CN114517618B - Obstacle information processing method, electronic equipment, medium and vehicle - Google Patents
Obstacle information processing method, electronic equipment, medium and vehicle Download PDFInfo
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- CN114517618B CN114517618B CN202210153406.8A CN202210153406A CN114517618B CN 114517618 B CN114517618 B CN 114517618B CN 202210153406 A CN202210153406 A CN 202210153406A CN 114517618 B CN114517618 B CN 114517618B
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- 230000010365 information processing Effects 0.000 title description 4
- 238000003672 processing method Methods 0.000 title description 3
- 238000000034 method Methods 0.000 claims abstract description 98
- 230000008569 process Effects 0.000 claims abstract description 58
- 238000006073 displacement reaction Methods 0.000 claims description 37
- 230000003068 static effect Effects 0.000 claims description 22
- 230000004888 barrier function Effects 0.000 claims description 7
- 238000010926 purge Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000002411 adverse Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
Classifications
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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, the obstacle information in the surrounding environment of the vehicle is memorized through the environment sensing equipment arranged on the scissor door; and if the vehicle moves or is ready to move, clearing the stored obstacle information in the process of opening or closing the scissor door. Therefore, in the process of opening or closing the scissor door, obstacles existing in the surrounding environment of the vehicle can be comprehensively and accurately avoided, and in the condition that the vehicle needs to move, the stored obstacle information is prevented from negatively affecting the normal running of the vehicle, so that the safety of the vehicle 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 scissor door is an open-top door that can be opened generally obliquely upward at an angle to allow a user to access the vehicle. During the opening or closing of the scissor door, the scissor door may hit an obstacle. Thus, scissor doors need to identify and avoid obstacles during opening or closing. However, if the scissor door does not correctly recognize an obstacle in its surrounding environment, an abnormality may occur in the operation of the scissor door.
Disclosure of Invention
The present invention has been made in view of the above problems, and has as its object to provide a method of processing obstacle information and a vehicle which overcome or at least partially solve the above problems.
In order to solve the above problems, the present invention discloses a processing method of obstacle information, which is applied to a vehicle, the method comprising:
in the process of opening or closing the scissor door, the obstacle information in the surrounding environment of the vehicle is memorized through the environment sensing equipment arranged on the scissor door;
and if the vehicle moves or is ready to move, clearing the stored obstacle information in the process of opening or closing the scissor door.
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, the step of clearing the stored obstacle information in the process of opening or closing the scissor door if the vehicle moves includes:
if the vehicle moves, determining whether the displacement of the vehicle is greater than a preset displacement threshold;
and if the displacement of the vehicle is greater than the preset position threshold value, clearing the stored obstacle information in the process of opening or closing the scissor door.
Optionally, the method further comprises:
and if the displacement of the vehicle is not greater than the preset position threshold value, redetermining 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 surrounding environment of the vehicle through the environment sensing device arranged on the scissor door during the opening or closing process of the scissor door comprises the following steps:
in the process of opening or closing the scissor door, detecting objects in the surrounding environment of the vehicle through environment sensing equipment arranged on the scissor door;
based on the type of the object, identifying a static obstacle in the object and memorizing information of the static obstacle.
Optionally, the method further comprises:
after the scissor door is opened or closed, the stored obstacle information is cleared.
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 process of opening or closing the scissor door;
and the first clearing module is used for clearing the stored obstacle information in the process of opening or closing the scissor 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 cleaning module includes:
the displacement determination sub-module. If the vehicle moves, determining whether the displacement of the vehicle is greater than a preset displacement threshold;
and the clearing sub-module is used for clearing the stored obstacle information in the process of opening or closing the scissor door if the displacement of the vehicle is larger than the preset position threshold value.
Optionally, the vehicle further comprises:
and the obstacle updating module is used for redefining obstacle information in the surrounding environment of the vehicle based on the displacement of the vehicle if the displacement of the vehicle is not greater than the preset position threshold value.
Optionally, the memory module includes:
the object detection submodule is used for detecting objects in the surrounding environment of the vehicle through environment sensing equipment arranged on the scissor car door in the process of opening or closing the scissor car door;
and the static obstacle memory sub-module is used for identifying the 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 stored obstacle information after the scissor door is completely 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.
Also disclosed are 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.
The invention has the following advantages:
according to the method for processing the obstacle information, in the process of opening or closing the scissor door, the obstacle information in the surrounding environment of the vehicle is memorized through the environment sensing equipment arranged on the scissor door, so that the obstacle existing in the surrounding environment of the vehicle can be completely and accurately avoided in the process of opening or closing the scissor door, and if the vehicle moves or is ready to move, the memorized obstacle information in the process of opening or closing the scissor door is cleared, the negative influence of the memorized obstacle information on the normal running of the vehicle is avoided, and the safety of the vehicle is improved.
Drawings
FIG. 1 is a flow chart of steps of an embodiment of a method of processing obstacle information according to the present invention;
fig. 2 is a block diagram of a vehicle embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
In order to accurately identify the obstacles possibly encountered by the scissor door in the opening or closing process, the invention can memorize the obstacles of the surrounding environment of the vehicle in the closing or closing process of the scissor door so as to more comprehensively and accurately identify the obstacles of the surrounding environment of the vehicle. Meanwhile, in order to ensure that the memory of the obstacle does not influence the running of the vehicle, the stored obstacle information in the opening or closing process of the scissor 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 normally run.
Referring to fig. 1, a step flowchart of an embodiment of a method for processing obstacle information according to the present invention may specifically include the following steps:
step 101, in the process of opening or closing a scissor door, memorizing barrier information in the surrounding environment of a vehicle through environment sensing equipment arranged on the scissor door;
specifically, the recognition of the obstacle by the scissor door may be achieved by an environment sensing device provided to the scissor door, such as a laser radar, a camera, or the like, that may be used to detect the vehicle surroundings to recognize the obstacle around the vehicle. The environment sensing device on the scissor door can correspondingly move along with the opening or closing of the scissor door, so that the position of the environment sensing device and the shooting visual angle can correspondingly change during the opening or closing process of the scissor door. For example, when the scissor door is just opened, the environment sensing device may be positioned closer to the ground, and its view angle may be approximately level with the ground. In the process that the opening of the scissor door gradually becomes larger, the scissor door gradually rises upwards, the position of the environment sensing equipment can correspondingly rise upwards, and the shooting visual angle can gradually incline upwards.
Therefore, the surrounding environment of the scissor door is continuously changed in the process that the environment sensing device opens or closes the scissor door, so that the obstacle recognized by the environment sensing device can be different under different opening degrees of the scissor door.
In this case, in order to more accurately and comprehensively identify the obstacle possibly encountered in the process of opening or closing the scissor door, the information of the obstacle identified in the scissor door can be memorized, so that in the process of opening or closing the scissor door, whether the current environment sensing device identifies the memorized obstacle or not, the identified obstacle can be avoided.
For example, in the process of opening the scissor door, if the opening of the scissor door is 0-10%, a wall is identified to exist on the side surface of the scissor door, and the wall is stored as an obstacle, then if the opening of the scissor door is 10-100%, whether the scissor door can still identify the wall at this time or not, obstacle avoidance on the wall can be performed, so that the operation safety of the scissor door is ensured.
For example, in the opening process of the scissor door, if the opening degree of the scissor door is 0 to 20%, it is recognized that a pedestrian walking toward the scissor door exists, the pedestrian can be memorized as an obstacle, and the moving track of the pedestrian can be predicted. Under the condition that the opening of the scissor door is 20-100%, whether the scissor door can still identify pedestrians at the moment or not, obstacle avoidance for the pedestrians can be performed based on the predicted moving track of the pedestrians, so that the operation safety of the scissor door is ensured.
In a specific implementation, the laser radar, the camera and other environment sensing devices can collect and reconstruct the surrounding environment of the vehicle 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 surrounding environment of the vehicle, determine the obstacles in the surrounding environment of the vehicle which possibly influence the opening of the scissor door and memorize the obstacles.
Step 102, if the vehicle moves or is ready to move, clearing the stored obstacle information in the process of opening or closing the scissor door.
Specifically, the vehicle may move during the opening or closing of the scissor door, or may move after the scissor door is completely opened or closed. The obstacle information that the vehicle has memorized may be generally memorized based on the surrounding environment of the vehicle in a certain fixed position. If the vehicle moves, the stored obstacle information may no longer be valid. In this case, if the memory of the obstacle is kept, there is a possibility that the normal running of the vehicle is disturbed.
For example, if the vehicle memorizes that the wall is present on the side of the scissor door, the vehicle may not turn if the memory of the wall is still maintained on the side of the scissor door after the vehicle moves.
Under the condition, if the vehicle moves or is ready to move, whether the scissor door is opened or closed or not can be eliminated, and the stored obstacle information in the opening or closing process of the scissor door can be eliminated, so that the stored obstacle information is prevented from negatively affecting the normal operation of the vehicle.
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 kept continuously according to actual needs, so that the obstacle can be avoided based on the memorized obstacle information when the scissor door is opened or closed again.
According to the method for processing the obstacle information, in the process of opening or closing the scissor door, the obstacle information in the surrounding environment of the vehicle is memorized through the environment sensing equipment arranged on the scissor door, so that the obstacle existing in the surrounding environment of the vehicle can be completely and accurately avoided in the process of opening or closing the scissor door, and if the vehicle moves or is ready to move, the memorized obstacle information in the process of opening or closing the scissor door is cleared, the negative influence of the memorized obstacle information on the normal running of the vehicle is avoided, and the safety of the vehicle is improved.
In one example of the present invention, the method further comprises:
s11, 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.
Specifically, in order to confirm whether the vehicle moves or is ready to move, the movement state of the vehicle can be predicted according to at least one of the state, gear and speed of the scissor door of the vehicle, so that the stored obstacle information in the process of opening or closing the scissor door of the current time can be timely cleared when the vehicle moves or is ready to move.
For the scissor door state, if the current state of the scissor door is that closing is completed, it is considered that the user can prepare to control the vehicle to run at this time, and the vehicle may prepare to move at this time.
In the case of a shift position, if the user shifts the shift position of the vehicle to a shift position for controlling the movement of the vehicle, such as a forward shift position, a reverse shift position, or the like, it is considered that the user may be ready to control the movement of the vehicle at this time, and the vehicle may be ready to move.
As for the vehicle speed, it may be determined whether the vehicle is moving based on the vehicle speed. If the vehicle speed is kept at 0, it is considered that the vehicle is kept stationary at this time. If the vehicle speed is greater than the preset vehicle speed threshold, it is considered that the vehicle is moving at this time.
In an example of the present invention, the step of clearing the stored obstacle information during the opening or closing of the scissor door when the vehicle moves 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. Specifically, the user may want to control the vehicle movement. The user may also be in control of the vehicle to move slightly for obstacle avoidance, mishandling, etc., but at this point the user does not have the intention to drive the vehicle completely from the current location.
Meanwhile, under the condition that the vehicle does not completely drive away from the current position, the stored obstacle information of the vehicle can still have a certain influence on the vehicle.
Thus, if the vehicle moves, it may be further determined whether the position of the vehicle is greater than a preset position threshold value, so as to determine whether the user has an intention to drive the vehicle away from the current position, and whether the memorized obstacle information may still have a certain effect on obstacle avoidance of the vehicle.
S22, if the displacement of the vehicle is larger than a preset position threshold value, clearing the stored obstacle information in the process of opening or closing the scissor door.
Specifically, if the displacement of the vehicle is greater than the preset position threshold, it can be considered that the position corresponding to the stored obstacle information has obvious displacement, the user can have obvious intention of driving the vehicle away from the current position, the stored obstacle information of the vehicle can not have an effect on obstacle avoidance of the vehicle, and in this case, the stored obstacle information in the process of opening or closing the scissor door can be cleared, so that adverse effects of the obstacle information on running of the vehicle are avoided.
In one example of the present invention, the method further comprises:
s31, if the displacement of the vehicle is not greater than the preset position threshold value, determining obstacle information in the surrounding environment of the vehicle again 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 considered that the user may not have an intention to drive the vehicle completely away from the current position, and the obstacle that the vehicle memorizes in the fixed position may still have an influence on the opening or closing of the scissor door. In this case, the vehicle may not need to clear the stored obstacle information during the opening or closing of the present scissor door, but may redetermine the obstacle information in the surrounding environment of the vehicle based on the stored obstacle information at the fixed position and the displacement of the vehicle, so that in the case of slight displacement of the vehicle, the obstacle may still be avoided during the opening and closing of the scissor door based on the stored obstacle information. 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 situation that the safety of the scissor door is influenced by the fact that the vehicle is displaced and then the vehicle is not memorized is avoided.
In one example of the present invention, the step of memorizing the obstacle information in the surrounding environment of the vehicle through the environment sensing device provided on the scissor door during the opening or closing of the scissor door includes:
s41, detecting objects in the surrounding environment of the vehicle through environment sensing equipment arranged on the scissor car door in the process of opening or closing the scissor car door;
specifically, the vehicle may detect objects in the surrounding environment of the vehicle through an environment sensing device provided on the scissor door during control of the opening or closing of the scissor door to determine whether there are obstacles in the surrounding environment of the vehicle that may affect the opening or closing of the scissor door.
In particular implementations, the context awareness 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, etc., during opening or closing of the scissor door, to determine a distance between an object in the vehicle surroundings and the vehicle, and an appearance of the object in the vehicle surroundings, in order to further identify whether the object is an obstacle that may affect opening or closing of the scissor door.
S42, identifying static barriers in the object based on the type of the object, and memorizing information of the static barriers.
In particular, the obstacle may be static, such as a wall, ceiling, traffic cone, other vehicles parked in the vicinity of the vehicle, etc. The obstacle may also be dynamic, e.g. a pedestrian, a running vehicle, a moving animal, etc. For a static obstacle, the vehicle may consider that it may be present all the time during the opening of the scissor door. For a dynamic obstacle, the vehicle can predict the movement track of the dynamic obstacle during the opening process of the scissor door and predict whether the scissor door is likely to collide with the dynamic obstacle based on the movement track of the dynamic obstacle.
The static obstacle can be kept still all the time in the process of opening or closing the scissor door, and the mode of memorizing the obstacle can be adopted to better assist the vehicle to avoid the obstacle in the process of opening or closing the scissor door. 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 the surrounding environment of the vehicle and obtaining information related to the appearance of the object, such as object contour information 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 adopting modes such as model classification and template classification, 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, other vehicles parked near the vehicle, etc., and then it may be identified whether the information related to the appearance of the object is similar to the static obstacle of the wall, the ceiling, the traffic cone, other vehicles parked near the vehicle, etc., to determine whether the object is a static obstacle.
In one example of the present invention, the method further comprises:
s51, after the scissor door is opened or closed, the stored obstacle information is cleared.
Specifically, after the scissor door is opened or closed, the position of the vehicle may move, so that it can be considered that the stored obstacle information in the process of opening or closing the scissor door can not provide assistance for the process of opening or closing the subsequent scissor door, and in this case, the stored obstacle information can be cleared, so that adverse effects of the stored obstacle information on other aspects such as vehicle running are avoided.
The vehicle surroundings may also change when the position of the vehicle is not moved after the scissor door has been opened or closed. For example, other vehicles originally adjacent to the vehicle have been moved away, an originally adjacent empty parking space is parked in a new vehicle, and the like. Although the vehicle is not moving away from the position where the obstacle information is memorized, the obstacle information that has been memorized may not provide assistance for the opening or closing of the subsequent scissor door. Therefore, when the scissor door is opened or closed, the stored obstacle information can be cleared under the condition that the position of the vehicle is not moved, and adverse effects on obstacle avoidance of the subsequent scissor door are avoided.
It should be noted that, for simplicity of explanation, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required for the present invention.
Referring to fig. 2, a block diagram of an embodiment of an obstacle information processing apparatus according to the present invention may specifically include the following modules:
a memory module 201, configured to memorize obstacle information in the surrounding environment of the vehicle through an environment sensing device disposed on the scissor door during the opening or closing of the scissor door;
the first clearing module 202 is configured to clear the stored obstacle information during the opening or closing process of the present scissor 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 cleaning module includes:
the displacement determination sub-module. If the vehicle moves, determining whether the displacement of the vehicle is greater than a preset displacement threshold;
and the clearing sub-module is used for clearing the stored obstacle information in the process of opening or closing the scissor door if the displacement of the vehicle is larger than the preset position threshold value.
Optionally, the vehicle further comprises:
and the obstacle updating module is used for redefining obstacle information in the surrounding environment of the vehicle based on the displacement of the vehicle if the displacement of the vehicle is not greater than the preset position threshold value.
Optionally, the memory module includes:
the object detection submodule is used for detecting objects in the surrounding environment of the vehicle through environment sensing equipment arranged on the scissor car door in the process of opening or closing the scissor car door;
and the static obstacle memory sub-module is used for identifying the 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 stored obstacle information after the scissor door is completely opened or closed.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
The 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 method 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 described herein.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that 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 is 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, 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 apparatus 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 apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus 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. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
Finally, it is further noted that 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The above description of the method for processing obstacle information and a vehicle provided by the present invention has been presented in detail, and specific examples are applied herein to illustrate the principles and embodiments of the present invention, and the above examples are only used to help understand the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (8)
1. A method of processing obstacle information, characterized in that it is applied to a vehicle, the method comprising:
in the process of opening or closing the scissor door, the obstacle information in the surrounding environment of the vehicle is memorized through the environment sensing equipment arranged on the scissor door;
if the vehicle moves or is ready to move, clearing the stored barrier information in the process of opening or closing the scissor door;
if the vehicle moves, the step of clearing the stored barrier information in the process of opening or closing the scissor door comprises the following steps:
if the vehicle moves, determining whether the displacement of the vehicle is greater than a preset displacement threshold;
if the displacement of the vehicle is greater than a preset position threshold value, clearing the stored obstacle information in the process of opening or closing the scissor door;
and if the displacement of the vehicle is not greater than the preset position threshold value, redetermining the obstacle information in the surrounding environment of the vehicle based on the memorized obstacle information and the displacement of the vehicle.
2. The method according to claim 1, wherein 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.
3. The method of claim 1, wherein the step of memorizing the obstacle information in the surrounding environment of the vehicle through an environment sensing device provided on the scissor door during the opening or closing of the scissor door comprises:
in the process of opening or closing the scissor door, detecting objects in the surrounding environment of the vehicle through environment sensing equipment arranged on the scissor door;
based on the type of the object, identifying a static obstacle in the object and memorizing information of the static obstacle.
4. The method according to claim 1, wherein the method further comprises:
after the scissor door is opened or closed, the stored obstacle information is cleared.
5. 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 process of opening or closing the scissor door;
the first clearing module is used for clearing the stored obstacle information in the process of opening or closing the scissor door if the vehicle moves or is ready to move;
the first purge module includes:
the displacement determining submodule is used for determining whether the displacement of the vehicle is larger than a preset displacement threshold value or not if the vehicle moves;
the clearing sub-module is used for clearing the stored obstacle information in the process of opening or closing the scissor door if the displacement of the vehicle is larger than a preset position threshold value;
and the obstacle updating sub-module is used for re-determining the obstacle information in the surrounding environment of the vehicle based on the memorized obstacle information and the displacement of the vehicle if the displacement of the vehicle is not greater than the preset position threshold value.
6. The vehicle according to claim 5, characterized by 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.
7. 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 method of any of claims 1-4.
8. One or more machine readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform the method of any of claims 1-4.
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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 |
| 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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20150112542A1 (en) * | 2013-10-23 | 2015-04-23 | Xrs Corporation | Transportation event recorder for vehicle |
| EP3693530A1 (en) * | 2019-02-05 | 2020-08-12 | Volvo Car Corporation | Handling of remotely triggered operation of a vehicle door |
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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 |
| 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 |
| 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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