CN116101212A

CN116101212A - Door opening early warning method, device, equipment and storage medium

Info

Publication number: CN116101212A
Application number: CN202310178465.5A
Authority: CN
Inventors: 王伟栋
Original assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Zeekr Intelligent Technology Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Zeekr Intelligent Technology Co Ltd
Priority date: 2023-02-28
Filing date: 2023-02-28
Publication date: 2023-05-12

Abstract

The utility model provides a method, a device and a storage medium for early warning of opening door, through detecting that any door lock of vehicle is in the unblock state, then control and activate the early warning function of opening door, detect the moving target of door rear side of vehicle, if there is moving target in the door rear side of vehicle, and there is collision danger when moving target and the door of vehicle are opened, then detect whether passenger in the vehicle will get off, if passenger in the vehicle will get off, then send first control signal to door lock and be used for preventing to open the door, and can be according to the door operation of passenger in the vehicle, the control door locking state, the early warning of the collision danger of opening door has been perfected more, and can avoid the passenger to meet emergency and can't realize saving oneself when there is collision danger, and the security of passenger in the vehicle for the vehicle has been promoted.

Description

Door opening early warning method, device, equipment and storage medium

Technical Field

The application relates to the technical field of intelligent automobiles, in particular to a door opening early warning method, a door opening early warning device, door opening early warning equipment and a storage medium.

Background

With the continuous development of the internet, automobile technology is also advancing continuously, and the current automobiles are quite different from the previous automobiles. Nowadays, automobiles are more and more intelligent, people have higher and higher demands on automobile technology, and with the improvement of living standard of people, home households all have private cars, so that risks on roads are more and more increased. When a passenger in a parked car gets out of the car, the car coming from the rear or other moving objects are often ignored, so that accidents are easy to occur. The dangerous problem of the passengers getting off and opening the door in the parked car is gradually emphasized.

In the prior art, accidents are usually avoided by manually observing an incoming vehicle behind, or the speed of a moving object behind the vehicle and the distance from the vehicle are detected by a camera and a radar, and an alarm prompt is generated on the vehicle after the speed and the distance of the moving object reach preset values, or a vehicle controller performs door locking.

However, the above scheme relies on human observation force, and passengers in the vehicle are easy to ignore the prompt under emergency, and when an emergency danger occurs, the vehicle door is forced to be locked due to collision danger, and self rescue of the passengers in the vehicle is delayed, so that the door opening early warning function in the prior art is poor in effect and imperfect.

Disclosure of Invention

The application provides a door opening early warning method, device, equipment and storage medium, which are used for solving the problems of poor and imperfect early warning function effect in the prior art when a collision risk exists outside a vehicle door.

In a first aspect, the present application provides a door opening early warning method, applied to a vehicle, the method including:

when any door lock of a vehicle is detected to be in an unlocking state, controlling to activate a door opening early warning function, and detecting a moving target on the rear side of the door of the vehicle;

Detecting whether an occupant in the vehicle is about to get off the vehicle if a moving object exists on the rear side of the door of the vehicle and there is a risk of collision when the moving object and the door of the vehicle are opened;

and if an occupant in the vehicle is about to get off, sending a first control signal to the door lock, wherein the first control signal is used for controlling the door lock to lock so as to prevent the door from being opened.

With reference to the first aspect, in some embodiments, the detecting whether an occupant in the vehicle is about to get off the vehicle is preceded by:

and sending early warning information to passengers in the vehicle, wherein the early warning information is used for prompting the passengers to collide with the rear moving target.

With reference to the first aspect, in some embodiments, the method further includes:

if the passenger is detected to perform at least two times of opening operations on the vehicle door of the vehicle within the preset time period, a second control signal is sent to the vehicle door lock, and a rear blind area real-time video is displayed through a display interface in the vehicle, wherein the second control signal is used for controlling the vehicle door lock to be unlocked so as to open the vehicle door.

And if the fact that the passenger does not perform opening operation or performs opening operation only once in the preset time period is detected, continuously sending the first control signal to the door lock.

if a moving object exists on the rear side of the vehicle door, collision danger exists between the moving object and the vehicle door when the vehicle door is opened, and the vehicle door is opened, voice prompt information is played, and the prompt information is used for reminding passengers of paying attention to safety.

With reference to the first aspect, in some embodiments, the detecting a moving target on a rear side of a door of the vehicle includes:

acquiring a moving target behind the vehicle and a moving speed of the moving target through monitoring by a camera and a radar arranged on the outer side of the vehicle;

if the moving speed of the moving target is greater than a first threshold, the moving target is located in a preset alarm area, and a vehicle door of the vehicle located on the moving target side is in an unlocking state, it is determined that collision danger exists between the moving target and the vehicle door of the vehicle when the vehicle door is opened.

With reference to the first aspect, in some embodiments, the alarm area is an area in which an included angle between the approach angle of the moving object and the vehicle is between a preset angle range, and the preset angle range is a range between-40 degrees and 40 degrees.

In a second aspect, the present application provides a door opening warning device, the device comprising:

the first detection module is used for controlling and activating a door opening early warning function when any door lock of the vehicle is detected to be in an unlocking state, and detecting a moving target on the rear side of the door of the vehicle;

a second detection module for detecting whether an occupant in the vehicle is about to get off if a moving object exists on the rear side of the door of the vehicle and there is a collision risk when the moving object and the door of the vehicle are opened;

and the first sending module is used for sending a first control signal to the door lock if an occupant in the vehicle is about to get off, and the first control signal is used for controlling the door lock to lock so as to prevent the door from being opened.

With reference to the second aspect, in some embodiments, before the second detection module, the apparatus further includes:

and the second sending module is used for sending early warning information to passengers in the vehicle, wherein the early warning information is used for prompting the passengers to collide with a rear moving object.

With reference to the second aspect, in some embodiments, the apparatus further includes:

and the third sending module is used for sending a second control signal to the door lock and displaying a rear blind area real-time video through a display interface in the vehicle if detecting that the passenger performs at least two times of opening operation on the door of the vehicle within a preset time period, wherein the second control signal is used for controlling the door lock to be unlocked so as to open the door.

and the fourth sending module is used for continuously sending the first control signal to the door lock if detecting that the passenger does not perform opening operation or performs opening operation only once in a preset time period on the door.

the early warning prompt module is used for playing voice prompt information if a moving target exists on the rear side of the vehicle door, collision danger exists between the moving target and the vehicle door when the moving target and the vehicle door are opened, and the vehicle door is opened, and the prompt information is used for reminding passengers to pay attention to safety.

With reference to the second aspect, in some embodiments, the first detection module includes:

a detection unit for acquiring a moving target behind the vehicle and a moving speed of the moving target by monitoring with a camera and a radar provided on an outside of the vehicle;

and the judging unit is used for determining that collision danger exists when the moving target and the vehicle door of the vehicle are opened if the moving speed of the moving target is greater than a first threshold value, the moving target is positioned in a preset alarm area, and the vehicle door of the vehicle positioned on the moving target side is in an unlocking state.

With reference to the second aspect, in some embodiments, the alarm area is an area in which an included angle between the approach angle of the moving object and the vehicle is between a preset angle range, and the preset angle range is a range between-40 degrees and 40 degrees.

In a third aspect, the present application provides a vehicle comprising:

a vehicle body, a memory, and a vehicle controller;

an electronic lock provided on each door of the vehicle body;

the camera is arranged outside the body of the vehicle, and the radar is used for detecting real-time conditions outside the vehicle;

a vehicle display disposed inside the vehicle;

the memory stores computer-executable instructions; the vehicle controller executes computer-executable instructions stored in the memory to implement the method of the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, where computer-executable instructions are stored, where the computer-executable instructions, when executed by a processor, are configured to implement the door opening warning method according to the first aspect.

According to the door opening early warning method, device, equipment and storage medium, in the scheme, when an occupant in a vehicle opens the door and gets off the vehicle, collision is easily sent with a rear moving target, unlike the prior art, the door opening early warning function is triggered through the door unlocking state, the moving target close to the rear is detected through a camera and a radar, the occupant in the vehicle is prevented from getting off the vehicle through controlling an electronic lock, the door opening danger is prompted to occur through voice and video, meanwhile, when the occupant in the vehicle encounters an emergency, a vehicle controller can control the electronic lock to determine whether to open the door according to the action of the occupant in the vehicle, so that self rescue of the occupant in the vehicle is achieved, and the defect of the door opening early warning function in the prior art is overcome.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 is an application scenario diagram of a door opening early warning method provided in an embodiment of the present application;

fig. 2 is a schematic flow chart of a first embodiment of a door opening early warning method provided in the embodiment of the present application;

fig. 3 is a schematic flow chart of a second embodiment of a door opening early warning method provided in the embodiment of the present application;

fig. 4 is a schematic flow chart of a third embodiment of a door opening early warning method provided in the embodiment of the present application;

fig. 5 is a flowchart of a specific example of door opening early warning amplification provided in an embodiment of the present application;

FIG. 6 is a schematic diagram of an alarm area provided in an embodiment of the present application;

fig. 7 is a schematic structural diagram of a first embodiment of a door opening early warning device provided in an embodiment of the present application;

fig. 8 is a schematic structural diagram of a second embodiment of a door opening early warning device provided in the embodiment of the present application;

fig. 9 is a schematic structural diagram of a third embodiment of a door opening early warning device provided in an embodiment of the present application;

fig. 10 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.

Along with the continuous progress of society, intelligent automobiles gradually become common travel tools for household users, are emerging technologies in the background of a new technological revolution, intensively use modern automobile generation sensing technologies, information and communication technologies, automatic control technologies, computer technologies, artificial intelligence technologies and the like, represent strategic high points of future automobile technologies, are key to transformation and upgrading of automobile industry, and are currently recognized development directions in the world. With more and more automobiles, the danger of people when using the automobiles is increased, people are particularly concerned about the door opening early warning problem in the automobile intelligent technology, in the early stage of automobile development, people usually observe the conditions outside the automobile to open the door and get off the automobile, but because the automobile body is large, passengers in the automobile have large visual field blind areas, if the door opening early warning function of intelligent driving is used, the real-time conditions outside the automobile are detected through a camera and a radar on the automobile body, whether collision danger exists when the passengers in the automobile are about to get off the automobile is determined, if the collision danger exists, the passengers in the automobile are reminded through a series of means, even the automobile door is locked, but when the passengers in the automobile face emergency danger, the passengers in the automobile can not save oneself due to the operation of the door locking.

Aiming at the problems, the application provides a door opening early warning method, which realizes more perfect door opening early warning for passengers in a vehicle when the vehicle has collision danger. Specifically, when the passenger in the car just about to open the door and get off the car in early stage, whether there is the collision danger in the moving target behind the observation through the rear-view mirror, but artificial subjective observation power still has certain defect, still there is the visual field blind area, if detect the collision danger through automobile body camera and radar, and remind the passenger in the car, but passenger in the car can neglect the warning occasionally, still there is latent danger, if avoid opening the door through the automatic locking door and collision danger, when that passenger in the car runs into emergency, can't save oneself, consider these problems, whether have been studied and can detect the collision danger through camera and radar, and remind the passenger in the car through opening the door early warning function, and throw the screen with the outside image and give the passenger in the car and confuse, respond more intelligent according to the action of opening the door of passenger in the car. Therefore, the danger of collision of the open door is avoided more perfectly, and meanwhile, the situation that passengers in the vehicle cannot save oneself in case of emergency danger can be avoided.

Fig. 1 is an application scenario diagram of a door opening early warning method provided in an embodiment of the present application, where, as shown in fig. 1, in a scenario where an occupant in a vehicle is about to open a door and get off, the door opening early warning method at least includes a parked vehicle, the occupant in the vehicle, and a moving target approaching at the rear. The parking vehicle is at least required to be equipped with an electronic lock, a camera and a radar, the type of a specific vehicle type and the type of passengers in the vehicle are not particularly limited, and the moving target approaching at the rear can be a movable object such as a truck, an automobile, an electric vehicle, a four-wheel vehicle, a bicycle, a pedestrian and the like. The moving target approaching rearward in this application is not particularly limited.

The specific form of each device is not limited in this application.

The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 2 is a schematic flow chart of a first embodiment of a door opening early warning method provided in an embodiment of the present application, and as shown in fig. 2, the door opening early warning method is applied to a vehicle, and specifically includes the following steps:

S101: when any door lock of the vehicle is detected to be in an unlocking state, the door opening early warning function is controlled to be activated, and a moving target on the rear side of the door of the vehicle is detected.

In this step, after the vehicle is parked, the electronic lock device of the vehicle sends all the door lock state information to the vehicle controller, and the vehicle controller does activate the door opening early warning function according to the door lock state. And detecting a moving target at the rear side of the vehicle through the camera and the radar.

In a specific embodiment, the door lock state information includes an unlock state and a lock state, when any door lock is in the unlock state in all the door lock information received by the vehicle controller, the door opening early warning function is controlled to be activated, and if any door in all the door lock information received by the vehicle controller is in the lock state, the door opening early warning function is not activated. And shooting a moving target at the rear side of the vehicle through a camera and a radar. And transmits the photographed moving object to the vehicle controller.

S102: if there is a moving object on the rear side of the door of the vehicle and there is a risk of collision when the moving object and the door of the vehicle are opened, it is detected whether an occupant in the vehicle is about to get off the vehicle.

In this step, the vehicle detects the real-time condition outside the vehicle through the camera and the radar installed on the vehicle body, and transmits the real-time condition outside the vehicle to the vehicle controller, and the vehicle controller determines that a moving target exists on the rear side of the vehicle door according to the real-time condition outside the vehicle transmitted by the camera and the radar, and the moving target satisfies a preset condition that there is a collision risk when the vehicle is opened, thereby transmitting a detection request to the door lock, and detecting whether an occupant in the vehicle is about to get off the vehicle.

In a specific embodiment, the distance between the moving object and the vehicle, the speed of the moving object relative to the vehicle and the time of the expected collision are detected by common means according to the real-time condition outside the vehicle detected by the camera and the radar, for example, the detected point cloud coordinates of the moving object are obtained by performing point cloud processing on an image shot by the radar, the distance between the moving object and the vehicle is determined according to the point cloud coordinates, the speed of the moving object is obtained by calculating according to the point cloud coordinates of adjacent moments, and the collision time is predicted according to the distance and the speed. The conditions that the moving object, which is in danger of collision with the vehicle, needs to satisfy include:

the speed of the vehicle is close to 0, the absolute speed of the moving target is larger than a preset first threshold value, the first threshold value is larger than 5km/h, the moving target is located in an alarm area, the specific alarm area is an area, the included angle between the approaching angle of the moving target and the vehicle is located between a preset angle range, the preset angle range is a range between-40 degrees and 40 degrees, the collision time is smaller than a second threshold value, the second threshold value is smaller than 4s, and any door of the vehicle located on the side of the moving target is in an unlocking state. In this scheme, the first threshold value, the second threshold value and the preset angle range are not limited specifically, and the condition above can be determined that there is a door-opening collision risk with the vehicle.

If it is determined that the moving object and the vehicle are in danger of collision, whether a passenger in the vehicle has a door opening action is detected through a door lock, for example, a door pulling handle is pulled or a door opening button is pressed, and when the passenger in the vehicle has the door opening action, the door lock detects a door opening signal and sends the door opening signal to a vehicle controller.

S103: if an occupant in the vehicle is about to get off the vehicle, a first control signal is sent to a door lock.

In this step, if an occupant in the vehicle has a door opening operation of pulling a door handle or pressing a door opening button, a door lock detects a door opening signal, and the door lock transmits the door opening signal to a vehicle controller. The vehicle controller determines that an occupant in the vehicle is about to get off the vehicle according to the door opening signal, and in the step, the vehicle controller detects that the door is opened and the collision risk exists, so the vehicle controller sends a first control signal to the door lock, and the door lock is controlled not to be opened.

Specifically, in order to avoid door opening collision, after determining that an occupant in a vehicle is about to get off, the vehicle controller sends a first control signal to the door lock, wherein the first control signal is used for controlling the door lock to prevent the door opening, and mainly preventing the electric release of the door lock in the door lock, so that the door opening is prevented.

According to the door opening early warning method, when any door lock of a vehicle is detected to be in an unlocking state, the door opening early warning function is controlled to be activated, a moving target on the rear side of a door of the vehicle is detected, if the moving target is detected to exist on the rear side of the door of the vehicle, and collision danger exists when the moving target and the door of the vehicle are opened, whether an occupant in the vehicle is about to get off the vehicle is detected, and if the occupant in the vehicle is about to get off the vehicle, a first control signal is sent to the door lock, so that the door is prevented from being opened. The early warning of the door opening collision danger is realized, the passenger in the vehicle is promoted to develop good habit of observing the coming vehicle behind the vehicle in front of the vehicle, the door opening early warning function is triggered in the unlocking state of the vehicle door lock, and the misjudgment of the sensor in the vehicle is avoided.

Fig. 3 is a schematic flow chart of a second embodiment of a door opening early warning method provided in an embodiment of the present application, as shown in fig. 3, on the basis of the foregoing embodiment, the door opening early warning method provided in the present application further includes the following steps:

s104: and sending early warning information to passengers in the vehicle, wherein the early warning information is used for prompting the passengers to collide with the rear moving target.

Specifically, after the door opening early warning function is activated, the fact that a moving target exists on the rear side of the vehicle door is detected, the fact that the moving target and the vehicle have door opening collision danger is determined, at the moment, members in the vehicle are reminded through the fact that the blind spot indicator lamp is on for a long time and the instrument characters are on, and at the moment, the door opening is dangerous.

S105: detecting whether a passenger in the vehicle performs continuous opening operation on the vehicle door in a preset time period.

In this step, when it is detected that an in-vehicle occupant is about to get off the vehicle, the vehicle controller sends a first control signal to the door lock to control the door lock to be locked, and at this time, the in-vehicle occupant cannot open the door, so as to avoid an emergency at this time, the in-vehicle occupant cannot implement self-rescue, and therefore, according to an opening operation of the in-vehicle occupant to the door in a preset time period, the type of the control signal sent by the vehicle controller to the door lock is determined.

S106: and if the passenger is detected to perform at least two times of opening operations on the vehicle door of the vehicle within the preset time period, sending a second control signal to the vehicle door lock, and displaying a rear blind area real-time video through a display interface in the vehicle.

In this step, in the above embodiment, it is detected that the occupant in the vehicle pulls the door handle or presses the door opening button, it is determined that the occupant in the vehicle is about to get off, and the vehicle controller controls the door lock to prevent the door from opening because of detecting that the occupant in the vehicle has a collision risk at this time, so as to avoid the occupant in the vehicle from encountering a danger and failing to save oneself, and according to detecting the operation of the occupant in the vehicle on the door lock, the type of the control signal sent to the door lock is determined, and the occupant in the vehicle is confused by the real-time video.

In a specific embodiment, if it is detected that the occupant in the vehicle performs at least two opening operations on the door of the vehicle within a preset time period, for example, it is detected that the occupant in the vehicle continuously pulls the door handle or presses the door opening button for a long time within the preset time period, a second control signal is sent to the door lock, where the second control signal is used for controlling the door lock to unlock and open the door, and pressing the door opening button for more than 2s, and is identified as long-time pressing. Meanwhile, real-time videos detected by the camera and the radar outside the vehicle are displayed on the central control screen and the rear armrest screen and used for confusing passengers in the vehicle.

S107: if the fact that the passenger does not perform opening operation on the vehicle door or performs opening operation only once in a preset time period is detected, a first control signal is continuously sent to the vehicle door lock.

In this step, in order to avoid collision between the door of the vehicle and the occupant, when it is detected that the occupant does not perform an opening operation on the door of the vehicle in a preset time period, or performs an opening operation only once, or the time interval between two opening operations is greater than the preset time period, the first control signal is continuously sent to the door lock.

Specifically, for example, it is detected that an occupant in the vehicle does not pull the door handle or presses the door opening button for a short time in a preset time period, or only pulls the door handle once in the preset time period, or the time interval between two times of pulling the door handle is larger than the preset time period, at this time, the vehicle controller sends a first control signal to the door lock to control the inside of the door lock to prevent the door from being opened, and prompts the occupant in the vehicle to "please open the door" through voice, the occupant in the vehicle is noticed that the door can be opened by pulling the door twice continuously in the preset time period, or "please open the door" is noticed, and the door can be opened by pressing the door opening button for a long time ", wherein the door opening button is pressed for not more than 2s, the occupant in the vehicle is identified as being pressed for a short time, and a real-time video stream is displayed on the central control screen and the rear armrest screen for viewing.

S108: if a moving object exists on the rear side of the door of the vehicle, collision danger exists between the moving object and the door of the vehicle when the moving object and the door of the vehicle are opened, and the door of the vehicle is opened, voice prompt information is played.

In this step, if a moving object is detected to exist on the rear side of the door, and the moving object satisfies the condition of collision with the door of the vehicle at this time, and the door is opened at this time, in order to avoid an accident by the occupant in the vehicle, the vehicle controller controls the speaker to broadcast a voice prompt message to prompt the occupant in the vehicle, and at this time, the collision risk exists in getting off the vehicle.

Specifically, the loudspeaker broadcasts through sending the rapid drip sound to based on the position in different positions, twinkles through blind spot pilot lamp, atmosphere lamp twinkle, and demonstrate the real-time video stream behind the car on central control screen and back row handrail screen, suggestion passenger in the car, passenger closes the door and stops the voice prompt in the straight car.

According to the door opening early warning method, the type of the control signal sent to the door lock is determined by detecting the opening operation of the passenger in the vehicle to the door in the preset time period, so that the door lock is controlled to open the door or prevent the door from being opened, the door opening early warning function is more perfect and humanized, and the problem that self rescue cannot be implemented when the passenger in the vehicle is dangerous is avoided.

Fig. 4 is a schematic flow chart of a third embodiment of a door opening early warning method provided in the embodiment of the present application, as shown in fig. 4, on the basis of the foregoing embodiment, the detecting a moving target on the rear side of a door of a vehicle in step S101 specifically includes the following steps:

s1011: the moving target behind the vehicle, and the moving speed of the moving target are acquired by camera and radar monitoring provided on the outside of the vehicle.

In this step, in order to accurately detect a moving target behind a vehicle, accurate monitoring is performed by a camera and a radar on the outside of the vehicle, and the distance, relative speed and collision time between the moving target and the vehicle are predicted and calculated by a usual means.

Specifically, the method can perform point cloud processing on images detected by the camera and the radar in real time, calculate the distance between the moving target and the vehicle through the point cloud coordinates, calculate the speed through the point cloud coordinates of adjacent time, and predict the collision time through the distance and the speed.

S1012: it is determined whether the speed of the moving object is greater than a first threshold.

In this step, in order to avoid erroneous judgment of the sensor of the vehicle itself, such as a pedestrian walking behind the vehicle, thereby setting a first threshold value, when the speed of the moving target satisfies a value greater than the first threshold value, the next judgment can be performed as to whether or not there is a collision risk.

S1013: no treatment is performed.

In this step, if the speed of the moving object is not greater than the first threshold, it is indicated that there is no risk of collision between the moving object behind the vehicle and the vehicle at this time, and the vehicle controller does not perform processing at this time.

S1014: and determining whether the moving target is positioned in a preset alarm area.

In this step, when it is determined that the speed of the moving object behind the vehicle meets the condition of the collision risk, it is necessary to determine whether the moving object is located in the warning area in order to be able to more accurately identify the moving object having the collision risk.

S1015: no treatment is performed.

In this step, the speed of the moving object is greater than the first threshold, but the moving object is not in the preset alarm area, which indicates that the moving object behind the vehicle is not in danger of collision with the vehicle, and the vehicle controller does not process the moving object.

S1016: it is determined whether a door of the vehicle on the moving target side is in an unlocked state.

In this step, the moving object has satisfied the conditions of the speed and the area, and in order to be able to more accurately identify the moving object having a collision risk, it is also necessary to determine whether the door of the vehicle located on the moving object side is in an unlocked state, and if the door lock of the vehicle located on the moving object side is in a locked state at this time, it is indicated that the passenger in the vehicle does not open the door, and there is no collision risk, and only if the door lock of the vehicle located on the moving object side is in an unlocked state, the passenger in the vehicle can open the door, so that there is a collision risk, and the vehicle controller will perform the next process.

S1017: no treatment is performed.

In the step, the speed of the moving target is larger than a first threshold value, the moving target is in a preset alarm area, but a vehicle door of the vehicle on the moving target side is in a locking state, and the vehicle door cannot be opened at the moment, so that the moving target behind the vehicle is not in collision danger with the vehicle at the moment, and the vehicle controller does not process the moving target.

S1018: if the moving speed of the moving target is greater than a first threshold value, the moving target is located in a preset alarm area, and a vehicle door of the vehicle located on the moving target side is in an unlocked state, it is determined that collision danger exists between the moving target and the vehicle door when the vehicle door is opened.

In this step, after the moving object behind the vehicle is detected in the above-described step, in order to reduce erroneous judgment and thus prevent the occupant in the vehicle from using the vehicle safety, it is necessary to determine whether or not the moving object and the vehicle have a door opening collision risk according to a preset condition.

Specifically, the collision conditions that the moving target needs to satisfy include:

the speed of the vehicle is close to 0, the absolute speed of the moving target is larger than a preset first threshold value, the first threshold value is larger than 5km/h, the moving target is located in an alarm area, the specific alarm area is an area, the included angle between the approaching angle of the moving target and the vehicle is located between a preset angle range, the preset angle range is a range between-40 degrees and 40 degrees, the collision time is smaller than a second threshold value, the second threshold value is smaller than 4s, and any door of the vehicle located on the side of the moving target is in an unlocking state. In this scheme, the first threshold, the second threshold, and the preset angle range are not specifically limited.

According to the door opening early warning method, the camera and the radar installed on the vehicle body detect real-time conditions outside the vehicle, and whether the moving target and the vehicle have door opening collision danger is judged according to preset conditions, so that door opening early warning of the vehicle is achieved more perfectly, and vehicle safety of passengers in the vehicle is prevented under the condition that the judgment of the vehicle is inaccurate.

In the door opening early warning method provided by the embodiment, on the basis of the embodiment, the warning area is an area in which the included angle between the approach angle of the moving target and the vehicle is within a preset angle range, and the preset angle range is a range between-40 degrees and 40 degrees.

Taking the most preferable preset condition as an example, the door opening early warning method provided by the application is illustrated, and fig. 5 is a flowchart of a specific example of door opening early warning amplification provided by the embodiment of the application. The specific implementation steps comprise:

s201: and activating a door opening early warning function, and determining that the door opening collision danger exists.

In this step, in order to avoid erroneous judgment of the sensor of the vehicle itself, the door opening warning function is activated under a preset condition, after this function is activated, a moving target on the rear side of the door of the vehicle is detected by a camera and a radar on the vehicle body, and a collision risk with the vehicle is determined by the distance of the moving target from the vehicle, the speed with respect to the vehicle, and the collision time.

Specifically, when the door lock is in the unlocked state, the door lock sends the unlocked state to the vehicle controller, the vehicle controller activates the door opening early warning function, and if the door lock is in the locked state, the door opening early warning function is not activated. The camera and the radar of the vehicle body monitor conditions outside the vehicle, and calculate the distance between the moving object and the vehicle, the speed relative to the vehicle and the collision time through common means, for example, the camera and the radar detection images are processed through point cloud, and the distance between the moving object and the vehicle, the speed relative to the vehicle and the collision time are calculated through point cloud coordinates. Conditions under which the moving object is at risk of collision with the vehicle include:

the speed of the vehicle is close to 0, the absolute speed of the moving target is greater than a preset first threshold value of 5km/h, the moving target is located in an alarm area, as shown in fig. 6, the specific alarm area is an area in which the included angle between the approach angle of the moving target and the vehicle is within a range of +/-30 degrees, the collision time is smaller than a second threshold value of 4s, and any door of the vehicle located on the side of the moving target is in an unlocking state. When the moving object simultaneously meets the conditions, it is determined that the door opening moving object has collision danger with the vehicle.

S202: detecting that an occupant in the vehicle gets off the vehicle, carrying out early warning prompt on the occupant in the vehicle, and determining the type of a control signal sent to a door lock through door opening operation of the occupant in the vehicle.

In the step, after the moving target and the vehicle are determined to have collision danger, the vehicle is detected to get off, the vehicle is prompted by means of voice prompt, flashing of a blind spot indicator lamp, video display of a central control screen and the like, and the door lock state of the vehicle is controlled in a humanized mode according to the door opening operation of the vehicle.

Specifically, when it is detected that an occupant in the vehicle pulls a door handle or presses a door opening button, a door opening signal is generated, the door lock sends the door opening signal to the vehicle controller, the vehicle controller determines that the occupant in the vehicle is about to get off the vehicle according to the door opening signal, at this time, the vehicle controller sends a first control signal to the door lock, wherein the first control signal is used for indicating that the interior of the door lock prevents electric release of the door lock, so that door opening is prevented, the door opening button is pressed for more than 2 seconds, and the vehicle controller is identified as long-time pressing.

For a vehicle type pulling the door handle to open the door, if the passenger in the vehicle detects that the passenger in the vehicle continuously pulls the door handle in 10s, a second control signal is sent to the door lock, the second control signal is used for controlling the door lock to unlock the door, and if the passenger in the vehicle does not detect that the passenger in the vehicle pulls the door handle in 10s or pulls the door handle only once, the passenger in the vehicle is prompted by voice to 'please notice the door opening', and the door can be opened by pulling the door twice in 10 s.

For a vehicle type of pressing a door opening key to open the door, if the long-time pressing of the door opening key by an occupant in the vehicle is detected, a second control signal is sent to a door lock to control the door lock to unlock the door, if the long-time pressing of the door opening key by the occupant in the vehicle is detected to be the pressing of the door opening key or the short-time pressing of the door opening key, the voice prompts the occupant in the vehicle to 'please notice the door opening, the long-time pressing of the door opening key can open the door', the pressing of the door opening key lasts for less than 2s, and the passenger is identified as the short-time pressing. In the process, the central control screen and the rear armrest screen display the video stream outside the vehicle in real time, and are used for passengers in the vehicle to check the condition outside the vehicle and for confusion.

S203: and detecting that the vehicle door is opened, and carrying out early warning prompt on an in-vehicle member.

In this step, if it is detected that a moving object exists on the rear side of the door, and the moving object satisfies a condition of collision with the door of the vehicle at this time, and the door is opened at this time, in order to avoid an accident by an occupant in the vehicle, the vehicle controller controls the speaker to broadcast a voice prompt message to prompt the occupant in the vehicle, and at this time, a collision risk exists in getting off the vehicle.

According to the door opening early warning method, the door opening early warning function is activated in a specific state, the moving target behind the vehicle is detected through the camera and the radar, the door opening collision danger between the moving target and the vehicle is determined through preset conditions, passengers in the vehicle are reminded of the danger of the door opening and the vehicle falling at the moment in modes of voice prompt, flashing of blind spot indication lamps, flashing of atmosphere lamps, video stream display and the like, the door opening state of the passengers in the vehicle can be controlled in real time through the door opening operation of the passengers in the vehicle, the door lock state is controlled in real time, the early warning of the door opening collision danger is realized more perfectly, the situation that passengers in the vehicle encounter danger and cannot save oneself under the condition of collision danger is avoided, and meanwhile the safety of the passengers in the vehicle is improved.

Fig. 7 is a schematic structural diagram of a first embodiment of a door opening early warning device provided in an embodiment of the present application, and as shown in fig. 7, the door opening early warning device 300 includes:

the first detection module 301 is configured to control activation of a door opening early warning function when it is detected that any door lock of the vehicle is in an unlocked state, and detect a moving target on a rear side of a door of the vehicle.

The second detection module 302 is configured to detect whether an occupant in the vehicle is about to get off if there is a moving object on the rear side of the door of the vehicle and there is a risk of collision when the moving object and the door of the vehicle are opened.

The first sending module 303 is configured to send a first control signal to a door lock if an occupant in the vehicle is about to get off, where the first control signal is used to control the door lock to prevent the door from being opened.

Fig. 8 is a schematic structural diagram of a second embodiment of a door opening early warning device provided in the embodiment of the present application, as shown in fig. 8, before the second detection module 302, the door opening early warning device further includes:

the second sending module 304 is configured to send early warning information to an occupant in the vehicle, where the early warning information is used to prompt the occupant that there is a risk of collision with a moving target behind.

And the third sending module 305 is configured to send a second control signal to the door lock if it is detected that the passenger performs at least two times of opening operations on the door of the vehicle within a preset time period, and display a real-time video of the rear blind area through a display interface in the vehicle, where the second control signal is used to control the door lock to unlock so as to open the door.

And the fourth sending module 306 is configured to continue sending the first control signal to the door lock if it is detected that the occupant does not perform the opening operation on the door within the preset time period or performs the opening operation only once.

The early warning prompt module 307 is configured to play voice prompt information if a moving object exists on the rear side of the door of the vehicle, the moving object and the door of the vehicle are in danger of collision when the door of the vehicle is opened, and the prompt information is used for reminding the passenger to pay attention to safety.

Fig. 9 is a schematic structural diagram of a third embodiment of a door opening early warning device provided in the embodiment of the present application, as shown in fig. 9, a first detection module 301 includes:

a detection unit 3011 for acquiring a moving target behind the vehicle and a moving speed of the moving target by a camera and a radar provided outside the vehicle.

And the judging unit 3012 is configured to determine that there is a collision risk when the moving object and the door of the vehicle are opened if the moving speed of the moving object is greater than the first threshold, the moving object is located in a preset alarm area, and the door of the vehicle located on the moving object side is in an unlocked state.

In the door opening early warning device 300 provided in the embodiment of the present application, the warning area is an area where the included angle between the approach angle of the moving target and the vehicle is within a preset angle range, and the preset angle range is a range between-40 degrees and 40 degrees.

The embodiment of the present application further provides a vehicle, fig. 10 is a schematic structural diagram of the vehicle provided in the embodiment of the present application, and the vehicle 400 includes:

a vehicle body 400.

Memory 401 is used to store computer-executable instructions.

An electronic lock 402 provided on each door of the vehicle body for controlling unlocking or locking of the door.

A camera, a radar 403, disposed outside the body of the vehicle for detecting the conditions outside the vehicle in real time.

And a vehicle display 404 provided in the vehicle for displaying an image outside the vehicle to confuse occupants in the vehicle.

A vehicle controller 405 for executing computer-executable instructions stored in a memory to cause a vehicle device to perform any of the method embodiments described above.

Optionally, the vehicle 400 may further include a speaker for voice prompt of an occupant in the vehicle, a blind spot indicator light for early warning of the occupant in the vehicle, and an atmosphere light for early warning of the occupant in the vehicle.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, the technical scheme of any one of the method embodiments is realized.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A door opening warning method, characterized by being applied to a vehicle, the method comprising:

2. The method of claim 1, wherein the detecting whether an occupant in the vehicle is about to get off the vehicle is preceded by:

3. The method according to claim 1 or 2, characterized in that the method further comprises:

4. A method according to claim 3, characterized in that the method further comprises:

5. The method according to claim 1, wherein the method further comprises:

6. The method according to claim 1 or 2, characterized in that the detecting of the moving object on the door rear side of the vehicle includes:

7. The method of claim 6, wherein the alert zone is a zone in which an angle between the moving object approach angle and the vehicle is between a preset angle range, the preset angle range being a range between-40 degrees and 40 degrees.

8. A door opening warning device, the device comprising:

9. The apparatus of claim 8, wherein prior to the second detection module, the apparatus further comprises:

10. The apparatus according to claim 8 or 9, characterized in that the apparatus further comprises:

11. The apparatus of claim 10, wherein the apparatus further comprises:

12. The apparatus of claim 8, wherein the apparatus further comprises:

13. The apparatus of claim 8 or 9, wherein the first detection module comprises:

14. The apparatus of claim 13, wherein the alert area is an area in which an included angle between the approach angle of the moving object and the vehicle is between a preset angle range, the preset angle range being a range between-40 degrees and 40 degrees.

15. A vehicle, characterized by comprising:

a vehicle body, a memory, and a vehicle controller;

an electronic lock provided on each door of the vehicle body;

the camera and the radar are arranged outside the vehicle body of the vehicle and are used for detecting real-time conditions outside the vehicle;

a vehicle display disposed inside the vehicle;

the memory stores computer-executable instructions; the vehicle controller executes the computer-executable instructions stored in the memory to cause the vehicle to implement the door opening warning method according to any one of claims 1 to 7.

16. A computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, are adapted to carry out the door opening warning method according to any one of claims 1 to 7.