obtain monitoring information and car external monitor information, institute in the car of corresponding described transport condition change information
State transport condition change information to include by moving to static status information or parking waiting state letter
Breath, image information and Che Nei acoustic information in described car, monitoring information includes car, outside described car
Monitoring information includes the outer image information of car and the outer acoustic information of car；
Car's door controlling instruction acquiring unit, for believing monitoring information in described car and car external monitor
The Car's door controlling model of breath importing training in advance carries out coupling and obtains Car's door controlling instruction, described car
Gate control model monitoring information and car external monitor information and Car's door controlling in characterizing car instruct
Corresponding relation, the instruction of described Car's door controlling includes the car door information of opening car door and opening car door
Temporal information, or the car door information of closed door and the temporal information of closed door；
Performance element, for controlling being turned on and off of car door according to the instruction of described Car's door controlling.
Device the most according to claim 7, it is characterised in that described device also includes:
Car's door controlling model construction unit, is used for setting up Car's door controlling model, including:
Model construction subelement, for setting up image recognition model and voice recognition model respectively,
Described image recognition model is used for characterizing image information and car image information and Car's door controlling outward in car
The corresponding relation of instruction, described voice recognition model is used for characterizing acoustic information and the outer sound of car in car
The corresponding relation that message breath instructs with Car's door controlling；
Model group zygote unit, for configuring for described image recognition model and voice recognition model
Different weights, obtain the described image recognition model after weighting and the combination of voice recognition model
Car's door controlling model.
Device the most according to claim 8, it is characterised in that described model construction list
Unit includes image recognition model training module, including:
Sample image information retrieval submodule, for image information and history in history car respectively
The outer image information of car is extracted in car sample image information in sample image information and the described car of correspondence
The outer sample image information of car；
Sample image feature information extraction submodule, for sample image letter in described car respectively
Breath and the outer sample image information of car filter out sample image in meeting the first car imposed a condition special
Reference breath and the outer sample image characteristic information of car, described first imposes a condition include time conditions,
At least one in operation condition and locality condition；
Submodule is searched in first history Car's door controlling instruction, is used for searching sample in corresponding described car
Image feature information and the first history Car's door controlling instruction of the outer sample image characteristic information of car, institute
State the first history Car's door controlling instruction and include door open command or instruction of closing the door；
Image recognition model training submodule, is used for utilizing machine learning method, based on described car
The outer sample image characteristic information of interior sample image characteristic information, car and the first history Car's door controlling refer to
Order, training obtains image recognition model.
Device the most according to claim 8, it is characterised in that described model construction
Unit includes voice recognition model training module, including:
Sample audio information retrieval submodule, for acoustic information and history in history car respectively
The outer acoustic information of car extracts in car sample audio information in sample audio information and the described car of correspondence
The outer sample audio information of car；
Sample audio feature information extraction submodule, for sample audio letter in described car respectively
Breath and the outer sample audio information of car filter out sample audio in meeting the second car imposed a condition special
Reference breath and the outer sample audio characteristic information of car, described second imposes a condition includes voice content bar
At least one in part, voice direction condition and equipment audio conditions；
Submodule is searched in second history Car's door controlling instruction, is used for searching sample in corresponding described car
Sound characteristic information and the second history Car's door controlling instruction of the outer sample audio characteristic information of car, institute
State the second history Car's door controlling instruction and include door open command or instruction of closing the door；
Voice recognition model training submodule, is used for utilizing machine learning method, based on described car
The outer sample audio characteristic information of interior sample audio characteristic information, car and the second history Car's door controlling refer to
Order, training obtains voice recognition model.
11. devices according to claim 8, it is characterised in that described Car's door controlling refers to
Acquiring unit is made to include:
First Car's door controlling instruction obtains subelement, for by the car of monitoring information in described car
The outer image information of the car of image information and car external monitor information imports described image recognition model,
To the first Car's door controlling instruction；
Second Car's door controlling instruction obtains subelement, for by the car of monitoring information in described car
The outer acoustic information of the car of acoustic information and car external monitor information imports described voice recognition model,
To the second Car's door controlling instruction；
Car's door controlling instruction determines subelement, for when described first Car's door controlling instruction and second
When Car's door controlling instruction is identical, then Car's door controlling instruction and described first Car's door controlling instruction or the
Two Car's door controlling instructions are identical, otherwise, and Car's door controlling instruction and described first Car's door controlling instruction
Identical with weights the greater in the second Car's door controlling instruction.
12. devices according to claim 8, it is characterised in that described performance element bag
Include:
First performs subelement, is used at described transport condition change information as static by moving to
Status information time, according to described Car's door controlling instruct opening car door, and first set time
When interior nobody gets on the bus or gets off, closed door, otherwise, keep closing of the door state；
Second performs subelement, and being used at described transport condition change information is parking waiting state
During information, instruct opening car door according to described Car's door controlling, and do not have within the second setting time
When someone gets on the bus or gets off, closed door, otherwise, keep closing of the door state.
13. 1 kinds of systems controlling car door, it is characterised in that described system includes claim
The device controlling car door described in any one of 7-12.
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| CN201610274787.XA CN105909116B (en) | 2016-04-28 | 2016-04-28 | Control method, the apparatus and system of car door |
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|---|---|---|---|
| CN201610274787.XA CN105909116B (en) | 2016-04-28 | 2016-04-28 | Control method, the apparatus and system of car door |
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| CN105909116B (en) | 2017-08-04 |
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