CN113581072A - Vehicle and door opening anti-collision method, system and device thereof, electronic equipment and medium - Google Patents
Vehicle and door opening anti-collision method, system and device thereof, electronic equipment and medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B60W2050/143—Alarm means
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Abstract
The invention discloses a vehicle and a door opening anti-collision method, a system, a device, electronic equipment and a medium thereof, wherein the method comprises the following steps: acquiring the motion information of the current vehicle, and acquiring the perception information of the vehicles around the current vehicle and the drive test equipment through a V2X communication system; calculating the distance between the current vehicle and a rear target bumper according to the motion information and the perception information of the current vehicle; when the door opening intention of a passenger of the current vehicle is determined, judging whether the distance between the current vehicle and a rear target collision-proof object is smaller than a preset safety threshold value or not; and if the distance between the current vehicle and the rear target collision-proof object is smaller than a preset safety threshold value, sending out early warning information. Therefore, the method improves the driving safety, improves the traffic efficiency and reduces the probability of the door opening collision accident of the automobile.
Description
Technical Field
The invention relates to the technical field of traffic safety, in particular to a door opening anti-collision method of a vehicle, a door opening anti-collision device of the vehicle, a computer readable storage medium, electronic equipment, the vehicle and a door opening anti-collision system of the vehicle.
Background
When a passenger gets off the vehicle and opens the door, due to the reasons of insufficient observation of a moving object behind and the like, accidents of collision between the passenger and a vehicle and pedestrians behind occur frequently, and serious passengers can also cause casualties.
At present, the mode for preventing the accidents is mainly that passengers subjectively observe the rear traffic condition and ensure that no vehicle can open the door and get off the vehicle when no vehicle is in the rear. In the related technology, a radar and a camera are mostly adopted or an electronic sensor is additionally arranged to detect the distance between an automobile and a rear obstacle and the moving speed of the obstacle, and a door opening anti-collision system is formed by a CAN bus module, an information preprocessing module, a door lock driving module, a door lock executing module, a door opening anti-collision control ECU (electronic control unit) and the obstacle detecting module. When the system detects that the rear part of the vehicle is provided with a moving non-motor vehicle and a pedestrian, the system judges that the door is not provided with a door opening condition, and triggers an alarm device.
However, the related art solution has the following disadvantages: the rear obstacle category cannot be accurately identified, and the static obstacle is easily identified as a pedestrian or a vehicle by mistake due to the close sensing distance, so that false alarm is caused; the alarm reminding is not timely, and when the barrier moves at a high speed, the phenomenon that the barrier is not recognized and the door is opened and collided easily occurs; in order to achieve the purpose of accurately identifying obstacles behind the vehicle, a camera, a laser radar, a millimeter wave radar and other sensors need to be installed, so that the cost is high; inaccurate identification and prediction of vulnerable traffic participants results in false positives.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the first purpose of the invention is to provide a door opening anti-collision method for a vehicle, which can improve driving safety, improve traffic efficiency and reduce the probability of the occurrence of the door opening collision accident of the vehicle.
The second purpose of the invention is to provide a door opening anti-collision device of a vehicle.
A third object of the invention is to propose a computer-readable storage medium.
A fourth object of the invention is to propose an electronic device.
A fifth object of the invention is to propose a vehicle.
A sixth object of the present invention is to provide a door opening collision avoidance system for a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a door opening collision avoidance method for a vehicle, including: acquiring motion information of a current vehicle, and acquiring sensing information of vehicles around the current vehicle and drive test equipment through a V2X communication system; calculating the distance between the current vehicle and a rear target bumper according to the motion information and the perception information of the current vehicle; when the door opening intention of the passenger of the current vehicle is determined, judging whether the distance between the current vehicle and a rear target bumper is smaller than a preset safety threshold value or not; and if the distance between the current vehicle and a rear target collision-proof object is smaller than the preset safety threshold value, sending out early warning information.
Further, the method further comprises: acquiring control information of a current vehicle, and judging whether the current vehicle has a driving and stopping trend according to the control information, wherein the control information comprises accelerator pedal information, brake pedal information and steering wheel angle information; and if the current vehicle is judged to have the driving and stopping tendency, acquiring the motion information of the current vehicle, and acquiring the perception information of the vehicles around the current vehicle and the drive test equipment through a V2X communication system.
Further, the motion information of the current vehicle includes first pre-travel track information of the current vehicle, the first pre-travel track information being obtained by aggregating paths { nodes }1，node2… } in which, nodeiInformation of the ith track point on the first pre-driving track, nodei＝[xi，yi，vi，thetai]，i＝0，1，2，…，xiIs the abscissa, y, of the ith locus point in a Cartesian coordinate systemiIs the ordinate, v, of the ith locus point in a Cartesian coordinate systemiIs that it isPoint speed, theta, of the current vehicle at the ith trajectory pointiThe heading angle of the ith track point is; the perception information comprises second pre-driving track information of a target anti-collision object behind the current vehicle, and the second pre-driving track information passes through a position coordinate vector pos [ (x)P1，yP1)，(xP2，yP2)，…]Is represented by, wherein xPiIs the abscissa, y, of the ith track point on the second pre-travel track in a Cartesian coordinate systemPiIs the ordinate of the ith locus point in a Cartesian coordinate system,
xP(i+1)＝vP·cos(thetaP)·Δti+1+xPi，i＝0，1，2，…，
yP(i+1)＝vP·sin(thetaP)·Δti+1+yPi，i＝0，1，2，…，vPis the velocity, theta, of the target impactPIs the advancing direction angle, Δ t, of the target impacti+1Is the time difference from the i +1 th track point to the i th track point, delta ti+1＝(yi+1-yi)/(vi·cos thetai)，t0Is the initial time.
According to an embodiment of the present invention, the calculating a distance between the present vehicle and a rear target collision avoidance object based on the motion information and the perception information of the present vehicle includes: according to the formula disi＝sqrt((xPi-xi)2+(yPi-yi)2) And i is 0, 1, 2, …, calculating the distance between the current vehicle and the rear target collision object.
According to one embodiment of the invention, the V2X communication system utilizes LTE-V communication or 5G communication for data transmission.
According to the door opening anti-collision method for the vehicle, disclosed by the embodiment of the invention, the driving safety is improved, the traffic efficiency is improved, and the probability of door opening collision accidents of the vehicle is reduced.
In order to achieve the above object, a second aspect of the present invention provides a door opening collision avoidance device for a vehicle, including: the acquisition module is used for acquiring the motion information of the current vehicle and acquiring the perception information of the vehicles around the current vehicle and the drive test equipment through a V2X communication system; the calculation module is used for calculating the distance between the current vehicle and a rear target bumper according to the motion information and the perception information of the current vehicle; the judging module is used for judging whether the distance between the current vehicle and a rear target bumper is smaller than a preset safety threshold value or not when the situation that the passenger of the current vehicle has the door opening intention is determined; and the early warning module is used for sending out early warning information when the distance between the current vehicle and a rear target collision object is smaller than the preset safety threshold value.
According to the door opening anti-collision device of the vehicle, the driving safety is improved, the traffic efficiency is improved, and the probability of door opening collision accidents of the vehicle is reduced.
In order to achieve the above object, a third embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for preventing collision when opening a door of a vehicle.
In order to achieve the above object, a fourth aspect of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the computer program, when executed by the processor, implements the method for preventing a vehicle from being opened.
In order to achieve the above object, a fifth embodiment of the present invention provides a vehicle, including the door opening anti-collision device of the vehicle, or the electronic device.
In order to achieve the above object, a sixth aspect of the present invention provides a door opening anti-collision system for a vehicle, including a current vehicle, vehicles around the current vehicle, and a drive test device, where the current vehicle is in communication connection with the vehicles around the current vehicle and the drive test device, respectively, and both the current vehicle and the vehicles around the current vehicle adopt the vehicle.
According to the door opening anti-collision system of the vehicle, the driving safety is improved, the traffic efficiency is improved, and the probability of door opening collision accidents of the vehicle is reduced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic flow chart of a door opening collision avoidance method of a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a door opening collision prevention apparatus of a vehicle according to an embodiment of the present invention;
FIG. 3 is a single flow diagram of a door opening crash guard of a vehicle in accordance with an exemplary embodiment of the present invention;
fig. 4 is a schematic structural diagram of a door opening collision avoidance system of a vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a vehicle and a door opening collision avoidance method, a system, a device, an electronic device and a medium thereof according to an embodiment of the invention with reference to fig. 1 to 4.
Fig. 1 is a schematic flow chart of a door opening collision avoidance method of a vehicle according to an embodiment of the present invention. As shown in fig. 2, the door opening collision avoidance method of the vehicle includes:
s101, acquiring motion information of the current vehicle, and acquiring perception information of vehicles around the current vehicle and the drive test equipment through a V2X communication system.
Specifically, the motion information of the current vehicle may be acquired by a vehicle speed sensor, a navigation system, or the like, wherein the motion information of the current vehicle includes first pre-travel track information of the current vehicle, the first pre-travel track information being obtained by aggregating paths { nodes }1，node2… } in which, nodeiFor the ith on the first pre-travel trackTrack point information, nodei＝[xi，yi，vi，thetai]，i＝0，1，2，…，xiIs the abscissa, y, of the ith locus point in a Cartesian coordinate systemiIs the ordinate, v, of the ith locus point in a Cartesian coordinate systemiThe point speed, theta, of the current vehicle at the ith track pointiThe heading angle of the ith track point (the origin can be the true east, and the north is true). Perception information (such as coordinate position, speed, driving direction and the like of a non-motorized vehicle and a pedestrian behind the current vehicle) of a vehicle and a roadside unit RSU device which are also equipped with the V2X communication system is obtained through the V2X communication system. The V2X communication system can utilize LTE-V communication or 5G communication for data transmission. The perception information comprises second pre-driving track information of a target collision-proof object behind the current vehicle, and the second pre-driving track information passes through a position coordinate vector pos [ (x)P1，yP1)，(xP2，yP2)，…]Is represented by, wherein xPiIs the abscissa, y, of the ith track point on the second pre-travel track in a Cartesian coordinate systemPiIs the ordinate of the ith track point in a Cartesian coordinate system,
xP(i+1)＝vP·cos(thetaP)·Δti+1+xPi，i＝0，1，2，…，
yP(i+1)＝vP·sin(thetaP)·Δti+1+yPi，i＝0，1，2，…，VPis the speed of the target impact, thetaPIs the advancing direction angle (which can be from the east to the north) of the target anticollision object, and is Deltati+1Is the time difference from the i +1 th track point to the i th track point, delta ti+1＝(yi+1-yi)/(vi·cos thetai)，t0Is the initial time.
As an example, the method may further comprise: acquiring control information of a current vehicle, and judging whether the current vehicle has a driving and stopping trend according to the control information, wherein the control information comprises accelerator pedal information, brake pedal information and steering wheel corner information; and if the current vehicle is judged to have the driving and stopping tendency, acquiring the motion information of the current vehicle, and acquiring the perception information of the vehicles around the current vehicle and the drive test equipment through the V2X communication system.
Specifically, whether the current vehicle has a driving and stopping trend is judged by detecting the current information of an accelerator pedal, the current information of a brake pedal and the current information of a steering wheel angle of the vehicle. If the opening degree of the accelerator pedal is smaller than or equal to a first preset opening degree, the opening degree of the brake pedal is larger than or equal to a second preset opening degree, and the steering wheel angle is smaller than a preset steering angle, the vehicle is judged to have a driving and stopping trend, at the moment, motion information such as the current vehicle speed, acceleration, coordinates, a predicted track point and the like can be obtained, perception information of vehicles around the current vehicle and road measurement equipment is also obtained through a V2X communication system, and step S101 is executed, so that unnecessary door opening anti-collision detection can be avoided to a certain extent. The first preset opening degree is smaller than the second preset opening degree, and the first preset opening degree, the second preset opening degree and the preset rotation angle can be calibrated according to requirements.
And S102, calculating the distance between the current vehicle and the rear target collision-proof object according to the motion information and the perception information of the current vehicle.
Specifically, take pedestrian P as an example, let xP0Is the abscissa, y, of the pedestrian P (i.e., the rear target bumper) under the Cartesian coordinate system at the present momentP0Is the ordinate, v, of the pedestrian P in a Cartesian coordinate systemPIs the speed of the pedestrian, thetaPIs the heading angle (with the true east as the starting point and the north as the positive). According to the perception information, calculating a predicted position coordinate vector pos [ (x) of the pedestrian under the time vector tP1，yP1)，(xP2，yP2)，…]，
xP(i+1)＝vP·cos(thetaP)·Δti+1+xPi，i＝0，1，2，…
yP(i+1)＝vP·sin(thetaP)·Δti+1+yPi，i＝0，1，2，…
Calculating a distance vector Dis [ Dis ] of a pedestrian and a current autonomous vehicle1，dis2，…]
disi＝sqrt((xPi-xi)2+(yPi-yi)2)，i＝0，1，2，…
Thus, according to the formula disi＝sqrt((xPi-xi)2+(yPi-yi)2) And i is 0, 1, 2, …, calculating the distance between the current vehicle and the rear target collision object. And the calculation result can be corrected and updated according to the motion information of the current automatic driving vehicle and the perception information of vehicles around the current vehicle and the drive test equipment, and the calculation process is repeated to obtain the latest distance between the pedestrian and the current automatic driving vehicle.
S103, when the door opening intention of the passenger of the current vehicle is determined, whether the distance between the current vehicle and the rear target collision object is smaller than a preset safety threshold value or not is judged.
Specifically, when two conditions that the current vehicle speed is zero and a passenger touches a door opener (which can be determined according to an image detection device installed in the vehicle or according to a sensing signal of a sensor installed on the door opener) are met, it is determined that the passenger of the current vehicle has an intention to open the door, and at this time, it can be determined whether the distance between the automatically-driven vehicle and a rear non-motor vehicle and a pedestrian (i.e., a rear target collision object) at the current time is smaller than a set threshold value. For example: when the vehicle speed is zero and a sensor signal (i.e., an intention to open the door) that the passenger touches the door handle is received, it is determined that the time t isxThe distance dis between the pedestrian and the vehicleiAnd whether the value is less than a preset safety threshold epsilon, wherein x is more than or equal to i and less than i + 1.
And S104, if the distance between the current vehicle and the rear target collision-proof object is smaller than a preset safety threshold value, sending out early warning information.
Specifically, if the distance dis between the pedestrian (i.e. the rear target collision-prevention object) and the host vehicle (i.e. the current vehicle) is smaller than the preset safety threshold epsilon, the early warning device (such as the vehicle-mounted display terminal and the mobile terminal of the user) can be triggered to perform early warning prompt of the dangerous situation on the driver and the passengers by means of sound, images and the like, for example: the words and/or the voice 'please pay attention to the pedestrian behind when the door is opened' can remind the passenger to pay attention to the safety of opening the door.
In conclusion, according to the door opening anti-collision method for the vehicle, the distance between the current vehicle and the rear target collision object is calculated according to the motion information and the perception information of the current vehicle, so that the driving safety is improved, the traffic efficiency is improved, and the probability of the door opening collision accident of the automobile is reduced.
Fig. 2 is a schematic structural view of a door opening collision avoidance apparatus of a vehicle according to an embodiment of the present invention.
As shown in fig. 2, the door opening collision avoidance apparatus 100 for a vehicle includes: the acquisition module 11 is used for acquiring motion information of a current vehicle and acquiring perception information of vehicles around the current vehicle and drive test equipment through a V2X communication system; the calculation module 12 is used for calculating the distance between the current vehicle and a rear target collision-proof object according to the motion information and the perception information of the current vehicle; the judging module 13 is used for judging whether the distance between the current vehicle and a rear target collision-proof object is smaller than a preset safety threshold value or not when the situation that the passenger of the current vehicle has the door opening intention is determined; and the early warning module 14 is used for sending out early warning information when the distance between the current vehicle and the rear target collision-proof object is smaller than a preset safety threshold value.
Specifically, the motion information of the current vehicle may include first pre-travel track information of the current vehicle, the first pre-travel track information being passed through the set path { node } of1，node2… } in which, nodeiFor the ith track point information, node, on the first pre-travel tracki＝[xi，yi，vi，thetai]，i＝0，1，2，…，xiIs the abscissa, y, of the ith locus point in a Cartesian coordinate systemiIs the ordinate, v, of the ith locus point in a Cartesian coordinate systemiThe point speed, theta, of the current vehicle at the ith track pointiThe heading angle of the ith track point. The acquisition module 11 may acquire the awareness information of the vehicles around the current vehicle and the drive test devices through a V2X communication system based on LTE-V communication or 5G communication. Wherein the perception information comprises second pre-travel track information of a target anticollision object behind the current vehicle, and the second pre-travel track information passes through the position coordinate vector pos [ 2 ](xP1，yP1)，(xP2，yP2)，…]Is represented by, wherein xPiIs the abscissa, y, of the ith track point on the second pre-travel track in a Cartesian coordinate systemPiIs the ordinate of the ith locus point in a Cartesian coordinate system,
xP(i+1)＝vP·cos(thetaP)·Δti+1+xPi，i＝0，1，2，…，
yP(i+1)＝vP·sin(thetaP)·Δti+1+yPi，i＝0，1，2，...，vPis the speed of the target impact, thetaPIs the advancing direction angle, Δ t, of the target impacti+1Is the time difference from the i +1 th track point to the i th track point, delta ti+1＝(yi+1-yi)/(vi·cos thetai)，t0Is the initial time.
After obtaining the motion information and the perception information of the current vehicle, the calculation module 12 may calculate the distance according to the formula disi＝sqrt((xPi-xi)2+(yPi-yi)2) And i is 0, 1, 2, …, calculating the distance between the current vehicle and the rear target collision object. The determining module 13 may further determine whether the distance between the current vehicle and the rear target collision-proof object is less than a preset safety threshold when the current vehicle speed is zero and the sensor signal that the passenger touches the door handle is received (i.e. the passenger has an intention to open the door). When the distance between the current vehicle and the rear target collision-proof object is smaller than the preset safety threshold, the early warning module 14 may send out early warning information, such as: the early warning prompt of dangerous conditions is carried out on a driver and passengers by means of sound, images and the like, and the problem that when the barrier moves at a high speed, the barrier is not recognized and the door is opened and collides is solved.
Therefore, the door opening anti-collision device of the vehicle improves driving safety, improves traffic efficiency and reduces the probability of door opening collision accidents of the vehicle.
In one embodiment, referring to fig. 3, the obtaining module 11 may further obtain control information of the current vehicle, wherein the control information includes accelerator pedal information, brake pedal information and steering wheel angle information.
In this embodiment, the determining module 13 may further determine whether the current vehicle has a driving and stopping tendency according to the control information, and if it is determined that the current vehicle has the driving and stopping tendency, the obtaining module 11 may further obtain the motion information of the current vehicle and obtain the perception information of the vehicles around the current vehicle and the drive test equipment through the V2X communication system. Therefore, unnecessary door opening anti-collision reminding can be avoided.
It should be noted that, for other specific implementations of the door opening anti-collision device of the vehicle according to the embodiment of the present invention, reference may be made to the specific implementations of the door opening anti-collision method of the vehicle according to the above-mentioned embodiment of the present invention.
The embodiment also provides a computer readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for preventing collision when opening a door of a vehicle is realized.
The embodiment also provides an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to realize the door opening anti-collision method of the vehicle.
The embodiment also provides a vehicle, which comprises the door opening anti-collision device of the vehicle, or the electronic equipment.
Fig. 4 is a schematic structural diagram of a door opening collision avoidance system of a vehicle according to an embodiment of the present invention.
As shown in fig. 4, the door opening collision avoidance system 200 of the vehicle includes: a current vehicle 21, and vehicles 22 around the current vehicle, a drive test apparatus 23. The current vehicle 21 is in communication connection with a vehicle 22 around the current vehicle and a drive test device 23, and the current vehicle 21 and the vehicles 22 around the current vehicle can both adopt a vehicle including the door opening anti-collision device of the vehicle or the electronic device implementing the door opening anti-collision method of the vehicle.
Specifically, the current vehicle 21 may acquire the perception information transmitted by the vehicle 22 around the current vehicle and the drive test device 23 through a V2X communication system based on LTE-V communication or 5G communication, and may further determine information such as the position and speed of a rear vehicle or a pedestrian (i.e., a rear target collision object) according to the perception information, and may determine whether the rear vehicle or the pedestrian affects the opening of the door of the current vehicle according to the information in combination with the information of the current vehicle 21 itself. The V2X communication system based on LTE-V communication or 5G communication obtains perception information, can solve the problem that current car door anticollision safety system's high time delay and single sensor recognition accuracy are low, improves the sensor utilization ratio, reduce cost.
Therefore, the door opening anti-collision system of the vehicle is in communication connection with the vehicles around the current vehicle and the road test equipment through the current vehicle, so that the driving safety is improved, the traffic efficiency is improved, and the probability of door opening collision accidents of the vehicle is reduced.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise explicitly specified or limited, a first feature may be "on" or "under" a second feature in direct contact with the first and second features, or in indirect contact with the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A door opening anti-collision method of a vehicle is characterized by comprising the following steps:
acquiring motion information of a current vehicle, and acquiring perception information of vehicles around the current vehicle and drive test equipment through a V2X communication system;
calculating the distance between the current vehicle and a rear target collision object according to the motion information and the perception information of the current vehicle, wherein the rear target collision object is an object behind the current vehicle and needs to be avoided when the current vehicle opens;
when it is determined that a passenger of the current vehicle has an intention to open a door, judging whether the distance between the current vehicle and a rear target collision object is smaller than a preset safety threshold value or not;
and if the distance between the current vehicle and a rear target collision-proof object is smaller than the preset safety threshold value, sending out early warning information.
2. A method for door opening collision avoidance in a vehicle as claimed in claim 1, wherein the method further comprises:
acquiring control information of a current vehicle, and judging whether the current vehicle has a driving and stopping trend according to the control information, wherein the control information comprises accelerator pedal information, brake pedal information and steering wheel corner information;
and if the current vehicle is judged to have the driving and stopping tendency, acquiring the motion information of the current vehicle, and acquiring the perception information of the vehicles around the current vehicle and the drive test equipment through a V2X communication system.
3. A door opening collision avoidance method for a vehicle according to claim 1 or 2,
the motion information of the current vehicle includes first pre-travel track information of the current vehicle, the first pre-travel track information being obtained by aggregating paths { nodes }1，node2,.. }, wherein, the nodeiInformation of the ith track point on the first pre-driving track, nodei＝[xi，yi，vi，thetai]，i＝0，1，2，...，xiIs the abscissa, y, of the ith locus point in a Cartesian coordinate systemiIs the ordinate, v, of the ith locus point in a Cartesian coordinate systemiFor the point speed, theta, of the current vehicle at the ith track pointiThe heading angle of the ith track point is;
the perception information comprises second pre-driving track information of a target anti-collision object behind the current vehicle, and the second pre-driving track information passes through a position coordinate vector pos [ (x)P1，yP1)，(xP2，yP2)，...]Is represented by, wherein xPiIs the abscissa, y, of the ith track point on the second pre-travel track in a Cartesian coordinate systemPiIs the ordinate, x, of the ith locus point in a Cartesian coordinate systemP(i+1)＝vP·cos(thetaP)·Δti+1+xPi，i＝0，1，2，...，yP(i+1)＝vP·sin(thetaP)·Δti+1+yPi，i＝0，1，2，...，vPIs the velocity, theta, of the target impactPIs the advancing direction angle, Δ t, of the target impacti+1Is the time difference from the i +1 th track point to the i th track point, delta ti+1＝(yi+1-yi)/(vi·costhetai)，t0Is the initial time.
4. The door opening collision avoidance method of a vehicle according to claim 3, wherein the calculating a distance between the current vehicle and a rear target collision object based on the motion information of the current vehicle and the perception information comprises:
according to the formula disi＝sqrt((xPi-xi)2+(yPi-yi)2) Calculating a distance between the current vehicle and a rear target collision.
5. The door opening collision avoidance method of a vehicle according to claim 1, wherein the V2X communication system performs data transmission using LTE-V communication or 5G communication.
6. A door opening anti-collision device of a vehicle, characterized by comprising:
the acquisition module is used for acquiring the motion information of the current vehicle and acquiring the perception information of vehicles around the current vehicle and the drive test equipment through a V2X communication system;
the calculation module is used for calculating the distance between the current vehicle and a rear target bumper according to the motion information and the perception information of the current vehicle;
the judging module is used for judging whether the distance between the current vehicle and a rear target bumper is smaller than a preset safety threshold value or not when the situation that the passenger of the current vehicle has the door opening intention is determined;
and the early warning module is used for sending out early warning information when the distance between the current vehicle and a rear target collision object is smaller than the preset safety threshold value.
7. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for door opening collision avoidance for a vehicle according to any one of claims 1 to 5.
8. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the computer program, when executed by the processor, implements a method of door opening collision avoidance for a vehicle as claimed in any one of claims 1-5.
9. A vehicle comprising a door opening collision avoidance device of the vehicle of claim 6 or an electronic apparatus of claim 8.
10. A door opening anti-collision system of a vehicle, characterized by comprising a current vehicle and vehicles and drive test equipment around the current vehicle, wherein the current vehicle is respectively in communication connection with the vehicles and the drive test equipment around the current vehicle, and the current vehicle and the vehicles around the current vehicle both adopt the vehicle as claimed in claim 9.
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