CN114575701B - 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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- CN114575701B CN114575701B CN202210171810.8A CN202210171810A CN114575701B CN 114575701 B CN114575701 B CN 114575701B CN 202210171810 A CN202210171810 A CN 202210171810A CN 114575701 B CN114575701 B CN 114575701B
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 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 19
- 238000004590 computer program Methods 0.000 claims description 15
- 230000006870 function Effects 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 10
- 238000003062 neural network model Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 abstract description 23
- 238000005516 engineering process Methods 0.000 abstract description 15
- 238000012545 processing Methods 0.000 description 13
- 230000005540 biological transmission Effects 0.000 description 4
- 230000001939 inductive effect Effects 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
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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
- E05F15/70—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
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lock And Its Accessories (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses a control method, a system, a vehicle and a storage medium for opening and closing a vehicle door, wherein the method comprises the following steps: judging whether the vehicle door meets the automatic opening and closing conditions, and if so, controlling an infrared image sensor to acquire an infrared image of a user; and identifying the action of the user based on the infrared image, and if the identified action of the user is a preset action for controlling the vehicle door, generating an instruction for controlling the 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 invention determines that the vehicle is under the condition of opening and closing based on the technologies such as vehicle state recognition and the like, acquires the image data of the user by utilizing the infrared image, confirms 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 controls the opening and closing of the vehicle door if the action is confirmed to be used for controlling the opening and closing of the vehicle door, thereby realizing the automatic opening and closing of the vehicle door. The invention realizes the automatic opening and closing process of the vehicle door, does not need manual operation of a user, and is convenient for the user to use.
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. People's control, performance, design, technological configuration etc. of vehicles will become the check standard of purchasing by people. With the progress of automobile electronic application technology, the current automobile door opening and closing mode can be achieved through automatically controlling the door opening and closing through a capacitive sensor or through touching an electronic key. The door opening and closing control means for opening and closing a door lock of a vehicle door, and not for automatically opening and closing the vehicle door.
With the increasing popularity of automobile automatic doors, the current mainstream door control triggering mode is controlled by an entity key, and when a hand-held object, the key are dirty and the key is scalded or cold in extreme weather, inconvenience or uncomfortable feeling can be generated.
Disclosure of Invention
Aiming at the technical problems, the invention provides a control method, a system, a vehicle and a storage medium for opening and closing a vehicle door, wherein the opening and closing of the vehicle door can be realized automatically by matching an infrared image with the state of a vehicle body by a vehicle machine system.
In a first aspect of the present invention, a method for controlling opening and closing of a door of a vehicle is provided, the vehicle including a vehicle body, an infrared image sensor, a radar sensor, a door controller, and a door driver. The method comprises the following steps:
Judging whether the vehicle door meets the automatic opening and closing conditions, and if so, controlling an infrared image sensor to acquire an infrared image of a user;
and identifying the action of the user based on the infrared image, and if the identified action of the user is a preset action for controlling the vehicle door, generating an instruction for controlling the 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 one possible implementation manner, the determining whether the vehicle door meets the automatic opening and closing condition includes:
Monitoring whether an effective key exists in an area outside the vehicle, and judging that the vehicle door meets the condition of automatic opening if the area where the effective key is located is used for unlocking the door lock.
In one possible implementation, when a valid key is present in an area outside the monitored vehicle, at least an infrared image of the user is acquired before the door is unlocked to identify the user's action; wherein controlling the opening of the door is performed after unlocking the door.
In one possible implementation, the act of identifying the infrared image identifies a user includes:
and performing action recognition according to at least one image in the infrared image by using a neural network model to obtain a user action recognition result.
In one possible implementation manner, the radar sensor is arranged on the vehicle door, the method further comprises detecting whether an opening obstacle exists in the opening process of the vehicle door, and if the opening obstacle exists, generating a control instruction for stopping driving, and controlling the vehicle door driver to stop running.
In one possible implementation, the radar sensor detects in real time whether the opening obstacle is removed, and if so, controls the door driver to continue executing instructions for controlling the door driver.
In one possible implementation, the infrared image sensor, the radar sensor, and the door driver are all in signal connection with the door controller via 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 the automatic opening and closing conditions, and if so, controlling the infrared image sensor to acquire the infrared image of the user;
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 the vehicle door driver, and the instruction is used for controlling the opening and closing of the vehicle door.
In one possible implementation manner, the first control module includes a detection module, configured to monitor 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 a door lock, determine that the door meets an automatic unlocking condition.
In one possible implementation, the first control module is further configured to: when an effective key exists in an area outside the vehicle, at least acquiring an infrared image of a user before the vehicle door is unlocked so as to identify the action of the user; wherein controlling the opening of the door is performed after unlocking the door.
In one possible implementation manner, the second control module includes an intelligent recognition module, which 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 one possible implementation manner, the system further comprises a radar module, which is used for detecting whether an opening obstacle exists in the process of opening the vehicle door, and generating a control instruction for stopping driving if the opening obstacle exists, so as to control the vehicle door driver to stop running.
In one possible implementation, the radar module is further configured to detect in real time whether the opening obstacle is removed, and if so, control the door driver to continue executing the instructions for controlling the door driver.
In a third aspect of the invention, a method for controlling opening and closing of a door of a vehicle is provided, the vehicle including a vehicle body, an infrared image sensor, a radar sensor, a door controller, and a door driver, the method comprising:
Starting an automatic door function based on a door lock state of the vehicle, a door state and obstacle information detected by a radar sensor;
controlling an infrared image sensor to acquire an infrared image of a user, wherein the user is in a preset area range outside the vehicle;
and identifying the action of the user based on the infrared image, and if the identified action of the user is a preset action for controlling the vehicle door, generating an instruction for controlling the 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, there is provided a vehicle comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, the computer program when executed by the processor implementing 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, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for controlling door opening and closing as described above.
The invention determines that the vehicle is under the condition of opening and closing based on the technologies such as vehicle state recognition and the like, acquires the image data of the user by utilizing the infrared image, confirms 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 controls the opening and closing of the vehicle door if the action is confirmed to be used for controlling the opening and closing of the vehicle door, thereby realizing the automatic opening and closing of the vehicle door. The invention realizes the automatic opening and closing process of the vehicle door, does not need manual operation of a user, and is convenient for the user to use.
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 invention;
FIG. 2 is a flow chart of another method for controlling door opening and closing according to an embodiment of the present invention;
FIG. 3 is a schematic block diagram of a door opening and closing control device according to an embodiment of the present invention;
fig. 4 is a schematic view of an automatic door control module for a vehicle according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the prior art, a door lock of a vehicle door is unlocked by a non-inductive key to realize the non-inductive unlocking technology, but the opening and closing of the vehicle door still need manual operation by a user, which is equivalent to half of the technology of non-inductive entering the vehicle, and the technology of non-inductive entering the vehicle is not completely released to enable the user to enter the vehicle by one hand. Half of the vehicles all comprise a vehicle body, a vehicle door is arranged on the vehicle body, a radar sensor, a vehicle door controller, a vehicle door driver and the like are arranged in the vehicle body, and the opening and closing of the vehicle door can be realized by utilizing each functional module of the infrared image sensor on the vehicle. The infrared image sensor, the radar sensor and the vehicle door driver are all in signal connection with the vehicle door controller through buses.
Referring to fig. 1, fig. 1 is a flow chart of a method for controlling opening and closing of a vehicle door according to an embodiment of the invention. The control method for opening and closing the vehicle door comprises the following steps:
Step 11: judging whether the vehicle door meets the automatic opening and closing conditions, and if so, controlling the infrared image sensor to collect the infrared image of the user.
It is well known that opening of a vehicle door is a limiting condition, for example, the door is not allowed to be opened for safety during high-speed running, and if the door is opened at will, there is a possibility that a hazard may occur. Therefore, in the process of controlling the opening of the vehicle door, whether the vehicle door meets the opening condition needs to be confirmed; of course, the closing of the vehicle door should meet the condition, and the closing of the vehicle door in the general use situation may not be set.
The invention will be described with respect to the opening of a vehicle door only as an example. 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 activation key detection positioning module detects whether a valid key exists in a specific 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 vehicle door of the vehicle. 4. And judging the power supply state of the vehicle. 5. And judging the current speed of the vehicle.
It will be appreciated that the door may not be opened at will when the deadkey does not effect deadunlocking. The door lock of the vehicle door is locked and unlocked without control, namely, the vehicle door is in a locked state and cannot be opened. The opening angle of the vehicle door can refer to surrounding barriers, and if the barriers exist, the vehicle door cannot be opened, so that the vehicle door is prevented from being crashed. Of course, the power source of the vehicle, the speed of the vehicle, and the like are also factors to be considered.
When the opening and closing 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, and in one scene, the identity of the user is not required to be confirmed, and only the infrared image is required to be processed to identify the action of the infrared image representation. 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, the control action can be realized by the users except the vehicle owner in the process, the control user range is expanded, and the user experience can be improved.
Step 12: and identifying the action of the user based on the infrared image, and if the identified action of the user is a preset action for controlling the vehicle door, generating an instruction for controlling the 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 action may be a gesture, or a coherent action, etc. Wherein the posture may be a walking posture, a standing posture, or the like. In one embodiment, the infrared image may be an infrared image of the upper or lower body of the user, and while the whole body image of the user is acquired during the acquisition process, only a portion of the infrared image of the user may be identified during the identification process. That is, the infrared image is a partial image of the user's whole infrared image.
The preset actions are actions of users which are recognized and stored in advance by the vehicle-mounted control system, and can be obtained 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 or a vehicle main controller. When the door controller recognizes the user action as a preset action for controlling the door to be opened, generating an instruction for controlling the door driver, wherein the instruction is used for controlling the door driver to operate so as to drive the 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 finish opening and closing actions through rotation of the motor.
The invention acquires the state of the vehicle, then determines that the vehicle is in a condition of being capable of being started and stopped, 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 door opening is necessary, so that the user is present around the vehicle, the user identity does not need to be confirmed, and the accuracy of identifying the user does not need to be excessively 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 the video image is higher at night than at infrared. In addition, the invention realizes the automatic opening and closing process of the vehicle door, does not need manual operation of a user, and is convenient for the user to use.
Further, in the step 11, determining whether the door meets the automatic opening and closing condition includes:
Monitoring whether an effective key exists in an area outside the vehicle, and judging that the vehicle door meets the condition of automatic opening if the area where the effective key is located is used for unlocking the door lock.
The necessary condition for opening the door is that the door is unlocked and can be implemented in connection with keyless entry in the prior art. The keyless entry means that the vehicle does not need to be unlocked by taking out the car key, and in general, the driver needs to carry the car key to enter a range of a preset distance around the vehicle, and the car machine is matched with a legal car sensing key, so that the car door can be opened. The technology is that the intelligent chip in the identification car key senses signals, and the car machine identifies the validity of the key and then controls the unlocking of the car door through a bus technology.
In the prior art, the keyless entry can distinguish the region where the user is located according to the distance between the key and the vehicle, and different function control can be realized according to different regions where the key is located. When a user is located in an area for unlocking the vehicle door, the vehicle opportunity intelligently controls the unlocking of the vehicle door.
In the embodiment, the condition confirmation before the door opening is realized by identifying the position of the intelligent key, so that the unlocking connection control of the vehicle door can be realized, and a user can conveniently and quickly enter the vehicle.
In order to facilitate timely control of opening of the vehicle door, identification time is reduced, and at least an infrared image of a user is collected before the vehicle door is unlocked when an effective key exists in an area outside the monitored vehicle so as to identify actions of the user. Wherein controlling the opening of the door is performed after unlocking the door.
Because the process of collecting the infrared images and the images of the user needs some time, and then the processing result generates a control instruction and then the control instruction goes to the door opening process, the time is shorter, but the user is ensured to control the door to be opened before reaching the door, so that better experience is realized. Therefore, the identification process can be started in advance, and 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 vehicle is more intelligent. If the user needs to wait before arriving at the door, the door automatically opens the very chicken rib. The waiting time is sufficient for the user to manually open the door and the user experience may be poor.
And recognizing the motion of the user by the infrared image, and 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.
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 recognition results of user actions. For example, the neural network processing unit is used for running at least one neural network model in the plurality of neural network models so as to identify according to at least one infrared image in the infrared image, and an identification result of the user action is obtained.
The infrared image recognition technology can sense the limb shape of the detected 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 limb shape, and the infrared image recognition technology can replace a hardware switch of a traditional vehicle door control system.
In some use cases, the parking environment of the vehicle may limit the opening of the door, which may be damaged if forced to open, such as to collide with other vehicles, other buildings, etc. Therefore, when the vehicle door is opened, whether an obstacle exists in the opening range of the vehicle door needs to be determined, and the obstacle can be identified through radar detection or a vehicle-mounted camera.
In one embodiment, whether an opening obstacle exists is detected during or before the opening of the vehicle door, and if the opening obstacle exists, a control command for stopping driving is generated to control the vehicle door driver to stop running. The radar sensor is arranged on the vehicle door, the radar sensor arranged on the vehicle 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 action path is transmitted to the vehicle door control module in real time.
If an obstacle is detected in the opening process of the vehicle door, and the influence of the obstacle is not great, the opening angle of the vehicle door can be controlled, and the opening angle of the vehicle door can meet the requirement of entering of a user without touching the obstacle. If the obstacle is movable, the user may remove the obstacle. And the radar sensor detects whether the opening obstacle is removed or not in real time, if so, 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 invention further provides a control method for opening and closing the vehicle door, which is applied to a vehicle, wherein the vehicle comprises 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: an automatic door function is activated based on a door lock state of the vehicle, a door state, and obstacle information detected by a radar sensor.
For example, detecting whether the door lock is unlocked prior to opening the door, whether the door condition is closed, and whether there is an opening obstacle is detected by the radar sensor, and if the door is unlocked, the door is closed, and there is no obstacle for opening the door, the automatic door function may be initiated.
Step 22: the infrared image sensor is controlled to collect infrared images of users, and the users are located in a preset area range outside the vehicle.
For example, the infrared image recognition technology can sense the limb shape of the detected person, so that the technology can be used as a contactless information transmission mode, and the opening intention of a user is transmitted to the vehicle controller through the limb shape, so that 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 identified action of the user is a preset action for controlling the vehicle door, generating an instruction for controlling the 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 a separate control module or a main controller of the vehicle. When the door controller recognizes the user action as a preset action for controlling the door to be opened, generating an instruction for controlling the door driver, wherein the instruction is used for controlling the door driver to operate so as to drive the 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 finish opening and closing actions through rotation of the motor.
In this embodiment, by determining three opening conditions of the vehicle, control of the automatic door is started without confirmation of other vehicle states. The implementation process is simple and convenient. Reference is made to fig. 1 and the description of the related embodiments, where this embodiment is not exhaustive.
As shown in fig. 3, the present invention further provides a system for controlling opening and closing of a vehicle door, including:
the first control module 31 is used for judging whether the vehicle door meets the automatic opening and closing conditions, and if so, controlling the infrared image sensor to collect the infrared image of the user;
The second control module 32 is configured to identify a user's motion based on the infrared image, and if the identified user's motion is a preset motion for controlling the door, the door controller generates an instruction for controlling the door driver in response to the user's motion, where the instruction is used to control opening and closing of the 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 if the area where the effective key is located is used for unlocking a door lock, determine that the door meets an automatic unlocking condition.
Wherein, the first control module 31 is further configured to: when an effective key exists in an area outside the vehicle, at least acquiring an infrared image of a user before the vehicle door is unlocked so as to identify the action of the user; wherein controlling the opening of the door is performed after unlocking the 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, a control module and a control module, wherein the radar module is used for detecting whether an opening obstacle exists in the opening process of the vehicle door, and generating a control instruction for stopping driving if the opening obstacle exists, so as to control the vehicle door driver to stop running.
The radar module is also used for detecting whether the opening obstacle is removed in real time, and if so, the radar module is used for controlling the vehicle door driver to continuously execute the instruction for controlling the vehicle door driver.
The specific implementation process may refer to the contents of each embodiment shown in fig. 1 and fig. 2, and will not be described herein.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate 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 solution. 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 in 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 acquisition sensor disposed outside and inside the vehicle, and an infrared image processing module. The switch is preset by the infrared characteristics of the soft switch of the screen of the automobile, 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 executing motor, a vehicle speed detection module and the like.
The infrared image acquisition sensor (outside the automobile) can be placed in the middle of the B column of the automobile, the infrared image acquisition sensor (inside the automobile) can be placed on the automobile door inner decoration plate, the infrared image acquisition sensor and the automobile door inner decoration plate 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 an in-automobile bus. The infrared characteristic preset switch is placed in a car machine screen and is in signal transmission with the automatic car door control module through a bus.
The radar sensor and the processing module are placed in the vehicle door, and signal transmission is carried out with the automatic vehicle door control module through a bus. The key monitoring and positioning module multiplexes the solution of the car body controller BCM, and signal transmission is carried out with the automatic car door control module through a bus. Door lock state, door state detection multiplexing the internal switch of door lock is connected to automatic door control module through the hard wire. The vehicle speed detection module multiplexes the vehicle body stability controller ESC, and signal transmission is carried out with the automatic vehicle door control module through a bus. The door switch execution motor is connected to the automatic door control module through a hard wire, and the door switch execution motor directly controls the forward and reverse rotation and stop of the motor.
The key monitoring and positioning module detects whether an effective key exists in a specific area outside the automobile in real time by utilizing a key monitoring and positioning antenna, and transmits the result to the automatic automobile door control module. The door lock status detection switch transmits door lock status data to the automatic door control module. The door status detection switch transmits door status data to the automatic 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 door control module receives all data and then judges whether the current vehicle state meets the condition of opening the door, if so, the door switch is controlled to execute a motor to execute the opening or closing of the door, meanwhile, the door radar obstacle detection module is activated to judge whether an obstacle exists in the door opening process, and if so, the motor is stopped. 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 transmits the processed obstacle information on the vehicle door action path to the automatic vehicle door control module in real time. The automatic door control module identifies the action of the user based on the infrared image, and if the action of the user is identified as a preset action for controlling the door, the door controller responds to the action of the user to generate an instruction for controlling the door driver, and the instruction is used for controlling the opening and closing of the door. The details of which are described with reference to the embodiment of fig. 1.
In practical application, the on or off infrared characteristic value can be preset in a self-defined way, can be a certain gesture, and can also be a certain continuous action, and the acquisition precision of the infrared sensor and the chip processing capacity of the infrared processing module can be specifically referred to.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the door opening and closing control method as described above.
It is understood that the computer-readable storage medium may include: any entity or device capable of carrying a computer program, a recording medium, a USB flash disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a software distribution medium, and so forth. The computer program comprises computer program code. The computer program code may be in the form of source code, object code, executable files, or in some intermediate form, among others. The computer readable storage medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a software distribution medium, and so forth.
In some embodiments of the present invention, the automatic parking device may include a controller, which is a single chip microcomputer chip, integrated with a processor, a memory, a communication module, etc. The processor may refer to a processor comprised by the controller. The Processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATEARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like.
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 of the process, and further 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.
Logic or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for 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, system that includes a processing module, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. A control method for opening and closing a vehicle door, which is applied to a vehicle, wherein 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 the automatic opening and closing conditions, and if so, controlling an infrared image sensor to acquire an infrared image of a user;
Identifying the action of a user based on the infrared image, and if the identified action of the user is 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; wherein: the judging whether the vehicle door meets the automatic opening and closing condition comprises the following steps: monitoring whether an effective key exists in an area outside the vehicle, and judging that the vehicle door meets the condition of automatic opening if the area where the effective key is located is used for unlocking a door lock; when an effective key exists in an area outside the vehicle, at least acquiring an infrared image of a user before the vehicle door is unlocked so as to identify the action of the user; wherein controlling the opening of the door is performed after unlocking the door.
2. The method of claim 1, wherein the act of identifying the infrared image identifies a user comprises:
and performing action recognition according to at least one image in the infrared image by using a neural network model to obtain a user action recognition result.
3. The method of claim 1, wherein the radar sensor is provided on a vehicle door, and the method further comprises detecting whether there is an opening obstacle during opening of the vehicle door, and if there is an opening obstacle, generating a control command to stop driving, and controlling the vehicle door driver to stop operating.
4. A method according to claim 3, wherein the radar sensor detects in real time whether an opening obstacle is removed, and if so, controls the door driver to continue executing instructions for controlling the door driver.
5. The method of claim 1, wherein the infrared image sensor, the radar sensor, and the door driver are all in signal connection with the door controller via a bus.
6. A control system for opening and closing a vehicle door, comprising:
The first control module is used for judging whether the vehicle door meets the automatic opening and closing conditions, and if so, controlling the infrared image sensor to acquire the infrared image of the user;
The second control module is used for identifying 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 the vehicle door driver, and the instruction is used for controlling the opening and closing of the vehicle door; wherein: the first control module comprises a detection module and a control module, wherein the detection module is used for monitoring whether an effective key exists in an area outside the vehicle, and judging that the vehicle door meets the condition of automatic opening if the area where the effective key is positioned is used for unlocking a door lock; the first control module is further configured to: when an effective key exists in an area outside the vehicle, at least acquiring an infrared image of a user before the vehicle door is unlocked so as to identify the action of the user; wherein controlling the opening of the door is performed after unlocking the door.
7. The system of claim 6, 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.
8. The system of claim 6, further comprising a radar module for detecting whether an opening obstacle is present during opening of the door, and generating a control command to stop the drive if the opening obstacle is present, to control the door driver to stop operating.
9. The system of claim 8, wherein the radar module is further configured to detect in real time whether an opening obstruction is removed, and if so, to control the door driver to continue executing instructions for controlling the door driver.
10. A control method for opening and closing a vehicle door, which is applied to a vehicle, wherein 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 a door lock state of the vehicle, a door state and obstacle information detected by a radar sensor; judging whether the vehicle door meets the automatic opening and closing conditions, and if so, controlling an infrared image sensor to acquire an infrared image of a user, wherein the user is in a preset area range outside the vehicle;
Identifying the action of a user based on the infrared image, and if the identified action of the user is 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; wherein: the judging whether the vehicle door meets the automatic opening and closing condition comprises the following steps: monitoring whether an effective key exists in an area outside the vehicle, and judging that the vehicle door meets the condition of automatic opening if the area where the effective key is located is used for unlocking a door lock; when an effective key exists in an area outside the vehicle, at least acquiring an infrared image of a user before the vehicle door is unlocked so as to identify the action of the user; wherein controlling the opening of the door is performed after unlocking the door.
11. A vehicle comprising a processor, a memory and a computer program stored on the memory and operable on the processor, the computer program when executed by the processor effecting the steps of the method of controlling opening and closing of a vehicle door as claimed in any one of claims 1 to 5 or claim 10.
12. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method for controlling the opening and closing of a vehicle door according to any one of claims 1 to 5 or claim 10.
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| CN115354924A (en) * | 2022-07-12 | 2022-11-18 | 中国第一汽车股份有限公司 | Automatic opening and closing system for automobile door and control method thereof |
| CN116129558B (en) * | 2022-11-28 | 2024-08-27 | 重庆长安汽车股份有限公司 | Vehicle back door control method and device, vehicle and storage medium |
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