CN112832615A - Safe door opening method, device and equipment for assisting passengers to get off and storage medium - Google Patents
Safe door opening method, device and equipment for assisting passengers to get off and storage medium Download PDFInfo
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- CN112832615A CN112832615A CN202110005051.3A CN202110005051A CN112832615A CN 112832615 A CN112832615 A CN 112832615A CN 202110005051 A CN202110005051 A CN 202110005051A CN 112832615 A CN112832615 A CN 112832615A
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- 238000000034 method Methods 0.000 title claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 230000008859 change Effects 0.000 claims description 38
- 230000004913 activation Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000013459 approach Methods 0.000 description 4
- 238000013500 data storage Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
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- 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
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- 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
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
- E05F15/655—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings specially adapted for vehicle wings
- E05F15/659—Control circuits therefor
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- 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
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- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention belongs to the technical field of automobiles, and discloses a safe door opening method, a safe door opening device, safe door opening equipment and a storage medium for assisting passengers to get off. The method comprises the following steps: acquiring current image information and seat sensor information in a vehicle; judging whether the passenger has the intention of getting off the vehicle according to the current image information and the seat sensor information; when the passenger has the intention of getting off the vehicle, determining whether the periphery of a side sliding door of the vehicle is in a safe state; when the periphery of the side sliding door of the vehicle is in a safe state, a control command is sent to the electric side sliding door controller, so that the electric side sliding door controller controls the side sliding door motor and the movement mechanism assembly to open the side sliding door. By the mode, when the situation that the passengers in the rear row have the intention of getting off the automobile and the periphery of the side sliding door of the automobile is in the safe state is judged, the side sliding door is automatically opened, the situation that the passengers in the rear row collide with a moving target close to the automobile when getting off the automobile is avoided, and the intelligence and the safety of the passengers in the rear row when getting off the automobile from the multipurpose automobile are improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a safe door opening method, a safe door opening device, safe door opening equipment and a storage medium for assisting passengers to get off.
Background
Along with the continuous improvement of the automobile intelligent degree, the requirements of consumers on the safety and the comfort of the automobile are higher and higher, a side sliding door of a multi-Purpose automobile (MPV) is large and heavy, rear passengers (particularly old people and children) need to manually push open the heavy side sliding door to get off, and the rear passengers are hard and inconvenient to use. The comfort, the convenience and the safety of getting on and off the bus by the passengers on the back row are improved, the competitiveness of MPV products is improved, most of the existing host plants adopt manual push-pull side sliding doors, and the other parts adopt electric opening side sliding doors, but the safety and the intelligence of getting off the bus by the passengers on the back row are not considered.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a safe door opening method, a safe door opening device, safe door opening equipment and a storage medium for assisting passengers to get off a vehicle, and aims to solve the technical problem of how to improve the safety and intelligence of rear passengers when the passengers get off the vehicle from a multipurpose vehicle.
To achieve the above object, the present invention provides a safe door opening method for assisting a passenger to get off a vehicle, the method comprising the steps of:
acquiring current image information and seat sensor information in a vehicle;
judging whether the passenger has the intention of getting off the vehicle or not according to the current image information and the seat sensor information;
determining whether the periphery of a side sliding door of the vehicle is in a safe state or not when the passenger has the intention of getting off the vehicle;
when being in safe state around the side sliding door of vehicle, send control command to electronic side sliding door controller to pass through electronic side sliding door controller control side sliding door motor and motion mechanism assembly open side sliding door.
Optionally, the determining whether the passenger has the intention to get off the vehicle according to the current image information and the seat sensor information includes:
judging whether the current image information is the same as a pre-stored passenger getting-off image sample or not;
when the current image information is the same as the image sample of getting off the passenger, judging whether the weight change information corresponding to the seat sensor information is the same as a pre-stored weight change sample;
and determining that the passenger has the intention to get off the vehicle when the weight change information is the same as the weight change sample.
Optionally, the determining whether the periphery of the side sliding door of the vehicle is in a safe state when the passenger intends to get off the vehicle comprises:
when the passenger has the intention of getting off the vehicle, acquiring the distance, the speed and the angle information between a target moving object outside the vehicle and the vehicle;
calculating collision time according to the distance, the vehicle speed and the angle information;
acquiring a pre-stored preset safety value, and judging whether the collision time is greater than the preset safety value;
and when the collision time is greater than the preset safety value, determining that the periphery of the side sliding door of the vehicle is in a safe state.
Optionally, after determining that the periphery of the side sliding door of the vehicle is in a safe state when the collision time is greater than the preset safe value, the method further includes:
and sending a control signal to the sound host machine so as to control the loudspeaker to send out voice prompt for getting off the vehicle safely through the sound host machine.
Optionally, after obtaining a pre-stored preset safety value and determining whether the collision time is greater than the preset safety value, the method further includes:
when the collision time is smaller than the preset safety value, determining that the periphery of a side sliding door of the vehicle is in a dangerous state;
when the periphery of a side sliding door of the vehicle is in a dangerous state, sending an opening forbidding signal to the electric side sliding door controller, and sending a control signal to the sound host machine so as to control a loudspeaker to send out voice prompt of getting-off danger through the sound host machine;
optionally, before the obtaining of the current image information and the seat sensor information in the vehicle, the method further comprises:
acquiring a current vehicle speed signal, a current gear signal and a current parking signal;
judging whether the current vehicle speed signal, the current gear signal and the current parking signal meet a preset parking requirement or not;
and when the current speed signal, the current gear signal and the current parking signal all meet the preset parking requirement, sending activation signals to a camera and a seat sensor which are installed in the vehicle, so that the camera and the seat sensor respectively acquire current image information and seat sensor information.
Optionally, after determining whether the current vehicle speed signal, the current gear signal, and the current parking signal meet a preset parking requirement, the method further includes:
and when the current vehicle speed signal, the current gear signal and the current parking signal meet the preset parking requirement, sending a control signal to an external turn signal lamp to control the external turn signal lamp to flicker.
In order to achieve the above object, the present invention also provides a safe door opening apparatus for assisting a passenger to get off a vehicle, the safe door opening apparatus including:
the acquisition module is used for acquiring current image information and seat sensor information in the vehicle;
the judging module is used for judging whether the passenger has the intention of getting off the vehicle according to the current image information and the seat sensor information;
the judging module is also used for determining whether the periphery of a side sliding door of the vehicle is in a safe state or not when the passenger has the intention of getting off the vehicle;
and the control module is used for sending a control command to the electric side sliding door controller when the side sliding door of the vehicle is in a safe state around, so that the side sliding door is opened by controlling the side sliding door motor and the movement mechanism assembly through the electric side sliding door controller.
Further, to achieve the above object, the present invention also proposes a safety door opening apparatus for assisting a passenger to get off a vehicle, the safety door opening apparatus for assisting a passenger to get off a vehicle comprising: the system comprises a memory, a processor and a safe door opening program for assisting passengers to get off the vehicle, wherein the safe door opening program is stored in the memory and can run on the processor, and the safe door opening program for assisting passengers to get off the vehicle is configured to realize the steps of the safe door opening method for assisting passengers to get off the vehicle.
In addition, in order to achieve the above object, the present invention further provides a storage medium, wherein the storage medium stores a safe door opening program for assisting the passengers to get off the vehicle, and the safe door opening program for assisting the passengers to get off the vehicle realizes the steps of the safe door opening method for assisting the passengers to get off the vehicle as described above when being executed by a processor.
The method comprises the steps of obtaining current image information and seat sensor information in a vehicle; judging whether the passenger has the intention of getting off the vehicle according to the current image information and the seat sensor information; when the passenger has the intention of getting off the vehicle, determining whether the periphery of a side sliding door of the vehicle is in a safe state; when the periphery of the side sliding door of the vehicle is in a safe state, a control command is sent to the electric side sliding door controller, so that the electric side sliding door controller controls the side sliding door motor and the movement mechanism assembly to open the side sliding door. By the mode, when the situation that passengers have the intention of getting off the vehicle and the periphery of the side sliding door of the vehicle is in a safe state is judged, the side sliding door is automatically opened, and the situation that the passengers on the rear row collide with a moving target close to the vehicle when getting off the vehicle is avoided.
Drawings
Fig. 1 is a schematic structural diagram of a safety door opening device for assisting passengers to get off a vehicle in a hardware operating environment according to an embodiment of the invention;
FIG. 2 is a schematic flow chart of a first embodiment of a method for assisting passengers to get off a vehicle for safe door opening according to the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of a safe door opening method for assisting passengers to get off a vehicle according to the present invention;
FIG. 4 is a schematic block diagram illustrating an exemplary embodiment of a method for assisting a passenger to get off a vehicle;
fig. 5 is a block diagram showing the structure of a first embodiment of a safety door opening apparatus for assisting an occupant to get off a vehicle according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a safety door opening device for assisting passengers to get off a vehicle in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the safety door opening apparatus for assisting a passenger to get off a vehicle may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of a security door opening device that assists passengers in alighting from the vehicle and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a security door opening program for assisting an occupant in getting off a vehicle.
In the safety door opening apparatus for assisting a passenger to get off the vehicle shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the safety door opening device for assisting the passengers to get off can be arranged in the safety door opening device for assisting the passengers to get off, the safety door opening device for assisting the passengers to get off calls a safety door opening program for assisting the passengers to get off, which is stored in the memory 1005, through the processor 1001, and executes the safety door opening method for assisting the passengers to get off, which is provided by the embodiment of the invention.
The embodiment of the invention provides a safe door opening method for assisting passengers to get off, and referring to fig. 2, fig. 2 is a flow schematic diagram of a first embodiment of the safe door opening method for assisting passengers to get off.
In this embodiment, the method for assisting the passengers to get off the vehicle safely includes the following steps:
step S10: current image information within the vehicle and seat sensor information is acquired.
It is understood that the main executing body of the present embodiment is a safety door opening device for assisting the passengers to get off, and the safety door opening device for assisting the passengers to get off may be an on-board computer, or may be a processor, a controller, a computer, and the like which are separately provided and communicate with an on-board sensor and an electric side sliding door controller, and the present embodiment is not limited thereto.
It should be noted that, taking the execution body as an example of the controller, the current image information is acquired by the in-vehicle camera, the seat sensor information is acquired by the seat sensor installed under the rear seat, and the controller is connected to the in-vehicle camera and the seat sensor.
Further, before step S10, the method further includes: acquiring a current vehicle speed signal, a current gear signal and a current parking signal; judging whether the current vehicle speed signal, the current gear signal and the current parking signal meet a preset parking requirement or not; and when the current speed signal, the current gear signal and the current parking signal all meet the preset parking requirement, sending activation signals to a camera and a seat sensor which are installed in the vehicle, so that the camera and the seat sensor respectively acquire current image information and seat sensor information.
It can be understood that the preset parking request is that the current vehicle speed signal is 0, the current gear signal is N gear or P gear, and the current parking signal is acquired. The parking signal includes a pull-up of a hand brake or an electric parking function, and is determined by detecting whether an electric parking button is pressed and whether the hand brake is pulled up. In the specific implementation, the control module is in communication connection with a vehicle Body Controller (BCM), when a driver stops a vehicle, the controller collects a current vehicle speed signal, a current gear signal and a current parking signal through the BCM, the signals are analyzed to determine whether a preset parking requirement is met, when the parking requirement is met, the vehicle is judged to be parked stably, and the control module sends an activation signal to a camera and a seat sensor which are installed in the vehicle through the BCM to avoid meaningless collection work of the camera and the seat sensor in the vehicle in the driving process. After receiving the BCM activation instruction, the camera in the vehicle starts to acquire the sitting posture change image information of the passengers in the back row and sends the information to the control module, and after receiving the BCM activation instruction, the seat sensor starts to acquire the weight change information of the passengers and sends the information to the control module.
After judging whether the current vehicle speed signal, the current gear signal and the current parking signal meet the preset parking requirement, the method further comprises the following steps: and when the current vehicle speed signal, the current gear signal and the current parking signal meet the preset parking requirement, sending a control signal to an external turn signal lamp to control the external turn signal lamp to flicker.
In order to prompt a nearby vehicle or a pedestrian, in the method of this embodiment, when determining that the vehicle is stationary, a corresponding control signal is sent to a vehicle Body Controller (BCM) to make the BCM control an external turn signal lamp to flash, so as to warn a moving target close to the vehicle to control the vehicle speed and the vehicle distance.
Step S20: and judging whether the passenger has the intention of getting off the vehicle or not according to the current image information and the seat sensor information.
It should be noted that the current image information includes posture information of the rear-row passenger, the seat sensor information includes weight information of the rear-row passenger, when the rear-row passenger gets up, the posture of the rear-row passenger changes, the weight pressure collected by the rear-row seat sensor changes, and whether the passenger has the intention to get off the vehicle can be determined through these change values.
Specifically, step S20 includes: judging whether the current image information is the same as a pre-stored passenger getting-off image sample or not; when the current image information is the same as the image sample of getting off the passenger, judging whether the weight change information corresponding to the seat sensor information is the same as a pre-stored weight change sample; and determining that the passenger has the intention to get off the vehicle when the weight change information is the same as the weight change sample.
It can be understood that, when receiving the current image information sent by the camera in the vehicle and the weight change information sent by the seat sensor, the control module performs feature extraction on the received image information and the weight change information, performs feature comparison with the image information sample and the weight change sample prestored in the data storage module, and determines whether the passenger has the intention to get off the vehicle according to the comparison result. Determining that the passenger has the intention to get off the vehicle when the current image information is the same as the passenger get off image sample and the weight change information is the same as the weight change sample.
Step S30: and when the passenger has the intention of getting off, determining whether the periphery of the side sliding door of the vehicle is in a safe state.
In a specific implementation, image information around the side sliding door can be acquired through cameras arranged in front of and behind the right rearview mirror, whether a moving object approaches or not is determined according to the image information, and when no moving object approaches, the situation that the periphery of the side sliding door of the vehicle is in a safe state is determined.
The motion parameters between the surrounding moving target and the vehicle can be collected through the vehicle front side angle millimeter wave radar and the vehicle rear side angle millimeter wave radar, and whether the surrounding of the side sliding door of the vehicle is in a safe state or not can be determined according to the motion parameters. The main executing body in this embodiment is described by taking the control module as an example, three of the vehicle front side angle millimeter wave radar and the vehicle rear side angle millimeter wave radar are slave angle millimeter wave radars, one is a master angle millimeter wave radar, and the slave angle millimeter wave radars transmit detection information to the master angle millimeter wave radar. The master/slave two-side angle millimeter wave radar detects the distance, the speed and the angle between the vehicle-mounted moving target and the vehicle in real time, calculates the collision time, compares the collision time with a set safety value prestored in the master angle millimeter wave radar, and sends the comparison result to the control module. And the control module receives a comparison result sent by the main angle millimeter wave radar and determines whether the periphery of the side sliding door of the vehicle is in a safe state or not according to the comparison result.
Step S40: when being in safe state around the side sliding door of vehicle, send control command to electronic side sliding door controller to pass through electronic side sliding door controller control side sliding door motor and motion mechanism assembly open side sliding door.
It can be understood that when the control module determines that the periphery of the side sliding door of the vehicle is in a safe state according to the comparison result sent by the main angle millimeter wave radar, the control module sends a control command to the electric side sliding door controller, so that the electric side sliding door controller controls the side sliding door motor and the moving mechanism assembly to open the side sliding door.
The embodiment obtains the current image information in the vehicle and the seat sensor information; judging whether the passenger has the intention of getting off the vehicle according to the current image information and the seat sensor information; when the passenger has the intention of getting off the vehicle, determining whether the periphery of a side sliding door of the vehicle is in a safe state; when the periphery of the side sliding door of the vehicle is in a safe state, a control command is sent to the electric side sliding door controller, so that the electric side sliding door controller controls the side sliding door motor and the movement mechanism assembly to open the side sliding door. According to the method, when the situation that the passengers have the intention of getting off the vehicle and the periphery of the side sliding door of the vehicle is in the safe state is judged, the side sliding door is automatically opened, and the situation that the passengers in the rear row collide with a moving target close to the vehicle when getting off the vehicle is avoided.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of a method for assisting passengers to get off a vehicle to safely open a door according to the present invention.
Based on the first embodiment, the step S30 of the safe door opening method for assisting the passenger to get off the vehicle according to the present embodiment includes:
step S301: and when the passenger has the intention of getting off the vehicle, acquiring the distance, the speed and the angle information between the target moving object outside the vehicle and the vehicle.
It should be noted that, when it is recognized that the passenger does not have the intention to get off the vehicle, both the speaker and the electric side sliding door do not act, and therefore, the vehicle is prevented from being temporarily stopped and being meaninglessly reminded and opened.
It can be understood that the embodiment collects the motion distance, the vehicle speed and the angle information between the surrounding moving target and the vehicle in real time through the vehicle front two-side angle millimeter wave radar and the vehicle rear two-side angle millimeter wave radar, the collection precision comprises the vehicle within 70m of the vehicle, the small electric motorcycle and the bicycle within 10m of the vehicle, the vehicle speed collection precision range is-200 km/h to +200km/h, and the angle range is 120 degrees (horizontal)3X 10 ° (pitch).
Step S302: and calculating the collision time according to the distance, the vehicle speed and the angle information.
Whether a collision occurs is determined according to the angle information, and when the two vehicles are likely to collide, the collision time is determined according to the distance between the two vehicles and the relative speed of the two vehicles.
Step S303: and acquiring a pre-stored preset safety value, and judging whether the collision time is greater than the preset safety value.
It should be noted that the control module obtains a pre-stored preset safety value from the main-angle millimeter wave radar. In a specific implementation, radar data collected by the master/slave angle millimeter wave radar can be analyzed and processed through the master angle millimeter wave radar, collision time is determined, the collision time is compared with a preset safety value prestored in the master angle millimeter wave radar, and a comparison result is sent to the control module.
Further, after step S303, the method further includes: when the collision time is smaller than the preset safety value, determining that the periphery of a side sliding door of the vehicle is in a dangerous state; when the periphery of a side sliding door of the vehicle is in a dangerous state, sending an opening forbidding signal to the electric side sliding door controller, and sending a control signal to the sound host machine so as to control a loudspeaker to send out voice prompt of getting-off danger through the sound host machine;
it can be understood that when the collision time is less than the preset safety value, it is determined that the periphery of the side sliding door of the vehicle is in a dangerous state, at this time, the electric side sliding door is prohibited from opening, in the concrete implementation, in order to avoid recognition errors, an emergency unlocking button is arranged on the vehicle, when the controller detects that the periphery of the side sliding door of the vehicle is in the dangerous state and starts an opening prohibition mode, a passenger sends an emergency unlocking instruction to the controller through the emergency unlocking button, so that the controller sends an opening control instruction to the electric side sliding door controller, and the side sliding door is opened by controlling the side sliding door motor and the moving mechanism assembly through the electric side sliding door controller.
When there is the car or has dangerous operating mode at the rear, send the pronunciation of getting off danger through stereo set host control speaker and remind, prevent that the passenger from not paying attention to the condition around the side sliding door, lead to the traffic accident.
Step S304: and when the collision time is greater than the preset safety value, determining that the periphery of the side sliding door of the vehicle is in a safe state.
It should be noted that, if the collision time is greater than the preset safety value, at this time, it is recognized that the passenger has the intention of getting off the vehicle, and the collision time is greater than the set safety value, the control module sends a signal to the sound host, the sound host controls the speaker to remind the user of 'getting off the vehicle' by voice, and the electric side sliding door controller controls the side sliding door motor and the moving mechanism assembly to open the side sliding door;
if the collision time is smaller than the set safety value, the passenger is identified to have the intention of getting off, the collision time is smaller than the set safety value, the control module sends a signal to the sound host, the sound host controls the loudspeaker to remind the driver of danger of getting off in a voice mode, and meanwhile, the electric side sliding door is not opened.
Further, after step S304, the method further includes: and sending a control signal to the sound host machine so as to control the loudspeaker to send out voice prompt for getting off the vehicle safely through the sound host machine.
It can be understood that the control module is also connected with the sound host, and sends a corresponding control signal to the sound host, so that the loudspeaker sends out a safe voice prompt for getting off, and thus, the passengers are reminded of getting off.
Referring to fig. 4, fig. 4 is a schematic block diagram illustrating a structure of a safe door opening method for assisting a passenger to get off the vehicle according to an embodiment of the present invention; fig. 4 is a schematic diagram illustrating an example, according to fig. 4, the execution main body of this embodiment is a control module, the control module is in communication connection with an in-vehicle camera, a seat sensor, a main angle millimeter wave radar, an electric side sliding door controller, a main audio unit, a BCM, an EMS (engine management system), a TCU (automatic transmission control unit), and an ESP (electronic stability program for vehicle body) through a CAN bus, the BCM controls an external turn signal lamp, the main audio unit controls a speaker, the electric side sliding door controller controls an electric side sliding door motor and a motion mechanism assembly, and the main angle millimeter wave radar controls a slave angle millimeter wave radar.
The specific work flow of each module is described by taking fig. 4 as an example:
the driver stops the vehicle; BCM gathers speed of a motor vehicle signal, gear signal, parking signal, and the signal satisfies simultaneously: the BCM controls an external turn signal lamp to flash if the vehicle speed signal is 0, a gear signal is N gear or P gear, and a parking signal (the manual brake is pulled up or the electric parking is acted), and is used for warning a moving target close to the vehicle to control the vehicle speed and the vehicle distance;
after the BCM collects the effective signals, the BCM sends an instruction to the camera and the seat sensor in the vehicle simultaneously to activate the camera and the seat sensor in the vehicle, so that the meaningless collection work of the camera and the seat sensor in the vehicle in the driving process is avoided.
After receiving a BCM activation instruction, the camera in the vehicle starts to acquire sitting posture change image information of the passengers in the back row and sends the information to the control module;
after receiving a BCM activation instruction, a seat sensor starts to acquire passenger weight change information and sends the information to a control module;
the control module receives image information sent by a camera in the vehicle and weight change information of the seat sensor, performs feature extraction on the received image information and weight change information, performs feature comparison on the image information and weight change information and image information samples and weight change samples prestored in the data storage module, and judges whether the passenger has the intention of getting off the vehicle according to the comparison result.
The master/slave angle millimeter wave radar detects the distance between a moving target close to the vehicle and the vehicle in real time (the distance between the vehicle and the vehicle is 70m and 10 m), the speed (the range is-200 to +200km/h) and the angle (the range is 120 degrees (horizontal degree))3 X 10 degrees (pitch)), calculating the collision time of the moving target and the vehicle, comparing the collision time with a set safety value prestored in a main angle millimeter wave radar, and sending the comparison result to a control module;
the control module receives a comparison result sent by the main corner millimeter wave radar, recognizes that a passenger has the intention of getting off, and the collision time is greater than a set safety value, the control module sends a signal to the sound host, the sound host controls the loudspeaker to remind 'safety of getting off' through voice, and meanwhile, the electric side sliding door controller controls the side sliding door motor and the movement mechanism assembly to open the side sliding door;
recognizing that the passengers have the intention of getting off, wherein the collision time is less than a set safety value, the control module sends a signal to the sound host, and the sound host controls the loudspeaker to remind the passengers of the danger of getting off in a voice mode, and meanwhile, the electric side sliding door is not opened;
the recognition that the passengers do not get off the bus is realized, the system loudspeaker and the electric side sliding door do not act, and therefore meaningless reminding and door opening of the temporary parking of the vehicle are prevented.
According to the method, when the passenger has the intention of getting off the vehicle, the distance, the speed and the angle information between the target moving object outside the vehicle and the vehicle are acquired; calculating collision time according to the distance, the vehicle speed and the angle information; acquiring a pre-stored preset safety value, and judging whether the collision time is greater than the preset safety value; when the collision time is larger than a preset safety value, the situation that the periphery of the side sliding door of the vehicle is in a safety state is judged, and when the periphery of the side sliding door of the vehicle is in the safety state, a control command is sent to the electric side sliding door controller so as to control the side sliding door motor and the moving mechanism assembly to open the side sliding door through the electric side sliding door controller. According to the method, whether the periphery of the side sliding door of the vehicle is in a safe state or not is judged according to the distance, the vehicle speed and the angle information between the target moving object outside the vehicle and the vehicle, when the situation that the passengers have the intention of getting off the vehicle and the periphery of the side sliding door of the vehicle is in the safe state is judged, the side sliding door is automatically opened, the situation that the passengers in the rear row collide with the moving target close to the vehicle when getting off the vehicle is avoided, the intention of getting off the vehicle is intelligently recognized by the method provided by the embodiment, the environment with poor sight is observed in rain, snow, fog and the like, the conditions outside the vehicle do not need to be observed by the passengers, the system can intelligently detect the conditions outside the vehicle, corresponding voice prompts are sent out when the vehicle is dangerous and safe, the side sliding door is automatically opened.
In addition, an embodiment of the present invention further provides a storage medium, where a safe door opening program for assisting a passenger to get off is stored, and when the safe door opening program for assisting the passenger to get off is executed by a processor, the steps of the safe door opening method for assisting the passenger to get off are implemented as described above.
Referring to fig. 5, fig. 5 is a block diagram illustrating a first embodiment of a safety door opening apparatus for assisting an occupant to get off a vehicle according to the present invention.
As shown in fig. 5, a safety door opening apparatus for assisting an occupant to get off a vehicle according to an embodiment of the present invention includes:
the acquiring module 10 is used for acquiring current image information in the vehicle and seat sensor information.
It should be noted that the current image information is acquired by an in-vehicle camera, the seat sensor information is acquired by a seat sensor installed under a rear seat, and the acquisition module 10 is connected to the in-vehicle camera and the seat sensor.
Further, the acquiring module 10 is further configured to acquire a current vehicle speed signal, a current gear signal, and a current parking signal; judging whether the current vehicle speed signal, the current gear signal and the current parking signal meet a preset parking requirement or not; and when the current speed signal, the current gear signal and the current parking signal all meet the preset parking requirement, sending activation signals to a camera and a seat sensor which are installed in the vehicle, so that the camera and the seat sensor respectively acquire current image information and seat sensor information.
It can be understood that the preset parking request is that the current vehicle speed signal is 0, the current gear signal is N gear or P gear, and the current parking signal is acquired. The parking signal includes a pull-up of a hand brake or an electric parking function, and is determined by detecting whether an electric parking button is pressed and whether the hand brake is pulled up. In the specific implementation, the obtaining module 10 is in communication connection with a vehicle Body Controller (BCM), when a driver stops a vehicle, the controller collects a current vehicle speed signal, a current gear signal and a current parking signal through the BCM, analyzes the signals, and determines whether a preset parking requirement is met, when the parking requirement is met, the vehicle is judged to be parked stably, and the obtaining module 10 sends an activation signal to a camera and a seat sensor installed in the vehicle through the BCM to avoid meaningless collection work of the camera and the seat sensor in the vehicle in the driving process. After receiving the BCM activation instruction, the in-vehicle camera starts to acquire the sitting posture change image information of the back-row passenger and sends the information to the acquisition module 10, and after receiving the BCM activation instruction, the seat sensor starts to acquire the weight change information of the passenger and sends the information to the acquisition module 10.
The obtaining module 10 is further configured to send a control signal to an external turn signal lamp when the current vehicle speed signal, the current gear signal, and the current parking signal all meet a preset parking requirement, so as to control the external turn signal lamp to flash.
In order to prompt a nearby vehicle or a pedestrian, in the method of this embodiment, when determining that the vehicle is stationary, a corresponding control signal is sent to a vehicle Body Controller (BCM) to make the BCM control an external turn signal lamp to flash, so as to warn a moving target close to the vehicle to control the vehicle speed and the vehicle distance.
And the judging module 20 is used for judging whether the passenger has the intention of getting off the vehicle according to the current image information and the seat sensor information.
It should be noted that the current image information includes posture information of the rear-row passenger, the seat sensor information includes weight information of the rear-row passenger, when the rear-row passenger gets up, the posture of the rear-row passenger changes, the weight pressure collected by the rear-row seat sensor changes, and whether the passenger has the intention to get off the vehicle can be determined through these change values.
Specifically, the determining module 20 is further configured to determine whether the current image information is the same as a pre-stored passenger getting-off image sample; when the current image information is the same as the image sample of getting off the passenger, judging whether the weight change information corresponding to the seat sensor information is the same as a pre-stored weight change sample; and determining that the passenger has the intention to get off the vehicle when the weight change information is the same as the weight change sample.
It can be understood that, when receiving the current image information sent by the camera in the vehicle and the weight change information sent by the seat sensor, the determining module 20 performs feature extraction on the received image information and weight change information, performs feature comparison with the image information sample and weight change sample pre-stored in the data storage module, and determines whether the passenger has the intention to get off the vehicle according to the comparison result. Determining that the passenger has the intention to get off the vehicle when the current image information is the same as the passenger get off image sample and the weight change information is the same as the weight change sample.
The judging module 20 is further configured to determine whether the periphery of the side sliding door of the vehicle is in a safe state when the passenger has the intention to get off the vehicle.
In a specific implementation, image information around the side sliding door can be acquired through cameras arranged in front of and behind the right rearview mirror, whether a moving object approaches or not is determined according to the image information, and when no moving object approaches, the situation that the periphery of the side sliding door of the vehicle is in a safe state is determined.
The motion parameters between the surrounding moving target and the vehicle can be collected through the vehicle front side angle millimeter wave radar and the vehicle rear side angle millimeter wave radar, and whether the surrounding of the side sliding door of the vehicle is in a safe state or not can be determined according to the motion parameters. The main implementation body of this embodiment is described by taking the determination module 20 as an example, three of the vehicle front side angle millimeter wave radar and the vehicle rear side angle millimeter wave radar are slave angle millimeter wave radars, one is a master angle millimeter wave radar, and the slave angle millimeter wave radars transmit detection information to the master angle millimeter wave radar. The master/slave two-side angle millimeter wave radar detects the distance, the speed and the angle between the vehicle-external moving target and the vehicle in real time, calculates the collision time, compares the collision time with a set safety value prestored in the master angle millimeter wave radar, and sends the comparison result to the judgment module 20. The judgment module 20 receives the comparison result sent by the main angle millimeter wave radar, and determines whether the periphery of the side sliding door of the vehicle is in a safe state according to the comparison result.
And the control module 30 is used for sending a control instruction to the electric side sliding door controller when the side sliding door of the vehicle is in a safe state around, so that the side sliding door is opened by controlling the side sliding door motor and the moving mechanism assembly through the electric side sliding door controller.
It is understood that, when the control module 30 determines that the periphery of the side sliding door of the vehicle is in a safe state according to the comparison result sent by the main angle millimeter wave radar, the control module sends a control command to the electric side sliding door controller, so that the electric side sliding door controller controls the side sliding door motor and moving mechanism assembly to open the side sliding door.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
The embodiment obtains the current image information in the vehicle and the seat sensor information; judging whether the passenger has the intention of getting off the vehicle according to the current image information and the seat sensor information; when the passenger has the intention of getting off the vehicle, determining whether the periphery of a side sliding door of the vehicle is in a safe state; when the periphery of the side sliding door of the vehicle is in a safe state, a control command is sent to the electric side sliding door controller, so that the electric side sliding door controller controls the side sliding door motor and the movement mechanism assembly to open the side sliding door. According to the method, when the situation that the passengers have the intention of getting off the vehicle and the periphery of the side sliding door of the vehicle is in the safe state is judged, the side sliding door is automatically opened, and the situation that the passengers in the rear row collide with a moving target close to the vehicle when getting off the vehicle is avoided.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment can be referred to a method for assisting a passenger to get off the vehicle for safely opening the door provided by any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A safe door opening method for assisting passengers to get off a vehicle is characterized by comprising the following steps:
acquiring current image information and seat sensor information in a vehicle;
judging whether the passenger has the intention of getting off the vehicle or not according to the current image information and the seat sensor information;
determining whether the periphery of a side sliding door of the vehicle is in a safe state or not when the passenger has the intention of getting off the vehicle;
when being in safe state around the side sliding door of vehicle, send control command to electronic side sliding door controller to pass through electronic side sliding door controller control side sliding door motor and motion mechanism assembly open side sliding door.
2. The method for assisting an occupant in safely opening a door to get off a vehicle as claimed in claim 1, wherein said determining whether the occupant has an intention to get off the vehicle based on the current image information and the seat sensor information comprises:
judging whether the current image information is the same as a pre-stored passenger getting-off image sample or not;
when the current image information is the same as the image sample of getting off the passenger, judging whether the weight change information corresponding to the seat sensor information is the same as a pre-stored weight change sample;
and determining that the passenger has the intention to get off the vehicle when the weight change information is the same as the weight change sample.
3. The method of claim 1, wherein the determining whether the periphery of the side sliding door of the vehicle is in a safe state when the passenger has the intention to get off the vehicle comprises:
when the passenger has the intention of getting off the vehicle, acquiring the distance, the speed and the angle information between a target moving object outside the vehicle and the vehicle;
calculating collision time according to the distance, the vehicle speed and the angle information;
acquiring a pre-stored preset safety value, and judging whether the collision time is greater than the preset safety value;
and when the collision time is greater than the preset safety value, determining that the periphery of the side sliding door of the vehicle is in a safe state.
4. The safe door opening method for assisting an occupant in getting off a vehicle as claimed in claim 3, wherein after determining that the periphery of the side door of the vehicle is in the safe state when the collision time is greater than the preset safe value, the method further comprises:
and sending a control signal to the sound host machine so as to control the loudspeaker to send out voice prompt for getting off the vehicle safely through the sound host machine.
5. The method for assisting a passenger in getting off a vehicle as claimed in claim 3, wherein after acquiring a pre-stored preset safety value and determining whether the collision time is greater than the preset safety value, the method further comprises:
when the collision time is smaller than the preset safety value, determining that the periphery of a side sliding door of the vehicle is in a dangerous state;
when the side sliding door of the vehicle is in a dangerous state around, the electric side sliding door controller sends a forbidding opening signal and sends a control signal to the sound host, so that the sound host controls the loudspeaker to send out voice prompt of getting off dangers.
6. The method of any of claims 1 to 5, wherein prior to obtaining current image information and seat sensor information within the vehicle, the method further comprises:
acquiring a current vehicle speed signal, a current gear signal and a current parking signal;
judging whether the current vehicle speed signal, the current gear signal and the current parking signal meet a preset parking requirement or not;
and when the current speed signal, the current gear signal and the current parking signal all meet the preset parking requirement, sending activation signals to a camera and a seat sensor which are installed in the vehicle, so that the camera and the seat sensor respectively acquire current image information and seat sensor information.
7. The method of assisting a passenger in safely opening a door to get off a vehicle as set forth in claim 6, wherein after determining whether the current vehicle speed signal, the current gear signal, and the current parking signal satisfy a preset parking requirement, the method further comprises:
and when the current vehicle speed signal, the current gear signal and the current parking signal meet the preset parking requirement, sending a control signal to an external turn signal lamp to control the external turn signal lamp to flicker.
8. A safe door opening apparatus for assisting a passenger to get off a vehicle, comprising:
the acquisition module is used for acquiring current image information and seat sensor information in the vehicle;
the judging module is used for judging whether the passenger has the intention of getting off the vehicle according to the current image information and the seat sensor information;
the judging module is also used for determining whether the periphery of a side sliding door of the vehicle is in a safe state or not when the passenger has the intention of getting off the vehicle;
and the control module is used for sending a control command to the electric side sliding door controller when the side sliding door of the vehicle is in a safe state around, so that the side sliding door is opened by controlling the side sliding door motor and the movement mechanism assembly through the electric side sliding door controller.
9. A safety door opening apparatus for assisting a passenger to get off a vehicle, the apparatus comprising: a memory, a processor and a security door opening program stored on the memory and operable on the processor for assisting an occupant to exit a vehicle, the security door opening program being configured to implement the steps of the method of assisting an occupant to exit a vehicle as claimed in any one of claims 1 to 7.
10. A storage medium having stored thereon a security door opening program for assisting an occupant to exit a vehicle, the security door opening program being executed by a processor to implement the steps of the method for assisting an occupant to exit a vehicle as claimed in any one of claims 1 to 7.
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| CN202110005051.3A CN112832615A (en) | 2021-01-04 | 2021-01-04 | Safe door opening method, device and equipment for assisting passengers to get off and storage medium |
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| CN113635832A (en) * | 2021-07-28 | 2021-11-12 | 上海工程技术大学 | Control method for preventing collision during door opening during parking |
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