CN115675349A - Vehicle door control method and device, electronic equipment and storage medium - Google Patents

Vehicle door control method and device, electronic equipment and storage medium Download PDF

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Publication number
CN115675349A
CN115675349A CN202110846225.9A CN202110846225A CN115675349A CN 115675349 A CN115675349 A CN 115675349A CN 202110846225 A CN202110846225 A CN 202110846225A CN 115675349 A CN115675349 A CN 115675349A
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vehicle
door
external obstacle
vehicle door
opening time
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解俊娣
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Beijing CHJ Automobile Technology Co Ltd
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Beijing CHJ Automobile Technology Co Ltd
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Priority to CN202110846225.9A priority Critical patent/CN115675349A/en
Priority to PCT/CN2022/106973 priority patent/WO2023005785A1/en
Publication of CN115675349A publication Critical patent/CN115675349A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
    • B60J5/00—Doors
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
    • E05B77/00—Vehicle locks characterised by special functions or purposes
    • E05B77/02—Vehicle locks characterised by special functions or purposes for accident situations
    • E05B77/04—Preventing unwanted lock actuation, e.g. unlatching, at the moment of collision
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
    • E05B81/00—Power-actuated vehicle locks
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/79—Power-operated mechanisms for wings with automatic actuation using time control
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Evolutionary Computation (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Data Mining & Analysis (AREA)
  • Remote Sensing (AREA)
  • Medical Informatics (AREA)
  • Automation & Control Theory (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

The embodiment of the disclosure relates to a vehicle door control method, a vehicle door control device, electronic equipment and a storage medium, wherein the method comprises the steps of obtaining the speed of an external obstacle, the distance between the external obstacle and a vehicle and a door opening request; determining delayed opening time of the vehicle door according to the speed of the external obstacle, the distance between the external obstacle and the vehicle and a delayed opening time model of the vehicle door; and after the door opening request is determined to be acquired, controlling the vehicle door according to the door opening request and the delayed opening time of the vehicle door. According to the method and the device, the delayed opening time of the vehicle door can be accurately calculated according to the speed of the external obstacle, the distance between the external obstacle and the vehicle and the delayed opening time model of the vehicle door, so that the vehicle door can be opened at a proper time, and the problem of collision accidents when the vehicle door is opened is solved.

Description

Vehicle door control method and device, electronic equipment and storage medium
Technical Field
The embodiment of the disclosure relates to the technical field of automobiles, in particular to a vehicle door control method and device, electronic equipment and a storage medium.
Background
With the development of economy, automobile retention also starts to increase year by year. Along with the popularization of automobiles, the incidence rate of traffic accidents is improved. Among them, the improper door opening behavior of the automobile is also a frequent traffic accident.
Most of the automobile door opening collision accidents are caused by directly opening the automobile door because the passengers getting off the automobile do not observe the surrounding traffic environment or make misjudgments. When a passenger opens a door of the vehicle, the passenger needs to check whether pedestrians are on the side, the front and the rear of the vehicle or whether an obstacle is outside the door. When the passenger determines that no pedestrian or obstacle exists, the vehicle door is opened again to avoid the collision accident. However, the passengers often open the vehicle door under the condition that the passengers cannot observe, and the conditions that the vehicle door is crashed by a vehicle behind, and the personnel getting off the vehicle are crashed or even die easily occur due to the fact that the passengers cannot avoid the vehicle.
Therefore, due to the limited sight range, when the passenger gets off and opens the vehicle door in the prior art, collision accidents are easy to happen. In addition, when the passenger judges to open the door by oneself, because can't judge accurately whether surrounding vehicle or pedestrian can bump with the door, can't confirm suitable opportunity of opening the door, probably bump with vehicle or pedestrian that are close to gradually, cause the damage of vehicle and harm personal safety.
Disclosure of Invention
To solve at least one problem of the prior art, at least one embodiment of the present disclosure provides a vehicle door control method, apparatus, electronic device, and storage medium.
In a first aspect, an embodiment of the present disclosure provides a vehicle door control method, including:
acquiring the speed of an external obstacle, the distance between the external obstacle and the vehicle and a door opening request;
determining delayed opening time of the vehicle door according to the speed of the external obstacle, the distance between the external obstacle and the vehicle and a delayed opening time model of the vehicle door;
and controlling the vehicle door according to the door opening request and the delayed opening time of the vehicle door.
Optionally, the determining the delayed opening time of the vehicle door according to the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the delayed opening time model of the vehicle door includes:
and if the distance between the external obstacle and the vehicle is greater than a first threshold value, determining that the delayed opening time of the vehicle door is zero.
Optionally, the determining the delayed opening time of the vehicle door according to the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the delayed opening time model of the vehicle door includes:
determining the acceleration of the external obstacle at two adjacent acquisition moments according to the speed of the external obstacle;
and determining the delayed opening time of the vehicle door according to the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent acquisition moments and the delayed opening time model of the vehicle door.
Optionally, the method further includes: acquiring a preset delayed opening time model of the vehicle door;
the vehicle door delayed opening time model comprises a distance between the external obstacle and the vehicle, and a mapping table of acceleration of the external obstacle and vehicle door delayed opening time at two adjacent acquisition moments; the greater the distance between the external obstacle and the vehicle is, the greater the delayed opening time of the vehicle door is; the acceleration of the external obstacle at two adjacent acquisition moments is larger, and the delayed opening time of the vehicle door is smaller.
The distance between the external obstacle and the vehicle and the acceleration of the external obstacle at two adjacent acquisition moments are divided into a plurality of range intervals.
Optionally, the method further includes: and training to obtain a delayed opening time model of the vehicle door by adopting a machine learning method according to the distance data of the historical external obstacle and the vehicle, the acceleration data of the historical external obstacle at two adjacent acquisition moments and the historical delayed opening time data of the vehicle door.
Optionally, the method further includes:
acquiring information of people in the vehicle and determining a vehicle door to be opened according to the information of the people in the vehicle;
the controlling the vehicle door according to the door opening request and the delayed opening time of the vehicle door comprises:
and controlling the vehicle door to be opened according to the door opening request and the delayed opening time of the vehicle door.
Optionally, the acquiring the information of the people in the vehicle includes:
acquiring image information in the vehicle and/or weight information on a seat;
and determining the information of the personnel in the vehicle according to the image information in the vehicle and/or the weight information on the seat.
Optionally, before obtaining the speed of the external obstacle, the distance between the external obstacle and the host vehicle, and the door opening request, the method further includes:
acquiring the speed of the vehicle;
and when the speed of the vehicle is less than a second threshold value, triggering to acquire the speed of the external obstacle, the distance between the external obstacle and the vehicle and a door opening request.
Optionally, when the speed of the external obstacle and the distance between the external obstacle and the vehicle are obtained, vehicle interior personnel information is obtained, and a vehicle door to be opened is determined according to the vehicle interior personnel information; and/or, obtaining a door opening request.
Optionally, after the door opening request is obtained, the speed of the external obstacle and the distance between the external obstacle and the vehicle are obtained, and/or vehicle interior personnel information is obtained, and a vehicle door to be opened is determined according to the vehicle interior personnel information.
Optionally, after the door opening request is obtained, before the speed of the external obstacle and the distance between the external obstacle and the vehicle are obtained, the vehicle interior personnel information is obtained, and the vehicle door to be opened is determined according to the vehicle interior personnel information.
Optionally, when the vehicle door is controlled according to the door opening request and the delayed opening time of the vehicle door, the method further includes:
and if the delayed opening time of the vehicle door is greater than a third threshold value, performing voice prompt.
In a second aspect, an embodiment of the present disclosure provides a vehicle door control device, including:
the monitoring module is used for acquiring the speed of an external obstacle, the distance between the external obstacle and the vehicle and a door opening request;
the logic module is used for determining delayed opening time of the vehicle door according to the speed of the external obstacle, the distance between the external obstacle and the vehicle and a delayed opening time model of the vehicle door;
and the execution module is used for controlling the vehicle door according to the door opening request and the delayed opening time of the vehicle door.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including:
one or more processors;
a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the vehicle door control method as described in the first aspect above.
In a fourth aspect, embodiments of the present disclosure provide a computer-readable storage medium comprising program instructions, which when executed by a computer processor, are for performing the vehicle door control method as described in the first aspect above.
It can be seen that, in at least one embodiment of the present disclosure, the vehicle door can be controlled according to the door opening request and the delayed opening time of the vehicle door by acquiring the speed of the external obstacle, the distance between the external obstacle and the host vehicle, and then determining the delayed opening time of the vehicle door according to the speed of the external obstacle, the distance between the external obstacle and the host vehicle, and the delayed opening time model of the vehicle door. The delayed opening time of the vehicle door can be accurately calculated according to the delayed opening time model of the vehicle door, so that the vehicle door can be intelligently opened at a proper time, and the collision accident when the vehicle door is opened is avoided.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic flow chart diagram illustrating a vehicle door control method according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram illustrating another vehicle door control method provided by the embodiment of the disclosure;
FIG. 3 is a schematic flow chart diagram illustrating yet another method for controlling a vehicle door according to an embodiment of the present disclosure;
FIG. 4 is a schematic flow chart diagram illustrating yet another method for controlling a vehicle door according to an embodiment of the present disclosure;
FIG. 5 is a schematic flow chart diagram illustrating yet another method for controlling a vehicle door according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a vehicle door control logic provided by an embodiment of the present disclosure;
fig. 7 is a block diagram of a vehicle door control device according to an embodiment of the present disclosure;
fig. 8 is a block diagram of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure can be more clearly understood, the present disclosure will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. The specific embodiments described herein are merely illustrative of the disclosure and do not delimit the disclosure. All other embodiments derived by one of ordinary skill in the art from the described embodiments of the disclosure are intended to be within the scope of the disclosure.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The door opening collision accident of the automobile is mostly caused by directly opening the automobile door without observing the surrounding traffic environment or misjudging by the personnel getting off the automobile. When a passenger takes a car daily, especially a passenger in the rear row of the car, needs to check whether pedestrians exist at the side, the front and the rear of the car or whether an obstacle exists outside the car door when the car door is opened. The opening of the door when the passenger determines that the orientation is free of pedestrians or obstacles avoids the occurrence of a collision accident. However, due to the limited sight range, the passengers sometimes open the vehicle doors under the condition of no observation, and at this time, the conditions that the vehicle doors are crashed by vehicles behind, the passengers get off the vehicle are injured by the vehicle and even die easily occur due to the fact that pedestrians are not in time to avoid and collide. Therefore, due to the limited field of view, when the passenger gets off and opens the door in the prior art, collision accidents are easy to happen. In addition, when the passenger judges to open the door by oneself, because can't judge accurately whether the vehicle or pedestrian will collide with the door around, consequently can't confirm suitable opportunity of opening the door, probably collide with the vehicle or pedestrian that are close to gradually, cause the damage of vehicle and harm personal safety.
In view of the above-described shortcomings of the prior art, the disclosed embodiments provide a vehicle door control method. Before describing the embodiments of the present disclosure in detail, the following description will first be made of an application scenario of the present disclosure, and the present disclosure may be applied to a vehicle, which may be an autonomous vehicle or a non-autonomous vehicle. The scheme of the vehicle door control method provided by the embodiment of the disclosure can be applied to various scenes. Such as when a passenger gets off the vehicle with the door open and when the passenger gets on the vehicle with the door open.
Fig. 1 is a schematic flow chart of a vehicle door control method provided in an embodiment of the present disclosure. As shown in fig. 1, the vehicle door control method includes S110 to S130:
and S110, acquiring the speed of the external obstacle, the distance between the external obstacle and the vehicle and a door opening request.
The external obstacle includes, for example, an external vehicle, a pedestrian, and the like. The speed of the external obstacle and the distance between the external obstacle and the host vehicle in this step can be acquired by sensors. The sensor is not limited in the installation position of the sensor in the embodiment of the present disclosure, and the sensor may be installed on a vehicle door, for example, 4 vehicle doors are all provided with a sensor. The sensors may include, for example, millimeter wave radars for acquiring the speed of the external obstacle and the distance of the external obstacle from the host vehicle. In addition, the sensor may additionally include other auxiliary distance measuring or speed measuring devices other than the millimeter-wave radar, such as a binocular camera, so as to more accurately acquire information of obstacles around the vehicle. The embodiments of the present disclosure do not limit the type and number of sensors.
The order of acquiring the speed of the external obstacle, the distance between the external obstacle and the host vehicle, and the door opening request is not limited in the embodiments of the present invention. For example, the speed of the external obstacle, the distance between the external obstacle and the host vehicle, and a door opening request can be acquired at the same time; or the speed of the external obstacle and the distance between the external obstacle and the vehicle can be obtained first, and then the door opening request is obtained; or the door opening request is firstly obtained, and then the speed of the external obstacle and the distance between the external obstacle and the vehicle are obtained.
And S120, determining the delayed opening time of the vehicle door according to the speed of the external obstacle, the distance between the external obstacle and the vehicle and the delayed opening time model of the vehicle door.
The delayed opening time of the vehicle door is the time for controlling the delayed opening of the vehicle door after the door opening request is received. The delayed door opening time model may be preset. The model of the delayed opening time of the vehicle door can be generated in the form of a mapping table or in a model training manner, for example. In the step, the delayed opening time of the vehicle door can be automatically determined according to the speed of the external obstacle, the distance between the external obstacle and the vehicle and the delayed opening time model of the vehicle door, and passengers do not need to observe the external environment of the vehicle.
And S130, controlling the vehicle door according to the door opening request and the delayed opening time of the vehicle door.
The door opening request may be based on a passenger-specific action, such as an action of pulling a door handle, touching or pressing a key on the vehicle, or a voice command sensed by a voice sensing device. Such as "alighting", "opening the door", "i want to alight", etc. The door opening request may be in the form of an interrupt trigger or a periodic acquisition, for example.
And predicting that the obstacle close to the vehicle possibly collides after the vehicle door is opened according to the speed of the external obstacle, the distance between the external obstacle and the vehicle and the model of the delayed opening time of the vehicle door, locking the vehicle door according to the delayed opening time of the vehicle door calculated in the step, not opening the vehicle door for the moment, and opening the vehicle door after the external obstacle passes through the vehicle door.
According to the embodiment of the invention, the delayed opening time of the vehicle door can be accurately determined by acquiring the speed of the external obstacle, the distance between the external obstacle and the vehicle and the preset delayed opening time model of the vehicle door in real time, the vehicle door is opened at a proper time, and the vehicle door is controlled to be opened after the vehicles or pedestrians approaching gradually pass through the model. The embodiment of the disclosure does not need the passenger to judge the external environment of the vehicle by oneself, so that the problem that the passenger can judge by oneself to open the vehicle door to cause a collision accident easily can be avoided.
In some embodiments, optionally, the step S120 of determining the delayed opening time of the door according to the speed of the external obstacle, the distance between the external obstacle and the host vehicle, and the delayed opening time model of the door may include: and if the distance between the external obstacle and the vehicle is greater than a first threshold value, determining that the delayed opening time of the vehicle door is zero.
If the distance between the external obstacle and the host vehicle is greater than the first threshold value, the distance between the external obstacle and the host vehicle is far. In this case, the external obstacle (vehicle or pedestrian) has enough time to change the travel path or decelerate so as to avoid collision with the host vehicle. Therefore, the embodiment of the disclosure can immediately respond to the door opening request, namely the delayed opening time of the vehicle door is zero, the vehicle door does not need to be opened after an external barrier passes through the vehicle door, and passengers are prevented from waiting for longer delayed opening time of the vehicle door.
It should be noted that the first threshold may be set according to actual situations, and the embodiment of the present disclosure does not limit this.
In some embodiments, optionally, the step S120 of determining the door delay opening time according to the speed of the external obstacle, the distance between the external obstacle and the host vehicle, and the door delay opening time model may include:
and S121, determining the acceleration of the external obstacle at two adjacent acquisition moments according to the speed of the external obstacle.
And S122, determining the delayed opening time of the vehicle door according to the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent acquisition moments and the delayed opening time model of the vehicle door.
The embodiment of the disclosure can acquire the speed of the external obstacle and the distance between the external obstacle and the host vehicle according to a certain frequency. For example, if the external obstacle velocities at two adjacent acquisition times are v (k-1) and v (k), respectively, then the external obstacle acceleration a = (v (k) -v (k-1))/[ delta ] t at the two adjacent acquisition times. The distance between the external obstacle and the host vehicle at time k is p (k). Wherein a represents the external obstacle acceleration at two adjacent acquisition moments, and Δ t represents the time interval between two adjacent acquisition moments. In the embodiment of the disclosure, the door delay opening time model includes two input quantities, which are the distance between the external obstacle and the vehicle and the acceleration of the external obstacle at two adjacent acquisition moments, and the door delay opening time model finally outputs the door delay opening time.
In the embodiment of the disclosure, the external obstacle acceleration at two adjacent acquisition moments can reflect the movement trend of the external obstacle, such as an acceleration trend or a deceleration trend, the acceleration or deceleration degree, and the like. The distance between the external obstacle and the host vehicle may reflect the distance between the external obstacle and the host vehicle. Because the input quantity of the door delay opening time model in the embodiment of the disclosure comprehensively considers the movement trend of the external obstacle and the distance between the external obstacle and the host vehicle, the door opening time can be more accurately determined according to the distance between the external obstacle and the host vehicle, the acceleration of the external obstacle at two adjacent acquisition moments and the way of predicting the trend of the external obstacle approaching the host vehicle door by the preset door delay opening time model in the embodiment of the disclosure.
In some embodiments, optionally, the method further includes obtaining a preset delayed door opening time model.
The delayed opening time model of the vehicle door can be preset, and can be in the form of a mapping table. Namely, the door delay opening time model comprises a distance between an external obstacle and the vehicle, and a mapping table of acceleration of the external obstacle and door delay opening time at two adjacent acquisition moments. The larger the distance between the external obstacle and the vehicle is, the longer the delayed opening time of the vehicle door is; the larger the acceleration of the external obstacle at two adjacent acquisition moments is, the smaller the delayed opening time of the vehicle door is.
In the disclosed embodiment, the delayed opening time of the vehicle door is positively correlated with the distance between the external obstacle and the vehicle; the delayed opening time of the vehicle door is inversely related to the acceleration of the external obstacle at two adjacent acquisition moments. The longer the distance between the external obstacle and the vehicle is, the longer the distance between the external obstacle and the vehicle door is, and therefore, the longer the time taken for the external obstacle to pass through the vehicle door is, the longer the door delay opening time should be set. The acceleration of the external obstacle at two adjacent acquisition moments is larger, which indicates that the external obstacle is accelerating, so that the time spent by the external obstacle passing through the vehicle door is smaller, and the delayed opening time of the vehicle door is smaller.
According to the method and the device for acquiring the vehicle door delay opening time, the vehicle door delay opening time model in the form of the mapping table is established in advance, and the vehicle door delay opening time model represents the mapping relation among the vehicle door delay opening time, the distance between the external obstacle and the vehicle and the acceleration of the external obstacle at two adjacent acquisition moments. After the speed of the external obstacle and the distance between the external obstacle and the vehicle are obtained in real time, the speed of the external obstacle and the delayed opening time of the vehicle door corresponding to the distance between the external obstacle and the vehicle can be accurately determined in a table look-up mode.
In some embodiments, optionally, since the distance between the external obstacle and the host vehicle and the external obstacle acceleration at two adjacent collection times are continuous variables, the distance between the external obstacle and the host vehicle and the external obstacle acceleration at two adjacent collection times may be divided into a plurality of range intervals. The 3 parameters in the mapping table are respectively the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent acquisition moments, and the delayed opening time of the vehicle door. The distance between the external obstacle and the vehicle and the acceleration of the external obstacle at two adjacent acquisition moments are divided into a plurality of range intervals. Since the distance between the external obstacle and the vehicle and the acceleration of the external obstacle at two adjacent acquisition times are continuous values, the distance between the external obstacle and the vehicle and the acceleration of the external obstacle at two adjacent acquisition times in the mapping table are divided into a plurality of range intervals, and the delayed opening time of the vehicle door is determined by searching the range intervals corresponding to the distance between the external obstacle and the vehicle determined in real time and the acceleration of the external obstacle at two adjacent acquisition times in the mapping table.
This is described in more detail below by way of an example of a mapping table.
Table 1 exemplarily provides a mapping table of the distance between an external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent acquisition times, and the delayed opening time of the vehicle door. Referring to table 1, the distance p between the external obstacle and the host vehicle is divided into 8 range sections that gradually increase, and the range sections include a range section SSS, a range section SS, a range section S, a range section MS, a range section BS, a range section SB, a range section B, and a range section MB. Wherein SSS represents that p is more than or equal to 0m and less than 1m; SS represents that p is more than or equal to 1m and less than 2m; s represents that p is more than or equal to 2m and less than 3m; MS represents that p is more than or equal to 3m and less than 4m; BS represents that p is more than or equal to 4m and less than 5m; SB represents that p is more than or equal to 5m and less than 6m; b represents that p is more than or equal to 6m and less than 7m; MB means p.gtoreq.7 m.
Table 1: mapping table of distance between external obstacle and vehicle, external obstacle acceleration at two adjacent acquisition moments and delayed opening time of vehicle door
Figure BDA0003180846450000111
The external obstacle acceleration a at two adjacent acquisition moments is divided into 7 gradually-increased range intervals, namely a range interval NB, a range interval NM, a range interval NS, a range interval Z, a range interval PS, a range interval PM and a range interval PB. The external obstacle acceleration at two adjacent acquisition moments has positive and negative values, and the external obstacle acceleration at two adjacent acquisition moments of the range interval NB, the range interval NM and the range interval NS is a negative value. The external obstacle acceleration at two adjacent acquisition times of the range section PS, the range section PM, and the range section PB is a positive value. The range interval Z indicates that the external obstacle acceleration at two adjacent acquisition times is zero. The acceleration of the external obstacle at two adjacent acquisition moments is a negative value and indicates that the external obstacle decelerates, and the acceleration of the external obstacle at two adjacent acquisition moments is a positive value and indicates that the external obstacle accelerates.
The delayed opening time D of the car door comprises 9 car door delayed opening time values which are sequentially increased and are O, SSO, SO, MSO, BSO, SBO, BO, MBO and BBO respectively. Where O denotes that the door delay opening time is zero.
Note that, the values of the range sections of the distance between the external obstacle and the host vehicle in table 1 are merely exemplary, and the embodiment of the present disclosure does not limit this. In addition, specific values of the range intervals of the external obstacle acceleration at two adjacent acquisition moments and specific values of the delayed opening time of each vehicle door in the mapping table are not labeled in table 1. The skilled person can set the specific value of each range interval of the distance between the external obstacle and the vehicle, the specific value of each range interval of the acceleration of the external obstacle at two adjacent acquisition moments, and the specific value of the delayed opening time of each vehicle door in the mapping table according to the actual situation. Taking table 1 as an example, if the acquired distance p between the external obstacle and the host vehicle is in the range section MB, that is, the distance p between the external obstacle and the host vehicle is equal to or greater than 7m, it is described that the external obstacle is far from the host vehicle, and the door delay open time may be set to zero. If the obtained distance p between the external obstacle and the vehicle is located in the range interval MS, and the obtained acceleration a of the external obstacle at two adjacent acquisition moments is located in the range interval PS, the delayed opening time D of the vehicle door can be determined as MSO according to the mapping table. If the obtained distance p between the external obstacle and the vehicle is located in the range interval B, and the obtained acceleration a of the external obstacle at two adjacent acquisition moments is located in the range interval NM, the delayed opening time D of the vehicle door can be determined to be MBO according to the mapping table.
In some embodiments, optionally, a vehicle door delay opening time model is obtained by using a machine learning method and training according to historical distance data between the external obstacle and the vehicle, historical external obstacle acceleration data at two adjacent acquisition times, and historical vehicle door delay opening time data. Namely, a model of delayed opening time of the vehicle door is established in a model training mode.
The disclosed embodiment does not limit the type of the machine learning method, and the distance data of the historical external obstacle and the vehicle and the acceleration data of the external obstacle at two historical adjacent acquisition times are used as input information, the delayed opening time data of the historical vehicle door is used as output information, and the corresponding relation between the distance data of the historical external obstacle and the vehicle, the acceleration data of the external obstacle at two historical adjacent acquisition times and the delayed opening time data of the historical vehicle door is established to obtain the delayed opening time model of the vehicle door.
In some embodiments, optionally, the method may further include: and acquiring the information of personnel in the vehicle and determining the vehicle door to be opened according to the information of the personnel in the vehicle.
Correspondingly, in step S130, controlling the vehicle door according to the door opening request and the delayed opening time of the vehicle door includes: and controlling the vehicle door to be opened according to the door opening request and the delayed opening time of the vehicle door.
Sometimes, passengers are not fully seated in the vehicle, or only part of the passengers in the vehicle have the intention of getting off and opening the door, so that all the doors are not required to be opened. In the embodiment of the disclosure, the information of the personnel in the vehicle can be acquired, which doors are opened (namely, the doors to be opened) are determined according to the information of the personnel in the vehicle, and in the subsequent control process, only the doors to be opened can be controlled according to the door opening request and the delayed opening time of the doors, without controlling all the doors to be opened.
Optionally, the image information in the vehicle and/or the weight information on the seat may be obtained first, and the information of the person in the vehicle may be determined according to the image information in the vehicle and/or the weight information on the seat. For example, the interior image information is acquired by the interior camera, and the passenger at which door has the intention of getting off and opening the door is analyzed according to the interior image information. Such as the rising of the vehicle occupant, turning around, unbuckling the seat belt, etc. Or the pressure sensor is arranged on the seat in the automobile, and the weight information on the seat is detected through the pressure sensor, so that the intention of people in the automobile to open the door and get off the automobile is judged, and the automobile door to be opened is further determined. According to the embodiment of the disclosure, the vehicle door to be opened can be determined according to the information of the passengers in the vehicle, so that the corresponding vehicle door can be opened by the real intention of the passengers.
Fig. 2 is a schematic flow chart of another vehicle door control method according to an embodiment of the present disclosure. As shown in fig. 2, in some embodiments, before acquiring the speed of the external obstacle, the distance between the external obstacle and the host vehicle, and the door opening request, the method further includes:
s101, obtaining the vehicle speed.
And S102, judging whether the vehicle speed is less than a second threshold value.
When the vehicle speed of the host vehicle is less than the second threshold, step S110 is triggered to acquire the speed of the external obstacle, the distance between the external obstacle and the host vehicle, and the operation of the door opening request.
The monitoring of the speed of the vehicle CAN be regularly acquired through a vehicle CAN bus. The second threshold is greater than zero. The specific value of the second threshold is not particularly limited in this embodiment, and may be set according to actual requirements. For example, in practical applications, the second threshold may be set to a smaller value, so that the operation of acquiring the speed of the external obstacle, the distance between the external obstacle and the host vehicle, and the door opening request in step S110 is triggered only when the vehicle speed is lower than the second threshold. And when the vehicle speed is greater than the second threshold value, the vehicle door is still locked, and passengers can not get off the vehicle. If the vehicle speed is greater than the second threshold value, the vehicle speed is fast, and the vehicle is not suitable for passengers to get on or off the vehicle by opening the vehicle door. Therefore, in the embodiment of the present disclosure, when the vehicle speed of the vehicle is less than the second threshold, the vehicle is considered to be decelerated and ready to stop, and at this time, the triggering step S110 obtains the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the operation of the door opening request, and monitors the environment around the vehicle, so as to improve the safety performance of the vehicle.
The invention also provides several execution sequence embodiments for acquiring the speed of the external obstacle, the distance between the external obstacle and the vehicle, acquiring the door opening request, acquiring the vehicle interior personnel information and determining the operation of opening the vehicle door according to the vehicle interior personnel information, which are described in detail in the following by combining with the exemplary drawings.
Optionally, when the speed of the external obstacle and the distance between the external obstacle and the vehicle are obtained, vehicle interior personnel information is obtained, and a vehicle door to be opened is determined according to the vehicle interior personnel information; and/or, acquiring a door opening request. Fig. 3 is a schematic flow chart of another vehicle door control method according to an embodiment of the present disclosure. As shown in fig. 3, exemplary setting steps S111, S112, S113 may be performed in parallel. Wherein, S111, S112 and S113 are as follows:
and S111, acquiring the speed of the external obstacle and the distance between the external obstacle and the vehicle.
And S112, acquiring a door opening request.
And S113, obtaining the information of the personnel in the vehicle and determining the vehicle door to be opened according to the information of the personnel in the vehicle.
After the external obstacle speed and the distance between the external obstacle and the host vehicle are obtained in step S111, step 120 is executed to determine the delayed opening time of the door according to the external obstacle speed, the distance between the external obstacle and the host vehicle, and a delayed opening time model of the door, and then step 130 is executed to control the door to be opened according to the door opening request and the delayed opening time of the door.
The embodiment of the disclosure can shorten the time of the calculation of the door control logic by setting the steps S111, S112, S113 to be executed simultaneously, so that the door control response is quicker, and the operation load can be reduced.
Optionally, after the door opening request is obtained, the speed of the external obstacle and the distance between the external obstacle and the vehicle are obtained, and/or the information of people in the vehicle is obtained, and the door to be opened is determined according to the information of the people in the vehicle.
Fig. 4 is a schematic flowchart of another vehicle door control method according to an embodiment of the present disclosure. As shown in fig. 4, after the door opening request is acquired at S112, S111 for acquiring the speed of the external obstacle and the distance between the external obstacle and the host vehicle and S113 for acquiring the vehicle interior information are performed and the door to be opened is determined according to the vehicle interior information.
After the door opening request is obtained, the speed of the external obstacle and the distance between the external obstacle and the vehicle are obtained, the information of people in the vehicle is obtained, and the vehicle door to be opened is determined according to the information of the people in the vehicle. The arrangement can prevent the vehicle from continuously monitoring the speed of the external obstacle and the distance between the external obstacle and the vehicle and monitoring the personnel in the vehicle, and only after the door opening request is obtained, the speed of the external obstacle and the distance between the external obstacle and the vehicle are obtained, the information of the personnel in the vehicle is obtained, the vehicle door to be opened is determined according to the information of the personnel in the vehicle, and the like, so that the power consumption can be reduced. In addition, after the door opening request is acquired in step S112, step S113 is performed to acquire the vehicle interior personnel information and determine that the door is to be opened according to the vehicle interior personnel information. And only the vehicle door to be opened can be controlled according to the door opening request and the delayed opening time of the vehicle door, and all the vehicle doors do not need to be controlled.
Optionally, after the door opening request is obtained, before the speed of the external obstacle and the distance between the external obstacle and the vehicle are obtained, the vehicle interior personnel information is obtained, and the vehicle door to be opened is determined according to the vehicle interior personnel information.
Correspondingly, acquiring the speed of the external obstacle and the distance between the external obstacle and the vehicle comprises the following steps: and acquiring the speed of an external obstacle corresponding to the vehicle door to be opened and the distance between the external obstacle and the vehicle.
Fig. 5 is a schematic flow chart of another vehicle door control method according to an embodiment of the present disclosure. Referring to fig. 5, after the door opening request is acquired in step S112, step S113 is executed to acquire vehicle interior occupant information and determine that the door is to be opened according to the vehicle interior occupant information. Then, step S111 is executed to obtain the speed of the external obstacle corresponding to the door to be opened and the distance between the external obstacle and the vehicle. The arrangement can trigger the acquisition of the information of people in the vehicle after the door opening request is acquired, so that the vehicle door to be opened is determined. For example, only 2 doors out of the 4 doors are to-be-opened doors, in the subsequent step S111, only the speed of the external obstacle corresponding to the to-be-opened doors and the distance between the external obstacle and the host vehicle may be obtained. This can avoid detecting the speed of the external obstacle and the distance between the external obstacle and the vehicle even for a door that does not need to be opened.
In some embodiments, optionally, when the vehicle door is controlled according to the door opening request and the delayed opening time of the vehicle door, the method further includes:
and if the delayed opening time of the vehicle door is greater than a third threshold value, performing voice prompt.
If the delayed opening time of the car door is too long, the car door cannot respond for a long time after a passenger sends a door opening instruction. This situation may make it impossible for the passenger to tell whether the door is opened late or damaged. Therefore, when the delayed opening time of the vehicle door is greater than the third threshold value, the disclosed embodiment performs voice prompt, such as voice output of "please take care of the owner, wait for 2 minutes". The specific value of the third threshold may be calibrated online, which is not limited in the embodiment of the disclosure. In some embodiments, it is also possible to set the third threshold equal to zero, i.e. to make a voice prompt so that the passenger knows the waiting time as long as the door delay opening time is greater than zero.
Fig. 6 is a schematic diagram of a vehicle door control logic according to an embodiment of the present disclosure. As shown in fig. 6, the vehicle Door control method in the embodiment of the present disclosure may be executed by an AFDC (Adaptive Fuzzy logic open Door Controller) intelligent Fuzzy logic Door opening Controller. The AFDC can be used as a node of an electronic control unit ECU of the whole vehicle, an intelligent door opening algorithm is realized, and the AFDC is stable in performance, safe and reliable.
The AFDC is divided into three modules, namely a monitoring module, a logic module and an execution module. The monitoring module is a logic module and an execution module which periodically monitor the speed of the vehicle, a door opening request (such as a vehicle door opening touch or key switch signal and a vehicle door opening voice signal), the speed of an external obstacle, the distance between the external obstacle and the vehicle, vehicle personnel information and other signals and output the signals to the AFDC.
The logic module of the AFDC comprises an arithmetic unit, an AFDC control unit and a PWM gate opening control signal output unit. The computing unit calculates and obtains the external obstacle acceleration a at two adjacent acquisition moments according to the external obstacle speed, and outputs the distance p between the external obstacle and the vehicle and the external obstacle acceleration a at the two adjacent acquisition moments to the control unit. The control unit outputs the delayed opening time D of the vehicle door according to the distance p between the external obstacle and the vehicle, the acceleration a of the external obstacle at two adjacent acquisition moments and the delayed opening time model of the vehicle door, and the door opening control signal output unit generates a PWM door opening control signal according to the door opening request, the generation result of the monitoring of the people in the vehicle (for example, the vehicle door to be opened is determined according to the information of the people in the vehicle) and the delayed opening time D of the vehicle door.
The AFDC control unit has two input quantities, one is the distance p between an external obstacle and the vehicle, the other is the acceleration a of the external obstacle at two adjacent acquisition moments, and the output control quantity is the delayed opening time D of the vehicle door. The greater the distance between the external obstacle and the vehicle is, the greater the delayed opening time of the vehicle door is; the acceleration of the external obstacle at two adjacent acquisition moments is larger, and the delayed opening time of the vehicle door is smaller. According to the principle, fuzzification processing is carried out, a fuzzy set and a universe of arguments of input and output quantities of the AFDC control unit are defined, the input quantity values of the AFDC control unit are respectively mapped to corresponding fuzzy set universes p and a after being quantized by corresponding quantization factors, and are respectively defined as follows:
p＝﹛SSS,SS,S,MS,BS,SB,SB,B,MB﹜；
a＝﹛NB,NM,NS,Z,PS,PM,PB﹜
D＝{O,SSO,SO,MSO,BSO,SBO,BO,MBO,BBO}
a subset of the output variables D, as above, may also be software calibrated. Manufacturing according to the theory; such as the mapping table shown in table 1. Finally, resolving the ambiguity according to a mapping table, and outputting the delayed opening time D of the vehicle door.
The execution module of the AFDC comprises a voice output unit and an AFDC door opening actuator. The input quantity of an execution module of the AFDC comprises a whole vehicle door opening touch signal, a key switch signal and a whole vehicle door opening voice signal, the three signals are triggered by interruption, after the interruption signal is received, vehicle personnel information is referred to simultaneously, the vehicle personnel information comprises seat signals of a left front seat, a right front seat, a left rear seat, a right rear seat and the like, and when the output vehicle door delayed opening time D is O in the table 1, a door opening actuator performs door opening action of a corresponding vehicle door; when the output door delay open time D is not O in table 1, that is, is still in the state of SSO, SO, MSO, BSO, SBO, BO, MBO, BBO, etc., the door opening actuator does not operate, and the voice output unit outputs a prompt message such as "the owner please take care of, wait X minutes", etc. Wherein X is a positive number greater than zero. Until the door delay opening time D is O in table 1, the door opening actuator performs the door opening action of the corresponding door.
The various units and components as described above may communicate with each other using any one or more of the following: buses, networks, and other wired or wireless interconnects. Examples include I2C, SPI, PS/2, universal Serial Bus (USB), bluetooth, RF, and IRDA.
The embodiment of the present disclosure further provides a vehicle door control device, and fig. 7 is a block diagram of a structure of the vehicle door control device provided in the embodiment of the present disclosure. As shown in fig. 7, includes: a monitoring module 11, a logic module 12, and an execution module 13.
The monitoring module 11 is configured to obtain a speed of an external obstacle, a distance between the external obstacle and the host vehicle, and a door opening request. The logic module 12 is configured to determine a delayed door opening time according to the speed of the external obstacle, the distance between the external obstacle and the host vehicle, and the delayed door opening time model. The execution module 13 is configured to control the vehicle door according to the door opening request and the delayed opening time of the vehicle door.
According to the embodiment of the disclosure, the speed of the external barrier, the distance between the external barrier and the vehicle and the door opening request are acquired in real time, the delayed opening time of the vehicle door can be accurately determined according to the preset delayed opening time model of the vehicle door, and the opening of the vehicle door is controlled after the vehicle or the pedestrian approaching gradually passes through, so that the collision accident caused by the opening of the vehicle door can be avoided.
Optionally, the logic module 12 is further configured to determine that the delayed opening time of the vehicle door is zero if the distance between the external obstacle and the vehicle is greater than the first threshold.
Optionally, the logic module 12 is further configured to determine external obstacle acceleration at two adjacent acquisition times according to the external obstacle speed; and determining the delayed opening time of the vehicle door according to the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent acquisition moments and the delayed opening time model of the vehicle door.
Optionally, the vehicle door control device further comprises a model establishing module, configured to establish a vehicle door delayed opening time model;
the vehicle door delayed opening time model comprises a distance between an external obstacle and the vehicle, and a mapping table of acceleration of the external obstacle and vehicle door delayed opening time at two adjacent acquisition moments; the greater the distance between the external obstacle and the vehicle is, the greater the delayed opening time of the vehicle door is; the acceleration of the external obstacle at two adjacent acquisition moments is larger, and the delayed opening time of the vehicle door is smaller.
Optionally, the mapping table includes a distance between the external obstacle and the vehicle, acceleration of the external obstacle at two adjacent acquisition moments, and delayed opening time of the vehicle door; the distance between the external obstacle and the vehicle and the acceleration of the external obstacle at two adjacent acquisition moments are divided into a plurality of range intervals.
Optionally, the vehicle door control device further includes a model establishing module, configured to train to obtain the vehicle door delayed opening time model according to distance data between the historical external obstacle and the vehicle, acceleration data of the historical external obstacle at two adjacent acquisition times, and the historical vehicle door delayed opening time data by using a machine learning method.
Optionally, the monitoring module 11 is further configured to acquire information of people in the vehicle and determine that the vehicle door is to be opened according to the information of the people in the vehicle. Correspondingly, the execution module 13 is configured to control the vehicle door to be opened according to the door opening request and the delayed door opening time.
Optionally, the monitoring module 11 is specifically configured to obtain image information in the vehicle and/or weight information on the seat; determining the information of personnel in the vehicle according to the image information in the vehicle and/or the weight information on the seat; and determining the vehicle door to be opened according to the information of personnel in the vehicle.
Optionally, the monitoring module 11 is further configured to obtain a speed of the host vehicle before obtaining the speed of the external obstacle, a distance between the external obstacle and the host vehicle, and a door opening request, and trigger an operation of obtaining the speed of the external obstacle, the distance between the external obstacle and the host vehicle, and the door opening request when the speed of the host vehicle is less than a second threshold.
Optionally, the vehicle door control device further includes a voice prompt module, configured to perform voice prompt when the delayed opening time of the vehicle door is greater than a third threshold.
With regard to the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, 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. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part.
Fig. 8 is a block diagram of an electronic device provided in an embodiment of the present disclosure. As shown in fig. 8, the electronic device may include: a processor 21 and a memory 22. Further, optionally, the electronic device may further include one or more of a multimedia component 23, an input/output (I/O) interface 24, and a communication component 25.
The processor 21 is configured to control the overall operation of the electronic device, so as to complete all or part of the steps in the vehicle door control method. The memory 22 is used to store various types of data to support operation at the electronic device, and such data may include, for example, instructions for any application or method operating on the electronic device, application-related data, and so forth. The Memory 22 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically Erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia components 23 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 22 or transmitted via the communication component 25. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 24 provides an interface between the processor 21 and other interface modules. These buttons may be virtual buttons or physical buttons. The communication component 25 is used for wired or wireless communication between the electronic device and other devices. Wireless communication, such as Wi-Fi, bluetooth, near field communication (NFC for short), 2G, 3G, 4G or 5G, or a combination of one or more of them, so that the corresponding communication component 25 may include: wi-Fi module, bluetooth module, NFC module.
In an exemplary embodiment, the electronic Device may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described method of determining the door control.
In another exemplary embodiment, a computer readable storage medium is also provided that includes program instructions which, when executed by a processor, implement the steps of determining a vehicle door control method described above. For example, the computer readable storage medium may be the memory 22 described above including program instructions executable by the processor 21 of the electronic device to perform the method of determining vehicle door control described above.
It is noted that, for simplicity of description, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will appreciate that the disclosed embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the disclosed embodiments. In addition, those skilled in the art can appreciate that the embodiments described in the specification all belong to alternative embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
It will be understood by those skilled in the art that although some embodiments described herein include some but not other features included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the disclosure and form different embodiments.
Those skilled in the art will appreciate that the descriptions of the various embodiments have different emphasis, and reference may be made to the related descriptions of other embodiments for those parts of one embodiment that are not described in detail.
Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations fall within the scope defined by the appended claims.

Claims (16)

1. A vehicle door control method characterized by comprising:
acquiring the speed of an external obstacle, the distance between the external obstacle and the vehicle and a door opening request;
determining delayed opening time of the vehicle door according to the speed of the external obstacle, the distance between the external obstacle and the vehicle and a delayed opening time model of the vehicle door;
and controlling the vehicle door according to the door opening request and the delayed opening time of the vehicle door.
2. The vehicle door control method according to claim 1, wherein the determining a door delay opening time from the external obstacle speed, the distance of the external obstacle from the host vehicle, and a door delay opening time model includes:
and if the distance between the external obstacle and the vehicle is greater than a first threshold value, determining that the delayed opening time of the vehicle door is zero.
3. The vehicle door control method according to claim 1, wherein the determining a door delay opening time from the external obstacle speed, the distance of the external obstacle from the host vehicle, and a door delay opening time model includes:
determining the acceleration of the external obstacle at two adjacent acquisition moments according to the speed of the external obstacle;
and determining the delayed opening time of the vehicle door according to the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent acquisition moments and the delayed opening time model of the vehicle door.
4. The vehicle door control method according to claim 3, characterized by further comprising:
acquiring a preset delayed opening time model of the vehicle door;
the vehicle door delayed opening time model comprises a distance between the external obstacle and the vehicle, and a mapping table of acceleration of the external obstacle and vehicle door delayed opening time at two adjacent acquisition moments; the greater the distance between the external obstacle and the vehicle is, the greater the delayed opening time of the vehicle door is; the acceleration of the external obstacle at two adjacent acquisition moments is larger, and the delayed opening time of the vehicle door is smaller.
5. The vehicle door control method according to claim 4,
the distance between the external obstacle and the vehicle and the acceleration of the external obstacle at two adjacent acquisition moments are divided into a plurality of range intervals.
6. The vehicle door control method according to claim 3, characterized by further comprising:
and training to obtain the delayed opening time model of the vehicle door by adopting a machine learning method according to the distance data of the historical external obstacle and the vehicle, the acceleration data of the historical external obstacle at two adjacent acquisition moments and the historical delayed opening time data of the vehicle door.
7. The vehicle door control method according to claim 1, characterized by further comprising:
acquiring information of people in the vehicle and determining a vehicle door to be opened according to the information of the people in the vehicle;
the controlling the vehicle door according to the door opening request and the delayed opening time of the vehicle door comprises:
and controlling the vehicle door to be opened according to the door opening request and the delayed opening time of the vehicle door.
8. The vehicle door control method according to claim 7, wherein the acquiring of the in-vehicle occupant information includes:
acquiring image information in the vehicle and/or weight information on a seat;
and determining the in-vehicle personnel information according to the in-vehicle image information and/or the weight information on the seat.
9. The vehicle door control method according to claim 1, further comprising, before acquiring the speed of the external obstacle, the distance between the external obstacle and the host vehicle, and the door opening request:
obtaining the speed of the vehicle;
and when the speed of the vehicle is less than a second threshold value, triggering and acquiring the speed of the external obstacle, the distance between the external obstacle and the vehicle and a door opening request.
10. The vehicle door control method according to claim 7, characterized in that the in-vehicle occupant information is acquired and the vehicle door to be opened is determined based on the in-vehicle occupant information while the external obstacle speed and the distance between the external obstacle and the own vehicle are acquired; and/or acquiring the door opening request.
11. The vehicle door control method according to claim 7, characterized in that after the door opening request is acquired, the speed of the external obstacle and the distance between the external obstacle and a vehicle are acquired, and/or the vehicle interior occupant information is acquired and the vehicle door to be opened is determined based on the vehicle interior occupant information.
12. The vehicle door control method according to claim 7, characterized in that after the door opening request is acquired, before the speed of the external obstacle and the distance between the external obstacle and a vehicle are acquired, the vehicle interior occupant information is acquired and the vehicle door to be opened is determined based on the vehicle interior occupant information.
13. The vehicle door control method according to claim 1, further comprising, while controlling the vehicle door in accordance with the door opening request and the delayed door opening time:
and if the delayed opening time of the vehicle door is greater than a third threshold value, carrying out voice prompt.
14. A vehicle door control device characterized by comprising:
the monitoring module is used for acquiring the speed of an external obstacle, the distance between the external obstacle and the vehicle and a door opening request;
the logic module is used for determining delayed opening time of the vehicle door according to the speed of the external obstacle, the distance between the external obstacle and the vehicle and a delayed opening time model of the vehicle door;
and the execution module is used for controlling the vehicle door according to the door opening request and the delayed opening time of the vehicle door.
15. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the vehicle door control method of any of claims 1-13.
16. A computer-readable storage medium comprising program instructions, wherein the computer-executable instructions, when executed by a computer processor, are for performing a vehicle door control method as defined in any one of claims 1-13.
CN202110846225.9A 2021-07-26 2021-07-26 Vehicle door control method and device, electronic equipment and storage medium Pending CN115675349A (en)

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CN116201422B (en) * 2023-03-24 2024-05-14 重庆长安汽车股份有限公司 Door and window control method, system, electronic equipment and storage medium

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