The invention discloses a vehicle door opening early warning method, which comprises the steps of determining whether a first obstacle exists in a detection range of a millimeter wave radar according to first detection data of the millimeter wave radar, and determining whether a second obstacle exists in a detection range of an ultrasonic radar according to second detection data of the ultrasonic radar; if the first obstacle exists and the second obstacle does not exist, determining a first size and track information of the first obstacle, and a relative distance and a relative speed between the vehicle and the first obstacle according to the first detection data and image data acquired by the camera device; according to the relative distance, the relative speed, the track information and the first size, whether the vehicle meets a door opening early warning condition or not is determined; if the second obstacle exists, the second size of the second obstacle is determined according to the image data, and whether the vehicle meets the door opening early warning condition or not is determined according to the second size; if the vehicle meets the door opening early warning condition, early warning information is sent based on the early warning level. And the vehicle door opening early warning precision is improved.

    本发明公开了一种车辆开门预警方法,包括:根据毫米波雷达的第一探测数据确定毫米波雷达的探测范围内是否存在第一障碍物,根据超声波雷达的第二探测数据确定超声波雷达的探测范围内是否存在第二障碍物;若存在第一障碍物且不存在第二障碍物,则根据第一探测数据和摄像设备采集到的图像数据,确定第一障碍物的第一尺寸、航迹信息、车辆与第一障碍物之间的相对距离和相对速度;根据相对距离、相对速度、航迹信息和第一尺寸,确定车辆是否满足开门预警条件;若存在第二障碍物,则根据图像数据,确定第二障碍物的第二尺寸,根据第二尺寸确定车辆是否满足开门预警条件;若车辆满足开门预警条件,则基于预警等级发出预警信息。提高了车辆开门预警精度。


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    Title :

    Vehicle door opening early warning method, device and equipment and storage medium


    Additional title:

    一种车辆开门预警方法、装置、设备和存储介质


    Contributors:
    LI HE (author) / TAN MINGWEI (author) / CAI SHIMIN (author) / LENG CHANGFENG (author) / XU GANG (author) / HAN HYUN-HYUN (author) / CHEN HANYAO (author) / GAO RUSHAN (author)

    Publication date :

    2022-12-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein / G08B SIGNALLING OR CALLING SYSTEMS , Signalisier- oder Rufsysteme



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