CN115613914A - Control system, method and equipment for automobile door - Google Patents
Control system, method and equipment for automobile door Download PDFInfo
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- CN115613914A CN115613914A CN202211346237.6A CN202211346237A CN115613914A CN 115613914 A CN115613914 A CN 115613914A CN 202211346237 A CN202211346237 A CN 202211346237A CN 115613914 A CN115613914 A CN 115613914A
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- 230000003993 interaction Effects 0.000 claims abstract description 61
- 230000010365 information processing Effects 0.000 claims abstract description 53
- 238000004590 computer program Methods 0.000 claims description 15
- 230000004044 response Effects 0.000 claims description 15
- 230000000977 initiatory effect Effects 0.000 claims description 11
- 230000007613 environmental effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 230000008447 perception Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
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- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B81/00—Power-actuated vehicle locks
- E05B81/54—Electrical circuits
- E05B81/64—Monitoring or sensing, e.g. by using switches or sensors
- E05B81/70—Monitoring or sensing, e.g. by using switches or sensors the wing position
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B83/00—Vehicle locks specially adapted for particular types of wing or vehicle
- E05B83/36—Locks for passenger or like doors
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- Lock And Its Accessories (AREA)
Abstract
The present application relates to a control system, method and apparatus for an automotive door. The system comprises: the system comprises a first environment sensing module, an information processing module, a voice interaction module and a control module, wherein the first environment sensing module collects an external environment in a sensing range when a current vehicle is in a stop state, and generates collision early warning information according to the external environment; the information processing module determines whether the vehicle door is opened at the current moment and collision occurs or not according to the collision early warning information and the vehicle door opening instruction; if not, the voice interaction module sends out a safety prompt voice, and the control module controls the vehicle door controller to unlock the vehicle door; if so, the voice interaction module sends out a collision prompt voice, and the control module controls the vehicle door controller to lock the vehicle door; and the voice interaction module performs voice interaction with the current user so as to determine whether to unlock according to the instruction of the current user. The method can be used for perfecting the control of the automobile door.
Description
Technical Field
The application relates to the technical field of automobile safety, in particular to a control system, a method and equipment for an automobile door.
Background
With the development of economy and the improvement of the living standard of people, automobiles become important transportation tools for people to go out. However, as more and more vehicles are used on roads, the incidence of traffic accidents is gradually increased, so that the automobiles bring convenience to daily life and pose a threat to the personal and property safety of people.
For example, when an automobile stops, a user in the automobile may not observe the surrounding environment in time when opening the door, and thus the automobile, motorcycle, bicycle or pedestrian driving behind and at the side of the opened door may not be in time to avoid danger, thereby causing traffic accidents. For this reason, prior art is through monitoring surrounding environment, when monitoring there is collision danger, carries out the locking with the door to avoid taking place danger.
However, the user may forcibly open the door because the risk of collision is not perceived, so that the user may be put at risk. Therefore, the prior art is not perfect in controlling the vehicle door.
Disclosure of Invention
Based on the above, a control system, a method and a device for the automobile door are provided to perfect the control of the automobile door in the prior art.
In a first aspect, there is provided a control system for a vehicle door, the system comprising:
the first environment sensing module is used for collecting the vehicle external environment within a preset sensing range when the current vehicle is in a stop state, and generating collision early warning information according to the collected vehicle external environment;
the information processing module is respectively electrically connected with the first environment sensing module and the vehicle door controller and is used for determining whether the vehicle door can be opened at the current moment or not to generate collision according to the collision early warning information and the vehicle door opening instruction received by the vehicle door controller;
the voice interaction module is electrically connected with the information processing module and is used for sending out a safety prompt voice when the information processing module determines that the car door is opened at the current moment and collision does not occur, or sending out a collision prompt voice when the information processing module determines that the car door is opened at the current moment and collision occurs;
the control module is respectively electrically connected with the information processing module and the vehicle door controller, and is used for controlling the vehicle door controller to unlock the vehicle door when the information processing module determines that the vehicle door is opened at the current moment and no collision occurs, and is also used for controlling the vehicle door controller to lock the vehicle door when the information processing module determines that the vehicle door is opened at the current moment and no collision occurs;
the voice interaction module is electrically connected with the control module and used for carrying out voice interaction with a current user so as to determine whether to unlock the vehicle door according to the instruction of the current user.
With reference to the first aspect, in a first implementable manner of the first aspect, the step of performing voice interaction by the voice interaction module with a current user to determine whether to unlock according to an instruction of the current user includes:
the voice interaction module is also used for sending out an inquiry voice for unlocking or not, receiving a response voice replied by the current user from the inquiry voice, and determining whether to unlock or not according to the content indicated by the response voice;
if not, calling the control module and the first environment sensing module, wherein the control module is used for keeping locking of the vehicle door, the first environment sensing module is used for continuously executing the step of collecting the vehicle exterior environment within a preset sensing range, and the voice interaction module is electrically connected with the first environment sensing module;
if so, calling the information processing module, wherein the information processing module is used for determining whether the vehicle door opened at the current moment is collided or not according to the collision early warning information;
if not, calling the control module and the voice interaction module, wherein the control module is used for unlocking the vehicle door, and the voice interaction module is used for sending out the safety prompt voice;
if yes, the control module and the voice interaction module are called, wherein the control module is used for keeping locking of the car door, and the voice interaction module is used for sending out collision prompt voice and inquiry voice for judging whether locking is released or not.
With reference to the first aspect or with reference to the first implementable manner of the first aspect, in a second implementable manner of the first aspect, the first context awareness module comprises:
the first camera is used for acquiring first image information of the vehicle external environment within the sensing range;
a radar configured to acquire a relative distance between a target object indicated by the off-board environment and the current vehicle, wherein the relative distance includes a first distance in a direction of travel and/or a second distance perpendicular to the direction of travel;
the collision early warning controller is respectively electrically connected with the first camera and the radar and is used for generating collision early warning information according to the first image information of the external environment and the relative distance;
and one end of the interface module is electrically connected with the first camera, the radar and the collision early warning controller through a controller area network respectively, and the other end of the interface module is electrically connected with the information processing module.
With reference to the first aspect, in a third possible implementation manner of the first aspect,
the vehicle door controller is also used for receiving a forced unlocking instruction when the information processing module determines that the vehicle door is opened at the current moment and the vehicle door is collided, and the control module locks the vehicle door;
the information processing module is further used for determining a corresponding target vehicle door according to the forced unlocking instruction, and determining a safety range and at least one safety point in the safety range according to the collision early warning information, wherein the safety range is used for indicating that the current vehicle and the environment outside the vehicle indicated by the collision early warning information keep a range of a safe distance when the target vehicle door is opened;
the control module is also used for controlling the vehicle door controller to unlock the target vehicle door so that one end, far away from the body of the current vehicle, of the target vehicle door reaches the safety point.
With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the system further includes:
the second environment sensing module is respectively electrically connected with the information processing module, the control module and the vehicle door controller, and is used for acquiring the environment in the vehicle when the vehicle door controller receives a forced unlocking instruction, and determining a target user initiating the forced unlocking instruction, a target body type and a target weight of the target user according to the environment in the vehicle;
the information processing module is further used for determining a vehicle door opening angle required by the target user according to the target weight and the target body type of the target user, wherein the vehicle door opening angle is used for indicating an angle between the target vehicle door and a vehicle body of the current vehicle when the target vehicle door is opened;
when one end of the target vehicle door, which is far away from the vehicle body of the current vehicle, reaches the safety point, a target angle between the target vehicle door and the vehicle body of the current vehicle is obtained, and whether the opening angle of the vehicle door is smaller than or equal to the target angle is judged;
if so, calling the control module, wherein the control module is used for controlling the vehicle door controller to unlock the target vehicle door according to the vehicle door opening angle;
and if not, calling the control module, wherein the control module is used for controlling the vehicle door controller to unlock the target vehicle door according to the target angle.
With reference to the fourth implementable manner of the first aspect, in a fifth implementable manner of the first aspect, the second environment awareness module comprises:
the second camera is used for acquiring second image information of the environment in the vehicle;
the information processing unit is used for determining a target user initiating the forced unlocking instruction and a target body type of the target user according to second image information of the in-vehicle environment;
a seat sensor to collect a target weight of the target user.
With reference to the first aspect or any one of the possible implementation manners of the first aspect, in a sixth possible implementation manner of the first aspect, the vehicle door controller includes a controller that controls each of a side door and a tail gate of the present vehicle.
In a second aspect, there is provided a control method for an automobile door, which is applied to the control system for an automobile door according to the first aspect or any one of the embodiments that combine with the first aspect, the method including:
when the current vehicle is in a stop state, acquiring an external environment within a preset sensing range, and generating collision early warning information according to the acquired external environment;
determining whether the vehicle door is opened at the current moment and collision occurs or not according to the collision early warning information and the vehicle door opening instruction;
when the fact that the vehicle door is opened at the current moment and collision does not occur is determined, a safety prompt voice is sent out, or when the fact that the vehicle door is opened at the current moment and collision occurs is determined, a collision prompt voice is sent out;
controlling a vehicle door controller to unlock the vehicle door when determining that the vehicle door is opened at the current moment and the collision does not occur, and controlling the vehicle door controller to lock the vehicle door when determining that the vehicle door is opened at the current moment and the collision occurs;
and carrying out voice interaction with the current user so as to determine whether to unlock according to the instruction of the current user.
With reference to the second aspect, in a first possible implementation manner of the second aspect, the step of performing voice interaction with the current user to determine whether to unlock according to the instruction of the current user includes:
sending out an inquiry voice for unlocking or not, receiving a response voice replied by the current user to the inquiry voice, and determining whether to unlock or not according to the content indicated by the response voice;
if not, keeping locking the vehicle door, and continuously executing the step of collecting the environment outside the vehicle within the preset sensing range;
if yes, determining whether the vehicle door is opened at the current moment and collision occurs according to the collision early warning information;
if not, unlocking the vehicle door and sending the safety prompt voice;
if so, keeping locking the vehicle door, and sending the collision prompt voice and the inquiry voice of whether to unlock or not.
In a third aspect, a computer device is provided, which comprises a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the second aspect or the control method for a vehicle door according to the first embodiment of the second aspect.
The control system, the method and the equipment for the automobile door comprise a first environment sensing module, an information processing module, a voice interaction module and a control module, wherein the information processing module is electrically connected with the first environment sensing module, the automobile door controller, the voice interaction module and the control module respectively, and the control module is also electrically connected with the automobile door controller and the voice interaction module respectively. The first environment sensing module is used for collecting the vehicle exterior environment within a preset sensing range when the current vehicle is in a stop state, and generating collision early warning information according to the vehicle exterior environment; the information processing module is used for determining whether the vehicle door is opened at the current moment and collision occurs according to the collision early warning information and the vehicle door opening instruction received by the vehicle door controller; if not, the voice interaction module is used for sending out a safety prompt voice, and the control module is used for controlling the vehicle door controller to unlock the vehicle door; if yes, the voice interaction module is used for sending a collision prompt voice, and the control module is used for controlling the vehicle door controller to lock the vehicle door; the voice interaction module is also used for carrying out voice interaction with the current user so as to determine whether to unlock according to the instruction of the current user. Therefore, compared with the prior art, the control system improves the phenomenon that a user can be possibly put in danger because the user forcibly opens the vehicle door without perceiving collision danger through the voice prompt of the voice interaction module, controls whether the vehicle door is unlocked or not according to the voice sent by the user through the addition of the voice interaction module, and improves convenience. Therefore, the control system of the application perfects the control of the automobile door.
Drawings
FIG. 1 is a block diagram of a control system for a door of an automobile in one embodiment;
FIG. 2 is a flow chart illustrating a method for controlling a door of a vehicle according to one embodiment;
FIG. 3 is a block diagram of a first context awareness module in one embodiment;
FIG. 4 is a block diagram of a control system for a door of a vehicle in accordance with another embodiment;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present application, and the drawings only show the components related to the present application and are not drawn according to the number, shape and size of the components in actual implementation, the type, quantity and proportion of each component in actual implementation may be changed freely, and the layout of the components may be more complicated.
The structures, the proportions, the sizes, and the like shown in the drawings attached to the present specification are only used for matching the disclosure of the present specification, so as to be understood and read by those skilled in the art, and are not used for limiting the conditions under which the present application can be implemented, so that the present invention has no technical essence, and any structural modification, changes of the proportion relation, or adjustment of the size, should fall within the scope of the technical disclosure of the present application without affecting the efficacy and the achievable purpose of the present application.
References in this specification to "upper", "lower", "left", "right", "middle", "longitudinal", "lateral", "horizontal", "inner", "outer", "radial", "circumferential", etc., indicate orientations and positional relationships based on those shown in the drawings, and are for convenience only to simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
At present, after a vehicle stops, whether the vehicle door is opened or not is judged by monitoring the surrounding environment, and if yes, the vehicle door is locked. However, the user may force the door open and be put at risk because the user is unaware of the collision. Therefore, the prior art is not perfect for controlling the automobile door.
To this end, the present application proposes a control system, method and apparatus for a vehicle door, wherein the control system comprises: the system comprises a first environment perception module, an information processing module, a voice interaction module and a control module. After the current vehicle stops, the first environment sensing module starts to acquire an external environment and generates collision early warning information according to the external environment, wherein the collision early warning information comprises barrier information on the same driving axis with the current vehicle; further, the information processing module determines whether the vehicle door is opened at the current moment and collision occurs according to the collision early warning information and the vehicle door opening instruction; if not, the voice interaction module sends out a safety prompt voice, and the control module controls the vehicle door controller to unlock the vehicle door; if so, the voice interaction module sends out a collision prompt voice, and the control module controls the vehicle door controller to lock the vehicle door; in order to improve the user experience, the voice interaction module is further used for performing voice interaction with the current user so as to determine whether to unlock the vehicle door according to the instruction of the current user. Therefore, the control system of the automobile door can perform voice prompt on the current user when collision occurs, so that the current user can make safety prevention when opening the door forcibly; and through carrying out voice interaction with the current user, whether the locking of the automobile door is released or not can be determined according to the instruction of the current user, so that the opening or the locking of the automobile door is correspondingly controlled, and therefore, compared with the prior art, the control system of the automobile door is more perfect. Next, the control system of the automobile door of the present application will be described in detail by the following embodiments.
In one embodiment, in conjunction with fig. 1 and 2, there is provided a control system for a door of an automobile, the system comprising:
the first environment perception module is used for collecting the vehicle exterior environment within a preset perception range when the current vehicle is in a stop state, and generating collision early warning information according to the vehicle exterior environment.
Referring to fig. 3, in one implementable manner, the first context awareness module includes: the first camera is used for acquiring first image information of the vehicle external environment within the sensing range; a radar configured to acquire a relative distance between a target object indicated by the off-board environment and the current vehicle, wherein the relative distance includes a first distance in a direction of travel and/or a second distance perpendicular to the direction of travel; the collision early warning controller is respectively electrically connected with the first camera and the radar and is used for generating collision early warning information according to the first image information of the external environment and the relative distance; and one end of the interface module is electrically connected with the first camera, the radar and the collision early warning controller through a controller area network respectively, and the other end of the interface module is electrically connected with the information processing module.
The method comprises the steps that a first camera collects first image information of an environment outside a vehicle, wherein the environment outside the vehicle comprises obstacles such as pedestrians, bicycles, electric vehicles and automobiles; the collision early warning controller determines a target obstacle according to first image information of an environment outside the vehicle, wherein the target obstacle is used for indicating an obstacle which is on the same driving axis with the current vehicle and possibly intersects with the current vehicle; then determining the moving speed and the moving acceleration of the target obstacle according to a plurality of pieces of first image information within a preset time threshold; and generating collision early warning information according to the moving speed trend and the relative distance.
And the information processing module is electrically connected with the first environment sensing module and the vehicle door controller respectively and used for determining whether the vehicle door can be opened at the current moment to cause collision or not according to the collision early warning information and the vehicle door opening instruction received by the vehicle door controller.
The information processing module determines a first contour of the target obstacle according to the first image information; determining a vehicle door to be opened according to the vehicle door opening instruction, and determining the body type of a current user initiating the vehicle door opening instruction according to the first image information; then generating a second contour according to the shape and size of the current vehicle, the shape and size of the door to be opened and the body type of the current user, wherein the second contour is used for indicating that the door to be opened of the current vehicle is opened and the contour of the current user standing near the door to be opened; therefore, whether the moving distance of the first contour is larger than or equal to a first distance in the relative distances is judged according to the fact that the first contour approaches to the second contour through the moving acceleration based on the moving speed, if not, collision cannot occur, and if yes, collision may occur; for further confirmation, acquiring a spacing distance between the first contour and the second contour perpendicular to the driving direction when the first contour moves to be adjacent to the second contour according to the moving distance; and comparing the second distance with the relative distance, if the spacing distance is smaller than or equal to the second distance, determining that the target obstacle can collide with the current vehicle, and if the spacing distance is larger than the second distance, determining that the collision cannot occur.
Wherein, the moving distance in the above steps can be obtained according to the following steps: acquiring an interval duration preset by a system, wherein the interval duration refers to the duration required from the opening of a vehicle door to the current time when a user walks out of a current vehicle and stands near the vehicle door; the second profile is calculated based on the travel distance that can be traveled by the travel speed and the travel acceleration travel interval duration.
The voice interaction module is electrically connected with the information processing module and is used for sending out a safety prompt voice when the information processing module determines that the car door is opened at the current moment and collision does not occur, or sending out a collision prompt voice when the information processing module determines that the car door is opened at the current moment and collision occurs;
and the control module is electrically connected with the information processing module and the vehicle door controller respectively, is used for controlling the vehicle door controller to unlock the vehicle door when the information processing module determines that the vehicle door is opened at the current moment and the vehicle door cannot collide, and is also used for controlling the vehicle door controller to lock the vehicle door when the information processing module determines that the vehicle door is opened at the current moment and the vehicle door cannot collide.
The step of sending out the safety prompt voice or the collision prompt voice by the voice interaction module and the step of controlling the vehicle door controller to unlock or lock the vehicle door by the control module can be carried out simultaneously. Illustratively, the safety prompt voice may be "the door is unlocked, get off please pay attention to safety", and the collision prompt voice may be "danger, the door is locked, please first go out of the window".
The voice interaction module is electrically connected with the control module and used for carrying out voice interaction with a current user so as to determine whether to unlock the vehicle door according to the instruction of the current user.
Specifically, the voice interaction module is further configured to perform voice interaction with a current user, so as to determine whether to unlock according to an instruction of the current user, and includes:
the voice interaction module is also used for sending out an inquiry voice for unlocking or not, receiving a response voice replied by the current user from the inquiry voice, and determining whether to unlock or not according to the content indicated by the response voice;
if not, calling the control module and the first environment sensing module, wherein the control module is used for keeping locking of the vehicle door, the first environment sensing module is used for continuously executing the step of collecting the vehicle exterior environment within a preset sensing range, and the voice interaction module is electrically connected with the first environment sensing module;
if so, calling the information processing module, wherein the information processing module is used for determining whether the vehicle door is opened at the current moment and collision occurs according to the collision early warning information;
if not, calling the control module and the voice interaction module, wherein the control module is used for unlocking the vehicle door, and the voice interaction module is used for sending out the safety prompt voice;
if yes, the control module and the voice interaction module are called, wherein the control module is used for keeping locking of the car door, and the voice interaction module is used for sending out collision prompt voice and inquiry voice for judging whether locking is released or not.
It should be noted that the response voice includes "release" and "non-release"; the "acquiring the vehicle exterior environment within the preset sensing range", "determining whether the vehicle door is opened at the current moment and the collision occurs according to the collision warning information", "sending the safety prompt voice", and "sending the collision prompt voice" related to the above steps are similar to those described in the foregoing embodiments, and are not described again here.
Even if the current door is locked when a collision may occur, there is still a situation where the user forcibly opens the door, and in order to further refine the control of the vehicle door in such a situation, the user is better protected. Since the door is not completely opened, the user can exit from the current vehicle, and therefore, in the embodiment, the target door may not be completely opened, and when the target door is opened, the end of the target door away from the vehicle body reaches the safety point, so that the collision can be avoided. Specifically, the method comprises the following steps: the vehicle door controller is also used for receiving a forced unlocking instruction when the information processing module determines that the vehicle door is opened at the current moment and the vehicle door is collided, and the control module locks the vehicle door; the information processing module is further used for determining a corresponding target vehicle door according to the forced unlocking instruction, and determining a safety range and at least one safety point in the safety range according to the collision early warning information, wherein the safety range is used for indicating that the current vehicle and the environment outside the vehicle indicated by the collision early warning information keep a range of a safe distance when the target vehicle door is opened; the control module is also used for controlling the vehicle door controller to unlock the target vehicle door so that one end, far away from the vehicle body of the current vehicle, of the target vehicle door reaches the safety point.
The required door opening degree is different due to different user body types and weights, and the door opening degree is lower and higher for the user with the slimmer body type and lighter weight. Referring to fig. 4, in one embodiment, the system further comprises: the second environment sensing module is respectively electrically connected with the information processing module, the control module and the vehicle door controller, and is used for acquiring the environment in the vehicle when the vehicle door controller receives a forced unlocking instruction, and determining a target user initiating the forced unlocking instruction, a target body type and a target weight of the target user according to the environment in the vehicle; the information processing module is further used for determining a vehicle door opening angle required by the target user according to the target weight and the target body type of the target user, wherein the vehicle door opening angle is used for indicating an angle between the target vehicle door and a vehicle body of the current vehicle when the target vehicle door is opened; when one end of the target vehicle door, which is far away from the vehicle body of the current vehicle, reaches the safety point, a target angle between the target vehicle door and the vehicle body of the current vehicle is obtained, and whether the opening angle of the vehicle door is smaller than or equal to the target angle is judged; if so, calling the control module, wherein the control module is used for controlling the vehicle door controller to unlock the target vehicle door according to the vehicle door opening angle; and if not, calling the control module, wherein the control module is used for controlling the vehicle door controller to unlock the target vehicle door according to the target angle.
Therefore, in the embodiment, by obtaining the weight and the body type of the target user, when determining the opening angle of the target vehicle door, the target user can exit from the vehicle to open the vehicle door in a targeted manner; and in order to guarantee safety, the opening angle of the vehicle door is compared with a target angle, wherein the target angle refers to: when the target vehicle door is opened, one end of the target vehicle door, which is far away from the current vehicle body, reaches a safety point, and the angle formed by the target vehicle door and the current vehicle body is formed; because the safe point can keep safe distance with the environment outside the car, also be: the target angle is the maximum angle which enables the target vehicle door to be opened to the maximum extent and can keep a safe distance with the environment outside the vehicle; therefore, the door opening angle larger than the target angle is regarded as a danger strategy, and the target door is opened according to the target angle; and considering the door opening angle less than or equal to the target angle as a safety strategy, and opening the door according to the door opening angle.
As a specific implementation manner of the foregoing embodiment, the second environment awareness module includes: the second camera is used for acquiring second image information of the environment in the vehicle; the information processing unit is used for determining a target user initiating the forced unlocking instruction and a target body type of the target user according to second image information of the in-vehicle environment; a seat sensor to collect a target weight of the target user. The door controller includes a controller that controls each side door and a tail gate of the present vehicle. The number of the door controllers may be one or more, and if the number of the door controllers is one, the door controllers respectively control the side doors and the tail gate; if there are a plurality of door controllers, the number of the door controllers is the same as the number of the side doors and the rear doors, and the side doors and the rear doors are controlled individually.
In the control system of the automobile door, whether collision occurs is judged in advance by collecting the environment outside the automobile, if so, collision prompt voice is sent out, so that a user can know the collision danger when forcibly opening the automobile door, and safety prevention is made; and voice interaction is carried out with the user, so that the unlocking and locking of the vehicle door are carried out according to the instruction of the user. Therefore, compared with the prior art, the automobile door control method and the automobile door control device improve the phenomenon that a user can be in danger because the user does not perceive the collision danger and forcibly opens the automobile door, and the control mode of the automobile door is perfected.
The various modules in the control system of the vehicle door described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Referring to fig. 1 and 2, in one embodiment, there is provided a control method of an automobile door, characterized by being applied to a control system of an automobile door as described in any one of the above embodiments, the method including:
when the current vehicle is in a stop state, acquiring an external environment within a preset sensing range, and generating collision early warning information according to the external environment;
determining whether the vehicle door is opened at the current moment and collision occurs or not according to the collision early warning information and the vehicle door opening instruction;
when the fact that the vehicle door is opened at the current moment and collision does not occur is determined, a safety prompt voice is sent out, or when the fact that the vehicle door is opened at the current moment and collision occurs is determined, a collision prompt voice is sent out;
controlling a vehicle door controller to unlock the vehicle door when determining that the vehicle door is opened at the current moment and the collision does not occur, and controlling the vehicle door controller to lock the vehicle door when determining that the vehicle door is opened at the current moment and the collision occurs;
and carrying out voice interaction with the current user so as to determine whether to unlock according to the instruction of the current user.
As a specific implementation manner of the foregoing embodiment, the step of performing voice interaction with the current user to determine whether to unlock according to the instruction of the current user includes:
sending out an inquiry voice for unlocking or not, receiving a response voice replied by the current user to the inquiry voice, and determining whether to unlock or not according to the content indicated by the response voice;
if not, keeping locking the vehicle door, and continuously executing the step of collecting the environment outside the vehicle within the preset sensing range;
if so, determining whether the vehicle door is opened at the current moment and collision occurs according to the collision early warning information;
if not, unlocking the vehicle door and sending the safety prompt voice;
if so, keeping locking the vehicle door, and sending the collision prompt voice and the inquiry voice of whether to unlock or not.
As a specific implementation manner of the above embodiment, the step of collecting the vehicle exterior environment within a preset sensing range and generating collision warning information according to the vehicle exterior environment includes: acquiring first image information of an environment outside the vehicle within the sensing range; acquiring a relative distance between a target object indicated by the off-board environment and the current vehicle, wherein the relative distance comprises a first distance in a driving direction and/or a second distance perpendicular to the driving direction; and generating collision early warning information according to the first image information of the environment outside the vehicle and the relative distance.
In an embodiment, in combination with the above embodiments, the method further includes:
when the situation that the vehicle door is opened at the current moment and the vehicle door is locked is determined, receiving a forced unlocking instruction;
determining a corresponding target vehicle door according to the forced unlocking instruction, and determining a safety range and at least one safety point in the safety range according to the collision early warning information, wherein the safety range is used for indicating a range of a safety distance between the current vehicle and the vehicle-external environment indicated by the collision early warning information when the target vehicle door is opened;
and controlling the door controller to unlock the target door so that one end of the target door, which is far away from the body of the current vehicle, reaches the safety point.
Preferably, in combination with the above embodiment, the method further includes:
when the vehicle door controller receives a forced unlocking instruction, acquiring the environment in the vehicle, and determining a target user initiating the forced unlocking instruction, a target body type and a target weight of the target user according to the environment in the vehicle;
determining a door opening angle required by the target user according to the target weight and the target body type of the target user, wherein the door opening angle is used for indicating an angle between the target door and the body of the current vehicle when the target door is opened;
when one end of the target vehicle door, which is far away from the vehicle body of the current vehicle, reaches the safety point, a target angle between the target vehicle door and the vehicle body of the current vehicle is obtained, and whether the vehicle door opening angle is smaller than or equal to the target angle is judged;
if yes, controlling the vehicle door controller to unlock the target vehicle door according to the vehicle door opening angle;
and if not, controlling the vehicle door controller to unlock the target vehicle door according to the target angle.
As a specific implementation manner of the foregoing embodiment, the step of collecting the environment inside the vehicle includes: acquiring second image information of the environment in the vehicle; determining a target user initiating the forced unlocking instruction and a target body type of the target user according to second image information of the in-vehicle environment; and collecting the target weight of the target user.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps. For specific limitations of the control system of the vehicle door, reference may be made to the above limitations of the control method of the vehicle door, which are not described in detail herein.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a control method for a vehicle door. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
when the current vehicle is in a stop state, acquiring an external environment within a preset sensing range, and generating collision early warning information according to the external environment;
determining whether the vehicle door is opened at the current moment and collision occurs or not according to the collision early warning information and the vehicle door opening instruction;
when the fact that the vehicle door is opened at the current moment and collision does not occur is determined, a safety prompt voice is sent out, or when the fact that the vehicle door is opened at the current moment and collision occurs is determined, a collision prompt voice is sent out;
controlling a vehicle door controller to unlock the vehicle door when determining that the vehicle door is opened at the current moment and no collision occurs, and controlling the vehicle door controller to lock the vehicle door when determining that the vehicle door is opened at the current moment and no collision occurs;
and carrying out voice interaction with the current user so as to determine whether to unlock according to the instruction of the current user.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
sending out an inquiry voice for unlocking or not, receiving a response voice replied by the current user to the inquiry voice, and determining whether to unlock or not according to the content indicated by the response voice;
if not, keeping locking the vehicle door, and continuously executing the step of collecting the environment outside the vehicle within the preset sensing range;
if yes, determining whether the vehicle door is opened at the current moment and collision occurs according to the collision early warning information;
if not, unlocking the vehicle door and sending the safety prompt voice;
if so, keeping locking the vehicle door, and sending the collision prompt voice and the inquiry voice of whether to unlock or not.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring first image information of the vehicle external environment within the perception range; acquiring a relative distance between a target object indicated by the off-board environment and the current vehicle, wherein the relative distance comprises a first distance in a driving direction and/or a second distance perpendicular to the driving direction; and generating collision early warning information according to the first image information of the environment outside the vehicle and the relative distance.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
when the fact that the vehicle door is opened at the current moment is determined to be collided and the vehicle door is locked, receiving a forced unlocking instruction;
determining a corresponding target vehicle door according to the forced unlocking instruction, and determining a safety range and at least one safety point in the safety range according to the collision early warning information, wherein the safety range is used for indicating a range of a safety distance between the current vehicle and the vehicle-external environment indicated by the collision early warning information when the target vehicle door is opened;
and controlling the door controller to unlock the target door so that one end of the target door, which is far away from the body of the current vehicle, reaches the safety point.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
when the vehicle door controller receives a forced unlocking instruction, acquiring the environment in the vehicle, and determining a target user initiating the forced unlocking instruction, a target body type and a target weight of the target user according to the environment in the vehicle;
determining a door opening angle required by the target user according to the target weight and the target body type of the target user, wherein the door opening angle is used for indicating an angle between the target door and the body of the current vehicle when the target door is opened;
when one end of the target vehicle door, which is far away from the vehicle body of the current vehicle, reaches the safety point, a target angle between the target vehicle door and the vehicle body of the current vehicle is obtained, and whether the vehicle door opening angle is smaller than or equal to the target angle is judged;
if yes, controlling the vehicle door controller to unlock the target vehicle door according to the vehicle door opening angle;
and if not, controlling the vehicle door controller to unlock the target vehicle door according to the target angle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring second image information of the environment in the vehicle; determining a target user initiating the forced unlocking instruction and a target body type of the target user according to second image information of the in-vehicle environment; and collecting the target weight of the target user.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (10)
1. A control system for a vehicle door, the system comprising:
the first environment sensing module is used for collecting the vehicle exterior environment within a preset sensing range when the current vehicle is in a stop state, and generating collision early warning information according to the vehicle exterior environment;
the information processing module is respectively electrically connected with the first environment sensing module and the vehicle door controller and is used for determining whether the vehicle door can be opened at the current moment or not to generate collision according to the collision early warning information and the vehicle door opening instruction received by the vehicle door controller;
the voice interaction module is electrically connected with the information processing module and is used for sending out a safety prompt voice when the information processing module determines that the car door is opened at the current moment and collision does not occur, or sending out a collision prompt voice when the information processing module determines that the car door is opened at the current moment and collision occurs;
the control module is respectively electrically connected with the information processing module and the vehicle door controller, and is used for controlling the vehicle door controller to unlock the vehicle door when the information processing module determines that the vehicle door is opened at the current moment and no collision occurs, and is also used for controlling the vehicle door controller to lock the vehicle door when the information processing module determines that the vehicle door is opened at the current moment and no collision occurs;
the voice interaction module is electrically connected with the control module and used for carrying out voice interaction with a current user so as to determine whether to unlock the vehicle door according to the instruction of the current user.
2. The control system of the automobile door as claimed in claim 1, wherein the voice interaction module is further configured to perform voice interaction with a current user to determine whether to unlock according to an instruction of the current user, and includes:
the voice interaction module is also used for sending out an inquiry voice for unlocking or not, receiving a response voice replied by the current user from the inquiry voice, and determining whether to unlock or not according to the content indicated by the response voice;
if not, calling the control module and the first environment sensing module, wherein the control module is used for keeping locking of the vehicle door, the first environment sensing module is used for continuously executing the step of collecting the vehicle exterior environment within a preset sensing range, and the voice interaction module is electrically connected with the first environment sensing module;
if so, calling the information processing module, wherein the information processing module is used for determining whether the vehicle door is opened at the current moment and collision occurs according to the collision early warning information;
if not, calling the control module and the voice interaction module, wherein the control module is used for unlocking the vehicle door, and the voice interaction module is used for sending out the safety prompt voice;
if yes, the control module and the voice interaction module are called, wherein the control module is used for keeping locking of the car door, and the voice interaction module is used for sending out collision prompt voice and inquiry voice for judging whether locking is released or not.
3. The control system of the vehicle door as claimed in claim 1, wherein the first environmental sensing module includes:
the first camera is used for acquiring first image information of the vehicle external environment within the sensing range;
a radar configured to acquire a relative distance between a target object indicated by the off-board environment and the current vehicle, wherein the relative distance includes a first distance in a direction of travel and/or a second distance perpendicular to the direction of travel;
the collision early warning controller is respectively electrically connected with the first camera and the radar and is used for generating collision early warning information according to the first image information of the environment outside the vehicle and the relative distance;
and one end of the interface module is electrically connected with the first camera, the radar and the collision early warning controller through a controller area network respectively, and the other end of the interface module is electrically connected with the information processing module.
4. The control system of the vehicle door according to any one of claim 1,
the vehicle door controller is also used for receiving a forced unlocking instruction when the information processing module determines that the vehicle door is opened at the current moment and the vehicle door is collided, and the control module locks the vehicle door;
the information processing module is further used for determining a corresponding target vehicle door according to the forced unlocking instruction, and determining a safety range and at least one safety point in the safety range according to the collision early warning information, wherein the safety range is used for indicating that the current vehicle and the environment outside the vehicle indicated by the collision early warning information keep a range of a safe distance when the target vehicle door is opened;
the control module is also used for controlling the vehicle door controller to unlock the target vehicle door so that one end, far away from the body of the current vehicle, of the target vehicle door reaches the safety point.
5. The control system of the vehicle door according to any one of claim 4, further comprising:
the second environment sensing module is respectively electrically connected with the information processing module, the control module and the vehicle door controller, and is used for collecting the environment in the vehicle when the vehicle door controller receives a forced unlocking instruction, and determining a target user initiating the forced unlocking instruction, a target body type and a target weight of the target user according to the environment in the vehicle;
the information processing module is further used for determining a vehicle door opening angle required by the target user according to the target weight and the target body type of the target user, wherein the vehicle door opening angle is used for indicating an angle between the target vehicle door and a vehicle body of the current vehicle when the target vehicle door is opened;
when one end of the target vehicle door, which is far away from the vehicle body of the current vehicle, reaches the safety point, a target angle between the target vehicle door and the vehicle body of the current vehicle is obtained, and whether the opening angle of the vehicle door is smaller than or equal to the target angle is judged;
if so, calling the control module, wherein the control module is used for controlling the vehicle door controller to unlock the target vehicle door according to the vehicle door opening angle;
and if not, calling the control module, wherein the control module is used for controlling the vehicle door controller to unlock the target vehicle door according to the target angle.
6. The control system of the vehicle door as claimed in claim 5, wherein the second environment sensing module comprises:
the second camera is used for acquiring second image information of the environment in the vehicle;
the information processing unit is used for determining a target user initiating the forced unlocking instruction and a target body type of the target user according to second image information of the in-vehicle environment;
a seat sensor to collect a target weight of the target user.
7. The control system for the vehicle door according to any one of claims 1 to 6, wherein the door controller includes a controller that controls each of a side door and a tail gate of the present vehicle.
8. A control method of an automobile door, applied to the control system of the automobile door according to any one of claims 1 to 7, the method comprising:
when the current vehicle is in a stop state, acquiring an external environment within a preset sensing range, and generating collision early warning information according to the external environment;
determining whether the vehicle door is opened at the current moment and collision occurs or not according to the collision early warning information and the vehicle door opening instruction;
when the fact that the vehicle door is opened at the current moment and collision does not occur is determined, a safety prompt voice is sent out, or when the fact that the vehicle door is opened at the current moment and collision occurs is determined, a collision prompt voice is sent out;
controlling a vehicle door controller to unlock the vehicle door when determining that the vehicle door is opened at the current moment and the collision does not occur, and controlling the vehicle door controller to lock the vehicle door when determining that the vehicle door is opened at the current moment and the collision occurs;
and carrying out voice interaction with the current user so as to determine whether to unlock according to the instruction of the current user.
9. The control method of the vehicle door according to claim 8, wherein the step of voice-interacting with a current user to determine whether to unlock according to an instruction of the current user includes:
sending out an inquiry voice for unlocking or not, receiving a response voice replied by the current user from the inquiry voice, and determining whether to unlock or not according to the content indicated by the response voice;
if not, keeping locking the vehicle door, and continuously executing the step of collecting the environment outside the vehicle within the preset sensing range;
if yes, determining whether the vehicle door is opened at the current moment and collision occurs according to the collision early warning information;
if not, unlocking the vehicle door and sending the safety prompt voice;
if so, keeping locking the vehicle door, and sending the collision prompt voice and the inquiry voice of whether to unlock or not.
10. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method for controlling a vehicle door according to any one of claims 8 to 9 are implemented by the processor when executing the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211346237.6A CN115613914A (en) | 2022-10-31 | 2022-10-31 | Control system, method and equipment for automobile door |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211346237.6A CN115613914A (en) | 2022-10-31 | 2022-10-31 | Control system, method and equipment for automobile door |
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| CN115613914A true CN115613914A (en) | 2023-01-17 |
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| CN202211346237.6A Pending CN115613914A (en) | 2022-10-31 | 2022-10-31 | Control system, method and equipment for automobile door |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116201422A (en) * | 2023-03-24 | 2023-06-02 | 重庆长安汽车股份有限公司 | Door and window control method, system, electronic equipment and storage medium |
| CN116279259A (en) * | 2023-02-27 | 2023-06-23 | 成都赛力斯科技有限公司 | Vehicle control system, method and intelligent vehicle |
-
2022
- 2022-10-31 CN CN202211346237.6A patent/CN115613914A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116279259A (en) * | 2023-02-27 | 2023-06-23 | 成都赛力斯科技有限公司 | Vehicle control system, method and intelligent vehicle |
| CN116201422A (en) * | 2023-03-24 | 2023-06-02 | 重庆长安汽车股份有限公司 | Door and window control method, system, electronic equipment and storage medium |
| CN116201422B (en) * | 2023-03-24 | 2024-05-14 | 重庆长安汽车股份有限公司 | Door and window control method, system, electronic equipment and storage medium |
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