CN114789708A - Door opening method based on automatic driving and automatic driving vehicle - Google Patents
Door opening method based on automatic driving and automatic driving vehicle Download PDFInfo
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- B60—VEHICLES IN GENERAL
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- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
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- 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
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- B60R25/25—Means to switch the anti-theft system on or off using biometry
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Abstract
The application provides a door opening method based on automatic driving and an automatic driving vehicle, wherein the door opening method comprises the following steps: acquiring a driving state of an automatic driving vehicle; when the autonomous vehicle is in a parking state, judging whether a parking position of the autonomous vehicle corresponds to a destination; if the parking position corresponds to the destination, judging whether a door opening requester is a target receiver, and if the door opening requester is the target receiver, distributing door opening permission to passengers; and if the parking position does not correspond to the destination or the door opening requester is not the target receiver, the door opening authority is distributed to the guardian, so that the guardian can determine whether to execute door opening operation according to actual conditions. This application will open the door the authority according to the parking condition selectivity and distribute to passenger or guardian, not only can realize conveniently opening the door, can also protect the passenger.
Description
Technical Field
The application relates to the field of automatic driving, in particular to a door opening method based on automatic driving and an automatic driving vehicle.
Background
Currently, an autonomous vehicle can communicate with a user to obtain a user position and a parking position desired by the user, thereby providing an autonomous driving service for a user to park at a fixed point. In practical applications, in an unmanned vehicle, when a user is riding the unmanned vehicle, the timing of opening the door becomes a problem. For example, when an automatic driving vehicle is used for delivering children, patients and the elderly to a destination, a collision, a vehicle fault, a passenger getting on the toilet, whether a receiver is correct, and the like may occur, so that after the automatic driving vehicle is parked, the passenger can get off the vehicle or a stranger can get on the vehicle door, which is an urgent problem to be solved at present.
In view of this, overcoming the deficiencies of the prior art products is an urgent problem to be solved in the art.
Disclosure of Invention
The main technical problem who solves of this application provides a method and automatic driving vehicle of opening door based on automatic driving, and this application will open the door the authority according to the parking condition selectivity and distribute passenger or guardian, not only can realize conveniently opening the door, can also protect the passenger.
In order to solve the technical problem, the application adopts a technical scheme that: provided is an automatic driving-based door opening method, including:
acquiring a driving state of an automatic driving vehicle;
when the autonomous vehicle is in a parking state, judging whether a parking position of the autonomous vehicle corresponds to a destination;
if the parking position corresponds to the destination, judging whether a door opening requester is a target receiver, and if the door opening requester is the target receiver, distributing door opening permission to the passenger;
and if the parking position does not correspond to the destination or the door opening requester is not the target receiver, the door opening authority is distributed to the guardian, so that the guardian can determine whether to execute door opening operation according to actual conditions.
Wherein, the door opening method further comprises:
acquiring characteristic information of receivers in association relation with passengers, and dividing a person place for the receivers according to the relation type of each receiver and the passengers, wherein the characteristic information comprises face information, voiceprint information or fingerprint information;
and establishing a corresponding relation between the characteristic information of the receiver and the receiver place corresponding to the receiver so as to establish a relation map.
Wherein, if the parking position corresponds to the destination, determining whether a door opening requester is a target recipient, and if the door opening requester is the target recipient, allocating a door opening authority to the passenger includes:
if the parking position corresponds to the destination, searching a first person-receiving place matched with the destination from the relation map;
judging whether the first person-catching place exists in the relation map or not;
if the first person-catching place exists in the relation graph, traversing the relation graph by taking the first person-catching place as a key value to obtain the characteristic information of at least one first receiver;
the method comprises the steps of collecting characteristic information of a door opening requester, and if the characteristic information of the door opening requester is matched with the characteristic information of one first receiver, the door opening requester is a target receiver and distributes door opening permission to passengers.
Wherein, after judging whether the first person-catching place exists in the relationship graph, the method further comprises:
if the first contact location does not exist in the relation map, acquiring a first contact person in communication with the passenger within a preset time range;
establishing communication connection with the first contact person, and sending a position sharing request to the first contact person;
if the distance between the autonomous vehicle and the first contact is gradually reduced, then the first contact is taken as a target recipient;
if the first contact exists in the relationship map, acquiring characteristic information of the first contact;
and collecting the characteristic information of the door opening requester, wherein if the characteristic information of the door opening requester is matched with the characteristic information of the first contact person, the door opening requester is a target receiver, and the door opening permission is distributed to passengers.
Wherein, the door opening method further comprises:
if the first contact does not exist in the relationship map, acquiring a distance between the autonomous vehicle and the first contact when a door opening requester is detected outside the vehicle;
and when the distance between the automatic driving vehicle and the first contact is smaller than a set distance threshold value, the door opening requester is the target receiver and assigns door opening permission to passengers.
Wherein, if the parking position does not correspond to the destination or the door opening requester is not the target receiver, the door opening authority is assigned to the guardian, so that the guardian can determine whether to execute the door opening operation according to the actual situation, including:
if the door opening requester is not the target receiver, reporting alarm information to at least one guardian, and allocating the door opening permission to the first guardian which responds first;
the method comprises the steps of collecting environment information outside a vehicle and face information of a door opening requester through a collection unit, and sending the environment information outside the vehicle and the face information of the door opening requester to a first guardian, so that the first guardian can determine whether to execute door opening operation.
Wherein, the door opening method further comprises:
if the parking position does not correspond to the destination, reporting a parking reason to at least one guardian, and distributing the door opening authority to the first guardian which responds first; if the parking reason is the vehicle fault, reporting the environment information outside the vehicle and the state information of the passengers in the vehicle to a first guardian;
if no suitable receiver exists outside the vehicle and the state of passengers in the vehicle is good, after the automatic driving vehicle receives an instruction from the first guardian to search for a suitable receiver, the automatic driving vehicle searches for a second receiving place within a preset distance range from the current parking position from a relation map;
and sending a position sharing request to a second receiver corresponding to the second receiver place, taking the second receiver closest to the parking position as a target receiver, and informing the target receiver of going to the current parking position.
Wherein, if the parking reason is the car trouble, still include after reporting the outside environmental information of car and the interior passenger's of car status information to first guardian:
if the state of the passenger in the vehicle is not good, the first guardian communicates with the passenger to determine the physical condition of the passenger in the vehicle so as to determine whether to make an emergency call, and the first guardian also triggers the automatic driving vehicle to send out an alarm to attract surrounding pedestrians or traffic police to approach the automatic driving vehicle;
when the automatic driving vehicle detects that a pedestrian or a traffic police approaches the automatic driving vehicle, the haze and the sound control inside and outside the vehicle are adjusted so as to facilitate communication between passengers and personnel outside the vehicle;
the automatic driving vehicle sends a monitoring video for communication between passengers and personnel outside the vehicle to the first guardian in real time, and the first guardian determines whether to execute door opening operation according to the communication condition;
and if the door opening instruction of the first guardian is received, executing door opening operation and sending the face information of the receiver to the first guardian.
Wherein, the door opening method further comprises:
if the parking position does not correspond to the destination or the door opening requester is not a target receiver, reporting alarm information to at least one guardian, and if the response of the guardian is not received within a preset time, monitoring the state of a passenger;
if the state of the passenger is good, continuing waiting and improving the frequency of reporting the alarm information;
if the state of the passenger is not good, an alarm is given to attract surrounding pedestrians or traffic police to get close to the automatic driving vehicle;
when the automatic driving vehicle detects that a pedestrian or a traffic police approaches the automatic driving vehicle, the haze and the sound control inside and outside the vehicle are adjusted so as to facilitate communication between passengers and personnel outside the vehicle, and the passengers determine whether to trigger an emergency button according to the communication condition;
after the emergency button is triggered, executing door opening operation and collecting face information of a receiver;
wherein the emergency button is enabled only in the case that the passenger status is not good.
In order to solve the technical problem, the application adopts a technical scheme that: the automatic driving vehicle comprises a processor, a collecting unit, a navigation unit, a communication unit and a storage unit, wherein the processor is respectively connected with the collecting unit, the navigation unit, the communication unit and the storage unit;
the system comprises a collecting unit, a navigation unit, a storage unit, a communication unit and a processor, wherein the collecting unit is used for in-vehicle and out-vehicle information, the navigation unit is used for obtaining the position of a vehicle, the storage unit is used for storing computer instructions, the communication unit is used for realizing in-vehicle and out-vehicle communication, and the processor is used for realizing the door opening method according to the computer instructions and the units interacting with the computer instructions.
The beneficial effect of this application is: the application provides a door opening method based on automatic driving and an automatic driving vehicle, wherein the door opening method comprises the following steps: acquiring a driving state of an automatic driving vehicle; when the automatic driving vehicle is in a parking state, judging whether a parking position of the automatic driving vehicle corresponds to a destination or not; if the parking position corresponds to the destination, judging whether a door opening requester is a target receiver, and if the door opening requester is the target receiver, distributing door opening permission to passengers; and if the parking position does not correspond to the destination or the door opening requester is not the target receiver, the door opening authority is distributed to the guardian, so that the guardian can determine whether to execute door opening operation according to actual conditions.
This application will open the door the authority according to the parking condition selectivity and distribute to passenger or guardian, not only can realize conveniently opening the door, can also protect the passenger.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly described below. It is obvious that the drawings described below are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic flowchart of a first door opening method based on automatic driving according to an embodiment of the present application;
FIG. 2 is a schematic flowchart illustrating a second door opening method based on automatic driving according to an embodiment of the present application;
FIG. 3 is a schematic flowchart illustrating a third door opening method based on automatic driving according to an embodiment of the present application;
FIG. 4 is a schematic flow chart illustrating a fourth method for opening a door based on automatic driving according to an embodiment of the present application;
fig. 5 is a schematic flowchart of a fifth door opening method based on automatic driving according to an embodiment of the present application;
FIG. 6 is a schematic flow chart of an autonomous vehicle according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not set forth in detail in order to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
It should be noted that, since the method in the embodiment of the present application is executed in the electronic device, the processing objects of each electronic device all exist in the form of data or information, for example, time, which is substantially time information, and it is understood that, if the size, the number, the position, and the like are mentioned in the following embodiments, all corresponding data exist so as to be processed by the electronic device, and details are not described herein.
Example 1:
in order to solve the problem of how to assign the door opening permission of the automatic driving vehicle, the embodiment provides a door opening method, and referring to fig. 1, the specific implementation process is as follows:
step 10: the driving state of the automatic driving vehicle is obtained.
Here, the "autonomous vehicle" refers to a vehicle that can travel along a navigation route without a driver.
The autonomous vehicle may include a collection unit connected to the processing unit, the collection unit may collect information inside and outside the vehicle, including but not limited to vehicles, pedestrians, lane markings, traffic signs, traffic lights, and the like, and the processing unit analyzes the information collected by the collection unit, wherein the collection unit includes a visible light camera, an infrared camera, a radar, a sensor (e.g., an accelerometer, a speed sensor, a distance sensor), and the like.
In addition, the autonomous vehicle includes a storage unit for storing information, such as GPS data, sensor data, or other information related to its driving environment. The autonomous vehicle further includes a communication unit by which to communicate with an internal unit or an external unit, for example, to communicate with other vehicles, sharing information; but also with the guardian of the passenger. Wherein the communication unit comprises a radio frequency based communication unit, a cellular network based communication unit or an internet based communication unit. The autonomous vehicle further includes a navigation unit for traveling according to a preset navigation route and for acquiring a vehicle position.
Currently, autonomous vehicles also include other units, not to mention here, which may implement the door opening method described below.
The automatic driving vehicle receives and delivers passengers according to a preset navigation route, wherein the passengers mainly comprise children, old people or patients. The driving state of the automatic driving vehicle is monitored in real time in the process of receiving and delivering passengers.
Step 11: when the autonomous vehicle is in a parked state, it is determined whether a parking position of the autonomous vehicle corresponds to a destination.
In the present embodiment, whether the autonomous vehicle is in a stopped state may be determined by detecting the state of the engine, may be determined by detecting the speed of the autonomous vehicle, or may be determined by detecting the travel distance of the autonomous vehicle.
When the automatic driving vehicle is in a parking state, whether the parking position of the automatic driving vehicle corresponds to a destination or not is judged, wherein the destination refers to a terminal point corresponding to a navigation route.
In the present embodiment, the parking position is determined by the GPS positioning device and then marked on the navigation map to determine whether the parking position of the autonomous vehicle corresponds to the destination. In an actual application scene, the parking position may be different from an actual navigation position, and in order to ensure detection accuracy, when the distance difference between the parking position and the destination is small, image information around the parking position is acquired through the acquisition unit, and whether the parking position of the autonomous vehicle corresponds to the destination or not is judged by combining the image information.
Step 12: and if the parking position corresponds to the destination, judging whether the door opening requester is a target receiver, and if the door opening requester is the target receiver, distributing the door opening permission to the passenger.
In this embodiment, if the parking location corresponds to the destination, it is determined whether the door opening requester is a target recipient, and if the door opening requester is the target recipient, the door opening authority is assigned to the passenger. Specifically, the door opening requester is determined to be a target recipient through fingerprint recognition, face recognition, and voiceprint recognition.
Step 13: and if the parking position does not correspond to the destination or the door opening requester is not the target receiver, the door opening authority is distributed to the guardian, so that the guardian can determine whether to execute door opening operation according to actual conditions.
In this embodiment, if the parking location does not correspond to the destination or the door opening requester is not the target recipient, the door opening authority is assigned to the guardian, so that the guardian can determine whether to execute the door opening operation according to actual conditions.
In an actual application scene, a relation map related to passengers is stored in the automatic driving vehicle, and a receiver is determined according to the relation map.
The relationship graph is established as follows: acquiring characteristic information of receivers having an association relation with passengers, and dividing a person place for the receivers according to the relation type of each receiver and the passengers, wherein the characteristic information comprises face information, voiceprint information or fingerprint information; and establishing a corresponding relation between the characteristic information of the receiver and the receiver place corresponding to the receiver so as to establish a relation map.
In an alternative embodiment, if the passenger is a child, the recipients associated with the passenger include school teachers, training facility teachers, relatives, family doctors, and the like. If the receiver is a school teacher, the pick-up place is a school; if the receiver is a teacher of a training institution, the receiving place is the training institution; if the receiver is a parent, the pick-up place is the residence of the parent; if the receiver is a family doctor, the receiving place is a hospital, which is not listed here.
In an alternative embodiment, if the passenger is an elderly person, the recipients associated with the passenger include nursing home employees, relatives, family doctors, and the like. If the receiver is a sanatorium employee, the receiving place is a sanatorium; if the receiver is a parent, the receiving place is the residence of the parent; if the receiver is a family doctor, the receiving place is a hospital, which is not listed here. Wherein, a receiver may correspond to a plurality of receiving places, and the relation map can be continuously updated in actual use.
In other application scenarios, the receiver may also be directly designated by the guardian for a certain pick-up.
In an actual application scenario, one pick-up place may correspond to multiple recipients, for example, the pick-up place is a school, the recipients may correspond to different teachers during the school, and the automatic driving vehicle may flexibly allocate the recipients, so as to ensure that the recipients can timely pick up the passengers, in step 12, the method specifically includes the following steps:
in an alternative embodiment, with reference to FIG. 2, it is determined whether the first pick-up location exists in the relationship graph; if the first person-catching place exists in the relation graph, traversing the relation graph by taking the first person-catching place as a key value to obtain the characteristic information of at least one first receiver; the method comprises the steps of collecting characteristic information of a door opening requester, and if the characteristic information of the door opening requester is matched with the characteristic information of one first receiver, the door opening requester is a target receiver and distributes door opening permission to passengers.
In the application scenario, the first pick-up place is a place where passengers frequently go, the first pick-up place generally exists in the relationship map, and a suitable receiver can be selected from the relationship map.
In another application scenario, the first pick-up location is a location where the passenger first visits or a location that visits infrequently, and the first pick-up location may not exist in the relationship graph and may not be a suitable recipient from the relationship graph. In this application scenario, the appropriate recipient may be determined as follows:
if the first person-receiving place does not exist in the relation map, acquiring a first contact person which has communication contact with the passenger within a preset time range; the number of the first contacts may be multiple, and the preset time range may be one hour or one day before the departure, and the setting may be performed according to actual conditions. The communication contact refers to a telephone contact, a WeChat contact, a QQ contact or other communication software contact, and it should be noted that, in order to protect the privacy of the passenger, only the contact persons in communication contact with the passenger can be obtained, but the chat content cannot be obtained.
Then, the automatic driving vehicle establishes communication connection with the first contact person, sends a position sharing request to the first contact person, and takes the first contact person as a target receiver if the distance between the automatic driving vehicle and the first contact person is gradually reduced.
After the target receiver is determined, feature information of the target receiver needs to be determined, specifically, a relationship graph can be searched through name search or relationship with the passenger to determine whether the first contact exists in the relationship graph, and if the first contact exists in the relationship graph, the feature information of the first contact is acquired.
After the automatic driving vehicle stops, collecting the characteristic information of a door opening requester, and if the characteristic information of the door opening requester is matched with the characteristic information of the first contact person, the door opening requester is a target receiver and distributes door opening permission to passengers.
In another application scenario, with reference to fig. 3, if the first contact does not exist in the relationship map, it is required to determine whether the current door opening requester is the target recipient according to a distance between the first contact and the vehicle. Specifically, when a door opening requester is detected outside the vehicle, the distance between the automatic driving vehicle and the first contact is obtained; when the distance between the autonomous vehicle and the first contact is less than a set distance threshold (e.g., 0.5 m), the door open requester assigns a door open authority to the passenger for the target recipient.
The foregoing mainly explains how to assign the target recipient when the parking position corresponds to the destination, and when the door opening requester is the target recipient, the door opening authority is assigned to the passenger. The following discusses how to assign the door opening authority when the parking position does not correspond to the destination or the door opening requester is not the target recipient.
In a specific application scenario, step 13 specifically includes the following steps:
with reference to fig. 4, if the door opening requester is not the target receiver, reporting an alarm to at least one guardian, and assigning the door opening right to the first guardian who responds first; the method comprises the steps of collecting environment information outside a vehicle and face information of a door opening requester through a collection unit, and sending the environment information outside the vehicle and the face information of the door opening requester to a first guardian, so that the first guardian can determine whether to execute door opening operation. Each passenger corresponds to at least one guardian, when the door opening requester is not the target receiver, the environment information outside the vehicle and the face information of the door opening requester are sent to the first guardian which responds at first, whether the door is opened or not is determined by the first guardian, and if the vehicle is safe and the guardian recognizes the door opening requester, the door opening permission is redistributed to the passengers so as to execute the door opening operation.
In another specific application scenario, step 13 specifically includes the following steps:
with reference to fig. 4 and 5, if the parking location does not correspond to the destination, reporting a parking reason to at least one guardian, and allocating a door opening right to a first guardian who responds first; if the parking reason is the vehicle fault, reporting the environment information outside the vehicle and the state information of the passengers in the vehicle to a first guardian, wherein the state of the passengers can be determined by monitoring the breathing condition, the limb contracture condition, the facial expression, the body temperature condition and the pupil condition of the passengers. If no suitable receiver exists outside the vehicle and the state of passengers in the vehicle is good, after the automatic driving vehicle receives an instruction from the first guardian to search for a suitable receiver, the automatic driving vehicle searches for a second receiving place within a preset distance range from the current parking position from a relation map; and sending a position sharing request to a second receiver corresponding to the second receiver location, taking the second receiver closest to the parking position as a target receiver, and informing the target receiver of going to the current parking position.
If the state of the passenger in the vehicle is not good, the first guardian communicates with the passenger to determine the physical condition of the passenger in the vehicle so as to determine whether to make an emergency call, and the first guardian also triggers the automatic driving vehicle to send out an alarm to attract surrounding pedestrians or traffic police to approach the automatic driving vehicle;
when the automatic driving vehicle detects that a pedestrian or a traffic police approaches the automatic driving vehicle, the haze and the sound control inside and outside the vehicle are adjusted so as to facilitate communication between passengers and personnel outside the vehicle; the automatic driving vehicle sends a monitoring video for communication between a passenger and personnel outside the vehicle to the first guardian in real time, and the first guardian determines whether to execute door opening operation according to the communication condition; and if the door opening instruction of the first guardian is received, executing door opening operation and sending the face information of the receiver to the first guardian.
In another application scenario, an emergency button is arranged on the automatic driving vehicle, and after the emergency button is triggered, door opening operation is executed, wherein the emergency button is only effective under the condition that the state of a passenger is not good, so that the passenger in the bad state is prevented from being locked in the vehicle. Specifically, if the parking position does not correspond to the destination or the door opening requester is not the target receiver and does not receive the response of the guardian within a preset time, the state of the passenger is monitored, and the door opening authority is assigned according to the state of the passenger. In this embodiment, the state of the passenger can be determined by monitoring the breathing condition, the limb contracture condition, the facial expression, and the pupil condition of the passenger.
If the passenger is in good state, continuing to wait and increasing the frequency of reporting the alarm information to at least one guardian; if the passenger's status is not good, an alarm is issued to attract surrounding pedestrians or traffic police to approach the autonomous vehicle. When the automatic driving vehicle detects that pedestrians or traffic polices are close to the automatic driving vehicle, the haze and the sound control inside and outside the vehicle are adjusted so that passengers can communicate with personnel outside the vehicle, the passengers can determine whether to trigger the emergency button according to the communication condition, the door opening operation is executed after the emergency button is triggered, the face information of a receiver is collected, and the face information of the receiver is sent to a guardian.
In this embodiment, the present application provides a door opening method based on autonomous driving and an autonomous vehicle, where the door opening method includes: acquiring the driving state of the automatic driving vehicle; when the autonomous vehicle is in a parking state, judging whether a parking position of the autonomous vehicle corresponds to a destination; if the parking position corresponds to the destination, judging whether a door opening requester is a target receiver, and if the door opening requester is the target receiver, distributing door opening permission to the passenger; and if the parking position does not correspond to the destination or the door opening requester is not the target receiver, the door opening authority is distributed to the guardian, so that the guardian can determine whether to execute door opening operation according to actual conditions.
This application will open the door authority according to the parking condition selectivity and distribute passenger or guardian, not only can realize conveniently opening the door, can also protect the passenger.
Example 2:
with reference to fig. 6, based on the foregoing embodiment 1, this embodiment further provides an autonomous driving vehicle, including a processor, a collection unit, a navigation unit, a communication unit, and a storage unit, where the processor is connected to the collection unit, the navigation unit, the communication unit, and the storage unit, respectively; the system comprises a collecting unit, a navigation unit, a storage unit, a communication unit and a processor, wherein the collecting unit is used for acquiring information inside and outside a vehicle, the navigation unit is used for acquiring the position of the vehicle, the storage unit is used for storing computer instructions, the communication unit is used for realizing inside and outside communication, and the processor is used for realizing the door opening method according to the computer instructions and the unit interacting with the computer instructions in embodiment 1.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. An automatic driving-based door opening method is characterized by comprising the following steps:
acquiring a driving state of an automatic driving vehicle;
when the autonomous vehicle is in a parking state, judging whether a parking position of the autonomous vehicle corresponds to a destination;
if the parking position corresponds to the destination, judging whether a door opening requester is a target receiver, and if the door opening requester is the target receiver, distributing door opening permission to passengers;
and if the parking position does not correspond to the destination or the door opening requester is not the target receiver, the door opening authority is distributed to the guardian, so that the guardian can determine whether to execute door opening operation according to actual conditions.
2. The method of opening a door of claim 1, further comprising:
acquiring characteristic information of receivers in association relation with passengers, and dividing a person place for the receivers according to the relation type of each receiver and the passengers, wherein the characteristic information comprises face information, voiceprint information or fingerprint information;
and establishing a corresponding relation between the characteristic information of the receiver and the receiver place corresponding to the receiver so as to establish a relation map.
3. The door opening method of claim 2, wherein if the parking position corresponds to the destination, determining whether a door opening requester is a target recipient, and if the door opening requester is the target recipient, assigning a door opening authority to the passenger comprises:
if the parking position corresponds to the destination, searching a first pick-up place matched with the destination from the relation map;
judging whether the first person-catching place exists in the relation map or not;
if the first person-catching place exists in the relation graph, traversing the relation graph by taking the first person-catching place as a key value to obtain the characteristic information of at least one first receiver;
and collecting the characteristic information of a door opening requester, wherein if the characteristic information of the door opening requester is matched with the characteristic information of one first receiver, the door opening requester is a target receiver, and the door opening permission is distributed to passengers.
4. The door opening method of claim 3, wherein determining whether the first pick-up location exists in the relationship graph further comprises:
if the first contact location does not exist in the relation map, acquiring a first contact person in communication with the passenger within a preset time range;
establishing communication connection with the first contact person, and sending a position sharing request to the first contact person;
if the distance between the autonomous vehicle and the first contact is diminishing, then the first contact is taken as a target recipient;
if the first contact person exists in the relationship graph, acquiring characteristic information of the first contact person;
and collecting the characteristic information of the door opening requester, wherein if the characteristic information of the door opening requester is matched with the characteristic information of the first contact person, the door opening requester is a target receiver and distributes the door opening permission to the passenger.
5. The door opening method according to claim 4, further comprising:
if the first contact does not exist in the relationship map, acquiring a distance between the autonomous vehicle and the first contact when a door opening requester is detected outside the vehicle;
and when the distance between the automatic driving vehicle and the first contact is smaller than a set distance threshold value, the door opening requester is the target receiver and assigns door opening permission to passengers.
6. The door opening method according to claim 2, wherein if the parking location does not correspond to the destination or the door opening requester is not a target receiver, assigning a door opening authority to the guardian so that the guardian decides whether to perform a door opening operation according to actual conditions comprises:
if the door opening requester is not the target receiver, reporting alarm information to at least one guardian, and allocating the door opening permission to the first guardian which responds first;
the method comprises the steps that environment information outside a vehicle and face information of a door opening requester are collected through a collecting unit, and the environment information outside the vehicle and the face information of the door opening requester are sent to a first guardian, so that the first guardian can determine whether to execute door opening operation.
7. The method of opening a door of claim 6, further comprising:
if the parking position does not correspond to the destination, reporting a parking reason to at least one guardian, and distributing the door opening authority to the first guardian which responds first;
if the parking reason is the vehicle fault, reporting the environment information outside the vehicle and the state information of the passengers in the vehicle to a first guardian;
if no suitable receiver exists outside the vehicle and the state of passengers in the vehicle is good, after the automatic driving vehicle receives an instruction from the first guardian to search for a suitable receiver, the automatic driving vehicle searches for a second person receiving place within a preset distance range from the current parking position in a relation map;
and sending a position sharing request to a second receiver corresponding to the second receiver location, taking the second receiver closest to the parking position as a target receiver, and informing the target receiver of going to the current parking position.
8. The door opening method according to claim 7, wherein if the parking reason is the failure of the vehicle, reporting the environment information outside the vehicle and the status information of the passengers inside the vehicle to the first guardian further comprises:
if the state of the passenger in the vehicle is not good, the first guardian and the passenger are communicated to determine the physical condition of the passenger in the vehicle so as to determine whether to make an emergency call, and the first guardian also triggers the automatic driving vehicle to send an alarm so as to attract surrounding pedestrians or traffic police to approach the automatic driving vehicle;
when the automatic driving vehicle detects that a pedestrian or a traffic police approaches the automatic driving vehicle, the haze and the voice control inside and outside the vehicle are adjusted so as to facilitate communication between passengers and people outside the vehicle;
the automatic driving vehicle sends a monitoring video for communication between passengers and personnel outside the vehicle to the first guardian in real time, and the first guardian determines whether to execute door opening operation according to the communication condition;
and if the door opening instruction of the first guardian is received, executing the door opening operation, and sending the face information of the receiver to the first guardian.
9. The method for opening a door of claim 1, further comprising:
if the parking position does not correspond to the destination or the door opening requester is not a target receiver, reporting alarm information to at least one guardian, and if the response of the guardian is not received within a preset time, monitoring the state of a passenger;
if the state of the passenger is good, continuing waiting and increasing the frequency of reporting the alarm information;
if the state of the passenger is not good, an alarm is given to attract surrounding pedestrians or traffic police to get close to the automatic driving vehicle;
when the automatic driving vehicle detects that pedestrians or traffic police approach the automatic driving vehicle, the haze and the voice control inside and outside the vehicle are adjusted so that passengers can conveniently communicate with the personnel outside the vehicle, and the passengers can determine whether to trigger an emergency button according to the communication condition;
after the emergency button is triggered, executing door opening operation and collecting face information of a receiver;
wherein the emergency button is enabled only in the case that the passenger status is not good.
10. An automatic driving vehicle is characterized by comprising a processor, a collecting unit, a navigation unit, a communication unit and a storage unit, wherein the processor is respectively connected with the collecting unit, the navigation unit, the communication unit and the storage unit;
the system comprises a collecting unit, a navigation unit, a storage unit, a communication unit and a processor, wherein the collecting unit is used for acquiring information inside and outside a vehicle, the navigation unit is used for acquiring the position of the vehicle, the storage unit is used for storing computer instructions, the communication unit is used for realizing inside and outside communication, and the processor is used for realizing the door opening method according to the computer instructions and the units interacting with the computer instructions according to any one of claims 1-9.
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