CN114517618A - Obstacle information processing method and vehicle - Google Patents
Obstacle information processing method and vehicle Download PDFInfo
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- CN114517618A CN114517618A CN202210153406.8A CN202210153406A CN114517618A CN 114517618 A CN114517618 A CN 114517618A CN 202210153406 A CN202210153406 A CN 202210153406A CN 114517618 A CN114517618 A CN 114517618A
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- 230000010365 information processing Effects 0.000 title description 6
- 238000003672 processing method Methods 0.000 title description 5
- 238000000034 method Methods 0.000 claims abstract description 100
- 230000008569 process Effects 0.000 claims abstract description 58
- 238000006073 displacement reaction Methods 0.000 claims description 33
- 230000003068 static effect Effects 0.000 claims description 22
- 230000004888 barrier function Effects 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010926 purge Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
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Abstract
The invention provides a method for processing obstacle information and a vehicle, wherein the method comprises the following steps: in the process of opening or closing the scissor door, memorizing obstacle information in the surrounding environment of the vehicle through an environment sensing device arranged on the scissor door; and if the vehicle moves or is ready to move, clearing the obstacle information memorized in the opening or closing process of the vehicle door of the current scissors. Therefore, in the process of opening or closing the door of the scissors, obstacles existing in the surrounding environment of the vehicle can be comprehensively and accurately avoided, the negative influence on the normal running of the vehicle caused by the memorized obstacle information is avoided under the condition that the vehicle needs to move, and the vehicle safety is improved.
Description
Technical Field
The present invention relates to the field of obstacle information processing, and in particular, to a method for processing obstacle information and a vehicle.
Background
A scissors door is an open-top door that is typically angled upward to allow a user to enter and exit the vehicle. The scissors doors may encounter obstacles during opening or closing of the doors. Thus, the scissors door needs to identify and avoid obstacles during opening or closing. However, if the scissors door does not correctly recognize the obstacle in its surroundings, it may cause an abnormality in the operation of the scissors door.
Disclosure of Invention
In view of the above problems, the present invention has been made to provide an obstacle information processing method and a vehicle that overcome or at least partially solve the above problems.
In order to solve the above problem, the present invention discloses a method for processing obstacle information, which is applied to a vehicle, the method comprising:
in the process of opening or closing the scissor door, memorizing obstacle information in the surrounding environment of the vehicle through environment sensing equipment arranged on the scissor door;
and if the vehicle moves or is ready to move, clearing the obstacle information memorized in the opening or closing process of the vehicle door of the current scissors.
Optionally, the method further comprises:
and determining the moving state of the vehicle according to at least one of the scissor door state, the gear and the vehicle speed of the vehicle.
Optionally, if the vehicle moves, the step of clearing the obstacle information that has been memorized in the process of opening or closing the door of the current pair of scissors includes:
if the vehicle moves, determining whether the displacement of the vehicle is greater than a preset displacement threshold value;
and if the displacement of the vehicle is greater than the preset position threshold value, clearing the obstacle information memorized in the opening or closing process of the vehicle door of the current scissors.
Optionally, the method further comprises:
and if the displacement of the vehicle is not larger than the preset position threshold value, re-determining the obstacle information in the surrounding environment of the vehicle based on the displacement of the vehicle.
Optionally, the step of memorizing the obstacle information in the vehicle surroundings through an environment sensing device disposed on the scissors door during the process of opening or closing the scissors door includes:
in the process of opening or closing the scissor door, detecting an object in the surrounding environment of the vehicle through an environment sensing device arranged on the scissor door;
and identifying static obstacles in the object based on the type of the object, and memorizing the information of the static obstacles.
Optionally, the method further comprises:
and after the scissors vehicle door is completely opened or closed, clearing the memorized obstacle information.
The present invention also provides a vehicle, characterized by comprising:
the memory module is used for memorizing barrier information in the surrounding environment of the vehicle through environment sensing equipment arranged on the scissor door in the opening or closing process of the scissor door;
the first clearing module is used for clearing the obstacle information memorized in the opening or closing process of the current scissors door if the vehicle moves or is ready to move.
Optionally, the method further comprises:
and the state determining module is used for determining the moving state of the vehicle according to at least one of the scissor door state, the gear and the vehicle speed of the vehicle.
Optionally, the first purging module includes:
and a displacement determination submodule. The vehicle displacement detection device is used for determining whether the displacement of the vehicle is larger than a preset displacement threshold value or not if the vehicle moves;
and the clearing submodule is used for clearing the memorized barrier information in the opening or closing process of the scissors door if the displacement of the vehicle is greater than the preset position threshold value.
Optionally, the vehicle further comprises:
and the obstacle updating module is used for re-determining the obstacle information in the surrounding environment of the vehicle based on the displacement of the vehicle if the displacement of the vehicle is not larger than the preset position threshold.
Optionally, the memory module comprises:
the object detection submodule is used for detecting objects in the surrounding environment of the vehicle through the environment sensing equipment arranged on the scissor door in the opening or closing process of the scissor door;
and the static obstacle memory submodule is used for identifying a static obstacle in the object and memorizing the information of the static obstacle based on the type of the object.
Optionally, the vehicle further comprises:
and the second clearing module is used for clearing the memorized barrier information after the scissors car door is opened or closed.
The invention also discloses an electronic device, comprising:
one or more processors; and
one or more machine-readable media having instructions stored thereon, which when executed by the one or more processors, cause the electronic device to perform one or more methods as described herein.
One or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform one or more methods as described herein are also disclosed.
The invention has the following advantages:
according to the obstacle information processing method, in the opening or closing process of the scissor door, the obstacle information in the surrounding environment of the vehicle is memorized through the environment sensing device arranged on the scissor door, so that the obstacles existing in the surrounding environment of the vehicle can be completely and accurately avoided in the opening or closing process of the scissor door, and if the vehicle moves or is ready to move, the memorized obstacle information in the opening or closing process of the scissor door is cleared, so that the memorized obstacle information is prevented from generating negative effects on the normal running of the vehicle, and the vehicle safety is improved.
Drawings
FIG. 1 is a flow chart illustrating steps of an embodiment of a method for processing obstacle information according to the present invention;
fig. 2 is a block diagram of a vehicle embodiment of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
In order to accurately identify the obstacle which is possibly met by the scissors door in the opening or closing process, the obstacle of the surrounding environment of the vehicle can be memorized in the closing or closing process of the scissors door, so that the obstacle of the surrounding environment of the vehicle can be more comprehensively and accurately identified. Meanwhile, in order to ensure that the memory of the obstacle does not influence the running of the vehicle, the memorized obstacle information in the opening or closing process of the scissors door can be cleared under the condition that the vehicle is determined to move or the vehicle is ready to move, so that the vehicle can run normally.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of a method for processing obstacle information according to the present invention is shown, and specifically, the method may include the following steps:
Specifically, the identification of the obstacle by the scissors door may be realized by a laser radar, a camera, or the like provided to the scissors door, which may be used to detect the environment around the vehicle to identify the obstacle around the vehicle. The environment sensing device on the scissor door can move correspondingly with the opening or closing of the scissor door, so that the position and the shooting visual angle of the environment sensing device can be changed correspondingly in the opening or closing process of the scissor door. For example, when the scissors door is just opened, the environment sensing device can be positioned closer to the ground, and the shooting angle of the environment sensing device can be approximately horizontal to the ground. And in the process that the opening degree of the scissor door is gradually increased, the scissor door is gradually lifted upwards, the position of the environment sensing equipment can be correspondingly lifted upwards, and meanwhile, the shooting visual angle can be gradually inclined upwards.
Therefore, the photographed surrounding environment of the scissors door is continuously changed when the scissors door is opened or closed by the environment sensing device, so that the obstacles recognized by the environment sensing device can be different under different opening degrees of the scissors door.
In this case, in order to more accurately and comprehensively identify the obstacle which may be encountered during the opening or closing process of the scissors door, the obstacle information identified in the scissors door may be memorized, so that in the opening or closing process of the scissors door, no matter whether the current environment sensing device identifies the memorized obstacle, the obstacle avoidance may be performed on the identified obstacle.
For example, in the process of opening the scissor door, if the side surface of the scissor door is identified to have a wall when the opening degree of the scissor door is 0-10%, and the wall is memorized as an obstacle, then when the opening degree of the scissor door is 10-100%, the obstacle avoidance can be performed on the wall regardless of whether the scissor door can still identify the wall at this time, so as to ensure the safe operation of the scissor door.
For example, when the opening degree of the scissors door is 0 to 20% during the opening of the scissors door, it is recognized that there is a pedestrian traveling toward the scissors door, and the pedestrian can be memorized as an obstacle and the moving trajectory of the pedestrian can be predicted. Under the condition that the opening of the scissor door is 20-100%, no matter whether the scissor door can still identify the pedestrian at the moment, the obstacle avoidance of the pedestrian can be executed based on the predicted moving track of the pedestrian, so that the operation safety of the scissor door is ensured.
In the specific implementation, environmental sensing equipment such as a laser radar and a camera can acquire and perform three-dimensional reconstruction on the vehicle surrounding environment in the opening or closing process of the scissor door under the condition that the vehicle is at a fixed position, so as to accurately detect the vehicle surrounding environment, determine obstacles which may affect the opening of the scissor door in the vehicle surrounding environment, and perform memory.
And 102, if the vehicle moves or is ready to move, clearing the obstacle information memorized in the process of opening or closing the door of the current scissors.
Specifically, the vehicle may move during the opening or closing of the scissors doors, or may move after the scissors doors have been opened or closed. The obstacle information that the vehicle has memorized may be generally memorized based on the environment around the vehicle in a case where the vehicle is at a certain fixed position. If the vehicle moves, the obstacle information that has been memorized at this time may no longer be valid. In this case, if the memory of the obstacle is continuously maintained, there is a possibility that the normal running of the vehicle is disturbed.
For example, if a wall is present at the side of a vehicle memory scissor door, if the vehicle moves and then the memory of the wall is still maintained at the side of the scissor door, the vehicle may not be able to turn.
Under the condition, if the vehicle moves or is ready to move, whether the scissor door is opened or closed at the moment, the memorized obstacle information in the opening or closing process of the scissor door can be cleared, and the negative influence of the memorized obstacle information on the normal vehicle is avoided.
In addition, if the scissor door is opened or closed, and the vehicle is still in the fixed position and is not changed, the memory of the obstacle information in the surrounding environment of the vehicle can be continuously reserved according to actual needs, so that when the scissor door is opened or closed again, the obstacle can be avoided based on the memorized obstacle information.
According to the obstacle information processing method, in the opening or closing process of the scissor door, the obstacle information in the surrounding environment of the vehicle is memorized through the environment sensing device arranged on the scissor door, so that the obstacles existing in the surrounding environment of the vehicle can be completely and accurately avoided in the opening or closing process of the scissor door, and if the vehicle moves or is ready to move, the memorized obstacle information in the opening or closing process of the scissor door is cleared, so that the memorized obstacle information is prevented from generating negative effects on the normal running of the vehicle, and the vehicle safety is improved.
In one example of the present invention, the method further comprises:
and S11, determining the moving state of the vehicle according to at least one of the scissor door state, the gear position and the vehicle speed of the vehicle.
Specifically, in order to confirm whether the vehicle is moving or is ready to move, the moving state of the vehicle may be predicted based on at least one of the scissor door state, the shift position, and the vehicle speed of the vehicle, so that the obstacle information that has been memorized during the opening or closing of the scissor door of this time is cleared in time when the vehicle is moving or is ready to move.
For the scissor door state, if the current state of the scissor door is that the scissor door is closed completely, it may be considered that the user may prepare to control the vehicle to travel at this time, and the vehicle may prepare to move at this time.
For the shift position, if the user switches the shift position of the vehicle to a forward shift position, a reverse shift position, or the like for controlling the movement of the vehicle, it may be considered that the user may prepare to control the movement of the vehicle, and thus the vehicle may prepare to move.
For vehicle speed, it may be determined whether the vehicle is moving based on the vehicle speed. If the vehicle speed remains 0, it is considered that the vehicle remains stationary at this time. If the vehicle speed of the vehicle is greater than the preset vehicle speed threshold, the vehicle is considered to move at this time.
In an example of the present invention, if the vehicle moves, the step of clearing the obstacle information that has been memorized in the process of opening or closing the door of the current scissors includes:
S21, if the vehicle moves, determining whether the displacement of the vehicle is larger than a preset displacement threshold value;
specifically, in the case where the vehicle is moving, it may be further determined whether the user has an intention to drive the vehicle away from the current position. In particular, the user may intend to control vehicle movement. The user may control the vehicle to slightly move for the reason of obstacle avoidance, wrong operation, and the like, but the user does not have the intention of completely driving the vehicle away from the current position at this time.
Meanwhile, under the condition that the vehicle does not completely drive away from the current position, the obstacle information memorized by the vehicle can still have certain influence on the vehicle.
Therefore, if the vehicle moves, whether the position of the vehicle is larger than a preset position threshold value or not can be further determined, so that whether the user intends to drive the vehicle away from the current position or not and whether the memorized obstacle information possibly still has a certain effect on vehicle obstacle avoidance or not can be determined.
And S22, if the displacement of the vehicle is larger than the preset position threshold value, clearing the obstacle information memorized in the opening or closing process of the scissors door at this time.
Specifically, if the displacement of the vehicle is greater than the preset position threshold, it may be considered that the vehicle has a relatively obvious displacement with respect to the position where the obstacle information is memorized, and the user may have an obvious intention to drive the vehicle away from the current position, and the obstacle information memorized by the vehicle may not have an effect on obstacle avoidance of the vehicle.
In one example of the present invention, the method further comprises:
and S31, if the displacement of the vehicle is not larger than the preset position threshold value, re-determining the obstacle information in the surrounding environment of the vehicle based on the displacement of the vehicle.
Specifically, if the position of the vehicle is not greater than the preset position threshold, it may be assumed that the user may not have an intention to drive the vehicle completely away from the current position, and that an obstacle memorized by the vehicle in a fixed position may still have an effect on the opening or closing of the scissors doors. In this case, the vehicle may not need to clear the obstacle information that has been memorized in the process of opening or closing the scissors door at this time, but may redetermine the obstacle information in the vehicle surroundings based on the obstacle information that has been memorized at the fixed position and the displacement of the vehicle, so that in the case of a slight displacement of the vehicle, the obstacle may still be avoided in the process of opening and closing the scissors door based on the obstacle information that has been memorized. Meanwhile, in the opening and closing processes of the scissor door, the scissor door can still detect obstacles in the surrounding environment of the vehicle in real time, and the condition that the safety of the scissor door is influenced by the existence of the unmanaged obstacles after the vehicle is displaced is avoided.
In an example of the present invention, the step of memorizing obstacle information in an environment around the vehicle by an environment sensing device provided on the scissors door during opening or closing of the scissors door includes:
s41, detecting objects in the surrounding environment of the vehicle through an environment sensing device arranged on the scissor door in the opening or closing process of the scissor door;
specifically, the vehicle may detect an object in the vehicle surroundings through the environment sensing device provided on the scissors door in the process of controlling the scissors door to open or close to determine whether there is an obstacle in the vehicle surroundings that may affect the scissors door to open or close.
In a specific implementation, the environment sensing device may determine, in real time, information of the vehicle surroundings, such as an image of the vehicle surroundings, point cloud data of the vehicle surroundings, and the like, during the opening or closing of the scissors doors, to determine a distance between an object in the vehicle surroundings and the vehicle, and an appearance of the object in the vehicle surroundings, so as to further identify whether the object is an obstacle that may affect the opening or closing of the scissors doors.
And S42, identifying static obstacles in the object based on the type of the object, and memorizing the information of the static obstacles.
In particular, the obstacle may be static, such as a wall, ceiling, traffic cone, other vehicle parked near the vehicle, and so forth. The obstacle may also be dynamic, such as a pedestrian, a vehicle in motion, an animal in motion, or the like. For a static obstacle, the vehicle may be considered to be present during the opening of the scissors door. For a dynamic obstacle, the vehicle can predict the movement track of the dynamic obstacle in the opening process of the scissor door, and predict whether the scissor door is likely to collide with the dynamic obstacle or not based on the movement track of the dynamic obstacle.
The static barrier can be kept still all the time in the opening or closing process of the scissor door, and the obstacle avoidance of the vehicle in the opening or closing process of the scissor door can be better assisted by adopting a barrier memory mode. Therefore, the static obstacle in the object can be preferentially identified based on the type of the object, and the information of the static obstacle is memorized, so that the vehicle can avoid the static obstacle.
In a specific implementation, after obtaining an image of an object in a surrounding environment of the vehicle and object contour information and other information related to the appearance of the object, which are generated based on point cloud data of the surrounding environment of the vehicle, the object may be classified based on the information related to the appearance of the object by using a model classification method, a template classification method and other methods, so as to identify whether the object belongs to a static obstacle. For example, the static obstacle may be a wall, a ceiling, a traffic cone, another vehicle parked near the vehicle, or the like, and it may be identified whether the information related to the appearance of the object is similar to the static obstacle such as a wall, a ceiling, a traffic cone, another vehicle parked near the vehicle, or the like, to determine whether the object is a static obstacle.
In one example of the present invention, the method further comprises:
and S51, clearing the memorized barrier information after the scissor door is completely opened or closed.
Specifically, after the scissor door is opened or closed, the position of the vehicle may move, so that it may be considered that the obstacle information memorized during the process of opening or closing the scissor door at this time may not provide help for the subsequent process of opening or closing the scissor door.
The environment around the vehicle may also change in the case where the position of the vehicle does not move after the scissors door is completely opened or closed. For example, another vehicle originally adjacent to the vehicle has left, and an originally adjacent vacant parking space is parked into a new vehicle, or the like. Although the vehicle does not move away from the position where the obstacle information is memorized, the memorized obstacle information may not provide assistance to the opening or closing of the door of the following scissors. Therefore, after the scissors vehicle door is opened or closed, the memorized obstacle information can be cleared under the condition that the position of the vehicle does not move, and the adverse effect on the obstacle avoidance of the subsequent scissors vehicle door is avoided.
It is noted that, for simplicity of explanation, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will appreciate that the present invention is not limited by the order of acts, as some steps may, in accordance with the present invention, occur in other orders and/or concurrently. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 2, a block diagram of a structure of an embodiment of the apparatus for processing obstacle information according to the present invention is shown, and specifically, the apparatus may include the following modules:
the memory module 201 is used for memorizing barrier information in the surrounding environment of the vehicle through environment sensing equipment arranged on the scissor door in the opening or closing process of the scissor door;
the first clearing module 202 is configured to clear obstacle information that has been memorized in the process of opening or closing the door of the current scissors if the vehicle moves or is ready to move.
Optionally, the method further comprises:
and the state determining module is used for determining the moving state of the vehicle according to at least one of the scissor door state, the gear and the vehicle speed of the vehicle.
Optionally, the first purge module comprises:
and a displacement determination submodule. The vehicle displacement detection device is used for determining whether the displacement of the vehicle is larger than a preset displacement threshold value or not if the vehicle moves;
and the clearing submodule is used for clearing the memorized barrier information in the opening or closing process of the scissors door if the displacement of the vehicle is greater than the preset position threshold value.
Optionally, the vehicle further comprises:
and the obstacle updating module is used for re-determining the obstacle information in the surrounding environment of the vehicle based on the displacement of the vehicle if the displacement of the vehicle is not larger than the preset position threshold.
Optionally, the memory module comprises:
the object detection sub-module is used for detecting objects in the surrounding environment of the vehicle through environment sensing equipment arranged on the scissor door in the process of opening or closing the scissor door;
and the static obstacle memory submodule is used for identifying a static obstacle in the object based on the type of the object and memorizing the information of the static obstacle.
Optionally, the vehicle further comprises:
and the second clearing module is used for clearing the memorized barrier information after the scissors car door is opened or closed.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The present invention also provides an electronic device, comprising:
one or more processors; and
one or more machine-readable media having instructions stored thereon, which when executed by the one or more processors, cause the electronic device to perform the methods of the present invention.
The present invention also provides one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform the methods of the present invention.
The embodiments in the present specification are all described in a progressive manner, and each embodiment focuses on differences from other embodiments, and portions that are the same and similar between the embodiments may be referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The method for processing obstacle information and the vehicle provided by the invention are described in detail, and the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method for processing obstacle information, which is applied to a vehicle, the method comprising:
in the process of opening or closing the scissor door, memorizing obstacle information in the surrounding environment of the vehicle through an environment sensing device arranged on the scissor door;
and if the vehicle moves or is ready to move, clearing the obstacle information memorized in the opening or closing process of the vehicle door of the current scissors.
2. The method of claim 1, further comprising:
and determining the moving state of the vehicle according to at least one of the scissor door state, the gear and the vehicle speed of the vehicle.
3. The method according to claim 1 or 2, wherein the step of clearing the obstacle information memorized in the process of opening or closing the scissors door at this time if the vehicle moves comprises the following steps:
if the vehicle moves, determining whether the displacement of the vehicle is greater than a preset displacement threshold value;
and if the displacement of the vehicle is greater than the preset position threshold value, clearing the obstacle information memorized in the opening or closing process of the vehicle door of the current scissors.
4. The method of claim 3, further comprising:
And if the displacement of the vehicle is not larger than the preset position threshold value, re-determining the obstacle information in the surrounding environment of the vehicle based on the displacement of the vehicle.
5. The method according to claim 1, wherein the step of memorizing obstacle information in the vehicle surroundings through an environment sensing device provided on the scissors door during the opening or closing of the scissors door comprises:
in the process of opening or closing the scissor door, detecting an object in the surrounding environment of the vehicle through an environment sensing device arranged on the scissor door;
and identifying static obstacles in the object based on the type of the object, and memorizing the information of the static obstacles.
6. The method of claim 1, further comprising:
and after the scissors vehicle door is completely opened or closed, clearing the memorized obstacle information.
7. A vehicle, characterized by comprising:
the memory module is used for memorizing barrier information in the surrounding environment of the vehicle through environment sensing equipment arranged on the scissor door in the opening or closing process of the scissor door;
the first clearing module is used for clearing the obstacle information memorized in the opening or closing process of the current scissors door if the vehicle moves or is ready to move.
8. The vehicle of claim 7, further comprising:
and the state determining module is used for determining the moving state of the vehicle according to at least one of the scissor door state, the gear and the vehicle speed of the vehicle.
9. An electronic device, comprising:
one or more processors; and
one or more machine-readable media having instructions stored thereon that, when executed by the one or more processors, cause the electronic device to perform the method of one or more of claims 1-6.
10. One or more machine readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method of one or more of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| DE102004010210A1 (en) * | 2004-03-02 | 2005-09-15 | Volkswagen Ag | Damage-prevention system for automotive bodywork has ultrasonic sensor linked to position of hinged hatch |
| US20150112542A1 (en) * | 2013-10-23 | 2015-04-23 | Xrs Corporation | Transportation event recorder for vehicle |
| CN106167008A (en) * | 2015-05-21 | 2016-11-30 | 财团法人车辆研究测试中心 | Autobrake system and self-actuating brake method |
| US20200248497A1 (en) * | 2019-02-05 | 2020-08-06 | Volvo Car Corporation | Handling of remotely triggered operation of a vehicle door |
| CN112854949A (en) * | 2021-01-11 | 2021-05-28 | 广州小鹏自动驾驶科技有限公司 | Control method and device for scissor door of vehicle and vehicle |
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| DE102004010210A1 (en) * | 2004-03-02 | 2005-09-15 | Volkswagen Ag | Damage-prevention system for automotive bodywork has ultrasonic sensor linked to position of hinged hatch |
| US20150112542A1 (en) * | 2013-10-23 | 2015-04-23 | Xrs Corporation | Transportation event recorder for vehicle |
| CN106167008A (en) * | 2015-05-21 | 2016-11-30 | 财团法人车辆研究测试中心 | Autobrake system and self-actuating brake method |
| US20200248497A1 (en) * | 2019-02-05 | 2020-08-06 | Volvo Car Corporation | Handling of remotely triggered operation of a vehicle door |
| CN112854949A (en) * | 2021-01-11 | 2021-05-28 | 广州小鹏自动驾驶科技有限公司 | Control method and device for scissor door of vehicle and vehicle |
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