CN115402199A - Control method, control system, and computer-readable storage medium - Google Patents
Control method, control system, and computer-readable storage medium Download PDFInfo
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- CN115402199A CN115402199A CN202210987944.7A CN202210987944A CN115402199A CN 115402199 A CN115402199 A CN 115402199A CN 202210987944 A CN202210987944 A CN 202210987944A CN 115402199 A CN115402199 A CN 115402199A
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- 238000004590 computer program Methods 0.000 claims description 18
- 230000004888 barrier function Effects 0.000 abstract description 12
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- 230000008859 change Effects 0.000 description 4
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- 239000000463 material Substances 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000004397 blinking Effects 0.000 description 3
- 230000037237 body shape Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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Abstract
The invention discloses a control method, a control system and a computer readable storage medium, the control method is used for a vehicle, and the control method comprises the following steps: acquiring position information of a vehicle and position information of obstacles around the vehicle; determining the collision risk between the vehicle door and the barrier under different opening gears according to the position information of the vehicle and the position information of the barrier under the condition that the vehicle is parked and the vehicle door of the vehicle is in a closed state, wherein the different opening gears of the vehicle door correspond to different opening angles of the vehicle door; and sending out prompt information under the condition that the collision risk exists in one opening gear of the vehicle door. According to the control method, whether the vehicle door collides with the barrier when being opened can be known by determining the collision risk between the vehicle door and the barrier under different opening gears, and the prompt message is sent out, so that a user can judge the proper opening amplitude of the vehicle door according to the prompt message, or can additionally replace the parking position, and the vehicle using efficiency of the user is improved.
Description
Technical Field
The present invention relates to the field of vehicle electronics, and in particular, to a control method, a control system, and a computer-readable storage medium.
Background
The development of the intelligent driving technology provides a technical basis for diversified intelligent solutions of vehicles in driving and parking scenes. In a vehicle parking scene, the space for opening the door is too narrow probably because the parking space is too narrow or other large static obstacles exist beside the parking space; after the self-parking is finished, the automobile door needing to be manually opened by a driver has the risk that the driver does not pay attention to the opening angle when opening the door and collides with a barrier beside the parking space. Or the driver finds that the distance for opening the door is too narrow after parking is finished, and needs to park the vehicle again to let other members get off in advance.
Disclosure of Invention
The embodiment of the invention provides a control method, a control system and a computer readable storage medium.
A control method of an embodiment of the present invention, which is for a vehicle, includes:
acquiring position information of the vehicle and position information of obstacles around the vehicle;
determining the collision risk between the vehicle door and the obstacle under different opening gears according to the position information of the vehicle and the position information of the obstacle under the condition that the vehicle is parked and the vehicle door of the vehicle is in a closed state, wherein the different opening gears of the vehicle door correspond to different opening angles of the vehicle door;
and sending out prompt information under the condition that the collision risk exists in one opening gear of the vehicle door.
According to the control method, whether the vehicle door collides with the obstacle and sends the prompt information when being opened can be known by determining the collision risk between the vehicle door and the obstacle under different opening gears, and a user can judge the proper range for opening the vehicle door according to the prompt information or can additionally replace the parking position, so that the vehicle using efficiency of the user is improved.
In certain embodiments, the control method comprises:
and under the condition that the current driving gear of the vehicle is determined to be a parking gear and the vehicle is located in a parking space currently, determining to acquire the position information of the vehicle and the position information of the obstacle.
In certain embodiments, the control method comprises:
obtaining a position of an occupant within the vehicle cabin;
determining a risk of collision against the obstacle for a door corresponding to the occupant position based on the occupant position.
In certain embodiments, the control method comprises:
acquiring the shape of an occupant in the vehicle cabin;
determining a corresponding minimum opening gear of the vehicle door according to the body type of the passenger;
and determining the collision risk between the vehicle door and the obstacle according to the minimum opening gear of the vehicle door.
In some embodiments, in the case that it is determined that there is a collision risk in one of the opening positions of the vehicle door, issuing a prompt message includes:
emitting flickering light information at a first frequency under the condition that the vehicle door is determined to have collision risk with the obstacle under the minimum opening gear;
when the vehicle door is opened, keeping emitting the flickering light information at the first frequency;
and emitting the twinkling lamplight information at a second frequency under the condition that the vehicle door is opened until the distance between the most extensive extent of the vehicle door and the obstacle is less than a first threshold value, wherein the second frequency is greater than the first frequency.
In certain embodiments, the control method comprises:
determining a first distance according to an opening angle corresponding to an opening gear of the vehicle door, wherein the first distance is a maximum distance formed between the most extensive extent of the vehicle door and a vehicle body of the vehicle;
determining a second distance according to the position information of the vehicle and the position information of the obstacle, wherein the second distance is the distance between the vehicle door and the obstacle in a closed state;
and determining that the opening gear of the vehicle door corresponding to the first distance has collision risk when the first distance is larger than the second distance.
In some embodiments, obtaining the position information of the vehicle and the position information of the obstacles around the vehicle includes:
according to a parking space scheduled to be parked, determining position information of the vehicle after the vehicle is parked in the parking space scheduled to be parked and position information of obstacles around the parking space scheduled to be parked;
under the condition that it is determined that one of the opening gears of the vehicle door has collision risk, sending out prompt information, wherein the prompt information comprises the following steps:
and sending voice prompt information to inform that the parking space scheduled for parking has the problem of easy collision when the door is opened.
The control system comprises a sensing unit, a control module and a prompting unit, wherein the sensing unit is used for:
acquiring position information of the vehicle and position information of obstacles around the vehicle;
the control module is used for:
determining the collision risk between the vehicle door and the obstacle under different opening gears according to the position information of the vehicle and the position information of the obstacle under the condition that the vehicle is parked and the vehicle door of the vehicle is in a closed state, wherein the different opening gears of the vehicle door correspond to different opening angles of the vehicle door;
the prompting unit is used for:
and sending out prompt information under the condition that the collision risk exists in one opening gear of the vehicle door.
According to the control system, whether the vehicle door collides with the barrier when being opened or not can be known by determining the collision risk between the vehicle door and the barrier under different opening gears, and the prompt message is sent out, so that a user can judge the proper range for opening the vehicle door according to the prompt message, or can replace the parking position in addition, and the vehicle using efficiency of the user is improved.
In some embodiments, the sensing unit is configured to:
and under the condition that the current driving gear of the vehicle is determined to be a parking gear and the vehicle is located in a parking space currently, determining to acquire the position information of the vehicle and the position information of the obstacle.
In certain embodiments, the control module is to:
obtaining a position of an occupant within the vehicle cabin;
determining a risk of collision with the obstacle for a vehicle door corresponding to the occupant position based on the occupant position.
In certain embodiments, the control module is to:
acquiring the shape of an occupant in the vehicle cabin;
determining a corresponding minimum opening gear of the vehicle door according to the body type of the passenger;
and determining the collision risk between the vehicle door and the obstacle according to the minimum opening gear of the vehicle door.
In some embodiments, the prompting unit is configured to:
emitting flashing light information at a first frequency under the condition that the vehicle door is determined to have collision risk with the obstacle under the minimum opening gear;
when the vehicle door is opened, keeping emitting twinkling lamplight information at the first frequency;
and emitting the twinkling lamplight information at a second frequency under the condition that the vehicle door is opened until the distance between the most extensive extent of the vehicle door and the obstacle is less than a first threshold value, wherein the second frequency is greater than the first frequency.
In certain embodiments, the control module is configured to:
determining a first distance according to an opening angle corresponding to an opening gear of the vehicle door, wherein the first distance is a maximum distance formed between the most extensive extent of the vehicle door and a vehicle body of the vehicle;
determining a second distance according to the position information of the vehicle and the position information of the obstacle, wherein the second distance is the distance between the vehicle door and the obstacle in a closed state;
and determining that the opening gear of the vehicle door corresponding to the first distance has collision risk when the first distance is larger than the second distance.
In certain embodiments, the control module is to:
according to a parking space scheduled to be parked, determining position information of the vehicle after the vehicle is parked in the parking space scheduled to be parked and position information of obstacles around the parking space scheduled to be parked;
the prompt unit is used for:
and sending voice prompt information to inform that the parking space scheduled for parking has the problem of easy collision when the door is opened.
A control system according to an embodiment of the present invention includes a memory in which a computer program is stored, and a processor that can execute the computer program to implement the control method according to any one of the above embodiments.
According to the control system, whether the vehicle door collides with the barrier when being opened or not can be known by determining the collision risk between the vehicle door and the barrier under different opening gears, and the prompt message is sent out, so that a user can judge the proper range for opening the vehicle door according to the prompt message, or can replace the parking position in addition, and the vehicle using efficiency of the user is improved.
A computer-readable storage medium of an embodiment of the present invention has a computer program stored thereon, the computer program being executable by a processor to implement the control method of any one of the above-described embodiments.
According to the computer-readable storage medium, whether the vehicle door collides with the obstacle when being opened can be known by determining the collision risk between the vehicle door and the obstacle under different opening gears, and prompt information is sent out, so that a user can judge the proper range for opening the vehicle door according to the prompt information, or can replace the parking position additionally, and the vehicle using efficiency of the user is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a control method of an embodiment of the present invention;
FIG. 2 is a flow chart of a control system of an embodiment of the present invention;
FIG. 3 is a block schematic diagram of a control system of an embodiment of the present invention;
FIG. 4 is a view of a use scenario for a vehicle in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of a portion of the structure of a vehicle door according to an embodiment of the present invention;
FIG. 6 is another block schematic diagram of a control system in accordance with an embodiment of the present invention.
Reference numerals are as follows:
100. a control system; 22. a sensing unit; 24. a control module; 26. a presentation unit; 28. a signal lamp;
200. a vehicle; 32. a vehicle door; 34. an obstacle; 36. a memory; 38. a processor.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, 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", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The disclosure herein provides many different embodiments or examples for implementing different features of the invention. Specific example components and arrangements are described herein for simplicity in describing the present invention. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
Referring to fig. 1, a control method according to an embodiment of the present invention is a control method for a vehicle 200, including:
and step 16, sending out prompt information under the condition that one opening gear of the vehicle door 32 is determined to have collision risk.
According to the control method, whether the vehicle door 32 collides with the obstacle 34 when being opened can be known by determining the collision risk between the vehicle door 32 and the obstacle 34 under different opening gear positions, and prompt information is sent out, so that a user can judge the appropriate opening amplitude of the vehicle door 32 according to the prompt information or can replace the parking position additionally, and the vehicle using efficiency of the user is improved.
Specifically, in the embodiment shown in fig. 1, when the vehicle 200 needs to park, the door-opening space may be too narrow due to too narrow parking space or other large stationary obstacles 34 beside the parking space, and after parking is completed, for the vehicle door 32 that needs to be manually opened by the user, there is a risk that the user does not notice the opening angle when opening the door and collides with the obstacles 34 beside the parking space. And after the parking is finished, the user finds that the openable door distance is too narrow, and needs to open again for adjustment. It is therefore necessary to acquire the position information of the vehicle 200 and the position information of the obstacles 34 around the vehicle 200 when the vehicle 200 is parked. In the case where the vehicle 200 is parked and the door 32 of the vehicle 200 is in the closed state, the risk of collision between the door 32 and the obstacle 34 at different opening positions, which may correspond to different opening angles of the door 32, of the door 32 may be determined based on the position information of the vehicle 200 and the position information of the obstacle 34. After the user parks the vehicle 200, under the condition that the collision risk exists in one of the opening gears of the vehicle door 32, the vehicle 200 can warn the user that the door is opened and the collision risk exists in the peripheral static barrier 34 in the sound and light alarm modes, and the like, and further sends prompt information, so that the user can judge the proper amplitude for opening the vehicle door 32 according to the prompt information, or can additionally change the parking position, and the vehicle using efficiency of the user is improved.
In some embodiments, a control method comprises:
in a case where it is determined that the current driving range of the vehicle 200 is the parking range and the vehicle 200 is currently located in the space, it is determined that the position information of the vehicle 200 and the position information of the obstacle 34 are acquired. In this manner, it may be determined that the particular environment in which vehicle 200 is located facilitates parking.
Specifically, in the process of parking the vehicle 200, when it is determined that the current driving gear of the vehicle 200 is the parking gear and the vehicle 200 is currently located in the parking space, the vehicle space and the obstacle 34 beside the parking space can be sensed by the rear-view camera, the left-right-view camera and the ultrasonic radar of the vehicle 200, so that the image data and the ultrasonic radar detection data can be acquired to determine the position information of the vehicle 200 and the position information of the obstacle 34. The type of obstacle 34 may be a type that identifies stationary roadside obstacles, pillars, walls, and other vehicles, as well as other obstacles that are higher than the lower edge of the vehicle door 32.
In some embodiments, a control method comprises:
acquiring the position of an occupant in the cabin of the vehicle 200;
the risk of collision with the obstacle 34 is determined for the vehicle door 32 corresponding to the occupant position based on the occupant position. Thus, the vehicle door 32 is prevented from being opened to collide with the obstacle 34 beside the parking space.
Specifically, the vehicle 200 may acquire the position of the passenger in the cabin of the vehicle 200 using the cabin driver monitoring camera, and perform virtual door opening collision risk determination on the door 32 corresponding to the passenger side according to the position of the passenger, and not determine the door 32 corresponding to the passenger-free side.
In some embodiments, a control method comprises:
acquiring the body shape of an occupant in a cabin of a vehicle 200;
determining the minimum opening gear of the corresponding vehicle door 32 according to the body type of the passenger;
the risk of collision with the obstacle 34 is determined for the vehicle door 32 based on the minimum opening gear position of the vehicle door 32. In this way, the collision risk of the corresponding gear can be determined according to the body type of the passenger.
Specifically, the vehicle 200 may obtain the passenger size data through the in-cabin passenger monitoring system, calculate the opening angle of the door 32 required for the passenger to get off the vehicle according to the passenger size, select the door opening gear for risk determination according to the opening gear interval of the door 32 corresponding to the angle, determine the minimum opening gear of the corresponding door 32, and determine the collision risk between the door 32 and the obstacle 34 according to the minimum opening gear of the door 32. The minimum opening position of the door 32 is when the distance between the outermost extent of the door 32 and the obstacle 34 is the largest.
In some embodiments, step 16 (issuing a prompt in the event that it is determined that there is a risk of collision in one of the open gears of the vehicle door 32) includes:
emitting blinking light messages at a first frequency upon determining that the vehicle door 32 is at risk of colliding with the obstacle 34 in the minimum open gear position;
maintaining the flashing light message at the first frequency with the door 32 open;
in the case where the vehicle door 32 is opened such that the distance between the outermost extent of the vehicle door 32 and the obstacle 34 is less than the first threshold value, blinking light information is emitted at a second frequency, which is greater than the first frequency. In this manner, the user may be alerted that there is a risk of collision with the surrounding barrier 34 when the door is open.
Specifically, referring to fig. 5, when the body controller of the vehicle 200 receives the collision risk signal from the control unit, the controller may send an instruction of the lighting mode of the optical signal lamp 28 for optically reminding the vehicle occupant. After determining the minimum opening position of the vehicle door 32, if there is a risk of collision of the door with the obstacle 34 in this minimum opening position, the signal lamp 28 emits a flashing light message at a first frequency, which is a slower frequency, and the light may be red in color. With the door 32 open, the vehicle 200 remains emitting red flashing light messages at the first frequency.
The distance between the outermost extent of the door 32 and the obstacle 34 can be represented by D, and the first threshold value is the distance of the door 32 from the vehicle body in the minimum opening range. In the event that the door 32 is opened until the distance between the outermost extent of the door 32 and the obstacle 34 is less than the first threshold, the signal lights 28 emit flashing light messages at a second frequency, which is a faster frequency, which may be red in color. In the illustrated embodiment, the signal lights 28 may be mounted on the doors 32 near the edges of the doors 32 or at the door handles, with each door 32 signal light 28 operating independently without linkage. The early warning prompt of the signal lamp 28 sends an early warning mode instruction from the vehicle body controller to start early warning, namely, the early warning is started when the user is not in the door opening state. It is understood that in other embodiments, the color of the light is not limited to red, but may be other colors.
In some embodiments, a control method comprises:
determining a first distance according to an opening angle corresponding to an opening gear of the vehicle door 32, wherein the first distance is a maximum distance formed between the outermost extent of the vehicle door 32 and a vehicle body of the vehicle 200;
determining a second distance, which is a distance between the door 32 and the obstacle 34 in the closed state, based on the position information of the vehicle 200 and the position information of the obstacle 34;
in the case where the first distance is greater than the second distance, it is determined that there is a risk of collision in the opening range of the vehicle door 32 corresponding to the first distance. Therefore, the user can be reminded whether collision risk exists when the door is opened.
Specifically, in the embodiment shown in fig. 4, the control unit calculates the position information of the vehicle 200 and the position information of the obstacle 34 based on the data acquired by the sensing unit before the user opens the door. The control unit converts the opening angle corresponding to the opening position of the vehicle door 32 into the distance between the outermost position of the vehicle door 32 and the obstacle 34. The first distance, which is the maximum distance formed between the outermost extent of the door 32 and the body of the vehicle 200, is determined according to the opening angle corresponding to the opening position of the door 32, and can be represented by K. A second distance, which is the distance between the vehicle door 32 and the obstacle 34 in the closed state, is determined based on the position information of the vehicle 200 and the position information of the obstacle 34, and can be denoted by I. When the first distance is greater than the second distance, it may be determined that there is a collision risk in the opening range of the vehicle door 32 corresponding to the first distance.
In certain embodiments, step 12 (obtaining the position information of the vehicle 200 and the position information of the obstacles 34 around the vehicle 200) comprises:
determining position information of the vehicle 200 after being parked in the parking space scheduled for parking and position information of the obstacle 34 around the parking space scheduled for parking, according to the parking space scheduled for parking;
step 16 (in the case where it is determined that there is a risk of collision in one of the open gears of the vehicle door 32, issuing a prompt message) includes:
the voice prompt message is sent out to inform the parking space scheduled to be parked that the door is opened and the collision is easy to happen. Therefore, the user can be further reminded of collision risk when the door is opened.
Specifically, the vehicle 200 senses the parking space scheduled to be parked and the obstacle 34 around the parking space scheduled to be parked through the rear-view camera, the left-right side-view camera, and the ultrasonic radar, and determines the position information of the vehicle 200 after being parked in the parking space scheduled to be parked and the position information of the obstacle 34 around the parking space scheduled to be parked. Under the condition that it is determined that there is a collision risk in one of the open gears of the vehicle door 32, a voice prompt message can be sent out to inform a user that there is a collision risk easily caused by opening the door in the parking space scheduled for parking, and at the moment, the user can select remote control parking or change the parking space without obstacles when opening the door. In other embodiments, the warning prompt message of the vehicle 200 is not limited to the installation of the vehicle door 32 indicating signal lamp 28 and the voice prompt of the vehicle 200, but may also be a vehicle-mounted interactive large-screen display lamp or other prompt manners to prompt the user of the collision risk under one of the open gears on the side of the vehicle door 32, which is not limited herein.
Referring to fig. 2 and 3, a control system 100 according to an embodiment of the present invention, the control system 100 is used for a vehicle 200, the control system 100 includes a sensing unit 22, a control module 24, and a prompt unit 26, the sensing unit 22 is configured to:
acquiring position information of the vehicle 200 and position information of obstacles 34 around the vehicle 200;
the control module 24 is configured to:
determining the collision risk between the vehicle door 32 and the obstacle 34 under different opening gear positions according to the position information of the vehicle 200 and the position information of the obstacle 34 under the condition that the vehicle 200 is parked and the vehicle door 32 of the vehicle 200 is in a closed state, wherein the different opening gear positions of the vehicle door 32 correspond to different opening angles of the vehicle door 32;
the presentation unit 26 is configured to:
in the event that it is determined that there is a risk of collision in one of the open gears of the vehicle door 32, a prompt message is issued.
The control system 100 determines the risk of collision between the vehicle door 32 and the obstacle 34 in different opening gear positions, so as to know whether the vehicle door 32 will collide with the obstacle 34 when being opened and send prompt information, and a user can judge the proper opening amplitude of the vehicle door 32 according to the prompt information or can replace the parking position additionally, thereby improving the vehicle using efficiency of the user.
Specifically, the control system 100 is provided on the vehicle 200, and the sensing unit 22 may include an intelligent sensor, and the sensing unit 22 is configured to acquire position information of the vehicle 200 and position information of the obstacle 34 around the vehicle 200. The control module 24 is configured to determine a risk of collision between the vehicle door 32 and the obstacle 34 at different opening positions of the vehicle door 32 corresponding to different opening angles of the vehicle door 32 according to the position information of the vehicle 200 and the position information of the obstacle 34 when the vehicle 200 is parked and the vehicle door 32 of the vehicle 200 is in the closed state. The data from the sensing unit 22 is communicated to the control module 24. The control module 24 may include a processing unit and a computing unit that performs image recognition and radar data fusion, recognizing the position information of the vehicle 200 and the position information of the obstacle 34. Upon completion of parking, the calculation unit calculates the current body attitude and position state, the distance of the vehicle door 32 from the peripheral obstacle 34 at different opening angles. The prompting unit 26 may be configured to, when it is determined that there is a collision risk in one of the open gears of the vehicle doors 32, warn the user that there is a collision risk between the open door and the surrounding stationary obstacle 34 through sound or light alarm, and then send a prompting message, so that the user may determine an appropriate range for opening the vehicle doors 32 according to the prompting message, or may additionally change a parking position, thereby improving the vehicle utilization efficiency of the user.
In some embodiments, the sensing unit 22 is configured to:
in a case where it is determined that the current driving range of the vehicle 200 is the parking range and the vehicle 200 is currently located in the space, it is determined that the position information of the vehicle 200 and the position information of the obstacle 34 are acquired. In this manner, the particular environment in which the vehicle 200 is located may be determined.
Specifically, be equipped with intelligent sensor on the vehicle 200, intelligent sensor can include the back vision camera, control and look sideways at camera and ultrasonic radar. In the parking process of the vehicle 200, when it is determined that the current driving gear of the vehicle 200 is a parking gear and the vehicle 200 is currently located in a parking space, the parking space and the obstacle 34 beside the parking space can be sensed through the rear-view camera, the left-right side-view camera and the ultrasonic radar of the vehicle 200, so that the position information of the vehicle 200 and the position information of the obstacle 34 can be determined by acquiring image data and ultrasonic radar detection data.
In certain embodiments, the control module 24 is configured to:
acquiring the position of an occupant in a cabin of the vehicle 200;
the risk of collision with the obstacle 34 is determined for the vehicle door 32 corresponding to the occupant position based on the occupant position. In this way, the vehicle door 32 can be prevented from colliding with the obstacle 34.
Specifically, the processing unit of the vehicle 200 may acquire the position of the passenger in the cabin of the vehicle 200 through the cabin driver monitoring camera, and perform virtual door opening collision risk determination on the door 32 corresponding to the side with the passenger according to the position of the passenger, and not determine the door 32 corresponding to the side without the passenger.
In certain embodiments, the control module 24 is configured to:
acquiring the body shape of an occupant in a cabin of a vehicle 200;
determining the minimum opening gear of the corresponding vehicle door 32 according to the body type of the passenger;
the risk of collision with the obstacle 34 is determined for the vehicle door 32 based on the minimum opening gear position of the vehicle door 32. Thus, the collision risk of the corresponding gear can be determined according to the body type of the passenger.
Specifically, the processing unit of the vehicle 200 may obtain the passenger size data through the in-cabin passenger monitoring system, and according to the passenger size, the calculation unit calculates the opening angle of the door 32 required for the passenger to get off the vehicle, and selects the door opening gear for risk determination according to the opening gear interval of the door 32 corresponding to the angle, so as to determine the minimum opening gear of the corresponding door 32, and determine the collision risk between the door 32 and the obstacle 34 according to the minimum opening gear of the door 32.
In some embodiments, the cueing unit 26 is for:
emitting a flashing light message at a first frequency in the event that it is determined that the vehicle door 32 is at risk of colliding with the obstacle 34 in said minimum opening position;
maintaining the flashing light message at the first frequency with the door 32 open;
in the case where the door 32 is opened such that the distance between the outermost extent of the door 32 and the obstacle 34 is less than the first threshold value, blinking light information is emitted at a second frequency, which is greater than the first frequency. In this manner, the user may be alerted that there is a risk of collision with the surrounding barrier 34 when the door is opened.
Specifically, referring to fig. 5, the vehicle 200 is provided with a prompt unit 26, and the prompt unit 26 may include a vehicle body controller, and when the vehicle body controller of the vehicle 200 receives a collision risk signal from the control module 24, the vehicle body controller may send a light-up mode instruction of the optical signal lamp 28 for optically reminding a passenger in the vehicle. After determining the minimum opening position of the vehicle door 32, if there is a risk of collision of the door with the obstacle 34 in this minimum opening position, the signal lamp 28 emits a flashing light message at a first frequency, which is a slower frequency, and the light may be red in color. With the door 32 open, the vehicle 200 remains emitting red flashing light messages at the first frequency. In the event that the door 32 is opened until the distance between the outermost extent of the door 32 and the obstacle 34 is less than a first threshold, the signal lights 28 emit flashing light messages at a second frequency, which is a faster frequency, which may be red in color.
In certain embodiments, the control module 24 is configured to:
determining a first distance according to an opening angle corresponding to an opening gear of the vehicle door 32, wherein the first distance is a maximum distance formed between the outermost extent of the vehicle door 32 and a vehicle body of the vehicle 200;
determining a second distance, which is a distance between the door 32 and the obstacle 34 in the closed state, based on the position information of the vehicle 200 and the position information of the obstacle 34;
in the case where the first distance is greater than the second distance, it is determined that there is a risk of collision in the opening range of the vehicle door 32 corresponding to the first distance. Therefore, the user can be reminded whether collision risks exist when the door is opened.
Specifically, in the embodiment shown in fig. 4, the control module 24 calculates the position information of the vehicle 200 and the position information of the obstacle 34 based on the data acquired by the sensing unit 22 before the user opens the door. The control module 24 converts the opening angle corresponding to the opening position of the door 32 into the distance between the outermost position of the door 32 and the obstacle 34. The first distance is determined according to the opening angle corresponding to the opening position of the vehicle door 32, and the first distance is the maximum distance formed between the outermost extent of the vehicle door 32 and the vehicle body of the vehicle 200. The second distance, which is the distance between the vehicle door 32 and the obstacle 34 in the closed state, is determined based on the position information of the vehicle 200 and the position information of the obstacle 34. When the first distance is greater than the second distance, it may be determined that there is a collision risk in the opening range of the vehicle door 32 corresponding to the first distance.
In certain embodiments, the control module 24 is configured to:
determining position information of the vehicle 200 after parking in the parking space scheduled to park and position information of the obstacle 34 around the parking space scheduled to park, according to the parking space scheduled to park;
the presentation unit 26 is configured to:
the voice prompt message is sent out to inform the parking space scheduled to be parked that the door is opened and the collision is easy to happen. Therefore, the user can be further reminded of collision risk when the door is opened.
Specifically, the processing unit of the vehicle 200 may sense the parking space scheduled to be parked and the obstacle 34 around the parking space scheduled to be parked through the rear view camera, the left and right side view cameras, and the ultrasonic radar, and determine the position information of the vehicle 200 after being parked in the parking space scheduled to be parked and the position information of the obstacle 34 around the parking space scheduled to be parked. Under the condition that it is determined that there is a collision risk in one of the open gears of the vehicle door 32, a voice prompt message can be sent out to inform a user that there is a collision risk easily caused by opening the door in the parking space scheduled for parking, and at the moment, the user can select remote control parking or change the parking space without obstacles when opening the door.
Referring to fig. 6, a control system 100 according to an embodiment of the present invention includes a memory 36 and a processor 38, the memory 36 stores a computer program, and the processor 38 can execute the computer program to implement the control method according to any one of the above embodiments.
For example, in case a computer program is executed, the following steps may be implemented:
and step 16, sending out prompt information under the condition that one opening gear of the vehicle door 32 is determined to have collision risk. The control system 100 determines the risk of collision between the vehicle door 32 and the obstacle 34 in different opening gear positions, so as to know whether the vehicle door 32 will collide with the obstacle 34 when being opened and send prompt information, and a user can judge the proper opening amplitude of the vehicle door 32 according to the prompt information or can replace the parking position additionally, thereby improving the vehicle using efficiency of the user.
A computer-readable storage medium of an embodiment of the present invention has stored thereon a computer program that can be executed by the processor 38 to implement the control method of any one of the above-described embodiments.
For example, in the case of a computer program being executed, the following steps may be implemented:
and step 16, sending out prompt information under the condition that one opening gear of the vehicle door 32 is determined to have collision risk. The computer readable storage medium determines the risk of collision between the vehicle door 32 and the obstacle 34 in different opening positions, so that whether the vehicle door 32 collides with the obstacle 34 when being opened can be known and prompt information can be sent out, and a user can judge the proper opening amplitude of the vehicle door 32 according to the prompt information or can additionally replace a parking position, thereby improving the vehicle using efficiency of the user.
The computer-readable storage medium may be provided in the control system 100 or in another terminal, and the control system 100 may communicate with the other terminal to obtain the corresponding program.
It is understood that the computer-readable storage medium may include: any entity or device capable of carrying a computer program, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), software distribution medium, and the like. The computer program includes computer program code. The computer program code may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), and software distribution medium.
In some embodiments of the present invention, the control system 100 may be a single-chip microcomputer chip, which integrates a processor, a memory, a communication module, and the like. The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
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 implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description herein, references to the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (16)
1. A control method characterized by being used for a vehicle, the control method comprising:
acquiring position information of the vehicle and position information of obstacles around the vehicle;
determining the collision risk between the vehicle door and the obstacle under different opening gears according to the position information of the vehicle and the position information of the obstacle under the condition that the vehicle is parked and the vehicle door of the vehicle is in a closed state, wherein the different opening gears of the vehicle door correspond to different opening angles of the vehicle door;
and sending out prompt information under the condition that the collision risk exists in one opening gear of the vehicle door.
2. The control method according to claim 1, characterized by comprising:
and under the condition that the current driving gear of the vehicle is determined to be a parking gear and the vehicle is located in a parking space currently, determining to acquire the position information of the vehicle and the position information of the obstacle.
3. The control method according to claim 1, characterized by comprising:
obtaining a position of an occupant within the vehicle cabin;
determining a risk of collision with the obstacle for a vehicle door corresponding to the occupant position based on the occupant position.
4. The control method according to claim 1, characterized by comprising:
acquiring the shape of an occupant in the vehicle cabin;
determining a corresponding minimum opening gear of the vehicle door according to the body type of the passenger;
and determining the collision risk between the vehicle door and the obstacle according to the minimum opening gear of the vehicle door.
5. The control method according to claim 4, wherein in the case where it is determined that there is a risk of collision in one of the open gears of the vehicle door, issuing a prompt message includes:
emitting flickering light information at a first frequency under the condition that the vehicle door is determined to have collision risk with the obstacle under the minimum opening gear;
when the vehicle door is opened, keeping emitting the flickering light information at the first frequency;
and emitting the twinkling lamplight information at a second frequency under the condition that the vehicle door is opened until the distance between the most extensive extent of the vehicle door and the obstacle is less than a first threshold value, wherein the second frequency is greater than the first frequency.
6. The control method according to claim 1, characterized by comprising:
determining a first distance according to an opening angle corresponding to an opening gear of the vehicle door, wherein the first distance is a maximum distance formed between the most extensive extent of the vehicle door and a vehicle body of the vehicle;
determining a second distance according to the position information of the vehicle and the position information of the obstacle, wherein the second distance is the distance between the vehicle door and the obstacle in a closed state;
and determining that the opening gear of the vehicle door corresponding to the first distance has collision risk when the first distance is larger than the second distance.
7. The control method according to claim 1, wherein acquiring the position information of the vehicle and the position information of the obstacles around the vehicle includes:
according to a parking space scheduled to be parked, determining position information of the vehicle after the vehicle is parked in the parking space scheduled to be parked and position information of obstacles around the parking space scheduled to be parked;
under the condition that it is determined that one of the opening gears of the vehicle door has collision risk, sending out prompt information, wherein the prompt information comprises the following steps:
and sending voice prompt information to inform that the parking space scheduled for parking has the problem of easy collision when the door is opened.
8. A control system for a vehicle, the control system comprising a sensing unit, a control module and a prompt unit, the sensing unit being configured to:
acquiring position information of the vehicle and position information of obstacles around the vehicle;
the control module is used for:
determining collision risks between the vehicle door and the obstacle under different opening gears according to the position information of the vehicle and the position information of the obstacle under the condition that the vehicle is parked and the vehicle door of the vehicle is in a closed state, wherein the different opening gears of the vehicle door correspond to different opening angles of the vehicle door;
the prompting unit is used for:
and sending out prompt information under the condition that the collision risk exists in one opening gear of the vehicle door.
9. The control system of claim 8, wherein the sensing unit is configured to:
and under the condition that the current driving gear of the vehicle is determined to be a parking gear and the vehicle is located in a parking space currently, determining to acquire the position information of the vehicle and the position information of the obstacle.
10. The control system of claim 8, wherein the control module is to:
obtaining a position of an occupant within the vehicle cabin;
determining a risk of collision with the obstacle for a vehicle door corresponding to the occupant position based on the occupant position.
11. The control system of claim 8, wherein the control module is to:
acquiring the shape of an occupant in the vehicle cabin;
determining a corresponding minimum opening gear of the vehicle door according to the body type of the passenger;
and determining the collision risk between the vehicle door and the obstacle according to the minimum opening gear of the vehicle door.
12. The control system of claim 11, wherein the prompting unit is configured to:
emitting flickering light information at a first frequency under the condition that the vehicle door is determined to have collision risk with the obstacle under the minimum opening gear;
when the vehicle door is opened, keeping emitting the flickering light information at the first frequency;
and emitting the twinkling lamplight information at a second frequency under the condition that the vehicle door is opened until the distance between the most extensive extent of the vehicle door and the obstacle is less than a first threshold value, wherein the second frequency is greater than the first frequency.
13. The control system of claim 8, wherein the control module is to:
determining a first distance according to an opening angle corresponding to an opening gear of the vehicle door, wherein the first distance is a maximum distance formed between the most extensive extent of the vehicle door and a vehicle body of the vehicle;
determining a second distance according to the position information of the vehicle and the position information of the obstacle, wherein the second distance is the distance between the vehicle door and the obstacle in a closed state;
and determining that the opening gear of the vehicle door corresponding to the first distance has collision risk when the first distance is larger than the second distance.
14. The control system of claim 8, wherein the control module is to:
according to a parking space scheduled to be parked, determining position information of the vehicle after the vehicle is parked in the parking space scheduled to be parked and position information of obstacles around the parking space scheduled to be parked;
the prompting unit is used for:
and sending voice prompt information to inform that the parking space scheduled for parking has the problem of easy collision when the door is opened.
15. A control system comprising a memory storing a computer program and a processor capable of executing the computer program to implement the control method of any one of claims 1 to 7.
16. A computer-readable storage medium, on which a computer program is stored, the computer program being executable by a processor to implement the control method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210987944.7A CN115402199A (en) | 2022-08-17 | 2022-08-17 | Control method, control system, and computer-readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210987944.7A CN115402199A (en) | 2022-08-17 | 2022-08-17 | Control method, control system, and computer-readable storage medium |
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| CN202210987944.7A Pending CN115402199A (en) | 2022-08-17 | 2022-08-17 | Control method, control system, and computer-readable storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115805871A (en) * | 2022-12-27 | 2023-03-17 | 深圳市凯芙特科技有限公司 | Real-time monitoring device and monitoring method for increasing getting-off safety |
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2022
- 2022-08-17 CN CN202210987944.7A patent/CN115402199A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115805871A (en) * | 2022-12-27 | 2023-03-17 | 深圳市凯芙特科技有限公司 | Real-time monitoring device and monitoring method for increasing getting-off safety |
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