CN115288558A

CN115288558A - Vehicle door control method and device, vehicle and storage medium

Info

Publication number: CN115288558A
Application number: CN202210793984.8A
Authority: CN
Inventors: 姬亮
Original assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Zeekr Intelligent Technology Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Zeekr Intelligent Technology Co Ltd
Priority date: 2022-07-05
Filing date: 2022-07-05
Publication date: 2022-11-04

Abstract

The invention discloses a vehicle door control method, a vehicle door control device, a vehicle and a storage medium, relates to the technical field of image processing, and realizes automatic control of a vehicle door by actively identifying the intention of a user to open a specific vehicle door, so that the riding experience of the user is improved. The vehicle door control method comprises the following steps: after the vehicle is unlocked, a first image is acquired by a first target vision sensor, the first image including a first object, the first target vision sensor being any one of a plurality of first vision sensors. And if the first object comprises a first human object, determining whether the identity information of the first human object is contained in the pre-stored identity information set, and determining the target distance between the user corresponding to the first human object and the first target visual sensor. And if the identity information set contains the identity information of the first human object and the target distance is smaller than the preset value, controlling the vehicle door corresponding to the first target vision sensor to be opened.

Description

Vehicle door control method and device, vehicle and storage medium

Technical Field

The invention relates to the technical field of image processing, in particular to a vehicle door control method, a vehicle door control device, a vehicle and a storage medium.

Background

In the prior art, when a user opens a door of a vehicle, the user needs to unlock the vehicle by using a remote control key of the vehicle. Then, the corresponding door can be opened by pulling the handle of the corresponding door or pressing an open button of the handle region of the corresponding door. When the user closes the corresponding door, the user needs to pull the handle on the interior trim panel of the corresponding door with force to close the door.

The mode of switch door among the prior art can cause inconvenience for the user under the condition that user's both hands occupy to influence user's experience of riding by bus.

Disclosure of Invention

The invention provides a vehicle door control method, a vehicle door control device, a vehicle and a storage medium, which can realize automatic control of a vehicle door by actively identifying the intention of a user to open a specific vehicle door, thereby improving the riding experience of the user.

In order to achieve the purpose, the invention adopts the following technical scheme:

in a first aspect, the present invention provides a vehicle door control method, which is applied to a vehicle including a first vision sensor corresponding to each vehicle door, wherein a shooting area of the first vision sensor is a preset area outside the corresponding vehicle door, and the method includes:

after the vehicle is unlocked, a first image is obtained through a first target vision sensor, the first image comprises a first object, and the first target vision sensor is any one of a plurality of first vision sensors;

if the first object comprises a first human object, determining whether a pre-stored identity information set contains identity information of the first human object, and determining a target distance between a user corresponding to the first human object and a first target visual sensor;

and if the identity information set contains the identity information of the first human object and the target distance is smaller than the preset value, controlling the vehicle door corresponding to the first target vision sensor to be opened.

Each vehicle door is provided with a corresponding first vision sensor which is used for shooting a preset area of the outer side of the corresponding vehicle door. In the case of unlocking the vehicle, the corresponding first vision sensor may acquire an image of the corresponding shooting area, and if the content of the image includes a person object, the identity information of the person object needs to be verified, and a target distance between a user corresponding to the person object and the corresponding first vision sensor is determined, so as to determine whether to control the corresponding vehicle door to be automatically opened. If the identity of the person object is successfully verified, it can be indicated that the user corresponding to the person object is the owner of the vehicle, or the user is authorized by the owner of the vehicle, so that the vehicle door can be opened. At this time, if the target distance is also smaller than the preset value, it indicates that the user has an intention to open the vehicle door corresponding to the first visual sensor, and the corresponding vehicle door can be automatically controlled to open. Compared with the prior art that the corresponding vehicle door can be opened only by pulling the handle of the corresponding vehicle door by the user or pressing the opening button of the handle area of the corresponding vehicle door, the vehicle door control method can actively recognize the intention of the user to open the specific vehicle door and automatically open the specific vehicle door under the condition that the user does not contact the vehicle, and particularly under the condition that both hands of the user are occupied, the user can open the vehicle door more conveniently, so that the riding experience of the user is improved.

In a possible implementation, the vehicle further comprises a second vision sensor corresponding to each vehicle door, the shooting area of the second vision sensor is an anti-pinch area of the corresponding vehicle door, and the anti-pinch area is an area between the vehicle door and the vehicle body.

After controlling the door corresponding to the first target vision sensor to be opened, the door control method further comprises the following steps:

acquiring a second image through a second target vision sensor, wherein the second target vision sensor is any one of a plurality of second vision sensors;

if the second image is used for indicating that the anti-pinch area shot by the second target vision sensor does not comprise the obstacle, the vehicle door corresponding to the second target vision sensor is controlled to be closed, and the obstacle is an object which prevents the vehicle door from being closed.

In one possible implementation manner, the vehicle door control method further includes:

if the second image is used for indicating that the anti-pinch area shot by the second target vision sensor comprises the barrier, outputting prompt information, wherein the prompt information is used for prompting that the anti-pinch area corresponding to the second target vision sensor has the barrier.

In one possible implementation manner, the determining a target distance between the user corresponding to the first human object and the first target visual sensor includes:

and determining a target distance between the user corresponding to the first human object and the first target vision sensor according to the mapping relation between the size of the human object and the shooting distance, wherein the shooting distance is the distance between the user corresponding to the human object and the vision sensor.

In a possible implementation manner, the identity information set includes: and (5) collecting driver identity information. The vehicle unlock includes:

acquiring a third image by the first target vision sensor, the third image comprising a second object;

if the second object comprises a second character object, determining whether the driver identity information set contains identity information of the second character object;

and controlling the vehicle to unlock if the driver identity information set contains the identity information of the second character object.

In a possible implementation manner, the controlling of the opening of the vehicle door corresponding to the first target vision sensor includes:

generating a target door opening instruction according to the identification of the vehicle door corresponding to the first target vision sensor;

and controlling the vehicle door corresponding to the first target vision sensor to be opened according to the target door opening instruction.

In a second aspect, the invention provides a vehicle door control device, which is applied to a vehicle, wherein the vehicle comprises a first vision sensor corresponding to each vehicle door, and the shooting area of the first vision sensor is a preset area at the outer side of the corresponding vehicle door. This door control device includes:

the vehicle unlocking device comprises an acquisition unit, a display unit and a control unit, wherein the acquisition unit is used for acquiring a first image through a first target vision sensor after the vehicle is unlocked, the first image comprises a first object, and the first target vision sensor is any one of a plurality of first vision sensors;

the first determining unit is used for determining whether the identity information of the first human object is contained in the pre-stored identity information set or not if the first object comprises the first human object, and determining the target distance between the user corresponding to the first human object and the first target vision sensor;

and the second determining unit is used for controlling the vehicle door corresponding to the first target vision sensor to be opened if the identity information set contains the identity information of the first human object and the target distance is smaller than a preset value.

The acquiring unit is further configured to acquire a second image through a second target vision sensor, where the second target vision sensor is any one of the plurality of second vision sensors;

the second determining unit is further configured to control the door corresponding to the second target vision sensor to be closed if the second image is used for indicating that the anti-pinch area photographed by the second target vision sensor does not include an obstacle, where the obstacle is an object that obstructs closing of the door.

In a possible implementation manner, the second determining unit is further configured to output a prompt message if the second image is used to indicate that the anti-pinch area photographed by the second target vision sensor includes an obstacle, where the prompt message is used to prompt that the anti-pinch area corresponding to the second target vision sensor has the obstacle.

In a possible implementation manner, the first determining unit is specifically configured to:

In a possible implementation manner, the identity information set includes: and (5) driver identity information collection.

The acquiring unit is further configured to acquire a third image through the first target vision sensor, where the third image includes a second object;

the first determining unit is further configured to determine whether the driver identity information set includes identity information of a second person object if the second person object is included in the second object;

the second determining unit is further configured to control the vehicle to unlock if the driver identity information set includes the identity information of the second person object.

In a possible implementation manner, the second determining unit is specifically configured to:

In a third aspect, the present invention provides a vehicle comprising: a processor and a memory. The memory is for storing computer program code, the computer program code including computer instructions. When the processor executes the computer instructions, the vehicle executes a door control method as in the first aspect and any one of its possible implementations.

In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon computer instructions that, when run on a vehicle, cause the vehicle to perform a door control method as in the first aspect or any one of the possible implementations of the first aspect.

Drawings

FIG. 1 is a schematic structural diagram of a vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a vehicle door control method according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a location configuration of a first vision sensor on a vehicle according to an embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating a position of a shooting range of a first vision sensor according to an embodiment of the present invention;

FIG. 5 is a second flowchart of a method for controlling a vehicle door according to an embodiment of the present invention;

FIG. 6 is a third schematic flowchart of a vehicle door control method according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a vehicle door control device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present disclosure, "a plurality" means two or more unless otherwise specified. Additionally, the use of "based on" or "according to" means open and inclusive, as a process, step, calculation, or other action that is "based on" or "according to" one or more stated conditions or values may in practice be based on additional conditions or exceeding the stated values.

In order to actively recognize the intention of a user to open a specific vehicle door and realize automatic control of the vehicle door, so as to improve the riding experience of the user, the embodiment of the invention provides a vehicle door control method, a vehicle door control device, a vehicle and a storage medium. Each car door is provided with a corresponding first vision sensor, and the shooting area of the first vision sensor is a preset area of the outer side of the corresponding car door. Under the condition that the vehicle is unlocked, the corresponding first vision sensor may acquire an image of the corresponding shooting area, and if a person object is included in the image content of the image, it is necessary to verify the identity information of the person object and determine a target distance between a user corresponding to the person object and the corresponding first vision sensor. If the identity verification of the character object is successful, it can be indicated that the user corresponding to the character object is the owner of the vehicle, or the user is authorized by the owner of the vehicle, so that the vehicle door can be opened. At this time, if the target distance is also smaller than the preset value, it indicates that the user has an intention to open the vehicle door corresponding to the first visual sensor, and the corresponding vehicle door can be automatically controlled to be opened. Compared with the prior art that the corresponding vehicle door can be opened only by pulling the handle of the corresponding vehicle door by the user or pressing the opening button of the handle area of the corresponding vehicle door, the vehicle door control method in the embodiment of the invention can actively recognize the intention of the user to open the specific vehicle door, and automatically open the specific vehicle door under the condition that the user does not contact the vehicle, especially under the condition that both hands of the user are occupied, the user can open the vehicle door more conveniently, so that the riding experience of the user is improved.

The vehicle door control method provided by the embodiment of the invention can be applied to vehicles, and the vehicles can comprise a first visual sensor, a second visual sensor, an electric limiter, a self-closing lock and a vehicle-mounted terminal, wherein the first visual sensor, the second visual sensor, the electric limiter and the self-closing lock correspond to each vehicle door. The vehicle-mounted terminal is connected with each first vision sensor, each second vision sensor, each electric stopper and each self-locking lock in a wired communication or wireless communication mode.

The first vision sensor is located on the outer side of the corresponding vehicle door, and the shooting area of the first vision sensor can be a preset area on the outer side of the corresponding vehicle door. The first vision sensor is used for shooting images and sending the images to the vehicle-mounted terminal.

The second vision sensor is located the inboard of the door that corresponds, and it shoots the region and can be the anti-pinch region of the door that corresponds, should prevent the region between door and the automobile body. The second vision sensor is used for shooting images and sending the images to the vehicle-mounted terminal.

For example, the first and second vision sensors may be cameras, but are not limited thereto. The first vision sensors corresponding to the two doors located in the front row may be mounted on a rear view mirror of the vehicle.

And the vehicle-mounted terminal is used for processing the images sent by the first visual sensor and the second visual sensor and sending an unlocking instruction to each self-locking lock or sending a door opening instruction or a door closing instruction to the corresponding electric limiter.

And the self-closing lock is used for receiving an unlocking instruction sent by the vehicle-mounted terminal and unlocking the corresponding vehicle door according to the unlocking instruction.

And the electric limiter is used for receiving the door opening instruction sent by the vehicle-mounted terminal and enabling the corresponding vehicle door to be opened by a certain angle according to the door opening instruction. And the automobile door closing device is also used for receiving a closing instruction sent by the vehicle-mounted terminal and enabling the corresponding automobile door to be restored to a closing state from an opening state according to the closing instruction.

Fig. 1 is one of the schematic structural views of a vehicle, and as shown in fig. 1, the vehicle may include: a processor 11, a memory 12, a communication interface 13, and a bus 14. The processor 11, the memory 12 and the communication interface 13 may be connected by a communication bus 14.

The processor 11 is a control center of the vehicle, and may be one processor 11 or a collective term for a plurality of processing elements. For example, the processor 11 may be a general-purpose Central Processing Unit (CPU), or may be another general-purpose processor 11. The general purpose processor 11 may be a microprocessor 11 or any conventional processor 11 or the like.

For one embodiment, processor 11 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG. 1.

The memory 12 may be, but is not limited to, a read-only memory 12 (ROM) or other type of static storage device that can store static information and instructions, a random access memory 12 (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory 12 (EEPROM), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

In a possible implementation, the memory 12 may be present separately from the processor 11, and the memory 12 may be connected to the processor 11 via a bus 14 for storing instructions or program code. The processor 11, when calling and executing the instructions or program codes stored in the memory 12, can implement the vehicle door control method provided by the following embodiments of the present invention.

In another possible implementation, the memory 12 may also be integrated with the processor 11.

The communication interface 13 is used for connecting the computing apparatus and other devices through a communication network, where the communication network may be an ethernet, a Radio Access Network (RAN), a Wireless Local Area Network (WLAN), or the like. The communication interface 13 may comprise a receiving unit for receiving data and a transmitting unit for transmitting data.

The bus 14 may be an Industry Standard Architecture (ISA) bus 14, a Peripheral Component Interconnect (PCI) bus 14, an Extended ISA (EISA) bus 14, or the like. The bus 14 may be divided into an address bus 14, a data bus 14, a control bus 14, and the like. For ease of illustration, only one thick line is shown in FIG. 1, but this is not intended to indicate that there is only one bus 14 or one type of bus 14.

It should be noted that the configuration shown in fig. 1 does not constitute a limitation of the vehicle, which may include more or less components than those shown in fig. 1, or some components in combination, or a different arrangement of components, in addition to those shown in fig. 1.

The execution main body of the vehicle door control method provided by the embodiment of the invention is a vehicle door control device. The door control device may be the vehicle, the CPU in the vehicle, a control module for controlling a door in the vehicle, or a client for controlling a door in the vehicle. The embodiment of the invention takes a vehicle-mounted terminal to execute a vehicle door control method as an example, and the vehicle door control method provided by the invention is explained.

A vehicle door control method according to an embodiment of the present invention will be described below with reference to the drawings.

As shown in fig. 2, a vehicle door control method according to an embodiment of the present invention includes the following steps 201 to 203.

201. After the vehicle is unlocked, a first image is acquired through a first target vision sensor, the first image comprises a first object, and the first target vision sensor is any one of a plurality of first vision sensors.

The vehicle in the embodiment of the invention may include a first vision sensor corresponding to each door, and the photographing region of the first vision sensor is a preset region of the outer side of the corresponding door.

Exemplarily, taking a vehicle as a four-door sedan as an example, fig. 3 shows a schematic structural diagram of a position of the first vision sensor on the vehicle in the embodiment of the present invention, and fig. 4 shows a schematic position diagram of a shooting range of the first vision sensor in the embodiment of the present invention. As shown in fig. 3, the first vision sensor 300 located at the front door may be mounted on a rear view mirror of the vehicle, and the first vision sensor 300 located at the rear door may be mounted on a center pillar (B-pillar) of the vehicle. As shown in fig. 4, the photographing region a of the first vision sensor 300 at the front door is a preset region at the outer side of the front door, the photographing region B of the first vision sensor 300 at the rear door is a preset region at the outer side of the rear door, and there is no overlapping region between the two preset regions.

It should be noted that the height of the preset region is related to the height of the corresponding first vision sensor, and the projected area of the preset region on the ground is related to the size of the corresponding vehicle door and the parameters of the corresponding first vision sensor.

Optionally, the process of unlocking the vehicle may include the following steps: first, a third image is acquired by the first target vision sensor, the third image including the second object. Then, the in-vehicle terminal performs target detection and image recognition on the third image to determine whether the second person object is included in the second object. I.e. to determine whether there is a user present within the shooting range of the first target vision sensor. If the second object is determined to comprise the second person object, the identity of the user corresponding to the second person object needs to be verified, that is, whether the driver identity information set in the identity information set prestored in the vehicle-mounted terminal of the vehicle contains the identity information of the second person object is determined, so as to determine whether the second person object has the authority of unlocking the vehicle. And if the driver identity information set prestored in the vehicle-mounted terminal of the vehicle is determined to contain the identity information of the second character object, an unlocking instruction is sent to the self-locking lock of each vehicle door, so that the vehicle is controlled to be unlocked.

It should be noted that the user corresponding to each identity information in the driver identity information set has the authority to unlock the vehicle. The identity information set can also comprise a passenger identity information set, and a user corresponding to each identity information in the passenger identity information set does not have the authority of unlocking the vehicle.

Optionally, the owner may modify the pre-stored identity information set according to specific situations, where the modification may include: the new identity information is added to the pre-stored middle identity information set, and any identity information in the identity information set may also be deleted, but is not limited thereto.

For example, a smart phone of a vehicle owner may be installed with a corresponding vehicle control application, and the smart phone and the vehicle may establish a connection in a wireless communication manner. After the smart phone is connected with the vehicle, the vehicle owner starts the vehicle control application, and the identity information set can be checked and modified. And after the owner finishes modifying the identity information set, the intelligent mobile phone sends the updated identity information set to the vehicle-mounted terminal of the vehicle as a response to the owner modifying operation. And after receiving the updated identity information set, the vehicle-mounted terminal can automatically update the pre-stored identity information set.

202. If the first object comprises a first human object, determining whether the pre-stored identity information set contains identity information of the first human object, and determining a target distance between a user corresponding to the first human object and the first target vision sensor.

The vehicle-mounted terminal performs target detection and image recognition on the acquired first image, and once the first object in the first image is recognized to include the first person object, the identity information of the first person object needs to be verified so as to determine whether the identity information of the first person object is contained in an identity information set, that is, whether a user corresponding to the first person object has the authority of opening a vehicle door is determined. Meanwhile, a target distance between the user corresponding to the first human object and the first target vision sensor needs to be determined to determine whether the user corresponding to the first human object has an intention of opening the corresponding vehicle door.

Optionally, determining a target distance between the user corresponding to the first human object and the first target vision sensor may include: and the vehicle-mounted terminal determines the target distance between the user corresponding to the first human object and the first target vision sensor according to the mapping relation between the size of the human object and the shooting distance. The shooting distance is the distance between the user corresponding to the human object and the visual sensor.

It should be noted that the focal length of the first vision sensor may be fixed, and therefore, when the distance between the user and the first vision sensor is different, the size of the person object in the image captured by the first vision sensor is also different. That is, in the case where the focal length is constant, there is a one-to-one correspondence between the size of the human subject and the shooting distance. After the vehicle-mounted terminal identifies the first person object, the size of the first person object can be determined by determining the size of the boundary frame of the first person object, and then the target distance between the user corresponding to the first person object and the first target vision sensor can be determined from the mapping relation between the size of the person object and the shooting distance.

203. And if the identity information set contains the identity information of the first human object and the target distance is smaller than the preset value, controlling the vehicle door corresponding to the first target vision sensor to be opened.

The conditions for opening the corresponding door are: and the user with the authority of opening the vehicle door is positioned within a preset distance in front of the corresponding vehicle door.

Optionally, the vehicle in the embodiment of the present invention may further include an electric stopper corresponding to the corresponding door, for opening or closing the corresponding door according to the corresponding instruction. Specifically, controlling the door corresponding to the first target vision sensor to open may include: and generating a target door opening instruction according to the identification of the vehicle door corresponding to the first target vision sensor, and sending the target door opening instruction to the electric limiter of the corresponding vehicle door. After the electric limiting stopper of the corresponding vehicle door receives the target door opening instruction, the corresponding vehicle door is pushed away by a certain angle, and the vehicle door corresponding to the first target vision sensor is controlled to be automatically opened according to the target door opening instruction.

In the embodiment of the invention, each vehicle door is provided with a corresponding first vision sensor, and the shooting area of the first vision sensor is a preset area of the outer side of the corresponding vehicle door. In the case of unlocking the vehicle, the corresponding first vision sensor may acquire an image of the corresponding shooting area, and if a person object is included in the image content of the image, it is necessary to verify the identity information of the person object and determine a target distance between the user corresponding to the person object and the corresponding first vision sensor. If the identity verification of the character object is successful, it can be indicated that the user corresponding to the character object is the owner of the vehicle, or the user is authorized by the owner of the vehicle, so that the vehicle door can be opened. At this time, if the target distance is also smaller than the preset value, it indicates that the user has an intention to open the vehicle door corresponding to the first visual sensor, and the corresponding vehicle door can be automatically controlled to be opened. Compared with the prior art that the corresponding vehicle door can be opened only by pulling the handle of the corresponding vehicle door by the user or pressing the opening button of the handle area of the corresponding vehicle door, the vehicle door control method in the embodiment of the invention can actively recognize the intention of the user to open the specific vehicle door, and automatically open the specific vehicle door under the condition that the user does not contact the vehicle, especially under the condition that both hands of the user are occupied, the user can open the vehicle door more conveniently, so that the riding experience of the user is improved.

Referring to fig. 2, as shown in fig. 5, after controlling the door corresponding to the first target vision sensor to open, the method for controlling the door provided by the embodiment of the invention may further include the following

steps

501 and 502.

501. A second image is acquired by a second target vision sensor, the second target vision sensor being any one of a plurality of second vision sensors.

The vehicle in the embodiment of the invention also comprises a second visual sensor corresponding to each vehicle door, wherein the shooting area of the second visual sensor is an anti-pinch area of the corresponding vehicle door, and the anti-pinch area is an area between the vehicle door and the vehicle body.

For example, the second visual sensor located at the front door may be mounted on a door frame of the front door of the vehicle, and the second visual sensor located at the rear door may be mounted on a door frame of the rear door of the vehicle. The installation position of the second visual sensor does not influence the opening or closing of the vehicle door.

502. If the second image is used for indicating that the anti-pinch area shot by the second target vision sensor does not comprise the obstacle, the vehicle door corresponding to the second target vision sensor is controlled to be closed, and the obstacle is an object which prevents the vehicle door from being closed.

When it is determined that no obstacle exists in the anti-pinch area of the door corresponding to the second target vision sensor, the vehicle-mounted terminal generates a target door closing instruction according to the identification of the door corresponding to the second target vision sensor, and sends the target door closing instruction to the electric limiter of the corresponding door. And after the electric limiting device of the corresponding vehicle door receives the target door closing instruction, the corresponding vehicle door is pulled back to the initial state. In other words, under the condition that the user does not contact the vehicle door, the target door closing instruction can be obtained only by performing target detection and identification on the second image shot by the second target vision sensor, and the vehicle door corresponding to the first target vision sensor is controlled to be automatically closed according to the target door closing instruction.

To ensure safety, the motorized check stop may slowly push the door outward, or pull the door back to an initial closed position, during the automatic opening or closing of the door.

Referring to fig. 5, as shown in fig. 6, the method for controlling a vehicle door according to the embodiment of the present invention may further include the following step 601.

601. If the second image is used for indicating that the anti-pinch area shot by the second target vision sensor comprises the barrier, outputting prompt information, wherein the prompt information is used for prompting that the anti-pinch area corresponding to the second target vision sensor has the barrier.

In the practical application process, the user can process the barrier according to the prompt message, in the process, the first vehicle-mounted terminal directly passes through the second target vision sensor to acquire a second image of the anti-pinch area, and whether the barrier exists in the anti-pinch area or not is judged. And then, determining to execute step 502 or step 701 according to the determination result.

In summary, the vehicle to which the vehicle door control method provided by the embodiment of the invention is applied can actively recognize the intention of the user to open a specific vehicle door and can actively close the corresponding vehicle door. Namely, the automatic control of the vehicle door is realized. For the user, the driving experience of the user can be improved. For the vehicle, the design without the handle can be realized, the aesthetic feeling of the appearance of the vehicle can be improved, and the aerodynamic performance can be improved.

The scheme provided by the embodiment of the invention is mainly introduced from the perspective of equipment. It will be appreciated that the apparatus, in order to carry out the above-described functions, comprises corresponding hardware structures and/or software modules for performing the respective functions. Those of skill in the art will readily appreciate that the present invention can be implemented in hardware or a combination of hardware and computer software, in conjunction with the exemplary algorithm steps described in connection with the embodiments disclosed herein. Whether a function is performed in hardware or computer software drives hardware 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.

Fig. 7 shows a schematic diagram of a possible composition of the vehicle door control device 700 according to the above-described embodiment. The door control device 700 is applied to a vehicle including a first vision sensor corresponding to each door, and a photographing region of the first vision sensor is a preset region of an outer side of the corresponding door. As shown in fig. 7, the door control apparatus 700 may include: an acquisition unit 701, a first determination unit 702, and a second determination unit 703.

The acquiring unit 701 is configured to acquire, after the vehicle is unlocked, a first image through a first target vision sensor, where the first image includes a first object, and the first target vision sensor is any one of the plurality of first vision sensors. A first determining unit 702, configured to determine whether the identity information of the first human object is contained in the pre-stored identity information set if the first object includes the first human object, and determine a target distance between a user corresponding to the first human object and the first target vision sensor. The second determining unit 703 is configured to control the vehicle door corresponding to the first target vision sensor to open if the identity information set includes the identity information of the first human object and the target distance is smaller than a preset value.

Optionally, above-mentioned vehicle still includes the second vision sensor that corresponds with every door, and the area is prevented pressing from both sides for the door that corresponds in the shooting region of second vision sensor, prevents pressing from both sides the region between door and the automobile body for the region that prevents pressing from both sides.

Optionally, the obtaining unit 701 is further configured to obtain a second image through a second target vision sensor, where the second target vision sensor is any one of the plurality of second vision sensors.

Optionally, the second determining unit 703 is further configured to control the vehicle door corresponding to the second target vision sensor to close if the second image is used to indicate that the anti-pinch area photographed by the second target vision sensor does not include an obstacle, where the obstacle is an object that obstructs closing of the vehicle door.

Optionally, the second determining unit 703 is further configured to output a prompt message if the second image is used to indicate that the anti-pinch area photographed by the second target vision sensor includes a barrier, where the prompt message is used to prompt that the anti-pinch area corresponding to the second target vision sensor has the barrier.

Optionally, the first determining unit 702 is specifically configured to:

and determining a target distance between a user corresponding to the first human object and the first target vision sensor according to the mapping relation between the size of the human object and the shooting distance, wherein the shooting distance is the distance between the user corresponding to the human object and the vision sensor.

Optionally, the identity information set includes: a driver identity information set and a passenger identity information set.

Optionally, the obtaining unit 701 is further configured to obtain a third image through the first target vision sensor, where the third image includes the second object. The first determining unit 702 is further configured to determine whether the driver identity information set includes identity information of a second person object if the second person object includes the second person object. The second determining unit 703 is further configured to control the vehicle to unlock if the driver identity information set includes the identity information of the second person object.

Optionally, the second determining unit 703 is specifically configured to:

Of course, the vehicle door control device 700 provided by the embodiment of the invention includes, but is not limited to, the above modules.

In actual implementation, the obtaining unit 701, the first determining unit 702, and the second determining unit 703 may be implemented by the processor 11 shown in fig. 1 calling a program code in the memory 12. The specific implementation process may refer to the description of the vehicle door control method portion shown in fig. 2, fig. 5, and fig. 7, and is not described herein again.

Another embodiment of the present invention further provides a computer readable storage medium, which stores computer instructions that, when executed on a vehicle, cause the vehicle to perform the steps performed by the vehicle in the method flow shown in the above-mentioned method embodiment.

The invention further provides a chip system which is applied to the vehicle. The system-on-chip includes one or more interface circuits, and one or more processors 11. The interface circuit and the processor 11 are interconnected by a line. The interface circuit is adapted to receive signals from a memory 12 of the vehicle and to send said signals to the processor 11, said signals comprising computer instructions stored in said memory 12. When the processor 11 executes the computer instructions, the vehicle performs the various steps performed by the vehicle in the method flow illustrated in the method embodiment described above.

In another embodiment of the present invention, there is also provided a computer program product comprising instructions which, when executed on a vehicle, cause the vehicle to perform the steps performed by the vehicle in the method flow illustrated in the above method embodiment.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented using a software program, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The processes or functions according to embodiments of the present invention occur, in whole or in part, when computer-executable instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer-readable storage media can be any available media that can be accessed by a computer or data storage device including one or more available media integrated servers, data centers, and the like. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A vehicle door control method applied to a vehicle including a first vision sensor corresponding to each vehicle door, a photographing region of the first vision sensor being a preset region of an outer side of the corresponding vehicle door, the vehicle door control method comprising:

after the vehicle is unlocked, acquiring a first image through a first target vision sensor, wherein the first image comprises a first object, and the first target vision sensor is any one of a plurality of first vision sensors;

if the first object comprises a first human object, determining whether a pre-stored identity information set contains identity information of the first human object, and determining a target distance between a user corresponding to the first human object and the first target vision sensor;

and if the identity information set contains the identity information of the first human object and the target distance is smaller than a preset value, controlling the vehicle door corresponding to the first target vision sensor to be opened.

2. The vehicle door control method according to claim 1, wherein the vehicle further comprises a second visual sensor corresponding to each vehicle door, the shooting area of the second visual sensor is an anti-pinch area of the corresponding vehicle door, and the anti-pinch area is an area between the vehicle door and a vehicle body;

after controlling the door corresponding to the first target vision sensor to be opened, the door control method further includes:

acquiring a second image by a second target vision sensor, wherein the second target vision sensor is any one of a plurality of second vision sensors;

if the second image is used for indicating that the anti-pinch area shot by the second target vision sensor does not comprise a barrier, controlling the automobile door corresponding to the second target vision sensor to be closed, wherein the barrier is an object for obstructing the automobile door to be closed.

3. The vehicle door control method according to claim 2, characterized by further comprising:

if the second image is used for instructing the anti-pinch region that the second target vision sensor shoots includes the barrier, then output prompt information, prompt information is used for the suggestion the anti-pinch region that the second target vision sensor corresponds exists the barrier.

4. The vehicle door control method according to any one of claims 1 to 3, wherein the determining a target distance between a user corresponding to the first human object and the first target vision sensor includes:

and determining a target distance between the user corresponding to the first human object and the first target vision sensor according to a mapping relation between the size of the human object and a shooting distance, wherein the shooting distance is the distance between the user corresponding to the human object and the vision sensor.

5. A vehicle door control method according to any one of claims 1 to 3, wherein the set of identity information includes: driver identity information collection;

the vehicle unlocking includes:

acquiring, by the first target vision sensor, a third image, the third image including a second object;

if the second object comprises a second person object, determining whether the driver identity information set comprises identity information of the second person object;

and if the driver identity information set contains the identity information of the second character object, controlling the vehicle to unlock.

6. A vehicle door control method according to any one of claims 1 to 3, wherein the controlling of the opening of the vehicle door corresponding to the first target vision sensor includes:

7. A door control device, characterized in that, applied to a vehicle including a first vision sensor corresponding to each door, a photographing area of the first vision sensor is a preset area of an outer side of the corresponding door, the door control device comprising:

a first determining unit, configured to determine whether a pre-stored identity information set includes identity information of a first human object if the first object includes the first human object, and determine a target distance between a user corresponding to the first human object and the first target vision sensor;

8. The door control device of claim 7, wherein the vehicle further comprises a second visual sensor corresponding to each door, the second visual sensor having a camera area that is an anti-pinch area of the corresponding door, the anti-pinch area being an area between the door and the body;

the acquiring unit is further configured to acquire a second image through a second target vision sensor, where the second target vision sensor is any one of a plurality of second vision sensors;

the second determining unit is further used for controlling the vehicle door corresponding to the second target vision sensor to be closed if the second image is used for indicating that the anti-pinch area shot by the second target vision sensor does not include a barrier, and the barrier is an object obstructing the closing of the vehicle door.

9. A vehicle, characterized in that the vehicle comprises: a processor and a memory; the memory for storing computer program code, the computer program code comprising computer instructions; the vehicle, when the processor executes the computer instructions, performs the door control method of any one of claims 1-6.

10. A computer-readable storage medium characterized by comprising computer instructions that, when run on a vehicle, cause the vehicle to perform the door control method of any one of claims 1 to 6.