CN117799554A - Vehicle door early warning method and device, vehicle and storage medium - Google Patents
Vehicle door early warning method and device, vehicle and storage medium Download PDFInfo
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
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- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Mechanical Engineering (AREA)
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Abstract
The application provides a vehicle door early warning method and device, a vehicle and a storage medium. The method comprises the following steps: performing target detection based on the camera, and determining a target obstacle behind the vehicle door; acquiring the size of a target obstacle detected by a radar and the size of an image of the target obstacle shot by a camera; determining a target distance between a current vehicle and a target obstacle according to the size of the target obstacle and the size of an image of the target obstacle based on fusion parameters determined by jointly calibrating the radar and the camera in advance; and when the early warning is judged to be needed based on the target distance, early warning is carried out. The method and the device can determine the accurate target distance, accurately judge whether early warning is needed based on the accurate target distance, and early warn when early warning is needed, so that early warning before the collision of the vehicle door can be realized, a user is reminded to control the vehicle door, the damage of the vehicle door is avoided, and even the occurrence of accidents is possibly caused.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a vehicle door early warning method and device, a vehicle, and a storage medium.
Background
Currently, many vehicle doors (including side doors on both sides of the vehicle and a tail door on the tail of the vehicle) are electric doors, and can be electrically controlled to open and close. Each door may have a corresponding control button that by clicking on it, the corresponding door may be automatically opened and closed.
The electric vehicle door brings convenience to users and also brings some safety problems. When a user needs to control the electric vehicle door in the vehicle, whether an obstacle exists behind the vehicle door cannot be determined because the user has a blind zone of view in the vehicle. When an obstacle exists behind the door, a user controls the door through a control button in the vehicle, the door may collide with the obstacle, the door may be damaged, and even an accident may be caused.
Disclosure of Invention
The embodiment of the application provides a vehicle door early warning method and device, a vehicle and a storage medium, and aims to solve the problems that an obstacle possibly collides when an electric vehicle door is controlled, the vehicle door is damaged and even accidents possibly occur in the existing method.
In a first aspect, an embodiment of the present application provides a door early warning method for a vehicle, including:
performing target detection based on the camera, and determining a target obstacle behind the vehicle door;
Acquiring the size of a target obstacle detected by a radar and the size of an image of the target obstacle shot by a camera;
determining a target distance between a current vehicle and a target obstacle according to the size of the target obstacle and the size of an image of the target obstacle based on fusion parameters determined by carrying out joint calibration on the radar and the camera in advance;
and when the early warning is judged to be needed based on the target distance, early warning is carried out.
In one possible implementation, the fusion parameters include a mapping relationship of an actual size of the object, an image size of the object, and a distance between the object and the camera;
based on fusion parameters determined by carrying out joint calibration on the radar and the camera in advance, determining the target distance between the current vehicle and the target obstacle according to the size of the target obstacle and the size of the image of the target obstacle, wherein the method comprises the following steps:
based on the mapping relationship, a target distance corresponding to the size of the target obstacle and the size of the image of the target obstacle is determined.
In one possible implementation manner, after the target detection is performed based on the camera, and the target obstacle behind the vehicle door is determined, the vehicle door early warning method of the vehicle further includes:
acquiring a first distance between a current vehicle detected by a radar and a target obstacle;
Determining a final distance between the current vehicle and the target obstacle according to the first distance and the target distance;
accordingly, when the early warning is required based on the target distance judgment, the early warning is carried out, and the method comprises the following steps:
and when the early warning is judged to be needed based on the final distance, early warning is carried out.
In one possible implementation, when the early warning is determined to be needed based on the target distance, the early warning includes:
acquiring a second distance between the tail of the current vehicle door and the vehicle;
and determining a third distance between the tail of the current car door and the target obstacle according to the target distance and the second distance, and carrying out early warning when the third distance meets the first early warning condition.
In one possible implementation, obtaining a second distance between the tail of the current door and the vehicle includes:
acquiring an included angle between a current vehicle door and a vehicle, and recording the included angle as a first angle;
a second distance between the trailing portion of the current door and the vehicle is determined based on the length between the leading portion of the door and the trailing portion of the door and the first angle.
In one possible implementation manner, the door early warning method of the vehicle further includes:
acquiring motion parameters of a vehicle and motion parameters of a vehicle door; the vehicle door is an electric tail door;
Predicting a fourth distance between the tail of the vehicle door and the target obstacle after a preset time period passes according to the motion parameters of the vehicle, the motion parameters of the vehicle door and the target distance;
and when the fourth distance meets the second early warning condition, early warning is carried out.
In one possible implementation, the motion parameters of the vehicle include a direction of motion of the vehicle and a vehicle speed; the motion parameters of the vehicle door comprise the rotation direction and the rotation speed of the vehicle door;
predicting a fourth distance between the tail of the vehicle door and the target obstacle after a preset time period passes according to the motion parameters of the vehicle, the motion parameters of the vehicle door and the target distance, wherein the fourth distance comprises the following steps:
predicting a fifth distance between the tail of the vehicle and the target obstacle after a preset time period passes according to the movement direction of the vehicle, the speed of the vehicle and the target distance;
predicting a sixth distance between the tail of the vehicle door and the tail of the vehicle after a preset time period passes according to the rotation direction of the vehicle door and the rotation speed of the vehicle door;
and determining a fourth distance between the tail of the vehicle door and the target obstacle after the preset time period passes according to the fifth distance and the sixth distance.
In a second aspect, an embodiment of the present application provides a door early warning device for a vehicle, including:
The target detection module is used for detecting a target based on the camera and determining a target obstacle behind the vehicle door;
the acquisition module is used for acquiring the size of the target obstacle detected by the radar and the size of the image of the target obstacle shot by the camera;
the target distance determining module is used for determining the target distance between the current vehicle and the target obstacle according to the size of the target obstacle and the size of the image of the target obstacle based on the fusion parameters which are determined by carrying out joint calibration on the radar and the camera in advance;
and the early warning module is used for carrying out early warning when the target distance is determined to need early warning.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory is configured to store a computer program, and the processor is configured to invoke and run the computer program stored in the memory, to perform a door early warning method of a vehicle according to the first aspect or any one of possible implementation manners of the first aspect.
In a fourth aspect, embodiments of the present application provide a vehicle comprising an electronic device as in the third aspect.
In a fifth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program, which when executed by a processor implements the steps of the vehicle door warning method according to the first aspect or any one of the possible implementations of the first aspect.
The embodiment of the application provides a vehicle door early warning method, device, vehicle and storage medium, the method carries out joint calibration on a radar and a camera in advance to determine fusion parameters, and according to the size of a target obstacle detected by the radar and the size of an image of the target obstacle shot by the camera, the target distance between the current vehicle and the target obstacle is determined, the joint calibration on the radar and the camera can be carried out to enable space measurement values of the radar and the camera to be converted into the same coordinate system, and further the target distance between the current vehicle and the target obstacle can be accurately determined through the size of the target obstacle detected by the radar, the size of the image of the target obstacle shot by the camera and the fusion parameters determined by joint calibration.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an implementation of a door early warning method of a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of a second distance provided by an embodiment of the present application;
fig. 3 is a schematic structural view of a door early warning device for a vehicle according to an embodiment of the present application;
fig. 4 is a schematic diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following description will be made with reference to the accompanying drawings by way of specific embodiments.
Referring to fig. 1, a flowchart of an implementation of a door early warning method of a vehicle according to an embodiment of the present application is shown, where an execution body of the door early warning method of the vehicle may be an electronic device, and the electronic device may be a door controller or other electronic devices on the vehicle, and is not limited specifically herein.
The vehicle door can be a side door at two sides of the vehicle or a tail door at the tail of the vehicle. The door may be an electric door. And each vehicle door is provided with a corresponding camera and a corresponding radar, and the camera and the radar do not move along with the movement of the vehicle door. For example, for a side door, the camera and radar corresponding to the side door may be mounted below the side door, or may be mounted at other locations near the side door; for the tail gate, the camera and the radar corresponding to the tail gate may be mounted on a rear bumper at the tail of the vehicle, or may be mounted at other positions at the tail of the vehicle, without being limited thereto. The rear of a vehicle is understood to be the position of the tailgate or the plane in which the tailgate is located when the tailgate is in a closed state.
The vehicle door early warning method of the vehicle is described in detail as follows:
in S101, target detection is performed based on the camera, and a target obstacle behind the door is determined.
In this embodiment, an image currently captured by a camera corresponding to the vehicle door may be obtained, and the image may be preprocessed to obtain a preprocessed image, and the preprocessed image may be input into a pre-trained target detection model to obtain a target obstacle framed by a target detection frame. The target obstacle may be the nearest obstacle to the camera. The target detection model inputs an image, and outputs a target obstacle. The object detection model may be any model that can achieve object detection, for example, a neural network model or a YOLO model, etc.
In some possible implementations, before S101, the camera may be calibrated to obtain a camera internal parameter. Before the camera shoots an image, initializing camera internal parameters.
And calibrating the camera, and obtaining the distortion coefficient of the camera and the external parameters of the camera. In particular, world coordinate space points may be mapped onto an image two-dimensional coordinate plane by imaging of a camera on a sensor to calculate distances and parameters of various objects in the real world. The method comprises the steps of adopting a Zhang's calibration method, calibrating by using a calibration plate formed by two-dimensional square grids, simultaneously recording parameters of the calibration plate and the distance between the calibration plate and a camera (collectively referred to as parameters of the calibration plate), and then calibrating by the following steps: fixing a calibration plate, acquiring parameters of the calibration plate, acquiring image frames by a camera, initializing an image, extracting image corner pixels, acquiring an image matrix, and obtaining an optimal solution by a nonlinear least square method to obtain distortion coefficients, internal parameters and external parameters of the camera.
In S102, the size of the target obstacle detected by the radar and the size of the image of the target obstacle photographed by the camera are acquired.
The radar may detect the size of the target obstacle. The size of the target obstacle may include at least one of the length and width of the target obstacle facing the radar and the side of the camera (i.e., the side that can be imaged by the camera), as well as any other detectable size. Correspondingly, the size of the image of the target obstacle also includes at least one of the length and the width of the image of the target obstacle. Both of which are corresponding.
In S103, based on the fusion parameters determined by performing joint calibration on the radar and the camera in advance, the target distance between the current vehicle and the target obstacle is determined according to the size of the target obstacle and the size of the image of the target obstacle.
The fusion parameters determined by carrying out joint calibration on the radar and the camera in advance can reflect the size of the target obstacle, the size of the image of the target obstacle and the association relation between the current vehicle and the target distance between the target obstacle. The present embodiment may determine the target distance between the current vehicle and the target obstacle according to the size of the target obstacle and the size of the image of the target obstacle based on the fusion parameter.
When the vehicle door is a tail door, the target distance between the current vehicle and the target obstacle is the target distance between the tail of the current vehicle and the target obstacle; when the door is a side door, the target distance between the current vehicle and the target obstacle is the target distance between the side of the vehicle in which the side door is located and the target obstacle. The side part of the vehicle where the side door is located is the position where the side door is located or the plane where the side door is located when the side door is in a closed state.
In S104, when it is determined that the warning is required based on the target distance, the warning is performed.
The embodiment can judge whether to perform early warning on the vehicle door based on the target distance, and perform early warning when judging that the vehicle door needs to be early warned, or not perform early warning. The mode of carrying out the early warning can be voice early warning, for example, voice broadcast "the door is about to touch the obstacle, please stop opening the door", etc.
According to the method, the device and the system, the fusion parameters are determined through joint calibration of the radar and the camera in advance, the target distance between the current vehicle and the target obstacle is determined according to the size of the target obstacle detected by the radar and the size of the image of the target obstacle shot by the camera, the spatial measurement values of the radar and the camera can be converted into the same coordinate system through joint calibration of the radar and the camera, and then the target distance between the current vehicle and the target obstacle can be accurately determined through the size of the target obstacle detected by the radar, the size of the image of the target obstacle shot by the camera and the fusion parameters determined through joint calibration.
In some embodiments, the fusion parameters include a mapping of the physical object size, the physical object image size, and the distance between the object and the camera;
the step S103 may include:
based on the mapping relationship, a target distance corresponding to the size of the target obstacle and the size of the image of the target obstacle is determined.
In this embodiment, the mapping relationship between the actual object size, the image object size, and the distance between the object and the camera may be obtained and stored by performing joint calibration on the radar and the camera, and according to the mapping relationship, the size of the target obstacle may be obtained as the actual object size, the size of the image of the target obstacle may be obtained as the image size of the object, and the distance between the corresponding object and the camera may be obtained and the distance may be used as the target distance.
Specifically, based on the mapping relation among the actual size of the object, the image size of the object and the distance between the object and the camera, the mapping relation among the ratio of the actual size of the object to the image size of the object and the distance between the object and the camera can be obtained. And calculating the ratio of the size of the target obstacle to the size of the image of the target obstacle, and obtaining the distance corresponding to the ratio as the target distance based on the mapping relation.
In some possible implementations, before the step S103, the method for early warning a door of the vehicle may further include:
and (3) carrying out joint calibration on the camera and the radar to obtain the mapping relation of the actual size of the object, the image size of the object and the distance between the object and the camera.
And placing the camera corresponding to the vehicle door and the radar in the same environment, and acquiring the actual size of the calibration object detected by the radar, the image size of the calibration object shot by the camera and the distance between the radar and the calibration object (the distance can be obtained by manual measurement) when at least one calibration object is placed at different positions, so that the mapping relation of the actual size of the object, the image size of the object and the distance between the object and the camera can be obtained.
The camera and the radar are calibrated in a combined mode, conversion among a radar coordinate system, a camera coordinate system, a world coordinate system and an image coordinate system can be achieved, namely, the spatial measurement values of the radar and the camera are converted into the same coordinate system, and measurement accuracy can be improved. The step of fusion calibration can be as follows: the coordinates in the radar coordinate system are converted into world coordinates with the camera as the center, the coordinates in the world coordinate system are converted into the camera coordinate system, and the coordinates in the camera coordinate system are converted into the image coordinate system.
In some embodiments, after the step S101, the method for early warning a door of the vehicle may further include:
acquiring a first distance between a current vehicle detected by a radar and a target obstacle;
determining a final distance between the current vehicle and the target obstacle according to the first distance and the target distance;
accordingly, when the early warning is required based on the target distance judgment, the early warning is carried out, and the method comprises the following steps:
and when the early warning is judged to be needed based on the final distance, early warning is carried out.
The radar has a detection function, and can detect a distance between a current obstacle (i.e., a target obstacle) and the nearest obstacle, namely, a distance between the current vehicle detected by the radar and the target obstacle, and the distance is called a first distance. The average value of the first distance and the target distance or the value obtained by weighted summation of the first distance and the target distance is used as the final distance between the current vehicle and the target obstacle, so that the accuracy of the distance between the vehicle and the target obstacle can be improved.
Correspondingly, when early warning judgment is carried out, the final distance can replace the target distance to carry out early warning judgment.
In some embodiments, the step S104 may include:
acquiring a second distance between the tail of the current vehicle door and the vehicle;
And determining a third distance between the tail of the current car door and the target obstacle according to the target distance and the second distance, and carrying out early warning when the third distance meets the first early warning condition.
The head of the vehicle door is one end fixedly connected with the vehicle. The tail of the door is the end opposite to the head of the door, and when the door is opened, the tail of the door is gradually far away from the vehicle.
The present embodiment refers to the distance between the tail of the current door and the vehicle as the second distance. The absolute value of the difference between the target distance and the second distance is determined as the distance between the tail of the current door and the target obstacle, referred to as the third distance.
And when the third distance meets the first early warning condition, early warning is carried out, otherwise, early warning is not carried out. The first pre-warning condition may include the third distance being less than the first distance threshold. The first distance threshold may be determined according to practical requirements, for example, may be 5cm, 10cm, 20cm, etc.
In some embodiments, the acquiring the second distance between the tail of the current door and the vehicle includes:
acquiring an included angle between a current vehicle door and a vehicle, and recording the included angle as a first angle;
a second distance between the trailing portion of the current door and the vehicle is determined based on the length between the leading portion of the door and the trailing portion of the door and the first angle.
In this embodiment, the angle between the current door and the vehicle may be determined by an angle sensor, and recorded as the first angle. If the vehicle door is a tail door, the first angle is an included angle between the tail door and the tail of the vehicle; if the door is a side door, the first angle is an included angle between the side door and a side portion of the vehicle in which the side door is located.
As in fig. 2, the first angle is angle a, the length between the head of the door and the tail of the door is L,21 is the tail or side of the vehicle, which may be considered approximately perpendicular to the horizontal plane, and thus the second distance s=lsina.
In some embodiments, the vehicle door early warning method of the vehicle further includes:
acquiring motion parameters of a vehicle and motion parameters of a vehicle door; the vehicle door is an electric tail door;
predicting a fourth distance between the tail of the vehicle door and the target obstacle after a preset time period passes according to the motion parameters of the vehicle, the motion parameters of the vehicle door and the target distance;
and when the fourth distance meets the second early warning condition, early warning is carried out.
In some application scenarios, it may occur that the electric tailgate is in an open state or in an open or closed state while the vehicle is traveling. For example, when the vehicle runs, a control button of the electric tail gate is touched by mistake to control the electric tail gate to be opened; or after the electric tail gate is controlled to be opened, forgetting to control the electric tail gate to be closed, namely starting running, finding that the electric tail gate is still in an opened state in the running process, controlling the electric tail gate to be closed at the moment, and the like. Under these scenes, except judging whether to perform early warning according to the third distance between the tail of the current electric tail gate and the target obstacle, the motion parameters of the vehicle and the motion parameters of the electric tail gate are considered to perform predictive early warning so as to leave the control time of the user and avoid collision of the electric tail gate.
According to the method, the fourth distance between the tail of the electric tail gate and the target obstacle after the preset time length is passed can be predicted according to the motion parameters of the vehicle, the motion parameters of the electric tail gate and the target distance, if the fourth distance meets the second early warning condition, early warning is carried out, and otherwise, early warning is not carried out. The preset time period may be a short time period, for example, may be 1 second, 2 seconds, a time period for the electric tail gate to be closed to be fully opened, or a half of the time period, and so on.
The second pre-warning condition may include the fourth distance being less than a second distance threshold. The second distance threshold may be determined according to practical requirements, for example, may be 10cm, 20cm, etc. The second distance threshold may be equal or unequal to the first distance threshold.
The early warning mode in this embodiment may be the same as or similar to the early warning mode in S104, and will not be described again.
In some embodiments, the motion parameters of the vehicle include a direction of motion of the vehicle and a vehicle speed; the motion parameters of the vehicle door comprise the rotation direction and the rotation speed of the vehicle door;
predicting a fourth distance between the tail of the vehicle door and the target obstacle after a preset time period passes according to the motion parameters of the vehicle, the motion parameters of the vehicle door and the target distance, wherein the fourth distance comprises the following steps:
Predicting a fifth distance between the tail of the vehicle and the target obstacle after a preset time period passes according to the movement direction of the vehicle, the speed of the vehicle and the target distance;
predicting a sixth distance between the tail of the vehicle door and the tail of the vehicle after a preset time period passes according to the rotation direction of the vehicle door and the rotation speed of the vehicle door;
and determining a fourth distance between the tail of the vehicle door and the target obstacle after the preset time period passes according to the fifth distance and the sixth distance.
The direction of movement of the vehicle may include forward movement, rearward movement, or rest. The rotation direction of the door may include an opening direction, a closing direction, or a rest, the opening direction being a rotation of the door from a closed state to an opening direction, the closing direction being a rotation of the door from the open state to the closing direction, the rest being a stationary door. The rotation speed is an angle of rotation per unit time.
If the movement direction of the vehicle is forward movement, the fifth distance=target distance+vehicle speed is a preset period. If the movement direction of the vehicle is backward movement, the fifth distance=target distance-vehicle speed for a preset period of time. If the direction of movement of the vehicle is stationary, the fifth distance=target distance.
The predicting the sixth distance between the tail of the door and the tail of the vehicle after the preset time period passes according to the rotation direction of the door and the rotation speed of the door may include:
predicting an included angle between the vehicle door and the tail of the vehicle after a preset time length passes according to the rotation direction of the vehicle door, the rotation speed of the vehicle door and the first angle, and marking the included angle as a second angle;
and determining a sixth distance between the tail part of the vehicle door and the tail part of the vehicle after the preset time period passes according to the length between the head part of the vehicle door and the tail part of the vehicle door and the second angle.
If the rotation direction of the vehicle door is an opening direction, the second angle=the first angle+the rotation speed is a preset duration, and if the calculated second angle is larger than the maximum angle, the second angle=the maximum angle, wherein the maximum angle is the maximum angle which can be achieved between the vehicle door and the tail of the vehicle; if the rotation direction of the vehicle door is the closing direction, the second angle=the first angle-the rotation speed is the preset duration, and if the calculated second angle is smaller than 0, the second angle=0; if the rotation direction of the door is stationary, the second angle=the first angle.
Assuming that the second angle is B, the sixth distance=lsinb, L is the length between the head of the door and the tail of the door.
The fourth distance is the absolute value of the difference between the fifth distance and the sixth distance.
In some embodiments, when the third distance meets the first warning condition, the vehicle door warning method of the vehicle may further include:
and controlling the vehicle door to stop moving or move in the opposite direction.
In this embodiment, when the second distance satisfies the first warning condition, in order to avoid the collision of the door against the target obstacle, the door may be controlled to stop moving, i.e., stop rotating, or to move in the opposite direction, i.e., rotate in the opposite direction.
In some possible implementations, when the fourth distance meets the second pre-warning condition, the vehicle door pre-warning method of the vehicle may further include:
and controlling the vehicle door to stop moving or move in the opposite direction.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
The following are device embodiments of the present application, for details not described in detail therein, reference may be made to the corresponding method embodiments described above.
Fig. 3 shows a schematic structural diagram of a door early warning device for a vehicle according to an embodiment of the present application, and for convenience of explanation, only a portion related to the embodiment of the present application is shown, and the following details are given:
As shown in fig. 3, the door warning device 30 of the vehicle includes: the system comprises a target detection module 31, an acquisition module 32, a target distance determination module 33 and an early warning module 34.
A target detection module 31 for performing target detection based on the camera, and determining a target obstacle behind the vehicle door;
an acquisition module 32, configured to acquire a size of a target obstacle detected by the radar and a size of an image of the target obstacle captured by the camera;
the target distance determining module 33 is configured to determine a target distance between the current vehicle and the target obstacle according to a size of the target obstacle and a size of an image of the target obstacle based on a fusion parameter determined by performing joint calibration on the radar and the camera in advance;
the early warning module 34 is configured to perform early warning when it is determined that early warning is required based on the target distance.
In one possible implementation, in the target distance determining module 33, the fusion parameters include a mapping relationship of an actual size of the object, an image size of the object, and a distance between the object and the camera;
based on fusion parameters determined by carrying out joint calibration on the radar and the camera in advance, determining the target distance between the current vehicle and the target obstacle according to the size of the target obstacle and the size of the image of the target obstacle, wherein the method comprises the following steps:
Based on the mapping relationship, a target distance corresponding to the size of the target obstacle and the size of the image of the target obstacle is determined.
In one possible implementation, the target distance determination module 33 may also be configured to:
acquiring a first distance between a current vehicle detected by a radar and a target obstacle;
determining a final distance between the current vehicle and the target obstacle according to the first distance and the target distance;
accordingly, the early warning module 34 is specifically configured to:
and when the early warning is judged to be needed based on the final distance, early warning is carried out.
In one possible implementation, the early warning module 34 is specifically configured to:
acquiring a second distance between the tail of the current vehicle door and the vehicle;
and determining a third distance between the tail of the current car door and the target obstacle according to the target distance and the second distance, and carrying out early warning when the third distance meets the first early warning condition.
In one possible implementation, in the early warning module 34, obtaining a second distance between the tail of the current door and the vehicle includes:
acquiring an included angle between a current vehicle door and a vehicle, and recording the included angle as a first angle;
a second distance between the trailing portion of the current door and the vehicle is determined based on the length between the leading portion of the door and the trailing portion of the door and the first angle.
In one possible implementation, the pre-warning module 34 may also be configured to:
acquiring motion parameters of a vehicle and motion parameters of a vehicle door; the vehicle door is an electric tail door;
predicting a fourth distance between the tail of the vehicle door and the target obstacle after a preset time period passes according to the motion parameters of the vehicle, the motion parameters of the vehicle door and the target distance;
and when the fourth distance meets the second early warning condition, early warning is carried out.
In one possible implementation, the motion parameters of the vehicle include a direction of motion of the vehicle and a vehicle speed; the motion parameters of the vehicle door comprise the rotation direction and the rotation speed of the vehicle door;
in the early warning module 34, a fourth distance between the tail of the vehicle door and the target obstacle after a preset period of time is predicted according to the motion parameter of the vehicle, the motion parameter of the vehicle door and the target distance, including:
predicting a fifth distance between the tail of the vehicle and the target obstacle after a preset time period passes according to the movement direction of the vehicle, the speed of the vehicle and the target distance;
predicting a sixth distance between the tail of the vehicle door and the tail of the vehicle after a preset time period passes according to the rotation direction of the vehicle door and the rotation speed of the vehicle door;
and determining a fourth distance between the tail of the vehicle door and the target obstacle after the preset time period passes according to the fifth distance and the sixth distance.
The present application also provides a computer program product having a program code which, when run in a corresponding processor, controller, computing device or electronic apparatus, performs the steps in a door early warning method embodiment of any one of the vehicles described above, such as S101 to S104 shown in fig. 1. Those skilled in the art will appreciate that the methods and apparatus presented in the embodiments of the present application may be implemented in various forms of hardware, software, firmware, special purpose processors, or a combination thereof. The special purpose processor may include an Application Specific Integrated Circuit (ASIC), a Reduced Instruction Set Computer (RISC), and/or a Field Programmable Gate Array (FPGA). The proposed method and device are preferably implemented as a combination of hardware and software. The software is preferably installed as an application program on a program storage device. Which is typically a machine based on a computer platform having hardware, such as one or more Central Processing Units (CPUs), random Access Memory (RAM), and one or more input/output (I/O) interfaces. An operating system is also typically installed on the computer platform. The various processes and functions described herein may either be part of the application program or part of the application program which is executed by the operating system.
Fig. 4 is a schematic diagram of an electronic device provided in an embodiment of the present application. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: a processor 40 and a memory 41. The memory 41 is used for storing a computer program 42, and the processor 40 is used for calling and running the computer program 42 stored in the memory 41 to execute the steps in the above-described embodiments of the door early warning method of each vehicle, such as S101 to S104 shown in fig. 1. Alternatively, the processor 40 is configured to invoke and run the computer program 42 stored in the memory 41 to implement the functions of the modules/units in the above-described device embodiments, such as the functions of the modules/units 31 to 34 shown in fig. 3.
Illustratively, the computer program 42 may be partitioned into one or more modules/units that are stored in the memory 41 and executed by the processor 40 to complete/implement the schemes provided herein. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used to describe the execution of the computer program 42 in the electronic device 4. For example, the computer program 42 may be split into the modules/units 31 to 34 shown in fig. 3.
The electronic device 4 may include, but is not limited to, a processor 40, a memory 41. It will be appreciated by those skilled in the art that fig. 4 is merely an example of the electronic device 4 and is not meant to be limiting of the electronic device 4, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the electronic device may further include an input-output device, a network access device, a bus, etc.
The processor 40 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the electronic device 4, such as a hard disk or a memory of the electronic device 4. The memory 41 may be an external storage device of the electronic device 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the electronic device 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the electronic device 4. The memory 41 is used for storing the computer program and other programs and data required by the electronic device. The memory 41 may also be used for temporarily storing data that has been output or is to be output.
Corresponding to the electronic equipment, the embodiment of the application also provides a vehicle, which comprises the electronic equipment.
The description of the vehicle may refer to the description of the method, and will not be repeated.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the apparatus/electronic device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by instructing related hardware by a computer program, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of the door early warning method embodiment of each vehicle when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium may include content that is subject to appropriate increases and decreases as required by jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is not included as electrical carrier signals and telecommunication signals.
Furthermore, the features of the embodiments shown in the drawings or mentioned in the description of the present application are not necessarily to be construed as separate embodiments from each other. Rather, each feature described in one example of one embodiment may be combined with one or more other desired features from other embodiments, resulting in other embodiments not described in text or with reference to the drawings.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A door early warning method of a vehicle, comprising:
performing target detection based on a camera, and determining a target obstacle behind the vehicle door;
acquiring the size of the target obstacle detected by the radar and the size of an image of the target obstacle shot by the camera;
Determining a target distance between a current vehicle and the target obstacle according to the size of the target obstacle and the size of an image of the target obstacle based on fusion parameters determined by carrying out joint calibration on the radar and the camera in advance;
and when the early warning is judged to be needed based on the target distance, early warning is carried out.
2. The door early warning method of a vehicle according to claim 1, wherein the fusion parameters include a mapping relationship of an actual size of an object, an image size of the object, and a distance between the object and a camera;
the determining, based on a fusion parameter determined by performing joint calibration on the radar and the camera in advance, a target distance between a current vehicle and the target obstacle according to the size of the target obstacle and the size of an image of the target obstacle includes:
and determining the target distance corresponding to the size of the target obstacle and the size of the image of the target obstacle based on the mapping relation.
3. The door early-warning method of a vehicle according to claim 1, characterized in that, after the target detection is performed based on the camera, and a target obstacle behind the door is determined, the door early-warning method of a vehicle further comprises:
Acquiring a first distance between the current vehicle detected by the radar and the target obstacle;
determining a final distance between the vehicle and the target obstacle according to the first distance and the target distance;
correspondingly, when the early warning is determined to be needed based on the target distance, the early warning comprises the following steps:
and when the early warning is judged to be needed based on the final distance, early warning is carried out.
4. The door early warning method of a vehicle according to claim 1, characterized in that the early warning is performed when it is determined that early warning is required based on the target distance, comprising:
acquiring a second distance between the tail of the vehicle door and the vehicle at present;
and determining a third distance between the tail of the vehicle door and the target obstacle according to the target distance and the second distance, and carrying out early warning when the third distance meets a first early warning condition.
5. The vehicle door early warning method according to claim 4, characterized in that the acquiring the second distance between the tail of the door and the vehicle at present includes:
acquiring the current included angle between the vehicle door and the vehicle, and recording the current included angle as a first angle;
And determining a second distance between the tail of the vehicle door and the vehicle currently according to the length between the head of the vehicle door and the tail of the vehicle door and the first angle.
6. The door early-warning method of a vehicle according to any one of claims 1 to 5, characterized in that the door early-warning method of a vehicle further includes:
acquiring the motion parameters of the vehicle and the motion parameters of the vehicle door; the vehicle door is an electric tail door;
predicting a fourth distance between the tail of the vehicle door and the target obstacle after a preset time period passes according to the motion parameters of the vehicle, the motion parameters of the vehicle door and the target distance;
and when the fourth distance meets the second early warning condition, early warning is carried out.
7. The door early warning method of a vehicle according to claim 6, characterized in that the motion parameters of the vehicle include a motion direction and a vehicle speed of the vehicle; the motion parameters of the vehicle door comprise the rotation direction and the rotation speed of the vehicle door;
the predicting a fourth distance between the tail of the vehicle door and the target obstacle after a preset time period passes according to the motion parameters of the vehicle, the motion parameters of the vehicle door and the target distance comprises the following steps:
Predicting a fifth distance between the tail of the vehicle and the target obstacle after the preset duration is passed according to the movement direction of the vehicle, the speed of the vehicle and the target distance;
predicting a sixth distance between the tail of the vehicle door and the tail of the vehicle after the preset time period passes according to the rotation direction of the vehicle door and the rotation speed of the vehicle door;
and determining a fourth distance between the tail of the vehicle door and the target obstacle after a preset time period passes according to the fifth distance and the sixth distance.
8. A door early warning device for a vehicle, comprising:
the target detection module is used for detecting a target based on the camera and determining a target obstacle behind the vehicle door;
the acquisition module is used for acquiring the size of the target obstacle detected by the radar and the size of the image of the target obstacle shot by the camera;
the target distance determining module is used for determining the target distance between the current vehicle and the target obstacle according to the size of the target obstacle and the size of the image of the target obstacle based on fusion parameters which are determined by carrying out joint calibration on the radar and the camera in advance;
And the early warning module is used for carrying out early warning when the target distance is determined to need early warning.
9. A vehicle comprising an electronic device including a memory for storing a computer program and a processor for calling and running the computer program stored in the memory to perform the door early warning method of the vehicle according to any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the door early warning method of a vehicle according to any one of claims 1 to 7.
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| CN118405052A (en) * | 2024-04-24 | 2024-07-30 | 永林电子股份有限公司 | Door opening safety early warning system based on intelligent vehicle environment sensing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118405052A (en) * | 2024-04-24 | 2024-07-30 | 永林电子股份有限公司 | Door opening safety early warning system based on intelligent vehicle environment sensing |
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