CN106143299B - A kind of opening door of vehicle early warning auxiliary system - Google Patents
A kind of opening door of vehicle early warning auxiliary system Download PDFInfo
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- CN106143299B CN106143299B CN201610580705.4A CN201610580705A CN106143299B CN 106143299 B CN106143299 B CN 106143299B CN 201610580705 A CN201610580705 A CN 201610580705A CN 106143299 B CN106143299 B CN 106143299B
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- 238000000034 method Methods 0.000 claims description 10
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- 230000001934 delay Effects 0.000 claims description 4
- 206010057315 Daydreaming Diseases 0.000 abstract description 3
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- 206010039203 Road traffic accident Diseases 0.000 description 2
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- 230000002452 interceptive effect Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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Classifications
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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
Abstract
The present invention provides a kind of opening door of vehicle early warning auxiliary system, field of vehicle safety comprising：Rearview camera is used for detecting pedestrian information, and this pedestrian information is transferred to processing unit by CAN bus；Radar probe is transferred to processing unit by CAN bus for detecting information of vehicles, and by this information of vehicles；Whether processing unit has risk of collision when carrying out to received information of vehicles, pedestrian information and calculate and judge enabling, and issues instructions to car body control module；Received from vehicle information, the instruction of the opening door of vehicle early warning auxiliary system activation/closing is judged and issued；Car body control module receives the instruction of the processing unit, unlatching/closing opening door of vehicle early warning auxiliary system or sending alarm.Opening door of vehicle early warning auxiliary system provided by the invention can accurately and effectively detect various motor vehicles or pedestrian, avoid driver because of risk of collision caused by absent minded enabling.
Description
Technical field
The present invention relates to field of vehicle safety, more particularly to a kind of opening door of vehicle early warning auxiliary system.
Background technique
Currently, vehicle safety is increasingly by the attention of the majority of consumers, and wherein active safety technologies are in vehicle safety side
The effect that face plays is more and more prominent, in terms of not only showing the protection to driver and passenger, while to the people in traffic environment
Also reinforcing in terms of protection with non power driven vehicle.In recent years, car door and rear fast approaching when repeated opening door of vehicle
Bicycle, motorcycle, the pedestrian collision run accident, bicycle, Motor-cyclist and the pedestrian run are caused
Mortal injury, in addition it is dead, and reason does not splash rear vehicle condition when getting off precisely due to driver and passenger open the door, unsegmented yet
Car door is opened, rear approaching vehicle is reminded to pay attention to avoiding, but wilful open the door causes car door and back car to collide.It opens the door
Warning system is precisely in order to the active safety technologies for avoiding such accident from occurring and developing.Vehicle configuration at present, which is opened the door, to be warned
The vehicle of system is also fewer.At home and some undeveloped countries, traffic condition is poor, and a large amount of non-motor vehicles lack stringent pipe
Reason, is arbitrarily walked, it is easy to the accident for causing the car door of non-motor vehicle and opening to collide on car lane.It effectively to drop
It is low due to door opening cause traffic accident probability, by improve traffic condition and specification driver and passenger's door opening habit,
It is difficult to obtain effect in a short time in reality, most effective way is the installation opening door of vehicle early warning system on vehicle, is being driven
Multiply before personnel open car door and it is effectively reminded, so that it is splashed rear vehicle condition, and be segmented opening car door, to have
Effect avoids such traffic accident.
Existing enabling early warning system implementation mainly passes through the sensor installed on vehicle, detection vehicle side rear
Target existing in blind area is detected in blind area, opens the door to driver cause dangerous target if it exists, then give driver
Alarm even actively locks car door, avoids driver because of risk of collision caused by absent minded enabling.Its sensor
Implementation mainly has three classes, i.e. camera, ultrasonic radar, millimetre-wave radar etc. at present, wherein camera higher cost, super
Sound radar precision and detecting distance are closer, and millimetre-wave radar cost and moderate accuracy, are the schemes being widely used at present.It is existing
There is enabling early warning system to be often only able to detect one of vehicle or pedestrian, there are still higher risk of collision.
Summary of the invention
It is an object of the present invention to provide a kind of opening door of vehicle early warning auxiliary system, can accurately and effectively detect each
Kind motor vehicles or pedestrian avoid driver because of risk of collision caused by absent minded enabling.
Particularly, the present invention provides a kind of opening door of vehicle early warning auxiliary system, including：
Rearview camera is used for detecting pedestrian information, and this pedestrian information is transferred to processing unit by CAN bus；
Radar probe is transferred to processing unit by CAN bus for detecting information of vehicles, and by this information of vehicles；
Whether processing unit has risk of collision when carrying out to received information of vehicles, pedestrian information and calculate and judge enabling, and
Issue instructions to car body control module；Received from vehicle information, judges and issue the opening door of vehicle early warning auxiliary system activation/pass
The instruction closed；
Car body control module receives the instruction of the processing unit, unlatching/closing opening door of vehicle early warning auxiliary system
Or issue alarm.
Further, the rearview camera shoots a certain range of image after vehicle side or vehicle, and carries out to this image
Image procossing is to obtain the pedestrian information.
Further, the radar probe is millimetre-wave radar probe；The information of vehicles packet that the radar probe detects
Include angle, speed and the distance of target vehicle and the relative position from vehicle；It is described from vehicle information include speed from vehicle, seat
On whether there is occupant or driver, safety belt to release state.
Further, the opening door of vehicle early warning auxiliary system activation condition：It there are occupant or is driven from the seat of vehicle
There is releasing movement in the person of sailing and safety belt；The opening door of vehicle early warning auxiliary system closedown condition：It is not present from the seat of vehicle
Occupant or driver and safety belt is in releasing state.
Further, the processing unit receives the pedestrian information and the information of vehicles fusion treatment, predicts mesh
Target track and intention calculate the pre-impact time, and judge whether there is enabling risk of collision.
Further, the detection zone of rearview camera and the radar probe described in the pedestrian or vehicle derailing,
When into check frequency, speed that the processing unit enters according to target before blind area, distance state use target prediction method
Judge the dangerous probability that target and car door collide.
Further, the target prediction method is that hidden Markov model predicts method.
Further, when driver or occupant are there are when door opening action, the processing unit is according to the pre-impact time
Carry out classifying alarm；If the pre-impact time is less than level-one calibration value, the driver or occupant of clamshell doors and the outer mesh of vehicle
Mark carries out level-one alarm；If the pre-impact time is less than second level calibration value or the opening door of vehicle early warning auxiliary system is in
Level-one alarms the duration greater than the first calibration value, then the driver or occupant of clamshell doors and the outer target of vehicle carry out second level report
It is alert；Continue if the pre-impact time is less than three-level calibration value or the opening door of vehicle early warning auxiliary system in secondary alarm
Time is greater than the second calibration value, then the driver or occupant of clamshell doors and the outer target of vehicle carry out three-level alarm.
Further, it includes to interior driver or occupant's alarm and to mesh outside vehicle that the car body control module, which issues alarm,
Mark alarm；Described includes the light and audible alarm, three-level of the light warning of level-one, second level to interior driver or occupant's alarm
Certain time locked car door and sound, light joint alarm；Described includes the light of level-one to target alarm outside vehicle
Alarm, second level combine alarm with very brief loudspeaker acoustic alarm, the audible alarm of the certain time of three-level and light for light.
Further, the opening door of vehicle early warning auxiliary system further includes that anti-locking system delays work or to meet emergency
When enabling demand door open switch by force.
Due to the scheme more than using, the beneficial effects of the present invention are：
Automobile of the invention, due to being additionally arranged car door anti-collision early warning system, using car door anti-collision method for early warning, by sensing
Device data fusion detection accuracy is high, can realize the monitoring to back car, messenger automatically, be set by reasonable human-computer interaction
Meter, not only carries out the prompting of enabling early warning, and further remind other traffic participants to driver, substantially increases
The active safety performance of automobile.
The present invention is improved by reasonable work-based logic and strategy to the risk profile within the scope of sensor blind area, and
Guarantee system has suitable exit strategy, improves the utilization rate and utility value of existing resource, avoids unnecessary electricity
Amount consumption, the wasting of resources makes system less investment of the invention, at low cost.
Detailed description of the invention
Some specific embodiments of the present invention is described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing：
Fig. 1 is an a kind of system control logic figure of the opening door of vehicle early warning auxiliary system provided according to the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and referring to attached
Figure, the present invention will be described in detail.
The present invention provides a kind of opening door of vehicle early warning auxiliary system, including：Rearview camera, radar probe, processing unit,
Car body control module.
Wherein, rearview camera is used for detecting pedestrian information, and this pedestrian information is transferred to processing by CAN bus
Unit, rearview camera shoots a certain range of image after vehicle side or vehicle, and carries out image procossing to this image to obtain
State pedestrian information.
Radar probe, including left back millimetre-wave radar and it is right after millimetre-wave radar, be used to detect and various quickly lean on
Close motor vehicle information, and this information of vehicles is transferred to processing unit by CAN bus, the acquisition and processing of millimeter wave are led
If passing through for target vehicle in determining vehicle-surroundings or driver blind area and the relative position from vehicle and speed, millimetre-wave radar
Emit continuous variable-frequency electric magnetostatic wave signal, and receive the electromagnetic wave energy that target vehicle is reflected back, calculates relative distance, relatively speed
Degree or other information.By FM Doppler operating mode, can with the angle of effective position target vehicle, speed and away from
From.Of course, the radar probe is also possible to detection range and other comparable radars of investigative range.
Whether processing unit has risk of collision when carrying out to received information of vehicles, pedestrian information and calculate and judge enabling, and
Issue instructions to car body control module；Received from vehicle information, judges and issue opening door of vehicle early warning auxiliary system activation/closing
Instruction, processing unit receive pedestrian information and information of vehicles fusion treatment, predict track and the intention of target, calculate pre-impact
Time, and judge whether there is the detection zone of enabling risk of collision, pedestrian or vehicle derailing rearview camera and radar probe
Domain, when into check frequency, speed that processing unit enters according to target before blind area, distance state are sentenced using target prediction method
The dangerous probability that disconnected target and car door collide, when driver or occupant are there are when door opening action, processing unit according to touching in advance
Hit time progress classifying alarm；If the pre-impact time is less than level-one calibration value, outside the driver or occupant of clamshell doors and vehicle
Target carries out level-one alarm；If the pre-impact time is less than second level calibration value or opening door of vehicle early warning auxiliary system is in level-one report
The alert duration is greater than the first calibration value, then the driver or occupant of clamshell doors and the outer target of vehicle carry out secondary alarm；If pre-
Collision time is less than three-level calibration value or opening door of vehicle early warning auxiliary system is in the secondary alarm duration greater than the second mark
Definite value, then the driver or occupant of clamshell doors and the outer target of vehicle carry out three-level alarm.
Car body control module receives the instruction of the processing unit, unlatching/closing opening door of vehicle early warning auxiliary system
Or alarm is issued, it includes alarming to interior driver or occupant's alarm and to target outside vehicle that car body control module, which issues alarm,；It is right
Interior driver or occupant's alarm include that the light warning of level-one, the light of second level and audible alarm, three-level continue a timing
Between locked car door and sound, light joint alarm；To target alarm outside vehicle include the light warning of level-one, second level be light with
Very brief loudspeaker acoustic alarm, three-level certain time audible alarm and light joint alarm, opening door of vehicle early warning auxiliary system
System further includes that anti-locking system delays work or to meet the door open switch by force of enabling demand when emergency.
Opening door of vehicle early warning auxiliary system activation condition：From the seat of vehicle there are occupant or driver and safety take out of
Now releasing movement；Opening door of vehicle early warning auxiliary system closedown condition：From the seat of vehicle, there is no occupant or driver and peaces
Full band is in releasing state.
Fig. 1 is an a kind of system control logic figure of the opening door of vehicle early warning auxiliary system provided according to the present invention.Such as
Control logic figure shown in FIG. 1：When vehicle is in power-up state, system judges current gear state, when judging at current vehicle
In neutral position state, system starting, otherwise, system is closed；After system starting, into self-test init state, it is when detecting
System failure Times failure, system are blocked Times and are blocked, and when detection system is normal, system is activated；By two, side rear radar and
Rearview camera detects posterior region, and when finding no effect target, alarm lamp is closed, buzzer is closed, and at this moment opens safety and beats
Door opening；When finding effective target, system carries out judging effective target in opening door of vehicle early warning auxiliary system (DOW) detection zone
Domain stops the moment and whether different brackets TTC (by collision time, Time to Collision) meets the requirements, if meeting the requirements
Car body control module (BCM) is then issued instructions to by sound-light alarm alerting drivers/passenger's enabling danger, if driving by radar
Then car door is automatically locked for the person of sailing or passenger's continuation door opening, and system controls corresponding side steering indicating light installed flashing by BCM at the same time,
Vehicle whistle warns the outer target of vehicle.Reach the warning to interior driver/passenger and to target outside vehicle with this, plays safe stopping
Vehicle driving gate action.
Working principle of the present invention is：It is mainly analyzed by the effective target that MMW RADAR SIGNAL USING recognizes, in advance
Track and the intention of target are surveyed, and determines whether that there are enabling risks of collision.It wherein opens the door and is intended to need by BCM module, really
Recognize a possibility that current vehicle is with the presence or absence of opening the door, it is anti-by millimetre-wave radar when close there are vehicle on the lane of side rear
The target vehicle of feedback may be collided relative to from the lateral distance of vehicle, fore-and-aft distance, speed, acceleration by calculating
Time, wherein the time of distance collision calculates the time of distance collision using following equation：
Wherein aRel、vRel、dRel, t be respectively that relative acceleration, relative velocity, relative distance and required distance are touched
Hit the time.When driver or occupant are there are when door opening action, if system-computed obtain apart from collision time less than the first calibration
It is worth (such as 20s), then the driver or occupant of clamshell doors and the outer target of vehicle carry out level-one alarm；Further, if when apart from collision
Between be in the level-one alarm duration less than the second calibration value (such as 5s) or system and be greater than calibration value (such as 10s), then clamshell doors
Driver or occupant and the outer target of vehicle carry out secondary alarm；Further, if being less than third calibration value (such as apart from collision time
2s) or system is in the secondary alarm duration greater than calibration value (such as 3s), then outside the driver or occupant of clamshell doors and vehicle
Target carries out three-level alarm；
A kind of opening door of vehicle early warning auxiliary system provided by the invention, by reasonable Human-computer Interactive Design, not only to driving
The person of sailing or occupant carry out the prompting of enabling early warning, and further remind other traffic participants, further improve and keep away
Exempt from the risk to collide, and can guarantee that driver or occupant fully control power to opening/closing door of vehicle.The opening door of vehicle
Early warning auxiliary system further include the alarm of clamshell doors driver or occupant, to the alarm of target outside vehicle, to locked car door when by force
Interactive strategy and system activation four aspects of escape mechanism of enabling, it is specific as follows：
It alarms interior driver or occupant, three-level is divided into according to degree of danger, wherein level-one is only light warning, and two
Grade is light and audible alarm, and three-level is the locked car door and sound, light joint alarm of certain time.Implement shape
Formula locks realization by being mounted on blind spot alarm lamp at car light, the buzzer of interior instrument and car door automatically.
Alarm to target outside vehicle is divided into three-level according to degree of danger, and wherein level-one is light warning, and second level is light
With very brief audible alarm, three-level is audible alarm and the light joint alarm of certain time.Specific implementation form passes through phase
The side marker light of side, vehicle whistle loudspeaker is answered to realize.
Enabling strategy by force when to locked car door, delays work or enabling demand when emergency for anti-locking system, leads to
The following strategy realization of design is crossed to open the door by force, that is, it, can be with opening car door, so as to drive while pressing glass for vehicle window rising button
Member or occupant confirm that oneself needs opening door operation really.
A kind of opening door of vehicle early warning auxiliary system provided by the invention is mentioned by reasonable system work-based logic and strategy
Height guarantees that system has suitable exit strategy to the risk profile within the scope of sensor blind area, avoids unnecessary electricity
Amount consumption, the wasting of resources or system are delayed work.The opening door of vehicle early warning auxiliary system activates escape mechanism, when existing on seat
When occupant and when releasing movement occurs in safety belt, system stress live, and release shape when occupant and safety belt being not present on seat being in
When state, system should exit work；The presence or absence of occupant on seat, safety belt releasing state be required to through Body Control mould
Block obtains.
When target be detached from sensor detection zone, into rearview mirror to vehicle after protect sensor check frequency when, according to
Speed that target enters before blind area, distance state judges what target collided with car door using hidden Markov model (HMM)
Dangerous probability, probability transition matrix are as shown in table 1：
Table 1, hidden Markov model (HMM) judge the probability transition matrix for the dangerous probability that target and car door collide
Wherein, a possibility that S expression is continually maintained in current lane is 0.8；A possibility that N expression is transferred to adjacent lane
It is 0.1.
A kind of opening door of vehicle early warning auxiliary system provided by the invention, it is higher by Data Fusion of Sensor detection accuracy,
The pedestrian run can effectively be identified；Make full use of the sensor acquisition surrounding enviroment letter of mature application on current vehicle
Breath only changes control logic and strategy, and cost of implementation is low, it is small to influence on the arrangement of vehicle.
Automobile of the invention, due to being additionally arranged car door anti-collision early warning system, using car door anti-collision method for early warning, by sensing
Device data fusion detection accuracy is high, can realize the monitoring to back car, messenger automatically, be set by reasonable human-computer interaction
Meter, not only carries out the prompting of enabling early warning, and further remind other traffic participants to driver, substantially increases
The active safety performance of automobile.
The present invention is improved by reasonable work-based logic and strategy to the risk profile within the scope of sensor blind area, and
Guarantee system has suitable exit strategy, improves the utilization rate and utility value of existing resource, avoids unnecessary electricity
Amount consumption, the wasting of resources makes system less investment of the invention, at low cost.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein is exemplary
Embodiment still without departing from the spirit and scope of the present invention, can still directly determine according to the present disclosure
Or derive many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the invention should be understood and defined as
Cover all such other variations or modifications.
Claims (7)
1. a kind of opening door of vehicle early warning auxiliary system, which is characterized in that including：
Rearview camera is used for detecting pedestrian information, and this pedestrian information is transferred to processing unit by CAN bus；
Radar probe is transferred to processing unit by CAN bus for detecting information of vehicles, and by this information of vehicles；
Whether processing unit has risk of collision when carrying out to received information of vehicles, pedestrian information and calculate and judge enabling, and issues
It instructs to car body control module；Received from vehicle information, judges and issue the opening door of vehicle early warning auxiliary system activation/closing
Instruction；
Car body control module receives the instruction of the processing unit, unlatching/closing opening door of vehicle early warning auxiliary system or hair
It alarms out；
Wherein, when driver or occupant are there are when door opening action, the processing unit carries out classifying alarm according to the pre-impact time；
If the pre-impact time is less than level-one calibration value, the driver or occupant of clamshell doors and the outer target of vehicle carry out level-one report
It is alert；If the pre-impact time is less than second level calibration value or the opening door of vehicle early warning auxiliary system is in level-one alarm and continues
Time is greater than the first calibration value, then the driver or occupant of clamshell doors and the outer target of vehicle carry out secondary alarm；It pre- is touched if described
Hitting the time be in the secondary alarm duration less than three-level calibration value or the opening door of vehicle early warning auxiliary system and is greater than second
Calibration value, then the driver or occupant of clamshell doors and the outer target of vehicle carry out three-level alarm；
Wherein, it includes alarming to interior driver or occupant's alarm and to target outside vehicle that the car body control module, which issues alarm,；
Described includes that the light warning of level-one, light and the audible alarm of second level, three-level continue to interior driver or occupant's alarm
The locked car door and sound of certain time, light joint alarm；Described includes the light warning of level-one, two to target alarm outside vehicle
Grade is that light with very brief loudspeaker acoustic alarm, the audible alarm that three-level is certain time and light combines alarm；
The opening door of vehicle early warning auxiliary system further includes that anti-locking system delays work or to meet enabling demand when emergency
Door open switch by force.
2. opening door of vehicle early warning auxiliary system according to claim 1, which is characterized in that the rearview camera shoots vehicle
A certain range of image behind side or vehicle, and image procossing is carried out to obtain the pedestrian information to this image.
3. opening door of vehicle early warning auxiliary system according to claim 1, which is characterized in that the radar probe is millimeter wave
Radar probe；The information of vehicles that the radar probe detects include target vehicle angle, speed and distance, with the phase from vehicle
To position；Whether described from vehicle information include having occupant or driver, safety belt to release state from the speed of vehicle, seat.
4. opening door of vehicle early warning auxiliary system according to any one of claim 1-3, which is characterized in that the vehicle is opened
Door early warning auxiliary system activation condition：From the seat of vehicle there are occupant or driver and releasing movement occurs in safety belt；Institute
State opening door of vehicle early warning auxiliary system closedown condition：Occupant or driver are not present from the seat of vehicle and safety belt is in solution
Except state.
5. opening door of vehicle early warning auxiliary system according to claim 1, which is characterized in that the processing unit receives institute
Pedestrian information and the information of vehicles fusion treatment are stated, predicts track and the intention of target, calculates the pre-impact time, and judgement is
It is no that there are enabling risk of collision.
6. opening door of vehicle early warning auxiliary system according to claim 1, which is characterized in that the pedestrian or vehicle derailing
The detection zone of the rearview camera and the radar probe, when into check frequency, the processing unit according to target into
Speed, distance state before entering blind area judge the dangerous probability that target and car door collide using target prediction method.
7. opening door of vehicle early warning auxiliary system according to claim 6, which is characterized in that the target prediction method is hidden
Markov model predicts method.
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| CN201610580705.4A CN106143299B (en) | 2016-07-21 | 2016-07-21 | A kind of opening door of vehicle early warning auxiliary system |
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| CN201610580705.4A CN106143299B (en) | 2016-07-21 | 2016-07-21 | A kind of opening door of vehicle early warning auxiliary system |
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| CN106143299B true CN106143299B (en) | 2018-11-16 |
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