CN105857172A - Car-door-opening collision preventing method and device - Google Patents

Car-door-opening collision preventing method and device Download PDF

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Publication number
CN105857172A
CN105857172A CN201610183130.2A CN201610183130A CN105857172A CN 105857172 A CN105857172 A CN 105857172A CN 201610183130 A CN201610183130 A CN 201610183130A CN 105857172 A CN105857172 A CN 105857172A
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CN
China
Prior art keywords
car door
preset range
signal
barrier
distance
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
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CN201610183130.2A
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Chinese (zh)
Inventor
周中前
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mobile Intelligent Information Technology (beijing) Co Ltd
Music Holdings (beijing) Ltd
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Mobile Intelligent Information Technology (beijing) Co Ltd
Music Holdings (beijing) Ltd
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Application filed by Mobile Intelligent Information Technology (beijing) Co Ltd, Music Holdings (beijing) Ltd filed Critical Mobile Intelligent Information Technology (beijing) Co Ltd
Priority to CN201610183130.2A priority Critical patent/CN105857172A/en
Publication of CN105857172A publication Critical patent/CN105857172A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling
    • B60Q9/002Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling
    • B60Q9/002Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • B60Q9/006Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling
    • B60Q9/008Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling for anti-collision purposes

Abstract

The invention relates to the technical field of automobiles, and provides a car-door-opening collision preventing method and device. When it is detected that obstacles exist within a first preset range around a car door, an alarming signal of the highest level is sent, and safety and timeliness are good; meanwhile, when it is detected that obstacles do not exist in the first preset range around the car door and obstacles exist in a second preset range around the car door, the moving speed and the relative distance of the obstacles in the second preset range relative to the car door start to be detected, and alarming signals of corresponding levels are determined according to the moving speed and the relative distance; the level of the alarming signals is in positive correlation with the moving speed and in inverse correlation with the relative distance. By means of the method and device, whether obstacles exist around or behind the car door is actively detected, corresponding alarming prompts are sent, and the situation that the car door collides with obstacles is avoided to the maximum extent; meanwhile, on the basis of guaranteeing safety, the processing burden of a control module is reduced, and operation efficiency is improved.

Description

Avoiding collision and device during a kind of car door opening
Technical field
The present invention relates to automobile technical field, be specifically related to avoiding collision and dress during a kind of car door opening Put.
Background technology
Growing along with Urbanization in China, the living standard of people improves constantly, increasingly Many people have the automobile of oneself.This just brings traffic pressure and is gradually increased, and parking stall is increasingly Nervous problem.Owing to parking stall is nervous, in order to park more vehicle in limited space, When the most necessarily causing stopping, the distance between vehicle is more and more less, the especially lateral distance between automobile; Simultaneously as reasons such as roads, it is the most universal that people's car mixes phenomenon.
Nowadays people's rhythm of life is nervous, and passenger or driver are when parking of automobile opens the door, the most directly Take door opening, ignore whether observation periphery has barrier.Above-mentioned situation, all can cause automobile stopping When car opens the door, car door is encountered vehicle or other barriers on side, and is encountered the car of behind Or pedestrian, be the most not only easily damaged others' vehicle, the most easily make the damaged vehicle of oneself, And bring bigger potential safety hazard to the personnel got off and the vehicle of behind and pedestrian.At present, Typically use at car door paste rubber or foam etc. for crashproof, but this defence can only play table The protective action in face, and this kind of defense mechanism be Passive Defence, it is impossible to play the most crashproof effect Really.
Summary of the invention
Therefore, the technical problem to be solved in the present invention is to overcome of the prior art for car door opening Time anticollision device, collision-prevention device can not play the defect of Initiative Defense, thus crashproof side when a kind of car door opening is provided Method and device.
To this end, technical scheme is as follows:
Avoiding collision during a kind of car door opening, comprises the steps:
When receiving car door opening signal, in detection car door periphery the first preset range, whether there is obstacle Thing;
If having barrier in car door periphery the first preset range, then send highest alarm signal;
If not having barrier in car door periphery the first preset range, then detecting distance car door periphery second is pre- If whether having barrier in scope;Described second preset range is more than described first preset range;
If having barrier in car door periphery the second preset range, then detecting distance car door the second preset range In barrier relative to the movement velocity of car door and relative distance;According to described movement velocity and described Relative distance determines the alarm signal of corresponding grade, wherein, the grade of described alarm signal and described fortune Dynamic speed positive correlation, and with described relative distance inverse correlation.
Preferably, during described car door opening, avoiding collision also includes: when car door opening signal being detected, Then send the step that the signal of surrounding enviroment is observed in prompting.
Preferably, the alarm signal of corresponding grade is determined according to described movement velocity and described relative distance Step by following model realization:
Wherein,
The grade of z: alarm signal, the grade of the numerical value the biggest expression alarm signal of z is the highest;
k1: distance correlation coefficient, k1≥1;
S: relative distance;
k2: velocity correlation coefficint, k2≥1;
V: relative velocity.
Preferably, if the grade of alarm signal is the highest, then damping when car door is called a taxi is the biggest.
Preferably, damping value when described highest alarm signal is to be called a taxi by car door is set to maximum;Or The locked car door of person.
Anticollision device, collision-prevention device during a kind of car door opening, including:
Control module, for when car door opening signal being detected, sends and opens obstacle detection signal To detection of obstacles module;
Detection of obstacles module, for receiving the described unlatching barrier that described control module sends During detection signal, in starting to detect car door periphery the first preset range, whether there is barrier;
If there is barrier in described first preset range, then send first and there is obstacle signal To control module;
If there is not barrier in described first preset range, the most described detection of obstacles module continues Whether barrier is had in continuous detection car door periphery the second preset range, wherein, described second preset range More than described first preset range;
If there is barrier in described second preset range, then the barrier that will exist in the range of this The relative distance of distance car door sends to described control module, and sends second and there is obstacle signal extremely Described control module;
Control module, is additionally operable to, when receiving described first and there is obstacle signal, send the superlative degree Alarm signal;It is additionally operable to when receiving described second and there is obstacle signal, sends opening speed inspection Survey signal to velocity measuring module;
Velocity measuring module, during for detecting signal when the opening speed receiving control module transmission, Barrier in detecting distance car door the second preset range is relative to the movement velocity of car door, and by described Movement velocity sends to described control module;
Described control module receives described movement velocity and described relative distance, and according to described motion speed Degree and described relative distance determine the alarm signal of corresponding grade, wherein, the grade of described alarm signal With described movement velocity positive correlation, and with described relative distance inverse correlation;
Alarm module, for receiving the alarm signal that control module sends, and according to described alarm signal Carry out the warning of correspondence.
Preferably, described control module is additionally operable to when car door opening signal being detected, sends prompting letter Number to described alarm module;Described alarm module is additionally operable to receive described cue, and send for Voice and/or the flashing lamp of surrounding enviroment is observed in prompting.
Preferably, described control module determines correspondence etc. according to described movement velocity and described relative distance The alarm signal of level is by following model realization:
Wherein,
The grade of z: alarm signal, the grade of the numerical value the biggest expression alarm signal of z is the highest;
k1: distance correlation coefficient, k1≥1;
S: relative distance;
k2: velocity correlation coefficint, k2≥1;
V: relative velocity.
Preferably, described detection of obstacles module and described velocity measuring module are the infrared biography of at least three Sensor, wherein,
First infrared sensor is arranged at illuminator top edge on the left of car body, is used for detecting automobile left The distance of rear side obstacle distance car door and movement velocity;
Second infrared sensor is arranged at illuminator top edge on the right side of car body, is used for detecting Automobile Right The distance of rear side obstacle distance car door and movement velocity;
3rd infrared sensor is arranged at centre position, car body rear end, is used for detecting automobile rear barrier Hinder distance and the movement velocity of thing distance car door.
Preferably, described alarm module is the air damper being installed on the door-hinge of arrangements for automotive doors;If The grade of alarm signal is the highest, then damping when car door is called a taxi is the biggest.
Technical solution of the present invention, has the advantage that
1. during the car door opening that the present invention provides, avoiding collision and device, detecting car door periphery first When having barrier in preset range, i.e. sending highest alarm signal, safety and promptness are good;With Time, in car door periphery the first preset range being detected, there is no barrier, but pre-at car door periphery second If have barrier in scope, just the barrier in open detection the second preset range is relative to car door Movement velocity and relative distance, and the alarm signal of corresponding grade is determined according to movement velocity and relative distance Number, wherein, the grade of alarm signal and movement velocity positive correlation, and with relative distance inverse correlation.Should Method and apparatus achieves active probe car door periphery and whether rear has barrier, and sends correspondence Alarm, farthest avoid car door and bump against barrier;Simultaneously, it is ensured that the basis of safety On, alleviate the processing load of control module, improve operation efficiency.
2. avoiding collision and device during the car door opening that the present invention provides, when car door opening signal being detected Time, then send prompting and observe the signal of surrounding enviroment.It is arranged such, further avoid when getting off, Forget to check surrounding enviroment owing to the factor such as worrying, thus the situation causing car door to knock barrier occurs.
3. avoiding collision and device during the car door opening that the present invention provides, alarm module passes through air damping Device realizes, and the grade arranging alarm signal becomes positive correlation with damping during car door opening.As passenger or When person driver gets off, by experiencing the damping force of car door opening, then can know extraneous ring intuitively Border situation, simple and effective, and if alarm level higher, when damping bigger, car door will It is not easy to be opened, it is ensured that safety.
4. anticollision device, collision-prevention device during the car door opening that the present invention provides, by illuminator on the left of car body Edge arranges the first infrared sensor, the distance of detection automobile left rear side obstacle distance car door and motion Speed;On the right side of car body, illuminator top edge arranges the second infrared sensor, after detection Automobile Right The distance of side obstacle distance car door and movement velocity;The 3rd is arranged in centre position, car body rear end Infrared sensor, the distance of detection automobile rear obstacle distance car door and movement velocity.It is simple, Cost is relatively low and the vehicle covering behind without dead angle and pedestrian.
Accompanying drawing explanation
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, under The accompanying drawing used required in detailed description of the invention or description of the prior art will be briefly described by face, It should be evident that the accompanying drawing in describing below is some embodiments of the present invention, general for this area From the point of view of logical technical staff, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings Obtain other accompanying drawing.
The flow process of one concrete example of avoiding collision when Fig. 1 is car door opening in the embodiment of the present invention 1 Figure;
The principle of one concrete example of anticollision device, collision-prevention device when Fig. 2 is car door opening in the embodiment of the present invention 2 Block diagram;
When Fig. 3 is car door opening in the embodiment of the present invention 2, another concrete example of anticollision device, collision-prevention device is former Reason block diagram;
Reference: 1-control module;2-detection of obstacles module;3-velocity measuring module;4- Alarm module;5-the first infrared sensor;6-the second infrared sensor;7-the 3rd infrared sensor.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is clearly and completely described, it is clear that Described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on this Embodiment in bright, those of ordinary skill in the art are obtained under not making creative work premise Every other embodiment, broadly fall into the scope of protection of the invention.
In describing the invention, it should be noted that term " " center ", " on ", D score, " left ", Orientation or the position relationship of the instruction such as " right ", " vertically ", " level ", " interior ", " outward " are based on attached Orientation shown in figure or position relationship, be for only for ease of description the present invention and simplify describe rather than Instruction or the hint device of indication or element must have specific orientation, with specific azimuth configuration and Operation, is therefore not considered as limiting the invention.Additionally, term " first ", " second ", " Three " it is only used for describing purpose, and it is not intended that indicate or hint relative importance.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, art Language " is installed ", " being connected ", " connection " should be interpreted broadly, and connects for example, it may be fixing, Can also be to removably connect, or be integrally connected;Can be to be mechanically connected, it is also possible to be electrical connection; Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, it is also possible to be two element internals Connection, can be wireless connections, it is also possible to be wired connection.Ordinary skill people for this area For Yuan, above-mentioned term concrete meaning in the present invention can be understood with concrete condition.
As long as additionally, technical characteristic involved in invention described below difference embodiment that The conflict of not constituting between this just can be combined with each other.
Embodiment 1
As it is shown in figure 1, avoiding collision when the present embodiment provides a kind of car door opening, can include as follows Step:
Whether S1: when receiving car door opening signal, have in detection car door periphery the first preset range Barrier;If it has, then proceed to step S2;If it has not, then proceed to step S3.
S2: send highest alarm signal.
S3: whether have barrier in detecting distance car door periphery the second preset range, if it has, then turn Enter step S4, if it has not, then terminate flow process, normally-open car door.In step S3 second is pre- If scope is more than the first preset range in step S1.In specifically used, first can be arranged and preset model In the range of enclosing for distance car door 3m, the second preset range can be in the range of the car door 15m etc., Arrange flexibly with specific reference to needs.
S4: the barrier in detecting distance car door the second preset range relative to car door movement velocity and Relative distance;The alarm signal of corresponding grade, wherein, report is determined according to movement velocity and relative distance The grade of alert signal and movement velocity positive correlation, and with relative distance inverse correlation, it may be assumed that the motion of barrier Speed is the fastest, and alarm level is the highest;The relative distance of barrier is the least, and alarm level is the highest.This step In Zhou, when only existing a barrier in the second preset range, then obtain the motion speed of this barrier Degree and relative distance, and according to obtain movement velocity and relative distance be calculated alarm signal etc. Level, this grade is final grade;When there is multiple barrier in the second preset range, then divide Do not obtain movement velocity and the relative distance of each barrier, be calculated each barrier respectively corresponding The grade of alarm signal, then choose the highest grade alarm signal as final grade.
The avoiding collision during car door opening that the present embodiment provides, i.e. can be sent by step S1 and S2 Highest alarm signal, safety and promptness are good;Step S1 that and if only if judges the first preset range When inside not having barrier and step S3 to have barrier in judging the second preset range, just start detecting distance Barrier in car door the second preset range relative to the movement velocity of car door and relative distance, and according to Movement velocity and relative distance determine the alarm signal of corresponding grade, it is ensured that on the basis of An Quan, alleviate The processing load of control module, improves operation efficiency.Meanwhile, active probe is the method achieved Whether car door periphery and rear have barrier, and send corresponding alarm, farthest keep away Exempt from car door and bump against barrier.
On the basis of such scheme, it is also possible to including: when car door opening signal being detected, then send out Go out the step that the signal of surrounding enviroment is observed in prompting.It is arranged such, further avoid passenger or drive When the person of sailing gets off, forget to check surrounding enviroment owing to the factor such as worrying, thus cause car door to knock obstacle The situation of thing occurs.According to the difference of the alarm device arranged on car, cue can be flashing lamp Flicker or voice message or music tip etc. mode, as long as prompting can be played will open car door People note observe surrounding enviroment.Certainly the need of send cue can be by user flexibility Select.
As a kind of specific implementation, step S4 determines correspondence according to movement velocity and relative distance The alarm signal of grade can pass through following model realization:
Wherein,
The grade of z: alarm signal, the grade of the numerical value the biggest expression alarm signal of z is the highest;
k1: distance correlation coefficient, k1≥1;
S: relative distance;
k2: velocity correlation coefficint, k2≥1;
V: relative velocity.
If integrating step S1, then the Grade Model of alarm signal can be:
z = H , s < L 1 ; z = k 1 1 s + k 2 v , L 1 &le; s < L 2 ;
Wherein, alarm level z ∈ [1, H], H: for constant;L1: the first preset range, L2: second is pre- If scope.
As a kind of specific implementation, if alarm signal is realized by air damper, the most permissible The highest grade arranging alarm signal, then damping when car door is called a taxi is the biggest, wherein, and highest warning Signal could be arranged to the damping value of air damper is transferred to maximum.Be arranged such, as passenger or When driver gets off, by experiencing the damping force of car door opening, then can know external environment intuitively Situation, simple and effective, and if alarm level higher, when damping bigger, car door will not Easily it is opened, it is ensured that safety.
As other implementations, highest alarm signal can also be locked car door etc..This area skill Art personnel are it should be appreciated that use the tight of alarm sound to promote degree and the size of volume, and being also can To realize different grades of alarm, arrange flexibly with specific reference to needs.
Embodiment 2
As in figure 2 it is shown, anticollision device, collision-prevention device when the present embodiment provides a kind of car door opening, may include that
Control module 1, for when car door opening signal being detected, sends and opens obstacle detection signal To detection of obstacles module 2;
Detection of obstacles module 2, for receiving the unlatching detection of obstacles letter that control module 1 sends Number time, whether have barrier in starting to detect car door periphery the first preset range;
If there is barrier in the first preset range, then send first and there is obstacle signal to control Molding block 1;
If there is not barrier in the first preset range, then detection of obstacles module 2 continues detection Whether having barrier in car door periphery the second preset range, wherein, the second preset range is more than described the One preset range;
If there is barrier in the second preset range, then the obstacle distance that will exist in the range of this The relative distance of car door sends to control module 1, and sends second and there is obstacle signal to control module 1;
Control module 1, is additionally operable to when receiving first and there is obstacle signal, sends highest warning Signal;It is additionally operable to when receiving second and there is obstacle signal, sends opening speed detection signal extremely Velocity measuring module 3;
Velocity measuring module 3, during for detecting signal when the opening speed receiving control module 1 transmission, Barrier in detecting distance car door the second preset range is relative to the movement velocity of car door, and will move Speed sends to described control module 1;
Control module 1 receives movement velocity and relative distance, and true according to movement velocity and relative distance The alarm signal of fixed corresponding grade, wherein, the grade of alarm signal and movement velocity positive correlation, and with Relative distance inverse correlation;
Alarm module 4, for receiving the alarm signal that control module 1 sends, and enters according to alarm signal The warning that row is corresponding.
The anticollision device, collision-prevention device during car door opening that the present embodiment provides, is detecting that car door periphery first presets model When having barrier in enclosing, i.e. sending highest alarm signal, safety and promptness are good;Meanwhile, exist Barrier is not had in car door periphery the first preset range being detected, but in car door periphery the second preset range When inside having barrier, just the barrier in open detection the second preset range is relative to the motion speed of car door Degree and relative distance, and the alarm signal of corresponding grade is determined according to movement velocity and relative distance.Should Device achieves active probe car door periphery and whether rear has barrier, and sends the warning of correspondence Prompting, farthest avoids car door and bumps against barrier;Simultaneously, it is ensured that on the basis of An Quan, subtract The light processing load of control module, improves operation efficiency.
On the basis of such scheme, control module 1 is additionally operable to when car door opening signal being detected, Send cue to alarm module 4;Alarm module 4 be additionally operable to receive cue, and send for Voice and/or the flashing lamp of surrounding enviroment is observed in prompting.Be arranged such, further avoid passenger or When driver gets off, forget to check surrounding enviroment owing to the factor such as worrying, thus cause car door to knock barrier The situation hindering thing occurs.
On the basis of such scheme, control module 1 determines correspondence according to movement velocity and relative distance The alarm signal of grade is by following model realization:
Wherein,
The grade of z: alarm signal, the grade of the numerical value the biggest expression alarm signal of z is the highest;
k1: distance correlation coefficient, k1≥1;
S: relative distance;
k2: velocity correlation coefficint, k2≥1;
V: relative velocity.
On the basis of such scheme, detection of obstacles module 2 and velocity measuring module 3 are at least three Individual infrared sensor realizes, and wherein, is preferably provided with three infrared sensors, and it arranges position such as Fig. 3 Shown in, the first infrared sensor 5 is arranged at illuminator top edge on the left of car body, is used for detecting vapour The distance of car left rear side obstacle distance car door and movement velocity;Second infrared sensor 6 is arranged at vapour Illuminator top edge on the right side of car car body, for detect on rear side of Automobile Right the distance of obstacle distance car door and Movement velocity;3rd infrared sensor 7 is arranged at centre position, car body rear end (such as: vehicle rear window Top edge centre position), for detecting distance and the movement velocity of automobile rear obstacle distance car door. The detection angle of three infrared sensors is adjustable, such as: can set between 120 °-180 ° as required Putting, as could be arranged to 120 °, angle simulation drawing is as shown in Figure 3.This kind of mode is simple, becomes This relatively low and vehicle covering behind without dead angle and pedestrian.Those skilled in the art should To understand, the sensor using type is also possible, as long as the merit of detection range and speed can be realized Can.
On the basis of such scheme, alarm module 4 can be to be installed on the door-hinge of arrangements for automotive doors Air damper;If the grade of alarm signal is the highest, then damping when car door is called a taxi is the biggest, it may be assumed that set The grade putting alarm signal becomes positive correlation with damping during car door opening.When passenger or driver get off Time, by experiencing the damping force of car door opening, then can know external environment situation intuitively, simply Easy and effective, and if alarm level higher, when damping bigger, car door will be not easy to be opened, Ensure that safety.
Those skilled in the art it should be appreciated that embodiments of the invention can be provided as method, system, Or computer program.Therefore, the present invention can use complete hardware embodiment, complete software to implement Example or the form of the embodiment in terms of combining software and hardware.And, the present invention can use at one Or multiple wherein include computer usable program code computer-usable storage medium (include but not It is limited to disk memory, CD-ROM, optical memory etc.) shape of the upper computer program implemented Formula.
The present invention is with reference to method, equipment (system) and computer program according to embodiments of the present invention The flow chart of product and/or block diagram describe.It should be understood that stream can be realized by computer program instructions In each flow process in journey figure and/or block diagram and/or square frame and flow chart and/or block diagram Flow process and/or the combination of square frame.These computer program instructions can be provided to general purpose computer, specially With the processor of computer, Embedded Processor or other programmable data processing device to produce one Machine so that the instruction performed by the processor of computer or other programmable data processing device is produced Raw for realizing one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple side The device of the function specified in frame.
These computer program instructions may be alternatively stored in and computer or other programmable datas can be guided to process In the computer-readable memory that equipment works in a specific way so that be stored in this computer-readable and deposit Instruction in reservoir produces the manufacture including command device, and this command device realizes flow chart one The function specified in flow process or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions also can be loaded into computer or other programmable data processing device On so that on computer or other programmable devices, perform sequence of operations step to produce computer The process realized, thus the instruction performed on computer or other programmable devices provides and is used for realizing One flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame are specified The step of function.
Obviously, above-described embodiment is only for clearly demonstrating example, and not to embodiment party The restriction of formula.For those of ordinary skill in the field, the most also may be used To make other changes in different forms.Here without also all of embodiment being given With exhaustive.And the obvious change thus extended out or variation are still in the guarantor of the invention Protect among scope.

Claims (10)

1. avoiding collision during a car door opening, it is characterised in that comprise the steps:
When receiving car door opening signal, in detection car door periphery the first preset range, whether there is barrier;
If having barrier in car door periphery the first preset range, then send highest alarm signal;
If there is no barrier in car door periphery the first preset range, then whether there is barrier in detecting distance car door periphery the second preset range;Described second preset range is more than described first preset range;
If having barrier in car door periphery the second preset range, then the barrier in detecting distance car door the second preset range is relative to the movement velocity of car door and relative distance;Determine the alarm signal of corresponding grade, wherein, the grade of described alarm signal and described movement velocity positive correlation according to described movement velocity and described relative distance, and with described relative distance inverse correlation.
Method the most according to claim 1, it is characterised in that also include: when car door opening signal being detected, then send the step that the signal of surrounding enviroment is observed in prompting.
Method the most according to claim 1 and 2, it is characterised in that determine that according to described movement velocity and described relative distance the step of alarm signal of corresponding grade is by following model realization:
Wherein,
The grade of z: alarm signal, the grade of the numerical value the biggest expression alarm signal of z is the highest;
k1: distance correlation coefficient, k1≥1;
S: relative distance;
k2: velocity correlation coefficint, k2≥1;
V: relative velocity.
Method the most according to claim 3, it is characterised in that if the grade of alarm signal is the highest, then damping when car door is called a taxi is the biggest.
Method the most according to claim 4, it is characterised in that damping value when described highest alarm signal is to be called a taxi by car door is set to maximum;Or locked car door.
6. anticollision device, collision-prevention device during a car door opening, it is characterised in that including:
Control module, for when car door opening signal being detected, sends and opens obstacle detection signal to detection of obstacles module;
Whether detection of obstacles module, for when receiving the described unlatching obstacle detection signal that described control module sends, having barrier in starting to detect car door periphery the first preset range;
If there is barrier in described first preset range, then send first and there is obstacle signal to control module;
If there is not barrier in described first preset range, whether the most described detection of obstacles module has barrier in continuing detection car door periphery the second preset range, and wherein, described second preset range is more than described first preset range;
If there is barrier in described second preset range, then the relative distance of obstacle distance car door existed in the range of this is sent to described control module, and send second and there is obstacle signal to described control module;
Control module, is additionally operable to when receiving described first and there is obstacle signal, sends highest alarm signal;It is additionally operable to when receiving described second and there is obstacle signal, sends opening speed detection signal to velocity measuring module;
Velocity measuring module, for when receiving the opening speed detection signal that control module sends, the barrier in detecting distance car door the second preset range is relative to the movement velocity of car door, and sends described movement velocity to described control module;
Described control module receives described movement velocity and described relative distance, and the alarm signal of corresponding grade is determined according to described movement velocity and described relative distance, wherein, the grade of described alarm signal and described movement velocity positive correlation, and with described relative distance inverse correlation;
Alarm module, for receiving the alarm signal that control module sends, and carries out the warning of correspondence according to described alarm signal.
Device the most according to claim 6, it is characterised in that described control module is additionally operable to when car door opening signal being detected, sends cue to described alarm module;
Described alarm module is additionally operable to receive described cue, and sends for pointing out the voice and/or flashing lamp observing surrounding enviroment.
8. according to the device described in claim 6 or 7, it is characterised in that according to described movement velocity and described relative distance, described control module determines that the alarm signal of corresponding grade is by following model realization:
Wherein,
The grade of z: alarm signal, the grade of the numerical value the biggest expression alarm signal of z is the highest;
k1: distance correlation coefficient, k1≥1;
S: relative distance;
k2: velocity correlation coefficint, k2≥1;
V: relative velocity.
9. according to the arbitrary described device of claim 6-8, it is characterised in that described detection of obstacles module and described velocity measuring module are at least three infrared sensor, wherein,
First infrared sensor is arranged at illuminator top edge on the left of car body, for detecting distance and the movement velocity of automobile left rear side obstacle distance car door;
Second infrared sensor is arranged at illuminator top edge on the right side of car body, for detecting distance and the movement velocity of obstacle distance car door on rear side of Automobile Right;
3rd infrared sensor is arranged at centre position, car body rear end, for detecting distance and the movement velocity of automobile rear obstacle distance car door.
10. according to the arbitrary described device of claim 6-9, it is characterised in that described alarm module is the air damper being installed on the door-hinge of arrangements for automotive doors;If the grade of alarm signal is the highest, then damping when car door is called a taxi is the biggest.
CN201610183130.2A 2016-03-28 2016-03-28 Car-door-opening collision preventing method and device Pending CN105857172A (en)

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CN107054215A (en) * 2017-06-01 2017-08-18 北京汽车研究总院有限公司 A kind of car door anti-collision system, control method and automobile
CN109334597A (en) * 2018-08-14 2019-02-15 南京航空航天大学 Collision-proof device for opening automobile door and method based on MR damper
CN109334598A (en) * 2018-08-31 2019-02-15 惠州华阳通用电子有限公司 A kind of retractable component collision-proof method of vehicle based on TOF camera module
CN110097723A (en) * 2019-04-17 2019-08-06 南京砺剑光电技术研究院有限公司 Outer broken Activity recognition and alarm method based on computer vision
CN110388158A (en) * 2018-04-17 2019-10-29 英属开曼群岛商麦迪创科技股份有限公司 Enabling control device, car door controller and enabling control method
CN111361506A (en) * 2020-03-26 2020-07-03 江铃汽车股份有限公司 Prompting lamp control method and system, readable storage medium and vehicle
CN111942317A (en) * 2020-08-12 2020-11-17 北京嘀嘀无限科技发展有限公司 Driving door anti-collision method, device, system and computer readable storage medium

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Publication number Priority date Publication date Assignee Title
CN107054215A (en) * 2017-06-01 2017-08-18 北京汽车研究总院有限公司 A kind of car door anti-collision system, control method and automobile
CN107054215B (en) * 2017-06-01 2019-11-08 北京汽车研究总院有限公司 A kind of car door anti-collision system, control method and automobile
CN110388158A (en) * 2018-04-17 2019-10-29 英属开曼群岛商麦迪创科技股份有限公司 Enabling control device, car door controller and enabling control method
CN109334597A (en) * 2018-08-14 2019-02-15 南京航空航天大学 Collision-proof device for opening automobile door and method based on MR damper
CN109334597B (en) * 2018-08-14 2021-02-05 南京航空航天大学 Automobile door opening anti-collision device and method based on magneto-rheological damper
CN109334598A (en) * 2018-08-31 2019-02-15 惠州华阳通用电子有限公司 A kind of retractable component collision-proof method of vehicle based on TOF camera module
CN110097723A (en) * 2019-04-17 2019-08-06 南京砺剑光电技术研究院有限公司 Outer broken Activity recognition and alarm method based on computer vision
CN111361506A (en) * 2020-03-26 2020-07-03 江铃汽车股份有限公司 Prompting lamp control method and system, readable storage medium and vehicle
CN111942317A (en) * 2020-08-12 2020-11-17 北京嘀嘀无限科技发展有限公司 Driving door anti-collision method, device, system and computer readable storage medium

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