CN115450502A

CN115450502A - Vehicle door control method, device, equipment, storage medium and work vehicle

Info

Publication number: CN115450502A
Application number: CN202211216949.6A
Authority: CN
Inventors: 王梦伟
Original assignee: Sany Automobile Hoisting Machinery Co Ltd
Current assignee: Sany Automobile Hoisting Machinery Co Ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2022-12-09

Abstract

The invention relates to the technical field of vehicle control, in particular to a vehicle door control method, a vehicle door control device, vehicle door control equipment, a storage medium and a working vehicle. The method comprises the following steps: acquiring object types of a moving object, wherein the object types comprise a pedestrian, a non-motor vehicle and a motor vehicle; acquiring position information of a moving object under the condition that the moving object enters a preset detection area, wherein the preset detection area is an area preset according to the object type and a vehicle door of a working vehicle; and generating a vehicle door control instruction based on the position information and the object category, wherein the vehicle door control instruction is used for controlling the opening or closing of the lock catch of the vehicle door. The invention is used for solving the defect that the safety performance of an operation vehicle is reduced due to the fact that the control logic of the vehicle door is not strict in the prior art.

Description

Vehicle door control method, device, equipment, storage medium and work vehicle

Technical Field

The invention relates to the technical field of vehicle control, in particular to a vehicle door control method, a vehicle door control device, vehicle door control equipment, a storage medium and a working vehicle.

Background

At present, various working vehicles play an important role with the continuous improvement of the production and living standards of people. However, the increasing number of work vehicles has resulted in how to ensure the work safety of the vehicles, which is an important issue. Among them, door control of a work vehicle is an important issue. In the prior art, when the door of the working vehicle is controlled, camera shooting and projection technologies are often adopted, early warning information which is possibly collided is output by analyzing the position of a target object, and if collision risks exist, the door is locked, collision is avoided, and the safety of the vehicle is ensured. However, the technical key point of the method is the judgment of the position of the target object, and the control logic is not strict, so that the control effect of the vehicle door is poor, and the safety performance of the working vehicle is reduced.

Disclosure of Invention

The invention provides a vehicle door control method, a vehicle door control device, vehicle door control equipment, a storage medium and a working vehicle, which are used for solving the defect that the safety performance of the working vehicle is reduced due to the fact that the control logic of the vehicle door is not strict in the prior art.

The invention provides a vehicle door control method, which comprises the following steps: acquiring object categories of a moving object, wherein the object categories comprise pedestrians, non-motor vehicles and motor vehicles; acquiring position information of the moving object under the condition that the moving object enters a preset detection area, wherein the preset detection area is an area preset according to the object type and a vehicle door of a working vehicle; and generating a vehicle door control instruction based on the position information and the object type, wherein the vehicle door control instruction is used for controlling the opening or closing of the lock catch of the vehicle door.

According to a vehicle door control method provided by the present invention, the vehicle door includes a first side door and a second side door, the first side door and the second side door being positioned on both sides of the work vehicle; the acquiring the position information of the moving object under the condition that the moving object enters a preset detection area includes: when the moving object enters a first detection area and the second detection area does not have the moving object, taking the first detection area as a detection area to be processed; when the moving object enters a second detection area and the moving object does not exist in the first detection area, taking the second detection area as the area to be processed; acquiring the position information of the moving object in the area to be processed; or, in a case where a first moving object enters the first detection area and a second moving object enters the second detection area, acquiring location information of the first moving object within the first detection area and acquiring location information of the second moving object within the second detection area, wherein the first moving object is the moving object entering the first detection area and the second moving object is the moving object entering the second detection area; the first detection area is an area preset according to the first side vehicle door, and the second detection area is an area preset according to the second side vehicle door.

According to a door control method provided by the present invention, the object category is the pedestrian or the non-motor vehicle; the acquiring the position information of the moving object in the region to be processed includes: acquiring a first distance between the moving object in the area to be processed and a vehicle door on one side corresponding to the area to be processed, and starting a preset timer; under the condition that the first distance is larger than the first distance threshold value, when the timing duration of the timer reaches a first preset duration, acquiring a second distance between the moving object in the detection area to be processed and one side of the vehicle door corresponding to the detection area to be processed; generating a door control command based on the position information and the object type, wherein the generating comprises: calculating a first moving speed of the moving object based on the first distance, the second distance and the first preset time length; calculating a first estimated time length for the moving object to reach a vehicle door on one side corresponding to the to-be-processed area based on the first moving speed and the second distance; generating a vehicle door opening instruction under the condition that the first estimated time length is greater than a time length threshold, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door on the side corresponding to the area to be processed to open; and generating a vehicle door closing instruction under the condition that the first estimated time length is less than or equal to the time length threshold, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door on the side corresponding to the area to be processed to be closed.

According to a vehicle door control method provided by the present invention, the object category is the pedestrian or the non-motor vehicle; the acquiring the position information of the first moving object in the first detection area and the acquiring the position information of the second moving object in the second detection area includes: starting a preset timer, and simultaneously acquiring a third distance between the first moving object and the first side car door in the first detection area and acquiring a fourth distance between the second moving object and the second side car door in the second detection area; taking the third distance as a distance to be processed when the third distance is greater than a first distance threshold and the fourth distance is less than or equal to the first distance threshold; when the third distance is smaller than or equal to the first distance threshold and the fourth distance is larger than the first distance threshold, taking the fourth distance as the to-be-processed distance, wherein a vehicle door on one side corresponding to the to-be-processed distance is a to-be-processed vehicle door, and a moving object corresponding to the to-be-processed distance is a to-be-processed object; when the timing duration of the timer reaches a first preset duration, acquiring a fifth distance between the object to be processed and the vehicle door to be processed; generating a door control command based on the position information and the object type, wherein the generating comprises: calculating a second moving speed of the object to be processed based on the third distance, the fifth distance and the first preset time length; calculating a second estimated time length for the object to be processed to reach the vehicle door to be processed based on the second moving speed and the fifth distance; generating a vehicle door opening instruction under the condition that the second estimated duration is greater than a duration threshold, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door to be processed to open; and generating a vehicle door closing instruction under the condition that the second estimated time length is less than or equal to the time length threshold, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door to be processed to be closed.

According to a vehicle door control method provided by the present invention, after the starting a preset timer, and simultaneously acquiring a third distance between the first mobile object and the first side vehicle door in the first detection area, and acquiring a fourth distance between the second mobile object and the second side vehicle door in the second detection area, the method further includes: under the condition that the third distance is greater than a first distance threshold value and the fourth distance is greater than the first distance, when the timing duration of the timer reaches a first preset duration, acquiring a sixth distance between the first moving object and the first side door and acquiring a seventh distance between the second moving object and the second side door; generating a door control command based on the position information and the object type, comprising: calculating a third moving speed of the first moving object based on the third distance, the sixth distance and the first preset time length; calculating a fourth moving speed of the second moving object based on the fourth distance, the seventh distance and the first preset time length; calculating a third predicted time period for the first moving object to reach the first side door based on the third moving speed and the sixth distance; calculating a fourth predicted time period for the second moving object to reach the second side door based on the fourth moving speed and the seventh distance; generating a double-side door opening instruction under the condition that the third predicted time length is greater than a time length threshold value and the fourth predicted time length is greater than the time length threshold value, wherein the double-side door opening instruction is used for controlling the lock catches of the first side vehicle door and the second side vehicle door to be opened simultaneously; generating a first side door opening instruction under the condition that the third predicted time length is greater than the time length threshold value and the fourth predicted time length is less than or equal to the time length threshold value, wherein the first side door opening instruction is used for controlling the lock catch of the first side door to be opened and controlling the lock catch of the second side door to be closed; generating a second side door opening instruction under the condition that the third predicted time length is less than or equal to the time length threshold value and the fourth predicted time length is greater than the time length threshold value, wherein the second side door opening instruction is used for controlling the lock catch of the first side door to be closed and controlling the lock catch of the second side door to be opened; and generating a double-side door closing instruction under the condition that the third predicted time length is less than or equal to the time length threshold value and the fourth predicted time length is less than or equal to the time length threshold value, wherein the double-side door closing instruction is used for closing the lock catches of the first side door and the second side door.

According to a door control method provided by the present invention, the object category is the motor vehicle; the acquiring the position information of the moving object in the region to be processed includes: acquiring an eighth distance between the moving object in the area to be processed and a vehicle door on one side corresponding to the area to be processed, and starting a preset timer; under the condition that the eighth distance is greater than a second distance threshold value, when the timing duration of the timer reaches a second preset duration, acquiring a ninth distance between the moving object in the area to be processed and one side door corresponding to the area to be processed; generating a door control command based on the position information and the object type, wherein the generating comprises: generating a vehicle door opening instruction under the condition that the eighth distance is smaller than or equal to the ninth distance, wherein the vehicle door opening instruction is used for controlling the lock catch of one side of the vehicle door corresponding to the area to be processed to be opened; and generating a door closing instruction under the condition that the eighth distance is greater than the ninth distance, wherein the door closing instruction is used for controlling the locking and closing of the door on one side corresponding to the area to be processed.

According to a door control method provided by the present invention, the object category is the motor vehicle; the acquiring the position information of the first moving object in the first detection area and the acquiring the position information of the second moving object in the second detection area includes: starting a preset timer, and simultaneously acquiring a tenth distance between the first moving object and the first side vehicle door in the first detection area and acquiring an eleventh distance between the second moving object and the second side vehicle door in the second detection area; generating a door control command based on the position information and the object type, wherein the generating comprises: generating a double-side door closing instruction when the tenth distance is smaller than or equal to the second distance threshold and the eleventh distance is smaller than or equal to the second distance threshold, wherein the double-side door closing instruction is used for locking and closing the first side door and the second side door; if the tenth distance is greater than the second distance threshold and the eleventh distance is less than or equal to the second distance threshold, taking the tenth distance as a distance to be processed; when the tenth distance is smaller than or equal to the second distance threshold and the eleventh distance is larger than the second distance threshold, taking the eleventh distance as the to-be-processed distance, wherein a vehicle door on one side corresponding to the to-be-processed distance is a to-be-processed vehicle door, and a moving object corresponding to the to-be-processed distance is a to-be-processed object; when the timing duration of the timer reaches the second preset duration, acquiring a twelfth distance between the object to be processed and the vehicle door to be processed; generating a vehicle door opening instruction under the condition that the distance to be processed is smaller than or equal to the twelfth distance, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door to be processed to open; and generating a vehicle door closing instruction under the condition that the distance to be processed is greater than the twelfth distance, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door to be processed to be closed.

According to a vehicle door control method provided by the present invention, after the starting a preset timer, and simultaneously acquiring a tenth distance between the first mobile object and the first side vehicle door in the first detection area, and acquiring an eleventh distance between the second mobile object and the second side vehicle door in the second detection area, the method further includes: when the tenth distance is greater than the second distance threshold and the eleventh distance is greater than the second distance threshold, acquiring a thirteenth distance between the first mobile object and the first side door in the first detection area and a fourteenth distance between the second mobile object and the second side door in the second detection area when the timing duration of the timer reaches the second preset duration; generating a door control command based on the position information and the object type, comprising: under the condition that the tenth distance is smaller than or equal to the thirteenth distance and the eleventh distance is smaller than or equal to the fourteenth distance, generating a double-side door opening instruction, wherein the double-side door opening instruction is used for controlling the latches of the first side door and the second side door to be opened simultaneously; generating a first side door opening instruction under the condition that the tenth distance is less than or equal to the thirteenth distance and the eleventh distance is greater than a fourteenth distance, wherein the first side door opening instruction is used for controlling the lock catch of the first side door to be opened and controlling the lock catch of the second side door to be closed; generating a second side door opening instruction under the condition that the tenth distance is greater than the thirteenth distance and the eleventh distance is less than or equal to a fourteenth distance, wherein the second side door opening instruction is used for controlling the lock catch of the first side door to be closed and controlling the lock catch of the second side door to be opened; and generating a double-side door closing instruction under the condition that the tenth distance is greater than the thirteenth distance and the eleventh distance is greater than a fourteenth distance, wherein the double-side door closing instruction is used for controlling the locking closure of the first side door and the second side door.

The present invention also provides a vehicle door control device including: the system comprises a category acquisition module, a classification acquisition module and a classification analysis module, wherein the category acquisition module is used for acquiring object categories of moving objects, and the object categories comprise pedestrians, non-motor vehicles and motor vehicles; the position acquisition module is used for acquiring the position information of the moving object under the condition that the moving object enters a preset detection area, wherein the preset detection area is an area preset according to the object type and a vehicle door of the working vehicle; and the instruction generating module is used for generating a vehicle door control instruction based on the position information and the object type, wherein the vehicle door control instruction is used for controlling the opening or closing of the lock catch of the vehicle door.

The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the vehicle door control method.

The present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle door control method as in any one of the above.

The invention also provides a working vehicle, wherein the door of the working vehicle is controlled by the door control method.

The invention provides a vehicle door control method, a vehicle door control device, a vehicle door control apparatus, a vehicle door control storage medium and a working vehicle. The probability and consequences of collisions between moving objects of different object classes are different, for example, a pedestrian moves at a relatively slower speed than a motor vehicle, and the collision between the pedestrian and the motor vehicle directly threatens personal safety. Therefore, the vehicle door control instruction is generated based on the position information and the object type of the moving object, so that the logic of vehicle door control is more strict, and the vehicle door control effect and the safety performance of the vehicle are improved.

Drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic flow chart diagram of a vehicle door control method provided by the present invention;

FIG. 2 is an exemplary illustration of the detection region partitioning provided by the present invention;

FIG. 3 is a schematic flow chart of a method for controlling a vehicle door when a moving object is a pedestrian according to the present invention;

FIG. 4 is a schematic flow chart of a method for controlling a door of a non-motorized vehicle according to the present invention;

FIG. 5 is a schematic flow chart of a door control method for a vehicle when the mobile object is a motor vehicle according to the present invention;

FIG. 6 is a schematic structural diagram of a vehicle door control device provided by the present invention;

fig. 7 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The door control method provided by the present disclosure generates a door control command by detecting position information of a moving object near a work vehicle and an object type of the moving object. The method can be implemented by a software algorithm, which can be implemented in any device with processing function, such as a processor or a cloud server, and the device can also be integrated in a work vehicle. The vehicle door control method of the invention is described below with reference to fig. 1 to 5.

In one embodiment, as shown in fig. 1, the vehicle door control method implements the following steps:

step 101, obtaining object types of a moving object, wherein the object types comprise pedestrians, non-motor vehicles and motor vehicles.

In the present embodiment, the moving object refers to an object that gradually approaches the work vehicle. The object type of the moving object may be obtained by a millimeter wave radar or the like mounted on the work vehicle, and the moving object may be classified by the contour information. Specifically, the classification process may be implemented by a machine model obtained through pre-training. The working vehicle may be any one of a crane, an excavator, a mixer truck, and the like, and of course, may be applied to any one of a common household car, a bus, and the like.

In the present embodiment, the preset detection area is preset according to the object type and the door of the work vehicle. For example, as shown in fig. 2, square regions having a length of m meters and a width of n meters are provided for each door, respectively, according to the position of each door, respectively, on both sides of the work vehicle, where m is a positive number and n is a positive number. Further, the specific values of m and n may be set according to the object type of the moving object, for example, when the moving object is a pedestrian, the value of m is 5 meters (m) and the value of n is 2 meters according to actual conditions and experience.

And 102, acquiring the position information of the moving object under the condition that the moving object enters a preset detection area, wherein the preset detection area is an area preset according to the object type and the door of the working vehicle.

In this embodiment, after the moving object enters the preset detection area, the position information of the moving object may be detected by detecting devices such as an ultrasonic ranging sensor and a millimeter wave radar sensor, so as to realize the door control. The distance detection device may be installed according to the actual situation of the working vehicle, for example, when the working vehicle is a crane, the distance detection device should be installed at a position flush with or below the first step pedal of the crane in consideration of the fact that the crane frame is higher from the ground.

In one embodiment, the vehicle speed of the work vehicle is first determined before the position information of the mobile object is acquired in a case where the mobile object enters the preset detection area. When the speed of the work vehicle is greater than 0km/h, the working vehicle is indicated to be in driving, the lock catches of all the vehicle doors on the work vehicle are closed, and all the vehicle doors cannot be opened. When the speed of the working vehicle is equal to 0km/h, the working vehicle is in a static state, and at the moment, the method is started to control the opening or closing of the vehicle door lock catch, so that the opening or closing of the vehicle door is controlled.

And 103, generating a vehicle door control instruction based on the position information and the object type, wherein the vehicle door control instruction is used for controlling the opening or closing of the lock catch of the vehicle door.

In this embodiment, a door control command is generated in a targeted manner based on the position information of the moving object and the object type to control the opening and closing of the door lock. Therefore, the generation logic of the door opening control instruction is stricter, and the safety performance of the working vehicle is improved.

In one embodiment, the work vehicle doors are distributed on opposite sides of the work vehicle. The door is divided according to two sides, and the door comprises a first side door and a second side door, and the positions of the first side door and the second side door are arranged on two sides of the working vehicle. Meanwhile, the preset detection area is also divided into a first detection area and a second detection area, the first detection area is a preset area according to the first side vehicle door, and the second detection area is a preset area according to the second side vehicle door.

And under the condition that the moving object enters the preset detection area, acquiring the position information of the moving object, wherein the specific implementation process is as follows:

when the moving object enters the first detection area and the second detection area has no moving object, taking the first detection area as a detection area to be processed; when the moving object enters a second detection area and no moving object exists in the first detection area, taking the second detection area as a to-be-processed area; acquiring position information of a moving object in a region to be processed;

or, under the condition that the first moving object enters the first detection area and the second moving object enters the second detection area, acquiring the position information of the first moving object in the first detection area and acquiring the position information of the second moving object in the second detection area, wherein the first moving object is the moving object entering the first detection area, and the second moving object is the moving object entering the second detection area.

That is to say, when door control command generated, according to work vehicle one side have the moving object, still there is the moving object in both sides and control first side door and second side door respectively, make door control process accord with work vehicle's actual use scene more, promote work vehicle user's experience.

In one embodiment, the processing logic for the position information is different according to the object type of the moving object. When the object type of the moving object is detected to be a pedestrian or a non-motor vehicle and the moving object exists on one side of the working vehicle, acquiring the position information of the moving object in the area to be processed, wherein the implementation process comprises the following steps: acquiring a first distance between a moving object in a region to be processed and a vehicle door on one side corresponding to the region to be processed, and starting a preset timer; and under the condition that the first distance is greater than the first distance threshold value, when the timing duration of the timer reaches a first preset duration, acquiring a second distance between the moving object in the detection area to be processed and one side vehicle door corresponding to the detection area to be processed.

Based on the position information and the object type, generating a vehicle door control instruction, and realizing the following processes: calculating a first moving speed of the moving object based on the first distance, the second distance and the first preset time length; calculating a first estimated time length for the moving object to reach the vehicle door on the corresponding side of the region to be processed based on the first moving speed and the second distance; generating a vehicle door opening instruction under the condition that the first estimated time length is greater than a time length threshold, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door on the side corresponding to the area to be processed to be opened; and generating a vehicle door closing instruction under the condition that the first estimated time length is less than or equal to the time length threshold, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door on the side corresponding to the area to be processed to be closed.

In this embodiment, the first preset duration is a duration preset according to the object type, the specific value set in the detection area, and/or the specific value set in the first distance threshold, for example, when the moving object is a pedestrian, the first preset duration takes a value of 1 second(s); when the moving object is a non-motor vehicle, the first preset time length is 0.5 second. Further, the first preset duration is less than a duration threshold.

In one embodiment, when the object type of the moving object is a pedestrian or a non-motor vehicle and there are moving objects on both sides of the working vehicle, the position information of the first moving object in the first detection area is obtained, and the position information of the second moving object in the second detection area is obtained, which is implemented as follows: starting a preset timer, and simultaneously acquiring a third distance between a first moving object and a first side car door in a first detection area and a fourth distance between a second moving object and a second side car door in a second detection area; taking the third distance as the distance to be processed under the condition that the third distance is greater than the first distance threshold and the fourth distance is less than or equal to the first distance threshold; taking the fourth distance as a to-be-processed distance under the condition that the third distance is smaller than or equal to the first distance threshold and the fourth distance is larger than the first distance threshold, wherein the vehicle door on the side corresponding to the to-be-processed distance is a to-be-processed vehicle door, and the moving object corresponding to the to-be-processed distance is a to-be-processed object; and when the timing duration of the timer reaches a first preset duration, acquiring a fifth distance between the object to be processed and the vehicle door to be processed.

Generating a vehicle door control instruction based on the position information and the object type, wherein the implementation process comprises the following steps: calculating a second moving speed of the object to be processed based on the third distance, the fifth distance and the first preset time length; calculating a second estimated time length for the object to be processed to reach the vehicle door to be processed based on the second moving speed and the fifth distance; generating a vehicle door opening instruction under the condition that the second estimated time length is greater than the time length threshold value, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door to be processed to be opened; and generating a vehicle door closing instruction under the condition that the second estimated time length is less than or equal to the time length threshold, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door to be processed to be closed.

In one embodiment, after the preset timer is started, a third distance between the first moving object and the first side door in the first detection area is acquired, and a fourth distance between the second moving object and the second side door in the second detection area is acquired, when the third distance is greater than the first distance threshold and the fourth distance is greater than the first distance, a sixth distance between the first moving object and the first side door is acquired and a seventh distance between the second moving object and the second side door is acquired when the timing duration of the timer reaches the first preset duration.

Generating a vehicle door control instruction based on the position information and the object type, wherein the implementation process comprises the following steps: calculating a third moving speed of the first moving object based on the third distance, the sixth distance and the first preset time length; calculating a fourth moving speed of the second moving object based on the fourth distance, the seventh distance and the first preset time length; calculating a third predicted time period for the first moving object to reach the first side door based on the third moving speed and the sixth distance; calculating a fourth predicted time period for the second moving object to reach the second side door based on the fourth moving speed and the seventh distance; generating a double-side door opening instruction under the condition that the third predicted time length is greater than a time length threshold value and the fourth predicted time length is greater than the time length threshold value, wherein the double-side door opening instruction is used for controlling the lock catches of the first side door and the second side door to be opened simultaneously; generating a first side door opening instruction under the condition that the third predicted time length is greater than the time length threshold value and the fourth predicted time length is less than or equal to the time length threshold value, wherein the first side door opening instruction is used for controlling the lock catch of the first side door to be opened and controlling the lock catch of the second side door to be closed; generating a second side door opening instruction under the condition that the third predicted time length is less than or equal to the time length threshold value and the fourth predicted time length is greater than the time length threshold value, wherein the second side door opening instruction is used for controlling the lock catch of the first side door to be closed and controlling the lock catch of the second side door to be opened; and under the condition that the third predicted duration is less than or equal to the duration threshold and the fourth predicted duration is less than or equal to the duration threshold, generating a double-side door closing instruction, wherein the double-side door closing instruction is used for closing the lock catches of the first side door and the second side door.

Based on the above embodiment, when the moving object is a pedestrian, as shown in fig. 3, the implementation logic of the door control is as follows:

step 301, detecting a vehicle speed V of a work vehicle;

step 302, judging whether the vehicle speed V is 0km/h, if not, executing step 303, and if so, executing step 304;

step 303, closing the lock catches of the first side vehicle door and the second side vehicle door, and enabling the first side vehicle door and the second side vehicle door not to be opened;

step 304, respectively detecting whether pedestrians exist on both sides (a first detection area or a second detection area, specifically, each door corresponds to a square area with a length of m meters and a width of n meters) of the working vehicle, and if there is no pedestrian on both sides, executing step 305; if a pedestrian exists on one side, namely the pedestrian enters the first detection area, and no pedestrian exists in the second detection area, taking the first detection area as a to-be-processed area; or, the pedestrian enters the second detection area, and no pedestrian exists in the first detection area, the second detection area is taken as the area to be processed, and step 306 is executed; if there are pedestrians on both sides, that is, the first pedestrian enters the first detection area and the second pedestrian enters the second detection area, go to step 314;

the first pedestrian is a pedestrian entering the first detection area, and the second pedestrian is a pedestrian entering the second detection area;

step 305, unlocking a lock catch of a side vehicle door (a first side vehicle door or a second side vehicle door) which needs to be opened by a driver, triggering an alarm lamp outside the vehicle door to be on, and prompting warning information that the side vehicle door is opened cautiously by voice in a cab;

step 306, acquiring a distance S1 between a pedestrian in the area to be processed and a vehicle door on one side corresponding to the area to be processed, and starting a preset timer;

wherein, the distance S1 refers to a first distance when the moving object is a pedestrian;

step 307, judging whether the S1 is larger than a distance threshold value L1, if not, executing step 308, and if so, executing step 309;

wherein, the distance threshold L1 refers to a first distance threshold when the moving object is a pedestrian;

step 308, generating a door closing instruction, wherein the door closing instruction is used for controlling the lock catch of the door on one side corresponding to the region to be processed to be closed and prompting to open the door on the other side, and specifically, a voice prompt in the cab suggests to open the door on the other side;

resetting the counter to zero while generating a vehicle door closing instruction;

step 309, when the timing duration of the timer reaches a preset duration t1, acquiring a distance S2 between a pedestrian in the detection area to be processed and a vehicle door on one side corresponding to the area to be processed;

meanwhile, when the timing duration of the timer reaches a preset duration t1, resetting the counter to be zero; the distance S2 refers to a second distance when the moving object is a pedestrian;

step 310, calculating the moving speed V1, V1= (S1-S2)/t 1 of the pedestrian in the detection area to be processed;

wherein the moving speed V1 refers to a first moving speed when the moving object is a pedestrian;

step 311, calculating the estimated time length t11 when the pedestrian reaches the door on one side corresponding to the region to be processed in the detection region to be processed, wherein t11= S2/V1;

the estimated time length t11 refers to a first estimated time length when the moving object is a pedestrian;

step 312, determining whether t11 is greater than the duration threshold, if yes, executing step 313, otherwise, executing step 308;

when the moving object is a pedestrian, the time length threshold determines a specific numerical value according to the characteristics of the movement of the pedestrian, specifically, the time length threshold when the moving object is the pedestrian is equal to the sum of the door opening time t0 of the vehicle-mounted personnel and the walking reaction time tz of the personnel, namely: the time period threshold when the moving object is a pedestrian = (t 0+ tz).

Step 313, generating a vehicle door opening instruction, wherein the vehicle door opening instruction is used for controlling the lock catch of the side vehicle door to open, and simultaneously, the voice in the cab prompts that the side vehicle door is carefully opened;

step 314, acquiring a distance S3 between a first pedestrian and a first side door in the first detection area; acquiring a distance S4 between a second pedestrian and a second side car door in a second detection area;

here, the distance S3 refers to a third distance when the moving object is a pedestrian, and the distance S4 refers to a fourth distance when the moving object is a pedestrian. When the distance is acquired, specifically, the closest distance between the pedestrian and the vehicle door is acquired.

Step 315, respectively determining whether S3 and S4 are greater than the distance threshold L1, if S3 is greater than L1 and S4 is less than or equal to L1, or if S3 is less than or equal to L1 and S4 is greater than or equal to L1, executing step 316; if S3 is less than or equal to L1 and S4 is less than or equal to L1, executing step 330; if S3 > L1 and S4 > L1, go to step 323;

the distance threshold L1 refers to a first distance threshold when the moving object is a pedestrian;

step 316, if S3 is greater than L1 and S4 is less than or equal to L1, taking S3 as the distance to be processed; if S3 is less than or equal to L1 and S4 is greater than L1, taking S4 as a distance to be processed, wherein the vehicle door on the side corresponding to the distance to be processed is a vehicle door to be processed, and the moving object corresponding to the distance to be processed is a pedestrian to be processed; the door on the side less than or equal to L1 m is closed, and the control logic of the door to be processed executes the step 317;

step 317, when the timing duration of the timer reaches a preset duration t1, acquiring a distance S5 between the pedestrian to be processed and the vehicle door to be processed;

meanwhile, when the timing duration of the timer reaches a preset duration t1, resetting the counter to be zero; wherein, the distance S5 refers to a fifth distance when the moving object is a pedestrian;

step 318, calculating the moving speed V2, V2= (max [ S3, S4] -S5)/t 1 of the pedestrian to be processed;

wherein max represents the maximum value, and the distance to be processed is determined through max [ S3, S4 ]; the moving speed V2 is a second moving speed when the moving object is a pedestrian;

step 319, calculating the estimated time length t22 for the pedestrian to be processed to reach the vehicle door to be processed, wherein t22= S5/V2;

the estimated time length t22 refers to a second estimated time length when the moving object is a pedestrian;

step 320, determining whether t22 is greater than a duration threshold (i.e., t0+ tz), if yes, executing step 321, and if not, executing step 322;

step 321, generating a vehicle door opening instruction, wherein the vehicle door opening instruction is used for controlling the lock catch of a vehicle door to be processed (a first side vehicle door when S3 is greater than L1 and S4 is less than or equal to L1, and a second side vehicle door when S3 is less than or equal to L1 and S4 is greater than L1) to be opened, and meanwhile, an alarm lamp outside the side vehicle door is on, and the driver cab prompts that the side vehicle door is carefully opened by voice;

step 322, generating a door closing instruction, wherein the door closing instruction is used for controlling the lock catch of a door to be processed (a first side door when S3 is greater than L1 and S4 is less than or equal to L1, and a second side door when S3 is less than or equal to L1 and S4 is greater than L1) to be closed, and the door opening danger is prompted by voice in a cab, and meanwhile, alarm lamps outside the doors on two sides are on;

step 323, when the timing duration of the timer reaches a preset duration t1, acquiring a distance S6 between a first pedestrian and a first side vehicle door, and acquiring a distance S7 between a second pedestrian and a second side vehicle door;

wherein, the distance S6 refers to a sixth distance when the moving object is a pedestrian; the distance S7 refers to a seventh distance when the moving object is a pedestrian;

step 324, calculating a moving speed V3, V3= (S3-S6)/t 1 of the first pedestrian; calculating a moving speed V4, V4= (S4-S7)/t 1 of the second pedestrian;

wherein the moving speed V3 refers to a third moving speed when the moving object is a pedestrian; the moving speed V4 refers to a fourth moving speed when the moving object is a pedestrian;

step 325, calculating the predicted time length t33= S6/V3 for the first pedestrian to reach the first side door; calculating the predicted time length t44= S7/V4 of the second pedestrian reaching the second side door;

the estimated time length t33 refers to a third estimated time length when the moving object is a pedestrian; the estimated time period t44 is a fourth estimated time period when the moving object is a pedestrian;

step 326, respectively determining whether t33 and t44 are greater than a duration threshold (i.e., t0+ tz), and if t33 is greater than t0+ tz and t44 is greater than t0+ tz, executing step 327; if t33 is greater than t0+ tz and t44 is less than or equal to t0+ tz, go to step 328; if t33 is less than or equal to t0+ tz and t44 is greater than t0+ tz, execute step 329; if t33 is less than or equal to t0+ tz and t44 is less than or equal to t0+ tz, executing step 330;

step 327, generating a two-side door opening instruction, wherein the two-side door opening instruction is used for controlling the latches of the first side door and the second side door to be opened simultaneously, and the voice prompt in the cab is used for cautiously opening;

step 328, generating a first side door opening instruction, wherein the first side door opening instruction is used for controlling the latch of the first side door to open and controlling the latch of the second side door to close, and the voice in the cab prompts that the first side door is carefully opened and the alarm lamps outside the two side doors are on;

step 329, generating a second side door opening instruction, wherein the second side door opening instruction is used for controlling the lock catch of the first side door to be closed and controlling the lock catch of the second side door to be opened, and the voice in the cab prompts that the second side door is carefully opened and the alarm lamps outside the two side doors are on;

and step 330, generating a double-side door closing instruction, wherein the double-side closing instruction is used for closing the lock catches of the first side door and the second side door, the voice prompt in the cab is used for opening the door dangers, and the alarm lamps outside the two side doors are turned on.

In this embodiment, when the moving object is a pedestrian, the above-mentioned parameter values may be determined according to experience or experimental data, for example, the parameter values take the recommended values shown in table 1 below:

TABLE 1 pedestrian Warning calibration values

Calibrating parameters	Recommended value
		m	5m
n	2m
		L1	2m
t1	1s
		t0	0.6s
tz	0.4s

Based on the above embodiment, when the moving object is a non-motor vehicle, as shown in fig. 4, the logic for implementing the door control is as follows:

step 401, detecting a vehicle speed V of a working vehicle;

step 402, judging whether the vehicle speed V is 0km/h, if not, executing step 403, and if so, executing step 404;

step 403, closing the lock catches of the first side vehicle door and the second side vehicle door, and enabling the first side vehicle door and the second side vehicle door not to be opened;

step 404, respectively detecting whether non-motor vehicles are arranged on two sides (a first detection area or a second detection area, specifically, each door corresponds to a square area with the length of a meter and the width of b meters) of the working vehicle, and if no non-motor vehicle is arranged on the two sides, executing step 405; if a non-motor vehicle exists on one side, namely the non-motor vehicle enters a first detection area, and no non-motor vehicle exists in a second detection area, taking the first detection area as a to-be-processed area; or, the non-motor vehicle enters a second detection area, and no non-motor vehicle exists in the first detection area, and the second detection area is taken as a to-be-processed area, and step 406 is executed; if there are non-motor vehicles on both sides, i.e. the first non-motor vehicle enters the first detection area and the second non-motor vehicle enters the second detection area, go to step 414;

the first non-motor vehicle is a non-motor vehicle which can enter a first detection area, and the second non-motor vehicle is a non-motor vehicle which can enter a second detection area;

step 405, unlocking a lock catch of a side vehicle door (a first side vehicle door or a second side vehicle door) which needs to be opened by a driver, triggering an alarm lamp outside the vehicle door to be on, and prompting warning information that the side vehicle door is opened cautiously by voice in a cab;

step 406, acquiring a distance S8 between the non-motor vehicle in the area to be processed and a side door corresponding to the area to be processed, and starting a preset timer;

wherein, the distance S8 refers to a first distance when the moving object is a non-motor vehicle;

step 407, determining whether S8 is greater than the distance threshold L2, if not, performing step 408, and if so, performing step 409;

wherein the distance threshold L1 refers to a first distance threshold when the moving object is a non-motor vehicle;

step 408, generating a vehicle door closing instruction, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door on one side corresponding to the region to be processed to be closed and prompting to open the vehicle door on the other side, and specifically, a voice prompt in the cab suggests to open the vehicle door on the other side;

step 409, when the timing duration of the timer reaches a preset duration t2, acquiring a distance S9 between the non-motor vehicle in the side detection area and the side door;

meanwhile, when the timing duration of the timer reaches a preset duration t2, resetting the counter to be zero; distance S9 refers to a second distance when the moving object is a non-motorized vehicle;

step 410, calculating the moving speed V5, V5= (S8-S9)/t 2 of the non-motor vehicle in the detection area to be processed;

the moving speed V5 refers to a first moving speed when the moving object is a non-motor vehicle;

step 411, calculating estimated time t55 when the non-motor vehicle reaches the side door in the side detection area, wherein t55= S9/V5;

the estimated time period t55 refers to a first estimated time period when the moving object is a non-motor vehicle;

step 412, determining whether t55 is greater than the duration threshold, if yes, executing step 413, otherwise, executing step 408;

when the moving object is a non-motor vehicle, the time length threshold value determines a specific numerical value according to the movement characteristic of the non-motor vehicle, specifically, the time length threshold value when the moving object is the non-motor vehicle is equal to the sum of the door opening time t0 of personnel on the vehicle and the reaction time tg of the personnel driving the non-motor vehicle, namely: the time length threshold when the moving object is a pedestrian = (t 0+ tg).

Step 413, generating a vehicle door opening instruction, wherein the vehicle door opening instruction is used for controlling the lock catch of the side vehicle door to open, and meanwhile, the voice in the cab prompts that the side vehicle door is carefully opened;

step 414, acquiring a distance S10 between a first non-motor vehicle and a first side door in a first detection area; acquiring a distance S11 between a second non-motor vehicle and a second side door in a second detection area;

wherein, the distance S10 refers to a third distance when the moving object is a non-motor vehicle, and the distance S11 refers to a fourth distance when the moving object is a non-motor vehicle pedestrian. When the distance is acquired, specifically, the closest distance between the non-motor vehicle and the door is acquired.

Step 415, respectively judging whether S10 and S11 are larger than a distance threshold value L2; if S10 is greater than L2 and S11 is not greater than L2, or if S10 is not greater than L2 and S11 is greater than L2, go to step 416; if S10 is not less than L2 and S11 is not less than L2, go to step 430; if S10 > L2 and S11 > L2, go to step 423;

the distance threshold L2 refers to a first distance threshold when the moving object is a non-motor vehicle;

step 416, if S10 is greater than L2 and S11 is less than or equal to L2, taking S10 as the distance to be processed; if S10 is less than or equal to L2 and S11 is greater than L2, taking S11 as a to-be-processed distance, wherein the vehicle door on the side corresponding to the to-be-processed distance is the to-be-processed vehicle door, and the moving object corresponding to the to-be-processed distance is the to-be-processed non-motor vehicle; the door at one side less than or equal to L2 m is closed, and the control logic of the door to be processed executes step 417;

step 417, when the timing duration of the timer reaches a preset duration t2, acquiring a distance S12 between the pedestrian to be processed and the vehicle door to be processed;

meanwhile, when the timing duration of the timer reaches a preset duration t2, resetting the counter to be zero; wherein, the distance S12 refers to a fifth distance when the moving object is a pedestrian;

step 418, calculating the moving speed V6, V6= (max [ S10, S11] -S12)/t 2 of the non-motor vehicle to be processed;

wherein max represents the maximum value, and the distance to be processed is determined through max [ S10, S11 ]; the moving speed V6 is a second moving speed when the moving object is a non-motor vehicle;

step 419, calculating the estimated time t66= S12/V6 for the non-motor vehicle to reach the door to be processed;

the estimated time period t66 refers to a second estimated time period when the moving object is a non-motor vehicle;

step 420, determining whether t66 is greater than a duration threshold (i.e., t0+ tg), if yes, executing step 421, and if no, executing step 422;

step 421, generating a door opening instruction, wherein the door opening instruction is used for controlling the lock catch of a door to be processed (a first side door when S10 is greater than L2 and S11 is less than or equal to L2, and a second side door when S10 is less than or equal to L2 and S11 is greater than L2) to be opened, and meanwhile, an alarm lamp outside the side door is on, and the driver cab prompts that the side door is carefully opened by voice;

step 422, generating a vehicle door closing instruction, wherein the vehicle door closing instruction is used for controlling the lock catch of a vehicle door to be processed (the vehicle door is a first side vehicle door when S10 is greater than L2 and S11 is less than or equal to L2, and the vehicle door is a second side vehicle door when S10 is less than or equal to L2 and S11 is greater than L2) to be closed, and the vehicle door is opened dangerously through voice prompt in a cab and simultaneously the external alarm lamps of the vehicle doors at the two sides are on;

step 423, when the timing duration of the timer reaches a preset duration t2, acquiring a distance S13 between the first non-motor vehicle and the first side door, and acquiring a distance S14 between the second non-motor vehicle and the second side door;

wherein the distance S13 refers to a sixth distance when the moving object is a non-motor vehicle; distance S14 refers to a seventh distance when the moving object is a non-motorized vehicle;

step 424, calculating a moving speed V7= (S10-S13)/t 2 of the first non-motor vehicle; calculating a moving speed V8= (S11-S14)/t 2 of the second non-motor vehicle;

wherein the moving speed V7 refers to a third moving speed when the moving object is a non-motor vehicle; the moving speed V8 refers to a fourth moving speed when the moving object is a non-motor vehicle;

step 425, calculating a third predicted time length t77= S13/V7 for the first non-motor vehicle to reach the first side door; calculating a fourth predicted time period t88= S14/V8 for the second non-motor vehicle to reach the second side door;

wherein the estimated time period t77 refers to a third estimated time period when the moving object is a non-motor vehicle; the estimated time period t88 is a fourth estimated time period when the moving object is a non-motor vehicle;

step 426, respectively determining whether t77 and t88 are greater than the duration threshold (i.e., t0+ tg), and if t77 > t0+ tg and t88 > t0+ tg, executing step 427; if t77 > t0+ tg and t88 ≦ t0+ tg, perform step 428; if t77 is less than or equal to t0+ tg and t88 is greater than t0+ tg, go to step 429; if t77 is less than or equal to t0+ tg and t88 is less than or equal to t0+ tg, go to step 430;

step 427, generating a double-side door opening instruction, wherein the double-side door opening instruction is used for controlling the lock catches of the first side door and the second side door to be opened simultaneously, and the voice prompt in the cab is used for cautiously opening;

step 428, generating a first side door opening instruction, wherein the first side door opening instruction is used for controlling the lock catch of the first side door to open and controlling the lock catch of the second side door to close, and the voice in the cab prompts that the first side door is carefully opened and the alarm lamps outside the two side doors are on;

step 429, generating a second side door opening instruction, wherein the second side door opening instruction is used for controlling the lock catch of the first side door to be closed and controlling the lock catch of the second side door to be opened, the voice in the cab prompts that the second side door is carefully opened, and the alarm lamps outside the two side doors are on;

and step 430, generating a double-side door closing instruction, wherein the double-side closing instruction is used for closing the lock catches of the first side door and the second side door, the voice prompt in the cab is used for opening the door dangers, and the alarm lamps outside the two side doors are turned on.

In this embodiment, when the moving object is a non-motor vehicle, the above-mentioned parameter values may be determined according to experience or experimental data, for example, the parameter values take the recommended values shown in table 2 below:

TABLE 2 Warning and calibrating values for non-motor vehicles

Calibrating parameters	Recommended value
		a	7m
b	2.5m
		L2	3m
t2	0.5s
		tg	0.6s

In one embodiment, when the object type is a motor vehicle, the position information of the moving object in the area to be processed is obtained, and the implementation process is as follows: acquiring an eighth distance between a moving object in the area to be processed and a vehicle door on one side corresponding to the area to be processed, and starting a preset timer; under the condition that the eighth distance is greater than the second distance threshold value, when the timing duration of the timer reaches a second preset duration, acquiring a ninth distance between a moving object in the area to be processed and one side door corresponding to the area to be processed;

based on the position information and the object type, generating a vehicle door control instruction, and realizing the following processes: under the condition that the eighth distance is smaller than or equal to the ninth distance, generating a vehicle door opening instruction, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door on one side corresponding to the area to be processed to be opened; and under the condition that the eighth distance is greater than the ninth distance, generating a door closing instruction, wherein the door closing instruction is used for controlling the locking buckle of the door on one side corresponding to the area to be processed to be closed.

In this embodiment, the second preset duration is a duration preset according to the object type, the specific value set in the detection area, and/or the specific value set in the second distance threshold, for example, when the moving object is a motor vehicle, the first preset duration takes a value of 0.3 seconds(s).

In one embodiment, when the object type is a motor vehicle, the position information of a first moving object in a first detection area and the position information of a second moving object in a second detection area are obtained, and the implementation process is as follows: starting a preset timer, and simultaneously acquiring a tenth distance between a first moving object in the first detection area and the first side car door and acquiring an eleventh distance between a second moving object in the second detection area and the second side car door;

generating a vehicle door control instruction based on the position information and the object type, wherein the implementation process comprises the following steps: under the condition that the tenth distance is smaller than or equal to the second distance threshold value and the eleventh distance is smaller than or equal to the second distance threshold value, generating a double-side door closing instruction, wherein the double-side door closing instruction is used for closing the lock catches of the first side door and the second side door; taking the tenth distance as the distance to be processed under the condition that the tenth distance is greater than the second distance threshold and the eleventh distance is less than or equal to the second distance threshold; when the tenth distance is smaller than or equal to the second distance threshold and the eleventh distance is larger than the second distance threshold, taking the eleventh distance as a to-be-processed distance, wherein the vehicle door on the side corresponding to the to-be-processed distance is a to-be-processed vehicle door, and the moving object corresponding to the to-be-processed distance is a to-be-processed object; when the timing duration of the timer reaches a second preset duration, acquiring a twelfth distance between the object to be processed and the vehicle door to be processed; generating a vehicle door opening instruction under the condition that the distance to be processed is less than or equal to the twelfth distance, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door to be processed to be opened; and generating a door closing instruction under the condition that the distance to be processed is greater than the twelfth distance, wherein the door closing instruction is used for controlling the lock catch of the door to be processed to be closed.

In one embodiment, after a preset timer is started, a tenth distance between the first moving object and the first side door in the first detection area is acquired, and an eleventh distance between the second moving object and the second side door in the second detection area is acquired, when the tenth distance is greater than a second distance threshold and the eleventh distance is greater than the second distance threshold, a twelfth distance between the first moving object and the first side door in the first detection area and a thirteenth distance between the second moving object and the second side door in the second detection area are acquired when the timing duration of the timer reaches a second preset duration;

generating a vehicle door control instruction based on the position information and the object type, wherein the implementation process comprises the following steps: under the condition that the tenth distance is less than or equal to the twelfth distance and the eleventh distance is less than or equal to the thirteenth distance, generating a double-side door opening instruction, wherein the double-side door opening instruction is used for controlling the lock catches of the first side door and the second side door to be opened simultaneously; under the condition that the tenth distance is smaller than or equal to the twelfth distance and the eleventh distance is larger than the thirteenth distance, generating a first side door opening instruction, wherein the first side door opening instruction is used for controlling the lock catch of the first side door to be opened and controlling the lock catch of the second side door to be closed; generating a second side door opening instruction under the condition that the tenth distance is greater than the twelfth distance and the eleventh distance is less than or equal to the thirteenth distance, wherein the second side door opening instruction is used for controlling the lock catch of the first side door to be closed and controlling the lock catch of the second side door to be opened; and generating a double-side door closing instruction under the condition that the tenth distance is greater than the twelfth distance and the eleventh distance is greater than the thirteenth distance, wherein the double-side door closing instruction is used for controlling the locking catches of the first side door and the second side door to close.

Based on the above embodiment, when the moving object is a motor vehicle, as shown in fig. 5, the implementation logic of the door control is as follows:

step 501, detecting the speed V of the working vehicle;

step 502, judging whether the vehicle speed V is 0km/h, if not, executing step 503, and if so, executing step 504;

step 503, closing the lock catches of the first side vehicle door and the second side vehicle door, and enabling the first side vehicle door and the second side vehicle door not to be opened;

step 504, respectively detecting whether two sides (a first detection area or a second detection area, specifically, each door respectively corresponds to a square area with the length of e meters and the width of f meters) of the working vehicle have a motor vehicle, and if no motor vehicle exists on the two sides, executing step 505; if a motor vehicle exists on one side, namely the motor vehicle enters a first detection area, and no motor vehicle exists in a second detection area, taking the first detection area as a to-be-processed area; or, the motor vehicle enters a second detection area, no motor vehicle exists in the first detection area, the second detection area is used as a to-be-processed area, and step 506 is executed; if there are motor vehicles on both sides, i.e. the first motor vehicle enters the first detection area and the second motor vehicle enters the second detection area, go to step 512;

the first motor vehicle is a motor vehicle entering a first detection area, and the second motor vehicle is a motor vehicle entering a second detection area;

step 505, unlocking a lock catch of a side vehicle door (a first side vehicle door or a second side vehicle door) which needs to be opened by a driver, triggering an alarm lamp outside the vehicle door to be on, and prompting warning information that the side vehicle door is opened cautiously by voice in a cab;

step 506, acquiring a distance S15 (eighth distance) between the motor vehicle in the area to be processed and a side door corresponding to the area to be processed, and starting a preset timer;

step 507, determining whether S15 is greater than a distance threshold L3 (a second distance threshold), if not, executing step 508, and if so, executing step 509;

step 508, generating a vehicle door closing instruction, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door on one side corresponding to the region to be processed to be closed and prompting to open the vehicle door on the other side, and specifically, a voice prompt in the cab suggests to open the vehicle door on the other side;

step 509, when the timing duration of the timer reaches a preset duration t3 (a second preset duration), acquiring a distance S16 (a ninth distance) between the vehicle in the area to be processed and one side door corresponding to the area to be processed;

meanwhile, when the timing duration of the timer reaches a preset duration t3, resetting the counter to be zero;

step 510, determining whether S15 is greater than S16, if so, executing step 508, otherwise, executing step 511;

step 511, generating a vehicle door opening instruction, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door on one side corresponding to the region to be processed to open;

step 512, acquiring a distance S17 (tenth distance) between the first motor vehicle and the first side door in the first detection area; acquiring a distance S18 (eleventh distance) between the second motor vehicle and the second side door in the second detection area;

when the distance is acquired, specifically, the closest distance between the motor vehicle and the door is acquired.

Step 513, respectively determining whether S17 and S18 are greater than the distance threshold L3 (second distance threshold), if S17 is less than or equal to L3 and S18 is greater than L3, or S18 is less than or equal to L3 and S17 is greater than L3, executing step 514; if S17 is less than or equal to L3 and S18 is less than or equal to L3, go to step 523; if S17 > L3 and S18 > L3, go to step 519;

step 514, if S17 is less than or equal to L3 and S18 is greater than L3, taking S18 as the distance to be processed; if S18 is less than or equal to L3 and S17 is greater than L3, taking S17 as a to-be-processed distance, wherein the vehicle door on the side corresponding to the to-be-processed distance is the to-be-processed vehicle door, and the moving object corresponding to the to-be-processed distance is the to-be-processed motor vehicle; the door on the side less than or equal to L3 m is closed, and the control logic of the door to be processed executes step 515;

step 515, when the timing duration of the timer reaches a preset duration t3, acquiring a distance S19 (twelfth distance) between the side vehicle and the side door;

step 516, determining whether the distance to be processed is greater than S19, if so, executing step 517, and if not, executing step 518;

step 517, generating a vehicle door closing instruction, wherein the vehicle door closing instruction is used for controlling the lock catch of the side vehicle door to be closed, meanwhile, the alarm lamps outside the vehicle doors on the two sides are turned on, and the driver cab is subjected to voice prompt for door opening danger;

step 518, generating a vehicle door opening instruction, wherein the vehicle door opening instruction is used for controlling the lock catch of the first side vehicle door to open, and the voice prompt in the cab carefully opens the door;

step 519, when the timing duration of the timer reaches a preset duration t3, acquiring a distance S20 (a thirteenth distance) between the first motor vehicle and the first side door in the first detection area and a distance S21 (a fourteenth distance) between the second motor vehicle and the second side door in the second detection area;

step 520, determining whether S17 is greater than S20 and S18 is greater than S21, if S17 is greater than S20 and S18 is less than or equal to S21, executing step 521; if S17 is less than or equal to S20 and S18 is greater than S21, go to step 522; if S17 > S20 and S18 > S21, go to step 523; if S17 is not greater than S20 and S18 is not greater than S21, go to step 524;

step 521, generating a second side door opening instruction, wherein the second side door opening instruction is used for controlling the lock catch of the second side door to open and controlling the lock catch of the first side door to close;

s17 is greater than S20 and S18 is less than or equal to S21, the fact that the first motor vehicle in the first detection area where S17 and S20 are located runs towards the first side vehicle door is explained, the second motor vehicle in the second detection area where S18 and S21 are located runs towards the direction far away from the second side vehicle door is explained, at the moment, the lock catch of the first side vehicle door is tightly closed, the lock catch of the second side vehicle door is opened, voice prompt in a cab suggests to open the second side vehicle door, and an external alarm lamp of the second side vehicle door which suggests to be opened is on.

Step 522, generating a first side door opening instruction, wherein the first side door opening instruction is used for controlling the lock catch of the first side door to open and controlling the lock catch of the second side door to close;

s17 is less than or equal to S20, S18 is greater than S21, the second motor vehicle in the second detection area where S18 and S21 are located runs towards the second side door, the first motor vehicle in the first detection area where S17 and S20 are located runs towards the direction far away from the first side door, the lock catch of the second side door is tightly closed, the lock catch of the first side door is opened, voice prompt in a cab suggests to open the first side door, and an external alarm lamp of the first side door which suggests to be opened is on.

Step 523, generating a double-side door closing instruction, where the double-side closing instruction is used to control the latches of the first side door and the second side door to close;

s17 is greater than S20 and S18 is greater than S21, the motor vehicles outside the two side doors all run towards the door direction, at the moment, the lock catches of the two side doors are closed, meanwhile, alarm lamps outside the two side doors are on, and the driver cab is in danger of opening the door through voice prompt.

Step 524, generating a double-side door opening instruction, wherein the double-side door opening instruction is used for controlling the latches of the first side door and the second side door to be opened simultaneously;

s17 is less than or equal to S20, and S18 is less than or equal to S21, which shows that the motor vehicles outside the doors on the two sides are towards the direction far away from the doors, the lock catches on the doors on the two sides are tested to be opened, so that people in the vehicle can get off through the doors on any side, and meanwhile, the driver cab is prompted to open the door carefully.

In this embodiment, when the moving object is a motor vehicle, the above-mentioned parameter values may be determined according to experience or experimental data, for example, the parameter values take the recommended values shown in table 3 below:

TABLE 3 Warning calibration value for motor vehicle

In the above embodiment, the first preset time duration and the second preset time duration are different time durations preset according to needs and actual situations. The first distance, the second distance, the third distance, the fourth distance, the fifth distance, the sixth distance, the seventh distance, the eighth distance, the ninth distance, the tenth distance, the eleventh distance, the twelfth distance, the thirteenth distance and the fourteenth distance represent different detected distance values, and at this time, the first distance, the second distance, the third distance, the fourth distance, the fifth distance, the sixth distance, the seventh distance, the eighth distance, the ninth distance, the tenth distance, the eleventh distance, the twelfth distance, the thirteenth distance and the fourteenth distance are only used for distinguishing different distance values. The first moving speed, the second moving speed, the third moving speed, and the fourth moving speed represent different speed values calculated, and at this time, the first, second, third, and fourth are used only to distinguish the different speed values. The first predicted duration, the second predicted duration, the third predicted duration and the fourth predicted duration represent different calculated predicted durations, and at this time, the first, second, third and fourth predicted durations are only used for distinguishing different duration values.

The invention provides a vehicle door control method, which comprises the steps of acquiring the object type of a moving object, then acquiring the position information of the moving object under the condition that the moving object enters a prediction detection area, and generating a vehicle door control command based on the position information and the object type. The probability and consequences of collisions between moving objects of different object classes are different, for example, a pedestrian moves at a relatively slower speed than a motor vehicle, and the collision between the pedestrian and the motor vehicle directly threatens personal safety. Therefore, the vehicle door control instruction is generated based on the position information and the object type of the moving object, so that the logic of vehicle door control is stricter, and the vehicle door control effect and the safety performance of the vehicle are improved.

Furthermore, the method detects the external environments of the vehicle doors at two sides simultaneously, and if one side is not satisfied, the cab prompts a suggestion to open the door from the other side. The pedestrian and the non-motor vehicle sequentially judge whether the lock catch is opened or closed and whether the voice prompt in the cab is a suggestion, a reminder or a warning through the elements of defining the range, specifying the distance, calculating the running speed, running time, judging time and the like. The motor vehicle judges whether to enter a dangerous area through the factors of defining a range, specifying a distance, judging the distance and the like, and if so, the direct lock catch is closed and a warning is given.

The method has strict control logic, corresponding control methods are respectively made for pedestrians, non-motor vehicles and motor vehicles, and different judgment results and suggested warnings are made for each set of control method according to the actual risk coefficient on site. The method is high in practicability, distance signals are acquired by directly adopting the ultrasonic ranging sensor equidistant detection devices, the danger coefficients can be analyzed through simple calculation and comparison of distance and time, then the locking state and the prompting content are judged, and the control logic is easy to realize.

The following describes a vehicle door control device provided by the present invention, and the vehicle door control device described below and the vehicle door control method described above can be referred to in correspondence with each other. As shown in fig. 6, the vehicle door control device includes:

a category acquiring module 601, configured to acquire object categories of a moving object, where the object categories include pedestrians, non-motor vehicles, and motor vehicles;

a position obtaining module 602, configured to obtain position information of the mobile object when the mobile object enters a preset detection area, where the preset detection area is an area preset according to the object type and a door of the work vehicle;

and an instruction generating module 603, configured to generate a vehicle door control instruction based on the position information and the object type, where the vehicle door control instruction is used to control a latch of a vehicle door to open or close.

In one embodiment, the position obtaining module 602 is configured to use the first detection area as a detection area to be processed when the mobile object enters the first detection area and the second detection area has no mobile object; when the moving object enters a second detection area and no moving object exists in the first detection area, taking the second detection area as a to-be-processed area; acquiring position information of a moving object in a region to be processed; or, under the condition that the first moving object enters the first detection area and the second moving object enters the second detection area, acquiring the position information of the first moving object in the first detection area and acquiring the position information of the second moving object in the second detection area, wherein the first moving object is the moving object entering the first detection area, and the second moving object is the moving object entering the second detection area; the first detection area is an area preset according to a first side vehicle door, and the second detection area is an area preset according to a second side vehicle door; the door includes a first side door and a second side door positioned on opposite sides of the work vehicle.

In one embodiment, the position obtaining module 602 is configured to obtain a first distance between a moving object in a to-be-processed area and a vehicle door on one side corresponding to the to-be-processed area, and start a preset timer; under the condition that the first distance is greater than a first distance threshold value, when the timing duration of the timer reaches a first preset duration, acquiring a second distance between a moving object in the detection area to be processed and one side door corresponding to the area to be processed;

the instruction generating module 603 is configured to calculate a first moving speed of the moving object based on the first distance, the second distance, and the first preset duration; calculating a first estimated time length for the moving object to reach the vehicle door on the corresponding side of the region to be processed based on the first moving speed and the second distance; generating a vehicle door opening instruction under the condition that the first estimated time length is greater than a time length threshold, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door on the side corresponding to the area to be processed to be opened; generating a vehicle door closing instruction under the condition that the first estimated time length is less than or equal to the time length threshold, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door on the side corresponding to the area to be processed to be closed;

wherein the object category is pedestrian or non-motor vehicle.

In one embodiment, the position obtaining module 602 is configured to start a preset timer, and simultaneously obtain a third distance between a first moving object and a first side door in a first detection area and obtain a fourth distance between a second moving object and a second side door in a second detection area; taking the third distance as the distance to be processed under the condition that the third distance is greater than the first distance threshold and the fourth distance is less than or equal to the first distance threshold; when the third distance is smaller than or equal to the first distance threshold value and the fourth distance is larger than the first distance threshold value, taking the fourth distance as a to-be-processed distance, wherein the vehicle door on the side corresponding to the to-be-processed distance is a to-be-processed vehicle door, and the moving object corresponding to the to-be-processed distance is a to-be-processed object; when the timing duration of the timer reaches a first preset duration, acquiring a fifth distance between the object to be processed and the vehicle door to be processed;

the instruction generating module 603 is configured to calculate a second moving speed of the object to be processed based on the third distance, the fifth distance and the first preset time length; calculating a second estimated time length for the object to be processed to reach the vehicle door to be processed based on the second moving speed and the fifth distance; generating a vehicle door opening instruction under the condition that the second estimated time length is greater than the time length threshold value, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door to be processed to be opened; generating a vehicle door closing instruction under the condition that the second estimated time length is less than or equal to the time length threshold, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door to be processed to be closed;

wherein the object category is pedestrian or non-motor vehicle.

In one embodiment, the position obtaining module 602 is configured to start a preset timer, and after obtaining a third distance between the first mobile object and the first side door in the first detection area and obtaining a fourth distance between the second mobile object and the second side door in the second detection area, obtain a sixth distance between the first mobile object and the first side door and obtain a seventh distance between the second mobile object and the second side door when a timing duration of the timer reaches a first preset duration in a case that the third distance is greater than a first distance threshold and the fourth distance is greater than the first distance;

an instruction generating module 603, configured to calculate a third moving speed of the first moving object based on the third distance, the sixth distance, and the first preset duration; calculating a fourth moving speed of the second moving object based on the fourth distance, the seventh distance and the first preset time length; calculating a third predicted time period for the first moving object to reach the first side door based on the third moving speed and the sixth distance; calculating a fourth predicted time period for the second moving object to reach the second side door based on the fourth moving speed and the seventh distance; generating a double-side door opening instruction under the condition that the third predicted time length is greater than the time length threshold value and the fourth predicted time length is greater than the time length threshold value, wherein the double-side door opening instruction is used for controlling the lock catches of the first side door and the second side door to be opened simultaneously; generating a first side door opening instruction under the condition that the third predicted time length is greater than the time length threshold value and the fourth predicted time length is less than or equal to the time length threshold value, wherein the first side door opening instruction is used for controlling the lock catch of the first side door to be opened and controlling the lock catch of the second side door to be closed; generating a second side door opening instruction under the condition that the third predicted time length is less than or equal to the time length threshold value and the fourth predicted time length is greater than the time length threshold value, wherein the second side door opening instruction is used for controlling the lock catch of the first side door to be closed and controlling the lock catch of the second side door to be opened; and under the condition that the third predicted time length is less than or equal to the time length threshold value and the fourth predicted time length is less than or equal to the time length threshold value, generating a double-side door closing instruction, wherein the double-side door closing instruction is used for closing the lock catches of the first side door and the second side door.

In one embodiment, the position obtaining module 602 is configured to obtain an eighth distance between a moving object in the area to be processed and a vehicle door on one side corresponding to the area to be processed, and start a preset timer; under the condition that the eighth distance is greater than the second distance threshold value, when the timing duration of the timer reaches a second preset duration, acquiring a ninth distance between a moving object in the area to be processed and one side door corresponding to the area to be processed;

the instruction generating module 603 is configured to generate a vehicle door opening instruction when the eighth distance is less than or equal to the ninth distance, where the vehicle door opening instruction is used to control the latch of the vehicle door on the side corresponding to the region to be processed to open; under the condition that the eighth distance is greater than the ninth distance, generating a vehicle door closing instruction, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door on one side corresponding to the area to be processed to be closed;

wherein the object class is a motor vehicle.

In one embodiment, the position obtaining module 602 is configured to start a preset timer, and simultaneously obtain a tenth distance between the first mobile object and the first side door in the first detection area, and obtain an eleventh distance between the second mobile object and the second side door in the second detection area;

the instruction generating module 603 is configured to generate a double-side door closing instruction when the tenth distance is less than or equal to the second distance threshold and the eleventh distance is less than or equal to the second distance threshold, where the double-side door closing instruction is used for closing the latches of the first side door and the second side door; taking the tenth distance as the distance to be processed under the condition that the tenth distance is greater than the second distance threshold and the eleventh distance is less than or equal to the second distance threshold; when the tenth distance is smaller than or equal to the second distance threshold and the eleventh distance is larger than the second distance threshold, taking the eleventh distance as a to-be-processed distance, wherein the vehicle door on the side corresponding to the to-be-processed distance is a to-be-processed vehicle door, and the moving object corresponding to the to-be-processed distance is a to-be-processed object; when the timing duration of the timer reaches a second preset duration, acquiring a twelfth distance between the object to be processed and the vehicle door to be processed; generating a vehicle door opening instruction under the condition that the distance to be processed is less than or equal to the twelfth distance, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door to be processed to open; generating a vehicle door closing instruction under the condition that the distance to be processed is greater than the twelfth distance, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door to be processed to be closed;

wherein the object class is a motor vehicle.

In one embodiment, the position obtaining module 602 is configured to start a preset timer, and after obtaining a tenth distance between the first moving object and the first side door in the first detection area and obtaining an eleventh distance between the second moving object and the second side door in the second detection area, obtain a thirteenth distance between the first moving object and the first side door in the first detection area and a fourteenth distance between the second moving object and the second side door in the second detection area when the timed duration of the timer reaches a second preset duration in the case that the tenth distance is greater than a second distance threshold and the eleventh distance is greater than the second distance threshold;

the instruction generating module 603 is configured to generate a double-side door opening instruction when the tenth distance is less than or equal to the thirteenth distance and the eleventh distance is less than or equal to the fourteenth distance, where the double-side door opening instruction is used to control latches of the first side door and the second side door to be opened simultaneously; under the condition that the tenth distance is smaller than or equal to the thirteenth distance and the eleventh distance is larger than the fourteenth distance, generating a first side door opening instruction, wherein the first side door opening instruction is used for controlling the lock catch of the first side door to be opened and controlling the lock catch of the second side door to be closed; under the condition that the tenth distance is greater than the thirteenth distance and the eleventh distance is less than or equal to the fourteenth distance, generating a second side door opening instruction, wherein the second side door opening instruction is used for controlling the lock catch of the first side door to be closed and controlling the lock catch of the second side door to be opened; and generating a double-side door closing instruction under the condition that the tenth distance is greater than the thirteenth distance and the eleventh distance is greater than the fourteenth distance, wherein the double-side door closing instruction is used for controlling the locking catches of the first side door and the second side door to be closed.

Fig. 7 illustrates a physical structure diagram of an electronic device, and as shown in fig. 7, the electronic device may include: a processor (processor) 701, a communication Interface (Communications Interface) 702, a memory (memory) 703 and a communication bus 704, wherein the processor 701, the communication Interface 702 and the memory 703 are in communication with each other via the communication bus 704. The processor 701 may invoke logic instructions in the memory 703 to perform a method of vehicle door control, the method comprising: acquiring object types of a moving object, wherein the object types comprise a pedestrian, a non-motor vehicle and a motor vehicle; acquiring position information of a moving object under the condition that the moving object enters a preset detection area, wherein the preset detection area is an area preset according to the object type and a vehicle door of a working vehicle; and generating a vehicle door control instruction based on the position information and the object category, wherein the vehicle door control instruction is used for controlling the opening or closing of the lock catch of the vehicle door.

In addition, the logic instructions in the memory 703 can be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, which when executed by a computer, the computer is capable of executing the vehicle door control method provided by the above embodiments, the method comprising: acquiring object types of a moving object, wherein the object types comprise a pedestrian, a non-motor vehicle and a motor vehicle; acquiring position information of a moving object under the condition that the moving object enters a preset detection area, wherein the preset detection area is an area preset according to the object type and a vehicle door of a working vehicle; and generating a vehicle door control instruction based on the position information and the object category, wherein the vehicle door control instruction is used for controlling the opening or closing of the lock catch of the vehicle door.

In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the vehicle door control method provided by the above embodiments, the method including: acquiring object types of a moving object, wherein the object types comprise a pedestrian, a non-motor vehicle and a motor vehicle; acquiring position information of a moving object under the condition that the moving object enters a preset detection area, wherein the preset detection area is an area preset according to the object type and a vehicle door of a working vehicle; and generating a vehicle door control instruction based on the position information and the object category, wherein the vehicle door control instruction is used for controlling the opening or closing of the lock catch of the vehicle door.

In still another aspect, the present invention provides a work vehicle, wherein a door of the work vehicle is controlled by any one of the door control methods described above.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A vehicle door control method characterized by comprising:

acquiring object categories of a moving object, wherein the object categories comprise pedestrians, non-motor vehicles and motor vehicles;

acquiring position information of the moving object under the condition that the moving object enters a preset detection area, wherein the preset detection area is an area preset according to the object type and a vehicle door of a working vehicle;

and generating a vehicle door control instruction based on the position information and the object type, wherein the vehicle door control instruction is used for controlling the opening or closing of the lock catch of the vehicle door.

2. The vehicle door control method according to claim 1, wherein the vehicle door includes a first side door and a second side door, the first side door and the second side door being positioned on both sides of the work vehicle;

the acquiring the position information of the moving object under the condition that the moving object enters a preset detection area includes:

when the moving object enters a first detection area and the second detection area does not have the moving object, taking the first detection area as a detection area to be processed; when the moving object enters a second detection area and the moving object does not exist in the first detection area, taking the second detection area as the area to be processed; acquiring the position information of the moving object in the area to be processed;

or, in a case where a first moving object enters the first detection area and a second moving object enters the second detection area, acquiring location information of the first moving object within the first detection area and acquiring location information of the second moving object within the second detection area, wherein the first moving object is the moving object entering the first detection area and the second moving object is the moving object entering the second detection area;

the first detection area is an area preset according to the first side vehicle door, and the second detection area is an area preset according to the second side vehicle door.

3. The door control method according to claim 2, wherein the object category is the pedestrian or the non-motor vehicle;

the acquiring the position information of the moving object in the region to be processed includes:

acquiring a first distance between the moving object in the area to be processed and a vehicle door on one side corresponding to the area to be processed, and starting a preset timer;

under the condition that the first distance is larger than the first distance threshold value, when the timing duration of the timer reaches a first preset duration, acquiring a second distance between the moving object in the detection area to be processed and one side of the vehicle door corresponding to the detection area to be processed;

generating a door control command based on the position information and the object type, comprising:

calculating a first moving speed of the moving object based on the first distance, the second distance and the first preset time length;

calculating a first estimated time length for the moving object to reach a vehicle door on one side corresponding to the to-be-processed area based on the first moving speed and the second distance;

generating a vehicle door opening instruction under the condition that the first estimated time length is greater than a time length threshold, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door on the side corresponding to the area to be processed to open;

and generating a vehicle door closing instruction under the condition that the first estimated time length is less than or equal to the time length threshold, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door on the side corresponding to the area to be processed to be closed.

4. The door control method according to claim 2, wherein the object category is the pedestrian or the non-motor vehicle;

the acquiring the position information of the first moving object in the first detection area and the acquiring the position information of the second moving object in the second detection area includes:

starting a preset timer, and simultaneously acquiring a third distance between the first moving object and the first side car door in the first detection area and acquiring a fourth distance between the second moving object and the second side car door in the second detection area;

taking the third distance as a distance to be processed when the third distance is greater than a first distance threshold and the fourth distance is less than or equal to the first distance threshold;

when the third distance is smaller than or equal to the first distance threshold and the fourth distance is larger than the first distance threshold, taking the fourth distance as the distance to be processed, wherein the vehicle door on the side corresponding to the distance to be processed is a vehicle door to be processed, and the moving object corresponding to the distance to be processed is a moving object to be processed;

when the timing duration of the timer reaches a first preset duration, acquiring a fifth distance between the object to be processed and the vehicle door to be processed;

calculating a second moving speed of the object to be processed based on the third distance, the fifth distance and the first preset time length;

calculating a second estimated time length for the object to be processed to reach the vehicle door to be processed based on the second moving speed and the fifth distance;

generating a vehicle door opening instruction under the condition that the second estimated duration is greater than a duration threshold, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door to be processed to open;

and generating a vehicle door closing instruction under the condition that the second estimated time length is less than or equal to the time length threshold, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door to be processed to be closed.

5. The vehicle door control method according to claim 4, wherein the starting a preset timer, and after simultaneously acquiring a third distance between the first mobile object and the first side door in the first detection area and acquiring a fourth distance between the second mobile object and the second side door in the second detection area, further comprises:

under the condition that the third distance is greater than a first distance threshold value and the fourth distance is greater than the first distance, when the timing duration of the timer reaches a first preset duration, acquiring a sixth distance between the first moving object and the first side door and acquiring a seventh distance between the second moving object and the second side door;

calculating a third moving speed of the first moving object based on the third distance, the sixth distance and the first preset time length;

calculating a fourth moving speed of the second moving object based on the fourth distance, the seventh distance and the first preset time length;

calculating a third predicted time period for the first moving object to reach the first side door based on the third moving speed and the sixth distance;

calculating a fourth predicted time period for the second moving object to reach the second side door based on the fourth moving speed and the seventh distance;

generating a double-side door opening instruction under the condition that the third predicted time length is greater than a time length threshold value and the fourth predicted time length is greater than the time length threshold value, wherein the double-side door opening instruction is used for controlling the lock catches of the first side vehicle door and the second side vehicle door to be opened simultaneously;

generating a first side door opening instruction under the condition that the third predicted time length is greater than the time length threshold value and the fourth predicted time length is less than or equal to the time length threshold value, wherein the first side door opening instruction is used for controlling the lock catch of the first side door to be opened and controlling the lock catch of the second side door to be closed;

generating a second side door opening instruction under the condition that the third predicted time length is less than or equal to the time length threshold value and the fourth predicted time length is greater than the time length threshold value, wherein the second side door opening instruction is used for controlling the lock catch of the first side door to be closed and controlling the lock catch of the second side door to be opened;

and generating a double-side door closing instruction under the condition that the third predicted time length is less than or equal to the time length threshold value and the fourth predicted time length is less than or equal to the time length threshold value, wherein the double-side door closing instruction is used for closing the lock catches of the first side door and the second side door.

6. The door control method according to claim 2, wherein the object category is the motor vehicle;

acquiring an eighth distance between the moving object in the area to be processed and a vehicle door on one side corresponding to the area to be processed, and starting a preset timer;

under the condition that the eighth distance is greater than a second distance threshold value, when the timing duration of the timer reaches a second preset duration, acquiring a ninth distance between the moving object in the area to be processed and one side door corresponding to the area to be processed;

generating a vehicle door opening instruction under the condition that the eighth distance is smaller than or equal to the ninth distance, wherein the vehicle door opening instruction is used for controlling the lock catch of a vehicle door on one side corresponding to the area to be processed to open;

and generating a door closing instruction under the condition that the eighth distance is greater than the ninth distance, wherein the door closing instruction is used for controlling the locking and closing of the door on one side corresponding to the area to be processed.

7. The door control method according to claim 2, wherein the object category is the motor vehicle;

starting a preset timer, and simultaneously acquiring a tenth distance between the first moving object and the first side vehicle door in the first detection area and acquiring an eleventh distance between the second moving object and the second side vehicle door in the second detection area;

generating a double-side door closing instruction when the tenth distance is smaller than or equal to the second distance threshold and the eleventh distance is smaller than or equal to the second distance threshold, wherein the double-side door closing instruction is used for locking and closing the first side door and the second side door;

if the tenth distance is greater than the second distance threshold and the eleventh distance is less than or equal to the second distance threshold, taking the tenth distance as a distance to be processed;

when the tenth distance is smaller than or equal to the second distance threshold and the eleventh distance is larger than the second distance threshold, taking the eleventh distance as the to-be-processed distance, wherein a vehicle door on one side corresponding to the to-be-processed distance is a to-be-processed vehicle door, and a moving object corresponding to the to-be-processed distance is a to-be-processed object;

when the timing duration of the timer reaches the second preset duration, acquiring a twelfth distance between the object to be processed and the vehicle door to be processed;

generating a vehicle door opening instruction under the condition that the distance to be processed is smaller than or equal to the twelfth distance, wherein the vehicle door opening instruction is used for controlling the lock catch of the vehicle door to be processed to be opened;

and generating a vehicle door closing instruction under the condition that the distance to be processed is greater than the twelfth distance, wherein the vehicle door closing instruction is used for controlling the lock catch of the vehicle door to be processed to be closed.

8. The vehicle door control method according to claim 7, wherein the starting of the preset timer while acquiring the tenth distance between the first mobile object and the first side door in the first detection area and acquiring the eleventh distance between the second mobile object and the second side door in the second detection area further comprises:

when the tenth distance is greater than the second distance threshold and the eleventh distance is greater than the second distance threshold, acquiring a thirteenth distance between the first mobile object and the first side door in the first detection area and a fourteenth distance between the second mobile object and the second side door in the second detection area when the timing duration of the timer reaches the second preset duration;

under the condition that the tenth distance is smaller than or equal to the thirteenth distance and the eleventh distance is smaller than or equal to a fourteenth distance, generating a double-side door opening instruction, wherein the double-side door opening instruction is used for controlling the latches of the first side vehicle door and the second side vehicle door to be opened simultaneously;

generating a first side door opening instruction under the condition that the tenth distance is less than or equal to the thirteenth distance and the eleventh distance is greater than a fourteenth distance, wherein the first side door opening instruction is used for controlling the lock catch of the first side door to be opened and controlling the lock catch of the second side door to be closed;

generating a second side door opening instruction under the condition that the tenth distance is greater than the thirteenth distance and the eleventh distance is less than or equal to a fourteenth distance, wherein the second side door opening instruction is used for controlling the lock catch of the first side door to be closed and controlling the lock catch of the second side door to be opened;

and generating a double-side door closing instruction under the condition that the tenth distance is greater than the thirteenth distance and the eleventh distance is greater than a fourteenth distance, wherein the double-side door closing instruction is used for controlling the locking closure of the first side door and the second side door.

9. A vehicle door control device characterized by comprising:

the system comprises a category acquisition module, a classification acquisition module and a classification analysis module, wherein the category acquisition module is used for acquiring object categories of moving objects, and the object categories comprise pedestrians, non-motor vehicles and motor vehicles;

the position acquisition module is used for acquiring the position information of the moving object under the condition that the moving object enters a preset detection area, wherein the preset detection area is an area preset according to the object type and a door of the working vehicle;

and the instruction generating module is used for generating a vehicle door control instruction based on the position information and the object type, wherein the vehicle door control instruction is used for controlling the opening or closing of the lock catch of the vehicle door.

10. An electronic device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, characterized in that said processor, when executing said program, implements a vehicle door control method according to any one of claims 1 to 8.

11. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements a method of vehicle door control according to any one of claims 1 to 8.

12. A work vehicle characterized in that a door of the work vehicle is controlled by the door control method according to any one of claims 1 to 8.