CN112943025A - Automatic starting and stopping method of vehicle door and related device - Google Patents
Automatic starting and stopping method of vehicle door and related device Download PDFInfo
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- CN112943025A CN112943025A CN202110192498.6A CN202110192498A CN112943025A CN 112943025 A CN112943025 A CN 112943025A CN 202110192498 A CN202110192498 A CN 202110192498A CN 112943025 A CN112943025 A CN 112943025A
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Classifications
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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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- 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
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Application of doors, windows, wings or fittings thereof for vehicles characterised by the type of wing
- E05Y2900/531—Doors
Abstract
The application discloses an automatic start-stop method of a vehicle door and a related device, wherein the method comprises the following steps: acquiring a vehicle door space coordinate in real time in a preset three-dimensional coordinate system according to the vehicle door three-dimensional model and the vehicle door opening angle; acquiring N virtual arc-shaped enveloping surfaces in real time according to a mode of detecting the distance of an obstacle by an ultrasonic radar, wherein N is a positive integer; calculating the shortest distance between the vehicle door and the barrier according to the vehicle door space coordinate and the virtual arc envelope surface; and judging whether the shortest distance is greater than a distance threshold value, and if not, controlling the vehicle door to stop acting. The application has alleviated current automatic door and has opened and stop the technique and can't carry out the self-adaptation to the peripheral barrier of door and keep away the barrier, leads to the technical problem that automatic door lacks convenience and adaptability.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to an automatic starting and stopping method of a vehicle door and a related device.
Background
The automation control technology is applied to various products in the field of mechanization due to convenience, such as an existing semi-automatic door, and the door can be arranged on products such as a motor vehicle and belongs to a semi-automatic start-stop control door under manual trigger operation. The continuous progress of the automation technology of the motor vehicle makes the requirement of the field on the semi-automatic door higher and higher, and the existing semi-automatic door can not intelligently identify the barriers around the door, so that the opening and the closing of the door have certain risks, the door is required to be stopped manually to avoid collision danger when being opened and closed, and the door which is lack of intelligence can be started and closed to a certain extent, so that the experience of an operator is influenced.
Disclosure of Invention
The application provides an automatic starting and stopping method and a related device of a vehicle door, which are used for relieving the technical problem that the conventional automatic vehicle door starting and stopping technology cannot perform self-adaptive obstacle avoidance on obstacles around the door, so that the automatic vehicle door is lack of convenience and self-adaptability.
In view of this, the first aspect of the present application provides an automatic start/stop method for a vehicle door, including:
acquiring a vehicle door space coordinate in real time in a preset three-dimensional coordinate system according to the vehicle door three-dimensional model and the vehicle door opening angle;
acquiring N virtual arc-shaped enveloping surfaces in real time according to a mode of detecting the distance of an obstacle by an ultrasonic radar, wherein N is a positive integer;
calculating the shortest distance between the vehicle door and the barrier according to the vehicle door space coordinate and the virtual arc envelope surface;
and judging whether the shortest distance is greater than a distance threshold value, and if not, controlling the vehicle door to stop acting.
Optionally, the obtaining of the spatial coordinate of the vehicle door in real time in a preset three-dimensional coordinate system according to the three-dimensional model of the vehicle door and the opening angle of the vehicle door further includes:
obtaining key characteristic information of the vehicle door, describing the vehicle door into a vehicle door three-dimensional model according to the key characteristic information, wherein the associated characteristic information comprises key points, key lines and key surfaces.
Optionally, the calculating a shortest distance between the vehicle door and the obstacle according to the vehicle door space coordinate and the virtual arc envelope includes:
selecting a plurality of preset three-dimensional coordinate points of preset edge line segments from the vehicle door space coordinates;
removing irrelevant enveloping surfaces in the virtual arc enveloping surfaces to obtain target arc enveloping surfaces;
and calculating the point-surface distance between each preset three-dimensional coordinate point and the target arc envelope surface, and taking the minimum point-surface distance as the shortest distance between the vehicle door and the obstacle.
Optionally, the removing the non-relevant envelope surface in the virtual arc envelope surface to obtain a target arc envelope surface, and then further includes:
and rejecting a non-interference envelope surface in the target arc envelope surface according to the motion track of the vehicle door, wherein the non-interference envelope surface is a related envelope surface which does not interfere with the start and stop of the vehicle door.
This application second aspect provides an automatic start-stop device of door, includes:
the first acquisition module is used for acquiring a vehicle door space coordinate in real time in a preset three-dimensional coordinate system according to the vehicle door three-dimensional model and the vehicle door opening angle;
the second acquisition module is used for acquiring N virtual arc-shaped enveloping surfaces in real time according to a mode of detecting the distance of an obstacle by the ultrasonic radar, wherein N is a positive integer;
the calculation module is used for calculating the shortest distance between the vehicle door and the barrier according to the vehicle door space coordinate and the virtual arc envelope surface;
and the judging module is used for judging whether the shortest distance is greater than a distance threshold value or not, and if not, controlling the vehicle door to stop acting.
Optionally, the method further includes:
and the third acquisition module is used for acquiring key characteristic information of the vehicle door and describing the vehicle door as a vehicle door three-dimensional model according to the key characteristic information, and the associated characteristic information comprises key points, key lines and key surfaces.
Optionally, the calculation module is specifically configured to:
selecting a plurality of preset three-dimensional coordinate points of preset edge line segments from the vehicle door space coordinates;
removing irrelevant enveloping surfaces in the virtual arc enveloping surfaces to obtain target arc enveloping surfaces;
and calculating the point-surface distance between each preset three-dimensional coordinate point and the target arc envelope surface, and taking the minimum point-surface distance as the shortest distance between the vehicle door and the obstacle.
Optionally, the method further includes:
and the rejecting module is used for rejecting a non-interference envelope surface in the target arc envelope surface according to the motion track of the vehicle door, wherein the non-interference envelope surface is a related envelope surface which does not interfere with the start and stop of the vehicle door.
A third aspect of the present application provides an automatic start-stop apparatus for a vehicle door, the apparatus comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the automatic start/stop method for any vehicle door according to the first aspect according to instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium for storing program code for executing the automatic start/stop method of any vehicle door according to the first aspect.
According to the technical scheme, the embodiment of the application has the following advantages:
in the application, an automatic start-stop method of a vehicle door is provided, which comprises the following steps: acquiring a vehicle door space coordinate in real time in a preset three-dimensional coordinate system according to the vehicle door three-dimensional model and the vehicle door opening angle; acquiring N virtual arc-shaped enveloping surfaces in real time according to a mode of detecting the distance of an obstacle by an ultrasonic radar, wherein N is a positive integer; calculating the shortest distance between the vehicle door and the barrier according to the vehicle door space coordinate and the virtual arc envelope surface; and judging whether the shortest distance is greater than a distance threshold value, and if not, controlling the vehicle door to stop acting.
According to the automatic starting and stopping method of the vehicle door, the possible distance of the obstacle is roughly detected through the ultrasonic radar, so that the virtual arc-shaped envelope surface is drawn according to the detection characteristic of the ultrasonic radar, and the specific position and size of the obstacle are reflected through the virtual arc-shaped envelope surface; because the ultrasonic radar detection has a deflection angle, the measured distance is not necessarily the shortest distance between the vehicle door and the obstacle, so the shortest distance between the vehicle door and the obstacle needs to be calculated through a three-dimensional model of the vehicle door and related three-dimensional coordinates, and if the shortest distance does not reach a distance threshold value of collision risk, no collision risk can be ensured; otherwise, the door stopping action needs to be controlled. The scheme is simple to operate and high in accuracy, and the safety of starting and stopping the automatic vehicle door can be improved to a certain extent. Therefore, the technical problem that the existing automatic vehicle door starting and stopping technology cannot be used for self-adapting obstacle avoidance of peripheral obstacles of the door, and the automatic vehicle door is lack of convenience and self-adaptability is solved.
Drawings
Fig. 1 is a schematic flow chart of an automatic start-stop method for a vehicle door according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an automatic start-stop device of a vehicle door according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For easy understanding, please refer to fig. 1, the present application provides an embodiment of an automatic start/stop method for a vehicle door, including:
The vehicle door three-dimensional model is used for describing the specific shape outline of the vehicle door; after the key information of the vehicle door is obtained, the vehicle door three-dimensional model abstraction processing can be carried out according to the key information, and the vehicle door characteristics are expressed by using three-dimensional point line surfaces.
The opening angle of the vehicle door is obtained by directly obtaining the opening angle of the vehicle door through an angle sensor arranged on a vehicle door accessory, and is used for reflecting the opening and closing size of the angle of the vehicle door in the opening or closing process.
The vehicle door space coordinates comprise coordinates of all three-dimensional coordinate points of the whole vehicle door three-dimensional model in a preset three-dimensional coordinate system; the classification can be distinguished according to the modes of points, lines and surfaces, and the acquisition of the space coordinates of the vehicle door is prepared for the subsequent calculation of the distance between the vehicle door and the obstacle.
Further, step 101 is preceded by:
obtaining key characteristic information of the vehicle door, describing the vehicle door into a vehicle door three-dimensional model according to the key characteristic information, wherein the associated characteristic information comprises key points, key lines and key surfaces.
The shapes of the vehicle doors are not completely consistent, but most vehicle doors of motor vehicles are cuboids and are provided with arc-shaped design edges, and the main surfaces of the vehicle doors can be determined through main angular points and straight lines, so that a three-dimensional model of the vehicle doors is drawn. The key points are several main door corner points, the key lines are edge lines of multiple vehicle door measuring, and the surfaces mainly refer to an outer side panel and an inner side panel with larger areas.
And step 102, acquiring N virtual arc-shaped enveloping surfaces in real time according to a mode of detecting the distance of the obstacle by the ultrasonic radar, wherein N is a positive integer.
The virtual arc-shaped envelope surface can be an ellipsoid arc-shaped envelope surface or an arc-shaped envelope surface, and can be selectively arranged according to needs, which is not limited herein.
The ultrasonic radar is generally arranged on a vehicle door accessory and used for detecting the distance between a vehicle door and an obstacle, relevant parameters of the ultrasonic radar can be set according to the determined installation position of the ultrasonic radar and the measured distance, a detection angle is determined, so that a virtual arc-shaped envelope surface of the obstacle is drawn according to the obtained information, the virtual arc-shaped envelope surface only reflects the possible coverage surface of the obstacle, the property of the obstacle does not need to be completely identified, and the virtual arc-shaped envelope surface is a supposed obstacle area relative to the vehicle door side; it is necessary to obtain N arc envelopes describing the obstacle.
And 103, calculating the shortest distance between the vehicle door and the obstacle according to the vehicle door space coordinate and the virtual arc envelope surface.
The virtual arc-shaped envelope surface can be described by a function, and also can be described by selecting a representative coordinate point, in short, the virtual arc-shaped envelope surface can be expressed deterministically according to the prior art, and is not described specifically. The spatial coordinates of the vehicle door are not all involved in the calculation, but the most representative points or lines, namely the vehicle door edges or the vehicle door corners most likely to touch the obstacles, are selected on the three-dimensional model of the vehicle door according to the direction of the virtual arc-shaped envelope surface. And only the shortest distance is reserved for subsequent judgment, and the action of the vehicle door can be judged to be safe if the shortest distance is safe.
Further, step 103 specifically includes:
selecting a plurality of preset three-dimensional coordinate points of preset edge line segments from the vehicle door space coordinates;
removing irrelevant enveloping surfaces in the virtual arc enveloping surfaces to obtain target arc enveloping surfaces;
and calculating the point-surface distance between each preset three-dimensional coordinate point and the target arc envelope surface, and taking the minimum point-surface distance as the shortest distance between the vehicle door and the barrier.
The preset edge line segment is generally a car door edge and is mostly the outer edge of an opened car door; the preset three-dimensional coordinate points are points with pertinence on the preset edge line segments, and the specific selection number can be set according to actual conditions. Two end points of the preset edge line segment can be selected as important reference points, because the corners of the car door are easy to collide with the barrier area in the actual door opening process, and in addition, some representative points can be uniformly selected on the preset edge line segment to participate in calculation. Theoretically, the more the three-dimensional coordinate points are preset, the higher the accuracy is, but only a few most specific position points can be selected in practical operation.
The virtual arc-shaped enveloping surfaces are obtained by one acquisition, because the acquisition time interval between two adjacent enveloping surfaces is small, the adjacent virtual arc-shaped enveloping surfaces are intersected, an intersecting line can be formed at the intersecting position, the enveloping surfaces positioned on the concave side of the enveloping surfaces and outside the intersecting line are taken as non-relevant enveloping surfaces of non-obstacles, the description accuracy of the enveloping surfaces can be enhanced by removing the non-relevant enveloping surfaces, and the target arc-shaped enveloping surfaces are formed by the rest enveloping surfaces.
Further, the method comprises the following steps of removing irrelevant enveloping surfaces in the virtual arc enveloping surfaces to obtain a target arc enveloping surface, and then:
and eliminating a non-interference envelope surface in the target arc envelope surface according to the motion track of the vehicle door, wherein the non-interference envelope surface is a related envelope surface which does not interfere with the starting and stopping of the vehicle door.
The rejected non-interference envelope surfaces mean that obstacles which may have collision risks with the car door originally are far away from the car door along with the time, and are no longer the influence factors of the start and stop actions of the car door, so that the envelope surfaces can be removed, the calculation redundancy of the target arc envelope surfaces cannot be increased due to unlimited extension, and the situation that the operation is not in accordance with the actual detection situation is avoided.
And step 104, judging whether the shortest distance is greater than a distance threshold value, and if not, controlling the vehicle door to stop acting.
The distance threshold is set according to the actual condition of the vehicle door, and different door structures may need to be adjusted to set different distance thresholds, which is not limited in particular. The judgment process can also select real-time judgment to form dynamic monitoring, particularly in the process of closing or opening the vehicle door, if an obstacle is detected, the vehicle door is stopped to act, and once the obstacle leaves a dangerous range, the system controller can be automatically triggered to continue the unfinished action of the vehicle door. The self-adaptability of starting and stopping the vehicle door is improved, and the experience of an operator can be enhanced.
According to the automatic start-stop method of the vehicle door, the possible distance of the obstacle is roughly detected through the ultrasonic radar, so that the virtual arc-shaped envelope surface is drawn according to the detection characteristics of the ultrasonic radar, and the specific obstacle position and size are reflected through the virtual arc-shaped envelope surface; because the ultrasonic radar detection has a deflection angle, the measured distance is not necessarily the shortest distance between the vehicle door and the obstacle, so the shortest distance between the vehicle door and the obstacle needs to be calculated through a three-dimensional model of the vehicle door and related three-dimensional coordinates, and if the shortest distance does not reach a distance threshold value of collision risk, no collision risk can be ensured; otherwise, the door stopping action needs to be controlled. The scheme is simple to operate and high in accuracy, and the safety of starting and stopping the automatic vehicle door can be improved to a certain extent. Therefore, the technical problem that the conventional automatic vehicle door starting and stopping technology cannot be used for self-adaptive obstacle avoidance of the peripheral obstacles of the door, and the automatic vehicle door is lack of convenience and self-adaptability can be solved.
The above is an embodiment of an automatic start-stop method of a vehicle door provided by the present application, and the following is an embodiment of an automatic start-stop device of a vehicle door provided by the present application.
For easy understanding, please refer to fig. 2, the present application further provides an embodiment of an automatic start/stop apparatus for a vehicle door, comprising:
the first obtaining module 201 is configured to obtain a vehicle door space coordinate in real time in a preset three-dimensional coordinate system according to the vehicle door three-dimensional model and the vehicle door opening angle;
the second obtaining module 202 is configured to obtain N virtual arc-shaped envelope surfaces in real time according to a mode that the ultrasonic radar detects a distance to an obstacle, where N is a positive integer;
the calculating module 203 is used for calculating the shortest distance between the vehicle door and the barrier according to the vehicle door space coordinate and the virtual arc envelope surface;
and the judging module 204 is used for judging whether the shortest distance is greater than the distance threshold value, and if not, controlling the vehicle door to stop acting.
Further, still include:
the third obtaining module 205 is configured to obtain key feature information of the vehicle door, and describe the vehicle door as a vehicle door three-dimensional model according to the key feature information, where the associated feature information includes key points, key lines, and key surfaces.
Further, the calculating module 203 is specifically configured to:
selecting a plurality of preset three-dimensional coordinate points of preset edge line segments from the vehicle door space coordinates;
removing irrelevant enveloping surfaces in the virtual arc enveloping surfaces to obtain target arc enveloping surfaces;
and calculating the point-surface distance between each preset three-dimensional coordinate point and the target arc envelope surface, and taking the minimum point-surface distance as the shortest distance between the vehicle door and the barrier.
Further, still include:
and the rejecting module 206 is configured to reject a non-interference envelope surface in the target arc envelope surface according to the motion trajectory of the vehicle door, where the non-interference envelope surface is a related envelope surface that does not interfere with starting and stopping of the vehicle door.
The above is an embodiment of an automatic start-stop device of a vehicle door provided by the present application, and the following is an embodiment of an automatic start-stop device of a vehicle door provided by the present application.
The application also provides automatic starting and stopping equipment of the vehicle door, which comprises a processor and a memory;
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is used for executing the automatic start and stop method of the vehicle door in any one of the above method embodiments according to instructions in the program code.
The above is an embodiment of an automatic start-stop device for a vehicle door provided by the present application, and the following is an embodiment of a computer-readable storage medium provided by the present application.
The present application further provides a computer readable storage medium for storing program code for executing the method for automatically starting and stopping a vehicle door according to any of the above method embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for executing all or part of the steps of the method described in the embodiments of the present application through a computer device (which may be a personal computer, a server, or a network device). And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. An automatic start and stop method of a vehicle door is characterized by comprising the following steps:
acquiring a vehicle door space coordinate in real time in a preset three-dimensional coordinate system according to the vehicle door three-dimensional model and the vehicle door opening angle;
acquiring N virtual arc-shaped enveloping surfaces in real time according to a mode of detecting the distance of an obstacle by an ultrasonic radar, wherein N is a positive integer;
calculating the shortest distance between the vehicle door and the barrier according to the vehicle door space coordinate and the virtual arc envelope surface;
and judging whether the shortest distance is greater than a distance threshold value, and if not, controlling the vehicle door to stop acting.
2. The automatic start and stop method for the vehicle door according to claim 1, wherein the method for acquiring the space coordinates of the vehicle door in real time in a preset three-dimensional coordinate system according to the three-dimensional model of the vehicle door and the opening angle of the vehicle door further comprises the following steps:
obtaining key characteristic information of the vehicle door, describing the vehicle door into a vehicle door three-dimensional model according to the key characteristic information, wherein the associated characteristic information comprises key points, key lines and key surfaces.
3. The automatic start and stop method for the vehicle door according to claim 1, wherein the step of calculating the shortest distance between the vehicle door and the obstacle according to the vehicle door space coordinate and the virtual arc-shaped envelope surface comprises the following steps:
selecting a plurality of preset three-dimensional coordinate points of preset edge line segments from the vehicle door space coordinates;
removing irrelevant enveloping surfaces in the virtual arc enveloping surfaces to obtain target arc enveloping surfaces;
and calculating the point-surface distance between each preset three-dimensional coordinate point and the target arc envelope surface, and taking the minimum point-surface distance as the shortest distance between the vehicle door and the obstacle.
4. The automatic start-stop method for the vehicle door according to claim 3, wherein the method for removing the irrelevant enveloping surfaces in the virtual arc enveloping surfaces to obtain the target arc enveloping surfaces further comprises the following steps:
and rejecting a non-interference envelope surface in the target arc envelope surface according to the motion track of the vehicle door, wherein the non-interference envelope surface is a related envelope surface which does not interfere with the start and stop of the vehicle door.
5. The utility model provides an automatic start-stop device of door which characterized in that includes:
the first acquisition module is used for acquiring a vehicle door space coordinate in real time in a preset three-dimensional coordinate system according to the vehicle door three-dimensional model and the vehicle door opening angle;
the second acquisition module is used for acquiring N virtual arc-shaped enveloping surfaces in real time according to a mode of detecting the distance of an obstacle by the ultrasonic radar, wherein N is a positive integer;
the calculation module is used for calculating the shortest distance between the vehicle door and the barrier according to the vehicle door space coordinate and the virtual arc envelope surface;
and the judging module is used for judging whether the shortest distance is greater than a distance threshold value or not, and if not, controlling the vehicle door to stop acting.
6. The automatic start-stop device for a vehicle door according to claim 5, further comprising:
and the third acquisition module is used for acquiring key characteristic information of the vehicle door and describing the vehicle door as a vehicle door three-dimensional model according to the key characteristic information, and the associated characteristic information comprises key points, key lines and key surfaces.
7. The automatic start-stop device for the vehicle door according to claim 5, wherein the calculation module is specifically configured to:
selecting a plurality of preset three-dimensional coordinate points of preset edge line segments from the vehicle door space coordinates;
removing irrelevant enveloping surfaces in the virtual arc enveloping surfaces to obtain target arc enveloping surfaces;
and calculating the point-surface distance between each preset three-dimensional coordinate point and the target arc envelope surface, and taking the minimum point-surface distance as the shortest distance between the vehicle door and the obstacle.
8. The automatic start-stop device for a vehicle door according to claim 7, further comprising:
and the rejecting module is used for rejecting a non-interference envelope surface in the target arc envelope surface according to the motion track of the vehicle door, wherein the non-interference envelope surface is a related envelope surface which does not interfere with the start and stop of the vehicle door.
9. An automatic start and stop device of a vehicle door is characterized by comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the automatic start and stop method of the vehicle door according to any one of claims 1 to 4 according to instructions in the program code.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium is used for storing program code for performing the method for automatic start-stop of a vehicle door according to any one of claims 1-4.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113820698A (en) * | 2021-09-13 | 2021-12-21 | 广州小鹏自动驾驶科技有限公司 | Obstacle ranging method and device, electronic equipment and readable medium |
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| KR20140145424A (en) * | 2013-06-13 | 2014-12-23 | 현대오트론 주식회사 | System for preventing clash of car door by using around view image |
| CN106004659A (en) * | 2016-08-03 | 2016-10-12 | 安徽工程大学 | Surrounding environment perception system for vehicles and control method of surrounding environment perception system |
| CN108979413A (en) * | 2018-07-19 | 2018-12-11 | 广东东箭汽车科技股份有限公司 | A kind of car door autocontrol method and device |
| CN112009466A (en) * | 2019-05-31 | 2020-12-01 | 上海博泰悦臻网络技术服务有限公司 | Door opening anti-collision method and anti-collision system |
| CN112347999A (en) * | 2021-01-07 | 2021-02-09 | 深圳市速腾聚创科技有限公司 | Obstacle recognition model training method, obstacle recognition method, device and system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113820698A (en) * | 2021-09-13 | 2021-12-21 | 广州小鹏自动驾驶科技有限公司 | Obstacle ranging method and device, electronic equipment and readable medium |
| CN113820698B (en) * | 2021-09-13 | 2024-04-16 | 广州小鹏自动驾驶科技有限公司 | Obstacle ranging method, obstacle ranging device, electronic equipment and readable medium |
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