CN114575701A - Control method and system for opening and closing vehicle door, vehicle and storage medium - Google Patents
Control method and system for opening and closing vehicle door, vehicle and storage medium Download PDFInfo
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- CN114575701A CN114575701A CN202210171810.8A CN202210171810A CN114575701A CN 114575701 A CN114575701 A CN 114575701A CN 202210171810 A CN202210171810 A CN 202210171810A CN 114575701 A CN114575701 A CN 114575701A
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- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000009471 action Effects 0.000 claims abstract description 73
- 230000004044 response Effects 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 9
- 238000003062 neural network model Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 22
- 238000005516 engineering process Methods 0.000 abstract description 12
- 238000012545 processing Methods 0.000 description 13
- 230000004888 barrier function Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 3
- 230000001939 inductive effect Effects 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
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- 238000009529 body temperature measurement Methods 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
- E05F15/70—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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/24—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user
- B60R25/245—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user where the antenna reception area plays a role
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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
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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
- E05F2015/765—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using optical sensors
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Abstract
The invention discloses a method and a system for controlling the opening and closing of a vehicle door, a vehicle and a storage medium, wherein the method comprises the following steps: judging whether the vehicle door meets an automatic opening and closing condition, and controlling an infrared image sensor to acquire an infrared image of a user if the vehicle door meets the automatic opening and closing condition; and identifying the action of the user based on the infrared image, and if the action of the user is identified to be a preset action for controlling the vehicle door, generating an instruction for controlling a vehicle door driver by the vehicle door controller in response to the action of the user, wherein the instruction is used for controlling the opening and closing of the vehicle door. The method and the device determine that the vehicle can be opened and closed based on technologies such as vehicle state recognition, utilize the infrared image to acquire the image data of the user, determine whether the action of the user is used for controlling the opening and closing of the vehicle door based on the image recognition technology, and automatically control the opening and closing of the vehicle door if the action is determined, so as to realize the automatic opening and closing of the vehicle door. The automatic opening and closing process of the vehicle door is realized, manual operation of a user is not needed, and the use by the user is facilitated.
Description
Technical Field
The invention relates to the technical field of automobile equipment, in particular to a method and a system for controlling opening and closing of a vehicle door, a vehicle and a storage medium.
Background
With the development and progress of the automobile industry, automobiles are no longer simple tools for riding instead of walk. The operation, performance, design, scientific and technical configuration and the like of the vehicle become the purchasing and assessment standards of people. With the improvement of automobile electronic application technology, the door opening and closing mode of the automobile can be automatically controlled by a capacitive sensor or completed by touching an electronic key at present. The opening and closing of the control door is not an automatic opening and closing of the door, but is an opening and closing of a door lock of the door.
With the increasing popularization of automatic automobile doors, the mainstream automobile door control triggering mode is controlled by physical keys at present, and inconvenience or discomfort can be caused when the keys are hot or cold in hand-held articles, the keys are dirty and extreme weather.
Disclosure of Invention
In order to solve the technical problems, the invention provides a control method, a system, a vehicle and a storage medium for opening and closing a vehicle door, which can realize the automatic opening and closing of the vehicle door by matching infrared images with a vehicle machine system in a vehicle state.
The invention provides a method for controlling the opening and closing of a vehicle door, which is used for a vehicle. The method comprises the following steps:
judging whether the vehicle door meets an automatic opening and closing condition, and controlling an infrared image sensor to acquire an infrared image of a user if the vehicle door meets the automatic opening and closing condition;
and identifying the action of the user based on the infrared image, and if the action of the user is identified to be a preset action for controlling the vehicle door, generating an instruction for controlling a vehicle door driver by the vehicle door controller in response to the action of the user, wherein the instruction is used for controlling the opening and closing of the vehicle door.
In a possible implementation manner, the determining whether the vehicle door meets an automatic opening and closing condition includes:
and monitoring whether an effective key exists in an area outside the vehicle, and if the area where the effective key is located is used for unlocking the door lock, judging that the vehicle door meets the condition of automatic opening.
In one possible implementation, when a valid key exists in an area outside a monitored vehicle, at least an infrared image of a user is collected before a vehicle door is unlocked so as to identify the action of the user; wherein the controlling of the opening of the vehicle door is performed after unlocking the vehicle door.
In one possible implementation manner, the recognizing the infrared image to recognize the motion of the user includes:
and performing action recognition according to at least one image in the infrared image by using a neural network model to obtain an action recognition result of the user.
In a possible implementation manner, the radar sensor is arranged on a vehicle door, and the method further includes detecting whether an opening obstacle exists in the vehicle door opening process, and if the opening obstacle exists, generating a control instruction for stopping driving, and controlling a vehicle door driver to stop running.
In one possible implementation, the radar sensor detects in real time whether an opening obstacle is removed, and if so, controls the door driver to continue executing the instruction for controlling the door driver.
In a possible implementation manner, the infrared image sensor, the radar sensor and the vehicle door driver are all in signal connection with the vehicle door controller through a bus.
In a second aspect of the invention, there is provided a control system for opening and closing a vehicle door, the system comprising:
the first control module is used for judging whether the vehicle door meets an automatic opening and closing condition or not, and controlling the infrared image sensor to acquire an infrared image of a user if the vehicle door meets the automatic opening and closing condition;
and the second control module is used for identifying the action of the user based on the infrared image, and if the action of the user is identified to be a preset action for controlling the vehicle door, the vehicle door controller responds to the action of the user to generate an instruction for controlling a vehicle door driver, and the instruction is used for controlling the opening and closing of the vehicle door.
In a possible implementation manner, the first control module includes a detection module, which is configured to monitor whether a valid key exists in an area outside the vehicle, and determine that the vehicle door meets an automatic opening condition if the area where the valid key is located is used for unlocking the door lock.
In one possible implementation manner, the first control module is further configured to: when a valid key exists in a region outside a monitored vehicle and before a vehicle door is unlocked, at least acquiring an infrared image of a user to identify the action of the user; wherein the controlling of the opening of the vehicle door is performed after unlocking the vehicle door.
In a possible implementation manner, the second control module includes an intelligent recognition module, and is configured to perform motion recognition according to at least one image in the infrared image by using a neural network model, so as to obtain a motion recognition result of the user.
In a possible implementation manner, the system further includes a radar module, configured to detect whether there is an opening obstacle during the opening of the vehicle door, and if there is an opening obstacle, generate a control instruction for stopping driving, and control the vehicle door driver to stop operating.
In a possible implementation manner, the radar module is further configured to detect whether the opening obstacle is removed in real time, and if so, control the door driver to continue executing the instruction for controlling the door driver.
In a third aspect of the present invention, a method for controlling opening and closing of a vehicle door is provided, which is applied to a vehicle, where the vehicle includes a vehicle body, an infrared image sensor, a radar sensor, a vehicle door controller, and a vehicle door driver, and the method includes:
starting an automatic door function based on the door lock state and the door state of the vehicle and the obstacle information detected by the radar sensor;
controlling an infrared image sensor to collect an infrared image of a user, wherein the user is located in a preset area range outside a vehicle;
and identifying the action of the user based on the infrared image, and if the action of the user is identified to be a preset action for controlling the vehicle door, generating an instruction for controlling a vehicle door driver by the vehicle door controller in response to the action of the user, wherein the instruction is used for controlling the opening and closing of the vehicle door.
In a fourth aspect of the present invention, a vehicle is provided, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the method for controlling opening and closing of a vehicle door as described above.
In a fifth aspect of the present invention, a computer-readable storage medium is provided, and a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for controlling opening and closing of a vehicle door are realized.
The method and the device determine that the vehicle can be opened and closed based on technologies such as vehicle state recognition, utilize the infrared image to acquire the image data of the user, determine whether the action of the user is used for controlling the opening and closing of the vehicle door based on the image recognition technology, and automatically control the opening and closing of the vehicle door if the action is determined, so as to realize the automatic opening and closing of the vehicle door. The automatic opening and closing process of the vehicle door is realized, manual operation of a user is not needed, and the use by the user is facilitated.
Drawings
FIG. 1 is a schematic flow chart of a method for controlling opening and closing of a vehicle door according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another method for controlling opening and closing of a vehicle door according to an embodiment of the present invention;
FIG. 3 is a block diagram of a control device for opening and closing a vehicle door according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an automatic door control module of a vehicle according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
In the prior art, a door lock of a vehicle door is unlocked by an existing non-inductive key to realize non-inductive unlocking, but the opening and closing of the vehicle door still needs manual operation of a user, which is equivalent to that the technology of non-inductive entering the vehicle is only developed by half, and the single-hand operation of the user is not completely released to enter the vehicle. Half vehicle all includes the automobile body, is equipped with the door on the automobile body, is provided with radar sensor, door controller, door driver etc. in the automobile body, can utilize infrared image sensor to realize opening and closing of door in each functional module on the vehicle. The infrared image sensor, the radar sensor and the vehicle door driver are in signal connection with the vehicle door controller through buses.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for controlling opening and closing of a vehicle door according to an embodiment of the present invention. The control method for opening and closing the vehicle door comprises the following steps:
step 11: and judging whether the vehicle door meets the automatic opening and closing condition, and controlling the infrared image sensor to acquire the infrared image of the user if the vehicle door meets the automatic opening and closing condition.
It is known that vehicle doors are opened in a limited manner, for example, during high speed driving, the doors are not allowed to open for safety, and if they are opened at will, there is a risk of danger. Therefore, in the process of controlling the opening of the vehicle door, whether the vehicle door meets the opening condition needs to be confirmed; naturally, the condition for closing the vehicle door should be satisfied, and the condition for closing the vehicle door may not be set in a general usage scenario.
The invention will be explained by taking the opening of the vehicle door as an example only. As an example, it may be determined whether the following states of the vehicle meet the conditions for automatic opening and closing of the door:
1. the activated key detection location module detects whether a valid key is present in a particular area outside the vehicle. 2. And judging whether the vehicle door lock is in a locking state or not. 3. And judging the opening angle state of the corresponding door of the vehicle. 4. And judging the power state of the vehicle. 5. And judging the current speed of the vehicle.
It is understood that the door may not be opened at will when the sensorless key does not effect the sensorless unlocking. The door lock of the vehicle door is locked and is not controlled to be unlocked, namely, the vehicle door is in a locked state and cannot be opened. The opening angle of the vehicle door can refer to surrounding obstacles, and the vehicle door cannot be opened if the obstacles exist, so that the vehicle door is prevented from being damaged by collision. Of course, the power supply of the vehicle, the vehicle speed of the vehicle, and the like are also factors to be considered.
After the starting and stopping conditions of the vehicle are met, the vehicle-mounted infrared image acquisition module can be controlled to acquire the infrared image of the user. The infrared image is used for controlling the opening and closing of the vehicle door, in one scene, the identity of the user does not need to be confirmed, and only the action of recognizing the infrared image representation through the infrared image is processed. Unnecessary identity confirmation is omitted, the data processing process can be reduced, and the response speed is improved. Because the opening and closing conditions of the vehicle are met, whether the vehicle is a vehicle owner or not or other people except the vehicle owner do not need to confirm, in the process, the control action can be realized by users except the vehicle owner, the expanded control user range can improve the user experience.
Step 12: and identifying the action of the user based on the infrared image, and if the action of the user is identified to be a preset action for controlling the vehicle door, generating an instruction for controlling a vehicle door driver by the vehicle door controller in response to the action of the user, wherein the instruction is used for controlling the opening and closing of the vehicle door.
The motion may be a gesture, a coherent motion, or the like. Wherein the posture may be a walking posture, a standing posture, etc. In one embodiment, the infrared image may be an infrared image of the upper or lower body of the user, and although the whole body image of the user is captured during the capturing process, only the portion of the infrared image of the user may be recognized during the recognition process. Namely, the infrared image is a partial image of the whole body infrared image of the user.
The preset action is the action of a user which is recognized and stored in advance by the vehicle-mounted control system, and can be acquired and recognized by the vehicle-mounted infrared image sensor in advance.
The opening and closing control of the vehicle door is realized by a vehicle door controller, and the vehicle door controller can be an independent control module and also can be a vehicle machine main controller. The vehicle door controller recognizes the user action as a preset action for controlling the vehicle door to be opened, and then generates an instruction for controlling the vehicle door driver, wherein the instruction is used for controlling the vehicle door driver to operate and driving the vehicle door to be opened. The vehicle door driver can be composed of a motor and a transmission pair, and the vehicle door is driven to complete opening and closing actions through rotation of the motor.
The invention acquires the state of the vehicle, then determines that the vehicle is in the condition of being capable of being opened and closed, and acquires the image data of the user by utilizing the infrared image, which is different from the identification of the video image. Since the vehicle is unlocked by the vehicle key control, the vehicle door is necessarily opened, so that the user is present around the vehicle, the identity of the user does not need to be confirmed, and the accuracy of identifying the user does not need to be too high. Therefore, the identification of the video image can be replaced by the identification of the infrared image, the purposes of infrared temperature measurement and distance measurement can be realized by the identification of the infrared image, and the functions of the vehicle can be increased. In addition, the recognition rate of infrared at night is higher than that of video images. In addition, the automatic opening and closing process of the vehicle door is realized, manual operation of a user is not needed, and the use of the vehicle door is convenient for the user.
Further, the step 11 of determining whether the vehicle door satisfies the automatic opening and closing condition includes:
and monitoring whether an effective key exists in an area outside the vehicle, and if the area where the effective key is located is used for unlocking the door lock, judging that the vehicle door meets the condition of automatic opening.
The necessary condition for opening the door is that the door is unlocked, which can be achieved in combination with keyless entry in the prior art. The keyless entry means that the unlocking operation of the vehicle is performed without taking out a vehicle key, and under a general condition, a driver is required to carry the vehicle key to enter a range of a preset distance around the vehicle, and the vehicle door can be opened when the vehicle machine is matched with a legal vehicle sensing key. According to the technology, a signal is sensed by an intelligent chip in a car key, and the car machine recognizes the legality of the key so as to control the car door to be unlocked through a bus technology.
The keyless entry in the prior art can distinguish the area where a user is located according to the distance between a key and a vehicle, and different function control is realized according to different areas where the user is located. When the user is located the region of unblock door, the car machine meeting intelligent control door unblock.
In the embodiment, the condition confirmation before the door is opened is realized by identifying the position of the intelligent key, and the unlocking and continuing control of the door can be realized, so that a user can conveniently and quickly enter the vehicle.
In order to conveniently and timely control the opening of the vehicle door and reduce the identification time, when an effective key exists in an area outside a monitored vehicle and before the vehicle door is unlocked, at least infrared images of a user are collected for identifying the action of the user. Wherein the controlling of the opening of the vehicle door is performed after unlocking the vehicle door.
Because the infrared images of the user are collected and the image processing process needs some time, the processing result generates a control instruction and then the vehicle door opening process is carried out, although the time is short, the user is ensured to control the vehicle door to be opened before arriving at the vehicle door, and the better experience is achieved. Therefore, the identification process can be started in advance, even the opening control of the vehicle door is completed before the vehicle door is unlocked, and the opening control instruction of the vehicle door is executed after the vehicle door is unlocked.
In some scenes, the unlocking and the opening of the vehicle door can be realized continuously, and the intellectualization of the vehicle is better realized. It would appear that the door automatically opened a very cockleball if the user had to wait before reaching the door. The waiting time is sufficient for the user to manually open the door and the user experience is poor.
And recognizing the action of the infrared image recognition user, and performing action recognition according to at least one image in the infrared image by using a neural network model to obtain an action recognition result of the user.
In one possible implementation, a neural network processing unit (processor) stores a plurality of neural network models. And the plurality of neural network models perform action recognition according to at least one infrared image in the infrared images to obtain a recognition result of the action of the user. For example, at least one of the neural network models is run by the neural network processing unit to perform recognition according to at least one infrared image in the infrared image, so as to obtain a recognition result of the user action.
The infrared image recognition technology can sense and detect the body form of a person, so that the infrared image recognition technology can be technically used as a non-contact information transmission mode to transmit the door opening intention of a user to a vehicle controller through the body form, and the hardware switch of a traditional vehicle door control system can be replaced.
In some usage scenarios, the parking environment of the vehicle may limit the opening of the vehicle door, and if the door is opened forcibly, the door may be damaged, for example, by colliding with other vehicles, other buildings, and the like. Therefore, whether an obstacle exists in the opening range of the vehicle door needs to be determined when the vehicle door is opened, and the obstacle can be identified through radar detection or a vehicle-mounted camera.
In one embodiment, whether an opening obstacle exists or not is detected during or before the opening of the door, and if the opening obstacle exists, a control command for stopping driving is generated to control the door driver to stop running. The radar sensor is arranged on the vehicle door, the radar sensor positioned on the door transmits real-time radar data to the vehicle door radar obstacle detection module, the vehicle door radar obstacle detection module analyzes and processes the radar sensor data, and obstacle information on a processed vehicle door opening motion path is sent to the vehicle door control module in real time.
If the barrier is detected in the opening process of the vehicle door, and the influence of the barrier is not large, the opening angle of the vehicle door can be controlled, so that the barrier is not touched, and the opening angle of the vehicle door can meet the requirement that a user can enter the vehicle. If the obstruction is movable, the user may remove the obstruction. The radar sensor detects whether the opening barrier is removed or not in real time, and if yes, the vehicle door driver is controlled to continuously execute the instruction for controlling the vehicle door driver, and the vehicle door is controlled to be opened.
As shown in fig. 2, the present invention further provides a method for controlling opening and closing of a vehicle door, which is applied to a vehicle, where the vehicle includes a vehicle body, an infrared image sensor, a radar sensor, a vehicle door controller, and a vehicle door driver. The method comprises the following steps:
step 21: the automatic door function is started based on the door lock state of the vehicle, the door state and the obstacle information detected by the radar sensor.
For example, before the door is opened, whether the door lock is unlocked or not is detected, whether the door state is closed or not is detected, whether an opening obstacle exists or not is detected by the radar sensor, and if the door is unlocked, the door is closed and no obstacle exists for opening the door, the automatic door function can be started.
Step 22: and controlling an infrared image sensor to collect an infrared image of a user, wherein the user is in a preset area range outside the vehicle.
For example, the infrared image recognition technology can sense and detect the body form of a person, so that the infrared image recognition technology can be technically used as a non-contact information transmission mode to transmit the door opening intention of a user to a vehicle controller through the body form, and the hardware switch of a traditional vehicle door control system can be replaced.
Step 23: and identifying the action of the user based on the infrared image, and if the action of the user is identified to be a preset action for controlling the vehicle door, generating an instruction for controlling a vehicle door driver by the vehicle door controller in response to the action of the user, wherein the instruction is used for controlling the opening and closing of the vehicle door.
For example, the opening and closing control of the vehicle door is realized by a vehicle door controller, and the vehicle door controller can be an independent control module or a main controller of a vehicle machine. The vehicle door controller recognizes the user action as a preset action for controlling the vehicle door to be opened, and then generates an instruction for controlling the vehicle door driver, wherein the instruction is used for controlling the vehicle door driver to operate and driving the vehicle door to be opened. The vehicle door driver can be composed of a motor and a transmission pair, and the vehicle door is driven to complete opening and closing actions through rotation of the motor.
In this embodiment, the control of the automatic door is started by determining the three opening conditions of the vehicle, without confirmation of the state of the other vehicle. The realization process is simple and convenient. This embodiment is not exhaustive and reference is made to fig. 1 and the description of the related embodiments.
As shown in fig. 3, the present invention further provides a control system for opening and closing a vehicle door, comprising:
the first control module 31 is used for judging whether the vehicle door meets an automatic opening and closing condition or not, and controlling the infrared image sensor to acquire an infrared image of a user if the vehicle door meets the automatic opening and closing condition;
and the second control module 32 is configured to recognize a user's motion based on the infrared image, and if the user's motion is recognized as a preset motion for controlling the vehicle door, the vehicle door controller generates an instruction for controlling the vehicle door driver in response to the user's motion, where the instruction is used to control opening and closing of the vehicle door.
The first control module 31 includes a detection module, and is configured to monitor whether an effective key exists in an area outside the vehicle, and determine that the vehicle door meets an automatic opening condition if the area where the effective key is located is used for unlocking the door lock.
Wherein the first control module 31 is further configured to: when a valid key exists in a region outside a monitored vehicle and before a vehicle door is unlocked, at least acquiring an infrared image of a user to identify the action of the user; wherein the controlling of the opening of the vehicle door is performed after unlocking the vehicle door.
The second control module 32 includes an intelligent recognition module, and is configured to perform motion recognition according to at least one image in the infrared image by using a neural network model, so as to obtain a motion recognition result of the user.
The system also comprises a radar module which is used for detecting whether an opening barrier exists in the opening process of the vehicle door, and generating a control instruction for stopping driving if the opening barrier exists so as to control the vehicle door driver to stop running.
The radar module is also used for detecting whether the opening barrier is removed or not in real time, and if so, controlling the vehicle door driver to continuously execute the instruction for controlling the vehicle door driver.
For a specific implementation process, reference may be made to contents of each embodiment shown in fig. 1 and fig. 2, which are not described herein again.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The invention also provides a vehicle, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of the control method for opening and closing the vehicle door when being executed by the processor.
As shown in fig. 4, the vehicle further includes an infrared image capturing sensor and an infrared image processing module, which are disposed outside and inside the vehicle. The infrared characteristic of the set vehicle screen soft switch is used for presetting a switch, and the preset process can be displayed by controlling the screen; the vehicle further comprises a vehicle door radar sensor, a vehicle door radar obstacle detection module, a key monitoring positioning antenna, a key monitoring positioning module, a door lock state detection switch, a vehicle door switch execution motor, a vehicle speed detection module and the like.
The infrared image acquisition sensor (outside the vehicle) can be placed in the middle of the B column of the vehicle, the infrared image acquisition sensor (inside the vehicle) can be placed on the inner decorative plate of the vehicle door, the infrared image acquisition sensor and the inner decorative plate of the vehicle door are connected to the infrared image processing module through hard wires, and the infrared image processing module can be in data communication with the automatic door control module through the bus inside the vehicle. The infrared characteristic preset switch is placed in a screen of the car machine and is in signal transmission with the automatic car door control module through the bus.
The radar sensor and the processing module are arranged in the vehicle door and are in signal transmission with the automatic vehicle door control module through the bus. The key monitoring and positioning module multiplexes a solution of a vehicle body controller BCM and performs signal transmission with the automatic vehicle door control module through a bus. And detecting the door lock state and the vehicle door state, multiplexing a switch in the vehicle door lock body, and connecting the switch to the automatic vehicle door control module through a hard wire. The vehicle speed detection module multiplexes a vehicle body stability controller ESC and performs signal transmission with the automatic vehicle door control module through a bus. The door opening and closing execution motor is connected to the automatic door control module through a hard wire and directly controls the positive and negative rotation and stop of the motor.
The key monitoring and positioning module utilizes the key monitoring and positioning antenna to detect whether effective keys exist in a specific area outside the automobile in real time and transmits results to the automatic automobile door control module. The door lock state detection switch transmits the door lock state data to the automatic vehicle door control module. The vehicle door state detection switch transmits the vehicle door state data to the automatic vehicle door control module. The vehicle speed detection module transmits vehicle speed data to the automatic vehicle door control module through an in-vehicle bus. The automatic vehicle door control module receives all data and then judges whether the current vehicle state meets the vehicle door opening condition, if so, the automatic vehicle door control module controls a vehicle door to open and close an execution motor to execute the opening or closing of a vehicle door, and simultaneously activates a vehicle door radar obstacle detection module to judge whether an obstacle exists in the vehicle door opening process, and if so, the motor stops acting. The radar sensor positioned on the door transmits real-time radar data to the vehicle door radar obstacle detection module, and the vehicle door radar obstacle detection module analyzes and processes the radar sensor data and sends obstacle information on a processed vehicle door action path to the automatic vehicle door control module in real time. The automatic vehicle door control module identifies the action of a user based on the infrared image, and if the action of the user is identified to be a preset action for controlling the vehicle door, the vehicle door controller responds to the action of the user to generate an instruction for controlling a vehicle door driver, and the instruction is used for controlling the opening and closing of the vehicle door. Where not exhausted, reference may be made to the embodiment described in figure 1.
In practical application, the on or off infrared characteristic value can be preset in a self-defined mode, can be a certain gesture or a certain coherent action, and the acquisition precision of the infrared sensor and the chip processing capacity of the infrared processing module can be referred to in specific implementation.
The invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method for controlling opening and closing of a vehicle door as described above.
It is understood that the computer-readable storage medium may include: any entity or device capable of carrying a computer program, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), software distribution medium, and the like. The computer program includes computer program code. The computer program code may be in the form of source code, object code, an executable file or some intermediate form, and the like. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), software distribution medium, and the like.
In some embodiments of the present invention, the automatic parking device may include a controller, where the controller is a single chip integrated with a processor, a memory, a communication module, and the like. The processor may refer to a processor included in the controller. The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will 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 of the embodiments of the present invention.
Claims (16)
1. A control method for opening and closing a vehicle door is applied to a vehicle, the vehicle comprises a vehicle body, an infrared image sensor, a radar sensor, a vehicle door controller and a vehicle door driver, and the method is characterized by comprising the following steps:
judging whether the vehicle door meets an automatic opening and closing condition, and controlling an infrared image sensor to acquire an infrared image of a user if the vehicle door meets the automatic opening and closing condition;
and identifying the action of the user based on the infrared image, and if the action of the user is identified to be a preset action for controlling the vehicle door, generating an instruction for controlling a vehicle door driver by the vehicle door controller in response to the action of the user, wherein the instruction is used for controlling the opening and closing of the vehicle door.
2. The method of claim 1, wherein the determining whether the vehicle door satisfies an automatic opening and closing condition comprises:
and monitoring whether an effective key exists in an area outside the vehicle, and if the area where the effective key is located is used for unlocking the door lock, judging that the vehicle door meets the condition of automatic opening.
3. The method of claim 2, wherein upon monitoring the presence of a valid key in the area outside the vehicle, at least infrared images of the user are collected to identify the user's action prior to unlocking the door; wherein the controlling of the opening of the vehicle door is performed after unlocking the vehicle door.
4. The method of claim 1, wherein the recognizing the infrared image recognizes an action of a user, comprising:
and performing action recognition according to at least one image in the infrared image by using a neural network model to obtain an action recognition result of the user.
5. The method of claim 1, wherein the radar sensor is disposed on a vehicle door, and the method further comprises detecting whether an opening obstacle exists during the opening of the vehicle door, and generating a control command for stopping driving if the opening obstacle exists, so as to control the vehicle door driver to stop operating.
6. The method of claim 5, wherein the radar sensor detects in real time whether an opening obstacle is removed, and if so, controls the door actuator to continue executing instructions for controlling the door actuator.
7. The method of claim 1, wherein the infrared image sensor, the radar sensor, and the door actuator are all in signal communication with the door controller via a bus.
8. A control system that door was opened and close, characterized by includes:
the first control module is used for judging whether the vehicle door meets an automatic opening and closing condition or not, and controlling the infrared image sensor to acquire an infrared image of a user if the vehicle door meets the automatic opening and closing condition;
and the second control module is used for identifying the action of the user based on the infrared image, and if the action of the user is identified to be a preset action for controlling the vehicle door, the vehicle door controller responds to the action of the user to generate an instruction for controlling a vehicle door driver, and the instruction is used for controlling the opening and closing of the vehicle door.
9. The system of claim 8, wherein the first control module comprises a detection module for monitoring whether a valid key exists in an area outside the vehicle, and if the area where the valid key exists is used for unlocking the door lock, determining that the vehicle door meets an automatic opening condition.
10. The system of claim 9, wherein the first control module is further configured to: when a valid key exists in a region outside a monitored vehicle and before a vehicle door is unlocked, at least acquiring an infrared image of a user to identify the action of the user; wherein the controlling of the opening of the vehicle door is performed after unlocking the vehicle door.
11. The system of claim 8, wherein the second control module comprises an intelligent recognition module for performing motion recognition according to at least one image in the infrared image by using a neural network model to obtain a motion recognition result of the user.
12. The system of claim 8, further comprising a radar module for detecting whether there is an opening obstacle during the opening of the vehicle door, and generating a control command for stopping driving if there is an opening obstacle, and controlling the vehicle door driver to stop running.
13. The system of claim 12, wherein the radar module is further configured to detect in real time whether an opening obstacle is removed, and if so, control the door actuator to continue executing instructions for controlling the door actuator.
14. A control method for opening and closing a vehicle door is applied to a vehicle, the vehicle comprises a vehicle body, an infrared image sensor, a radar sensor, a vehicle door controller and a vehicle door driver, and the method is characterized by comprising the following steps:
starting an automatic door function based on the door lock state and the door state of the vehicle and the obstacle information detected by the radar sensor;
controlling an infrared image sensor to collect an infrared image of a user, wherein the user is located in a preset area range outside a vehicle;
and identifying the action of the user based on the infrared image, and if the action of the user is identified to be a preset action for controlling the vehicle door, generating an instruction for controlling a vehicle door driver by the vehicle door controller in response to the action of the user, wherein the instruction is used for controlling the opening and closing of the vehicle door.
15. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of a method of controlling opening and closing of a door as claimed in any one of claims 1 to 7 or claim 14.
16. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of a method of controlling opening and closing of a vehicle door according to any one of claims 1 to 7 or claim 14.
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