CN108979413B - Automatic control method and device for vehicle door - Google Patents
Automatic control method and device for vehicle door Download PDFInfo
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- CN108979413B CN108979413B CN201810798654.1A CN201810798654A CN108979413B CN 108979413 B CN108979413 B CN 108979413B CN 201810798654 A CN201810798654 A CN 201810798654A CN 108979413 B CN108979413 B CN 108979413B
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- 230000007246 mechanism Effects 0.000 claims abstract description 34
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
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Abstract
The invention discloses a method and a device for automatically controlling a vehicle door, which measure a distance value of an obstacle through a distance measuring module arranged at the outer side of the vehicle door, establish a first distance measuring module, a second distance measuring module and a triangular model of the obstacle through a triangular positioning mode, calculate an opening included angle threshold value of the vehicle door through a trigonometric function according to a preset relative distance value among the first distance measuring module, the second distance measuring module and a vehicle door hinge, send a control signal according to the opening included angle threshold value to control a vehicle door opening and closing execution mechanism to open the vehicle door to a vehicle door safe included angle, and solve the technical problems that the existing automatic vehicle door of the vehicle can only control the vehicle door to be opened to the preset angle when the specified range of the vehicle door has no obstacle, and cannot control the vehicle door to be opened and closed more reasonably.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to an automatic control method and device for a vehicle door.
Background
At present, with the increasing demand of drivers for the comfort of cars, the degree of automation of cars is increasing, and automatic car doors are also being used in various high-end cars, but the existing automatic car doors can only control the doors to be opened to a preset angle when the specified range of the doors has no obstacle, and if there is an obstacle in the specified range of the doors, even if there is still enough space between the doors and the obstacle for passengers to get on or off the car, the doors cannot be opened through automatic control, so how to control the opening and closing of the doors more reasonably is a technical problem that needs to be solved.
Disclosure of Invention
The invention provides an automatic vehicle door control method and device, which are used for solving the technical problems that the existing automatic vehicle door of an automobile can only control the vehicle door to be opened to a preset angle when no obstacle exists in a specified range of the vehicle door, and the opening and closing of the vehicle door cannot be controlled more reasonably.
The invention provides an automatic control method of a vehicle door, which comprises the following steps:
s1: when a vehicle door opening instruction sent by a user is received and an obstacle exists in a preset range of the vehicle door, acquiring a distance value between the vehicle door and the obstacle, which is measured by a distance measuring module on the vehicle door, wherein the vehicle door is provided with at least two distance measuring modules;
s2: calculating to obtain an opening included angle threshold value of the vehicle door through a triangulation location mode and a trigonometric function according to a distance value measured by a first distance measurement module, a distance value measured by a second distance measurement module and a preset relative distance value among the first distance measurement module, the second distance measurement module and the vehicle door hinge;
s3: and sending a control signal according to the opening included angle threshold value to control a vehicle door opening and closing actuating mechanism to open the vehicle door to a vehicle door safety included angle.
Preferably, the step S2 specifically includes:
s21: according to the distance value that first range module measured, the distance value that second range module measured and first range module with the preset relative distance value of second range module, with the barrier first range module with calculate in the triangle that second range module is the summit the barrier arrives perpendicular distance on the door, and according to perpendicular distance with the distance value of door hinge to the plumb foot point, calculate through trigonometric function formula and obtain the opening contained angle threshold value of door, the plumb foot is the barrier arrives the plumb foot that the perpendicular line on the door corresponds.
Preferably, the step S2 specifically includes:
s22: according to the distance value measured by the first distance measuring module, the distance value measured by the second distance measuring module and the preset relative distance value of the first distance measuring module and the second distance measuring module, the base angle of the first distance measuring module as the vertex is calculated in the triangle with the barrier, the first distance measuring module and the second distance measuring module as the vertex, the distance value of the door hinge and the barrier is calculated through a trigonometric function formula according to the distance value measured by the first distance measuring module, the base angle and the preset relative distance value of the first distance measuring module and the door hinge, and then the opening angle threshold value of the door is calculated through the trigonometric function formula in the triangle with the barrier, the first distance measuring module and the door hinge as the vertex.
Preferably, the step S2 specifically further includes:
s20: if the number of the distance values acquired from the first ranging module and the second ranging module is more than two, calculating the door opening included angles between all obstacles and the vehicle door by circularly executing step S21 or step S22 in a triangle with the preset relative distance value of the first ranging module and the second ranging module as the bottom side, the distance value measured by the first ranging module as the first side and the distance value measured by the second ranging module as the second side, and then executing step S23, if the number of the distance values acquired from the first ranging module and the second ranging module is equal to two, directly executing step S21 or step S22;
s23: and comparing the opening included angles of the barriers and the vehicle door, and setting the minimum opening included angle as an opening included angle threshold value.
Preferably, the step S3 is followed by:
s4: when the vehicle door is in an open state and a vehicle door closing instruction sent by a user is received, controlling the vehicle door opening and closing actuating mechanism to close the vehicle door, and monitoring a motor Hall signal sent by the vehicle door opening and closing actuating mechanism in real time;
s5: and judging whether the vehicle door touches an obstacle in the closing process according to the monitored Hall signal variation of the motor, if so, sending a control signal to enable the vehicle door opening and closing actuating mechanism to stop operating.
The invention provides an automatic control device for a vehicle door, which comprises:
the system comprises a distance acquisition module, a distance detection module and a control module, wherein the distance acquisition module is used for acquiring a distance value between a distance measurement module on a vehicle door and an obstacle when the vehicle door opening instruction sent by a user is received and the obstacle exists in a preset range of the vehicle door, and the vehicle door is provided with at least two distance measurement modules;
the included angle prediction module is used for calculating and obtaining an opening included angle threshold value of the vehicle door through a triangular positioning mode and a trigonometric function according to a distance value measured by the first distance measurement module, a distance value measured by the second distance measurement module and preset relative distance values among the first distance measurement module, the second distance measurement module and the vehicle door hinge;
and the vehicle door control module is used for sending an instruction to control the vehicle door opening and closing executing mechanism to open the vehicle door to the vehicle door safety included angle according to the opening included angle threshold value.
Preferably, the included angle prediction module specifically includes:
the first included angle prediction submodule is used for calculating the distance between the barrier and the vertical line on the vehicle door in a triangle with the barrier, the first ranging module and the second ranging module as vertexes according to the distance value measured by the first ranging module, the distance value measured by the second ranging module and the preset relative distance value of the first ranging module and the second ranging module, and calculating the opening included angle threshold value of the vehicle door through a trigonometric function formula according to the distance between the vertical line and the distance value from the vehicle door hinge to a foot drop point, wherein the foot drop is the foot drop corresponding to the vertical line on the vehicle door from the barrier.
Preferably, the included angle prediction module further includes:
a second included angle prediction submodule, configured to predict a second included angle according to the distance value measured by the first ranging module, the distance value measured by the second ranging module, and a preset relative distance value between the first ranging module and the second ranging module, calculating a base included angle with the first ranging module as a vertex in a triangle with the barrier, the first ranging module and the second ranging module as the vertices, and calculating the distance value between the vehicle door hinge and the barrier through a trigonometric function formula according to the distance value measured by the first distance measuring module, the included angle of the bottom edge and the preset relative distance value between the first distance measuring module and the vehicle door hinge, and then calculating the threshold value of the opening included angle of the vehicle door through a trigonometric function formula in a triangle taking the barrier, the first distance measuring module and the vehicle door hinge as vertexes.
Preferably, the method further comprises the following steps:
a third included angle prediction submodule, configured to, when the number of distance values obtained from the first distance measurement module and the second distance measurement module is greater than two, obtain, through performing calculation by the first included angle prediction submodule or the second included angle prediction submodule, door opening included angles between all obstacles and a vehicle door in a triangle in which a preset relative distance value between the first distance measurement module and the second distance measurement module is a base, a distance value measured by the first distance measurement module is a first side, and a distance value measured by the second distance measurement module is a second side, and then perform an included angle comparison submodule, and if the number of distance values obtained from the first distance measurement module and the second distance measurement module is equal to two, directly trigger the first included angle prediction submodule or the second included angle prediction submodule;
and the included angle comparison submodule is used for comparing each barrier with the door opening included angle of the vehicle door, and setting the minimum door opening included angle as an opening included angle threshold value.
Preferably, the method further comprises the following steps:
the vehicle door closing monitoring module is used for controlling the vehicle door opening and closing actuating mechanism to close the vehicle door and monitoring a motor Hall signal sent by the vehicle door opening and closing actuating mechanism in real time when the vehicle door is in an open state and a vehicle door closing instruction sent by a user is received;
and the vehicle door brake control module is used for judging whether the vehicle door touches an obstacle in the closing process according to the monitored Hall signal variation of the motor, and if so, sending a control signal to enable the vehicle door opening and closing executing mechanism to stop operating.
The technical scheme shows that the invention has the following advantages:
according to the invention, the distance value of the obstacle is measured by the distance measuring module arranged at the outer side of the vehicle door, the triangular model of the first distance measuring module, the second distance measuring module and the obstacle is established in a triangular positioning mode, then the threshold value of the opening included angle of the vehicle door is obtained through trigonometric function calculation according to the preset relative distance value among the first distance measuring module, the second distance measuring module and the vehicle door hinge, and the control signal is sent according to the threshold value of the opening included angle to control the vehicle door opening and closing executing mechanism to open the vehicle door to the safe included angle of the vehicle door, so that the technical problem that the existing automatic vehicle door of the vehicle can control the vehicle door to be opened to the preset angle only when the specified range of the vehicle door has no obstacle and cannot reasonably.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic flow chart diagram illustrating an exemplary method for automatically controlling a vehicle door according to the present invention;
FIG. 2 is a schematic flow chart illustrating a method for automatically controlling a vehicle door according to a second embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a method for automatically controlling a vehicle door according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an embodiment of an automatic vehicle door control device provided by the invention.
Detailed Description
The embodiment of the invention provides an automatic vehicle door control method and device, which are used for solving the technical problem that the existing automatic vehicle door system of an automobile is not high in intelligent degree because the vehicle door can be controlled to be opened to a preset angle only when no obstacle exists in the specified range of the vehicle door
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides an automatic vehicle door control method, including:
101: monitoring whether a vehicle door opening instruction sent by a user is received in real time;
when a user needs to open the vehicle door to get on or off the vehicle, a vehicle door opening instruction can be sent to the ECU module of the vehicle through a remote control key or a control switch on the vehicle door.
An ECU module (Electronic Control Unit) is an Electronic Control Unit, also called a "traveling computer" or a "vehicle-mounted computer", and is composed of a microprocessor (CPU), a memory (ROM, RAM), an input/output interface (I/O), an analog-to-digital converter (a/D), and a large-scale integrated circuit such as a shaping circuit and a driving circuit, and is a microcomputer controller dedicated for an automobile.
102: when a vehicle door opening instruction sent by a user is received and an obstacle exists in a preset range of the vehicle door, acquiring a distance value between the vehicle door and the obstacle, which is measured by a distance measuring module on the vehicle door;
it should be noted that, in order to construct a triangular model from the obstacle distance values measured by the ranging modules, the vehicle door should be provided with at least two ranging modules;
in this embodiment, the preset range of the vehicle door is specifically a rectangular area with a preset distance measurement length from the vehicle door, or a sector area with a vehicle door hinge as a circle center and a radius as the preset distance measurement length, wherein the preset distance measurement length is +100mm of the overlooking length of the vehicle door, the increased 100mm is a reserved safety distance for measurement, and the specific value can be adjusted according to actual requirements.
103: calculating to obtain the threshold value of the opening included angle of the vehicle door through a trigonometric function according to the distance value measured by the first distance measuring module, the distance value measured by the second distance measuring module and the preset relative distance value among the first distance measuring module, the second distance measuring module and the vehicle door hinge;
it should be noted that the distance between the first distance measurement module and the second distance measurement module, the distance between the first distance measurement module and the door hinge, and the distance between the second distance measurement module and the door hinge are preset distance values according to actual product specifications, and the midpoints of the rotating shafts of the first distance measurement module, the second distance measurement module and the door hinge are preferably arranged on the same horizontal line, if the midpoints of the rotating shafts of the first distance measurement module, the second distance measurement module and the door hinge are not on the same horizontal line, the projection points of the midpoints of the rotating shafts of the first distance measurement module, the second distance measurement module and the door hinge can be positioned on the same horizontal line in a point projection manner, so as to calculate the threshold value of the opening included angle of the door according to the projection points;
determining the distance and direction included angle between the position of the barrier and the distance measuring module on the vehicle door and further determining the position relation between the vehicle door hinge, the barrier and the first distance measuring module and the second distance measuring module in a triangular positioning mode according to the first distance value, the second distance value and the distance values of the first distance measuring module and the second distance measuring module, and taking the calculated included angle between the vehicle door hinge and the barrier and between the vehicle door hinge and two sides of the distance measuring module as an opening included angle threshold value by utilizing a cosine law, wherein the calculated included angle is the vertex of the vehicle door hinge;
the first distance measurement module and the second distance measurement module are arranged between the car door hinge and the car door frame, and the distance value between the first distance measurement module and the car door hinge is larger than the distance value between the second distance measurement module and the car door hinge;
optionally, if the threshold value of the opening included angle is lower than a preset minimum threshold value of the included angle, sending an alarm of too short distance, and directly ending the automatic door opening process, otherwise, executing the step 104;
in this embodiment, the minimum included angle threshold is 45 °, and the specific value may be adjusted according to actual requirements, which is not limited herein.
104: sending a corresponding control signal according to the threshold value of the opening included angle, controlling a vehicle door opening and closing actuating mechanism, and opening the vehicle door to a vehicle door safety included angle;
the control device sends out corresponding control signals to drive a motor in the vehicle door opening and closing actuating mechanism to start to operate, and the vehicle door is opened to a vehicle door safe included angle;
it should be noted that the safe included angle of the vehicle door is an actual opening angle of the vehicle door, and the included angle is smaller than the threshold of the opening included angle calculated in step 103, in this embodiment, the difference between the safe included angle of the vehicle door and the threshold of the opening included angle is about 5 ° to 10 °, and the specific difference can be adjusted according to actual requirements.
According to the embodiment of the invention, the distance value of the obstacle is measured by the distance measuring module arranged at the outer side of the vehicle door, the triangular model of the first distance measuring module, the second distance measuring module and the obstacle is established in a triangular positioning mode, then the threshold value of the opening included angle of the vehicle door is obtained through trigonometric function calculation according to the preset relative distance value among the first distance measuring module, the second distance measuring module and the vehicle door hinge, and the control signal is sent according to the threshold value of the opening included angle to control the vehicle door opening and closing executing mechanism to open the vehicle door to the safe included angle of the vehicle door, so that the technical problem that the existing automatic vehicle door of the vehicle can control the vehicle door to be opened to the preset angle only when the obstacle does not exist in the specified range of the vehicle.
The above is a detailed description of an embodiment of an automatic vehicle door control method according to the present invention, and the following is a detailed description of a second embodiment of an automatic vehicle door control method according to the present invention.
Referring to fig. 2, an embodiment of the present invention provides an automatic vehicle door control method, including:
201: monitoring whether a vehicle door opening instruction sent by a user is received in real time;
when a user needs to open the vehicle door to get on or off the vehicle, a vehicle door opening instruction can be sent to the ECU module of the vehicle through a remote control key or a control switch on the vehicle door.
202: when a vehicle door opening instruction sent by a user is received and an obstacle exists in a preset range of the vehicle door, acquiring a distance value between the vehicle door and the obstacle, which is measured by a distance measuring module on the vehicle door;
wherein, the door is provided with two at least ranging modules.
After the distance values between the obstacle and the first distance measurement module and the distance values between the obstacle and the second distance measurement module on the vehicle door are determined through triangulation, any one of step 203 or step 204 is executed to determine the threshold value of the opening included angle of the vehicle door.
203: calculating the distance between the barrier and a perpendicular line on the vehicle door in a triangle taking the barrier, the first ranging module and the second ranging module as vertexes according to the distance value measured by the first ranging module, the distance value measured by the second ranging module and the preset relative distance value of the first ranging module and the second ranging module, and calculating to obtain the threshold value of the opening included angle of the vehicle door through a trigonometric function formula according to the distance between the perpendicular line and the distance value between the vehicle door hinge and the foot drop point;
the vertical feet are corresponding to vertical lines from the barrier to the vehicle door;
the distance value measured by the first distance measuring module is Sa, the distance value measured by the second distance measuring module is Sb, the distance between the first distance measuring module and the second distance measuring module is Sc, the included angle between three points is calculated by three sides according to the cosine theorem, the distance H between a foot hanging point and a vertical line of the barrier on the vehicle door is calculated according to the included angle between the first distance measuring module or the second distance measuring module and one of the bottom sides of the barrier and the known distance value Sa or Sb, and the threshold value of the opening included angle of the vehicle door is calculated by utilizing an arctangent function according to the vertical line distance H and the ratio of the distance value Sd between the foot hanging point and the vehicle door hinge.
204: according to the distance value measured by the first distance measuring module, the distance value measured by the second distance measuring module and the preset relative distance value of the first distance measuring module and the second distance measuring module, calculating a base angle taking the first distance measuring module as a vertex in a triangle taking the barrier, the first distance measuring module and the second distance measuring module as the vertex, calculating a distance value between the vehicle door hinge and the barrier through a trigonometric function formula according to the distance value measured by the first distance measuring module, the base angle and the preset relative distance value between the first distance measuring module and the vehicle door hinge, and calculating an opening angle threshold value of the vehicle door through the trigonometric function formula in the triangle taking the barrier, the first distance measuring module and the vehicle door hinge as the vertex;
the distance value measured by the first distance measuring module is Sa, the distance value measured by the second distance measuring module is Sb, the distance between the first distance measuring module and the second distance measuring module is Sc, an included angle α between the first distance measuring module and the obstacle is calculated by three sides through the cosine theorem, the distance value Se between the vehicle door hinge and the obstacle is calculated according to the distance S between the first distance measuring module and the vehicle door hinge, the distance value Sa measured by the first distance measuring module and the included angle α, and then the opening included angle threshold of the vehicle door is calculated by S, Sa and Se three sides.
205: and sending a control signal according to the opening included angle threshold value to control the vehicle door opening and closing actuating mechanism to open the vehicle door to the vehicle door safe included angle.
206: when the vehicle door is in an open state and a vehicle door closing instruction sent by a user is received, controlling the vehicle door opening and closing actuating mechanism to close the vehicle door, and monitoring a motor Hall signal sent by the vehicle door opening and closing actuating mechanism in real time;
207: judging whether the vehicle door touches an obstacle in the closing process according to the monitored Hall signal variation of the motor, if so, executing a step 208;
208: and sending a control signal to stop the operation of the vehicle door opening and closing actuating mechanism.
According to the embodiment of the invention, the distance value of the obstacle is measured by the distance measuring module arranged at the outer side of the vehicle door, the triangular model of the first distance measuring module, the second distance measuring module and the obstacle is established in a triangular positioning mode, then the threshold value of the opening included angle of the vehicle door is obtained through trigonometric function calculation according to the preset relative distance value among the first distance measuring module, the second distance measuring module and the vehicle door hinge, and the control signal is sent according to the threshold value of the opening included angle to control the vehicle door opening and closing executing mechanism to open the vehicle door to the safe included angle of the vehicle door, so that the technical problem that the existing automatic vehicle door of the vehicle can control the vehicle door to be opened to the preset angle only when the obstacle does not exist in the specified range of the vehicle.
The above is a detailed description of the second embodiment of the automatic vehicle door control method according to the present invention, and the following is a detailed description of the third embodiment of the automatic vehicle door control method according to the present invention.
Referring to fig. 3, an embodiment of the present invention provides an automatic vehicle door control method, including:
301: monitoring whether a vehicle door opening instruction sent by a user is received in real time;
when a user needs to open the vehicle door to get on or off the vehicle, a vehicle door opening instruction can be sent to the ECU module of the vehicle through a remote control key or a control switch on the vehicle door.
302: when a vehicle door opening instruction sent by a user is received and an obstacle exists in a preset range of the vehicle door, acquiring a distance value between the vehicle door and the obstacle, which is measured by a distance measuring module on the vehicle door;
wherein, the door is provided with two at least ranging modules.
303: judging whether the number of the distance values acquired from the first ranging module and the second ranging module is more than two, if so, executing step 304, otherwise, executing any one of step 306 or step 307;
if the first ranging module or the second ranging module measures two or more distance values with larger difference, the situation that at least two obstacles exist in the detection range of the vehicle door or the size of the obstacles is larger is shown.
304: taking the preset relative distance value of the first ranging module and the second ranging module as a bottom edge, taking the distance value measured by the first ranging module as a triangle with a first side and the distance value measured by the second ranging module as a triangle with a second side, calculating by circularly executing step 306 or step 307 to obtain the door opening included angles of all barriers and the vehicle door, and then executing step 305;
305: comparing the door opening included angles of the barriers and the vehicle door, and setting the minimum door opening included angle as a threshold value of the opening included angle;
306: calculating the distance between the barrier and a perpendicular line on the vehicle door in a triangle taking the barrier, the first ranging module and the second ranging module as vertexes according to the distance value measured by the first ranging module, the distance value measured by the second ranging module and the preset relative distance value of the first ranging module and the second ranging module, and calculating to obtain the threshold value of the opening included angle of the vehicle door through a trigonometric function formula according to the distance between the perpendicular line and the distance value between the vehicle door hinge and the foot drop point;
the vertical feet are corresponding to vertical lines from the barrier to the vehicle door;
the distance value measured by the first distance measuring module is Sa, the distance value measured by the second distance measuring module is Sb, the distance between the first distance measuring module and the second distance measuring module is Sc, the included angle between three points is calculated by three sides according to the cosine theorem, the distance H between a foot hanging point and a vertical line of the barrier on the vehicle door is calculated according to the included angle between the first distance measuring module or the second distance measuring module and one of the bottom sides of the barrier and the known distance value Sa or Sb, and the threshold value of the opening included angle of the vehicle door is calculated by utilizing an arctangent function according to the vertical line distance H and the ratio of the distance value Sd between the foot hanging point and the vehicle door hinge.
307: according to the distance value measured by the first distance measuring module, the distance value measured by the second distance measuring module and the preset relative distance value of the first distance measuring module and the second distance measuring module, calculating a base angle taking the first distance measuring module as a vertex in a triangle taking the barrier, the first distance measuring module and the second distance measuring module as the vertex, calculating a distance value between the vehicle door hinge and the barrier through a trigonometric function formula according to the distance value measured by the first distance measuring module, the base angle and the preset relative distance value between the first distance measuring module and the vehicle door hinge, and calculating an opening angle threshold value of the vehicle door through the trigonometric function formula in the triangle taking the barrier, the first distance measuring module and the vehicle door hinge as the vertex;
the distance value measured by the first distance measuring module is Sa, the distance value measured by the second distance measuring module is Sb, the distance between the first distance measuring module and the second distance measuring module is Sc, an included angle α between the first distance measuring module and the obstacle is calculated by three sides through the cosine theorem, the distance value Se between the vehicle door hinge and the obstacle is calculated according to the distance S between the first distance measuring module and the vehicle door hinge, the distance value Sa measured by the first distance measuring module and the included angle α, and then the opening included angle threshold of the vehicle door is calculated by S, Sa and Se three sides.
308: and sending a control signal according to the opening included angle threshold value to control the vehicle door opening and closing actuating mechanism to open the vehicle door to the vehicle door safe included angle.
309: when the vehicle door is in an open state and a vehicle door closing instruction sent by a user is received, controlling the vehicle door opening and closing actuating mechanism to close the vehicle door, and monitoring a motor Hall signal sent by the vehicle door opening and closing actuating mechanism in real time;
310: judging whether the vehicle door touches an obstacle in the closing process according to the monitored Hall signal variation of the motor, if so, executing step 311;
311: and sending a control signal to stop the operation of the vehicle door opening and closing actuating mechanism.
In the embodiment of the invention, the distance value of the obstacle is measured by the distance measuring module arranged at the outer side of the vehicle door, a plurality of triangular models are established among the first distance measuring module, the second distance measuring module and a plurality of obstacles in a triangular positioning mode, and then according to the preset relative distance values among the first distance measuring module, the second distance measuring module and the vehicle door hinge, calculating to obtain the door opening included angle of each barrier and the door hinge through a trigonometric function, comparing the door opening included angles of each barrier and the door, setting the minimum door opening included angle as the threshold value of the opening included angle, the automatic automobile door control device sends a control signal to control the automobile door opening and closing actuating mechanism to open the automobile door to the automobile door safety included angle according to the opening included angle threshold value, and solves the technical problem that the existing automatic automobile door can only control the automobile door to be opened to a preset angle when no obstacle exists in the specified range of the automobile door, and the opening and closing of the automobile door cannot be controlled more reasonably. Meanwhile, the problem of the prediction accuracy of the opening included angle of the vehicle door when a large obstacle or a plurality of obstacles exist in the specified range of the vehicle door is solved.
The above is a detailed description of a third embodiment of the automatic vehicle door control method according to the present invention, and the following is a detailed description of an embodiment of the automatic vehicle door control device according to the present invention.
Referring to fig. 4, an embodiment of the present invention provides an automatic control device for a vehicle door, including:
the distance acquisition module 401 is configured to acquire a distance value between the vehicle door and an obstacle measured by a distance measurement module on the vehicle door when a vehicle door opening instruction sent by a user is received and the obstacle exists in a preset range of the vehicle door, where the vehicle door is provided with at least two distance measurement modules;
the included angle prediction module 402 is used for calculating an opening included angle threshold value of the vehicle door through a triangulation positioning mode and a trigonometric function according to a distance value measured by the first distance measurement module, a distance value measured by the second distance measurement module and a preset relative distance value among the first distance measurement module, the second distance measurement module and the vehicle door hinge, wherein the first distance measurement module, the second distance measurement module and the vehicle door hinge are positioned on the same horizontal line;
and the vehicle door control module 403 is configured to send an instruction to control the vehicle door opening and closing actuator to open the vehicle door to a vehicle door safe included angle according to the opening included angle threshold.
Further, the included angle prediction module 402 specifically includes:
the first included angle prediction submodule 4021 is configured to calculate a perpendicular distance from the obstacle to the vehicle door in a triangle with the obstacle, the first ranging module and the second ranging module as vertexes according to a distance value measured by the first ranging module, a distance value measured by the second ranging module, and a preset relative distance value between the first ranging module and the second ranging module, and calculate an opening included angle threshold of the vehicle door according to the perpendicular distance and a distance value from a vehicle door hinge to a foot drop point through a trigonometric function formula.
Further, the included angle prediction module 402 further includes:
the second included angle prediction submodule 4022 is configured to calculate a base included angle using the first ranging module as a vertex in a triangle using the obstacle, the first ranging module, and the second ranging module as vertices, calculate a distance value between the door hinge and the obstacle according to the distance value measured by the first ranging module, the base included angle, and a preset relative distance value between the first ranging module and the door hinge, and calculate an opening included angle threshold of the door according to a trigonometric function formula in the triangle using the obstacle, the first ranging module, and the door hinge as vertices.
Further, still include:
a third included angle prediction submodule 4023, configured to, when the number of the distance values acquired from the first distance measurement module and the second distance measurement module is greater than two, obtain the door opening included angles of all the obstacles and the vehicle door by cyclically executing the first included angle prediction submodule or the second included angle prediction submodule in a triangle where the preset relative distance value of the first distance measurement module and the second distance measurement module is taken as a base and the distance value measured by the first distance measurement module is taken as a first side and the distance value measured by the second distance measurement module is taken as a second side, then execute the included angle comparison submodule, and if the number of the distance values acquired from the first distance measurement module and the second distance measurement module is equal to two, directly execute the first included angle prediction submodule 4021 or the second included angle prediction submodule 4022.
And the included angle comparison submodule 4024 is used for comparing the opening included angles of the barriers and the vehicle door and setting the minimum opening included angle as an opening included angle threshold value.
Further, still include:
and the door closing monitoring module 404 is configured to control the door opening and closing executing mechanism to close the door and monitor a motor hall signal sent by the door opening and closing executing mechanism in real time when the door is in an open state and receives a door closing instruction sent by a user.
And the vehicle door brake control module 405 is used for judging whether the vehicle door touches an obstacle in the closing process according to the monitored Hall signal variation of the motor, and if so, sending a control signal to stop the operation of the vehicle door opening and closing execution mechanism.
It should be noted that the automatic control device for the vehicle door provided by the embodiment of the present invention may be integrated in the ECU module, or may be separately provided as an independent circuit module, and establishes a communication connection with the ECU module.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. An automatic door control method for an automobile, comprising:
s1: when a vehicle door opening instruction sent by a user is received and an obstacle exists in a preset range of the vehicle door, acquiring a distance value between the vehicle door and the obstacle, which is measured by a distance measuring module on the vehicle door, wherein the vehicle door is provided with at least two distance measuring modules;
s2: calculating to obtain an opening included angle threshold value of the vehicle door through a triangulation location mode and a trigonometric function according to a distance value measured by a first distance measurement module, a distance value measured by a second distance measurement module and a preset relative distance value among the first distance measurement module, the second distance measurement module and the vehicle door hinge;
s3: if the threshold value of the opening included angle is not lower than the lowest preset included angle, sending a control signal according to the threshold value of the opening included angle to control a vehicle door opening and closing actuating mechanism to open the vehicle door to a vehicle door safety included angle;
the step S2 specifically includes:
s21: according to the distance value measured by the first ranging module, the distance value measured by the second ranging module and the preset relative distance value between the first ranging module and the second ranging module, calculating the distance of a perpendicular line from the obstacle to the vehicle door in a triangle with the obstacle, the first ranging module and the second ranging module as vertexes, and calculating an opening included angle threshold value of the vehicle door through a trigonometric function formula according to the distance of the perpendicular line and the distance value from the vehicle door hinge to a foot hanging point, wherein the foot hanging is corresponding to the perpendicular line from the obstacle to the vehicle door;
or
S22: according to the distance value measured by the first distance measuring module, the distance value measured by the second distance measuring module and the preset relative distance value of the first distance measuring module and the second distance measuring module, the base angle of the first distance measuring module as the vertex is calculated in the triangle with the barrier, the first distance measuring module and the second distance measuring module as the vertex, the distance value of the door hinge and the barrier is calculated through a trigonometric function formula according to the distance value measured by the first distance measuring module, the base angle and the preset relative distance value of the first distance measuring module and the door hinge, and then the opening angle threshold value of the door is calculated through the trigonometric function formula in the triangle with the barrier, the first distance measuring module and the door hinge as the vertex.
2. The method for controlling an automatic door of an automobile according to claim 1, wherein the step S2 further comprises:
s20: if the number of the distance values acquired from the first ranging module and the second ranging module is more than two, taking the preset relative distance value of the first ranging module and the second ranging module as a bottom edge, taking the distance value measured by the first ranging module as a triangle with a first side and the distance value measured by the second ranging module as a second side, calculating through circularly executing the step S21 or the step S22 to obtain the door opening included angles between all obstacles and the vehicle door, then executing the step S23, and if the number of the distance values acquired from the first ranging module and the second ranging module is equal to two, directly executing the step S21 or the step S22;
s23: and comparing the opening included angles of the barriers and the vehicle door, and setting the minimum opening included angle as an opening included angle threshold value.
3. The method for controlling an automatic door of an automobile according to any one of claims 1 to 2, wherein the step S3 is followed by further comprising:
s4: when the vehicle door is in an open state and a vehicle door closing instruction sent by a user is received, controlling the vehicle door opening and closing actuating mechanism to close the vehicle door, and monitoring a motor Hall signal sent by the vehicle door opening and closing actuating mechanism in real time;
s5: and judging whether the vehicle door touches an obstacle in the closing process according to the monitored Hall signal variation of the motor, if so, sending a control signal to enable the vehicle door opening and closing actuating mechanism to stop operating.
4. An automotive door control apparatus, comprising:
the system comprises a distance acquisition module, a distance detection module and a control module, wherein the distance acquisition module is used for acquiring a distance value between a distance measurement module on a vehicle door and an obstacle when the vehicle door opening instruction sent by a user is received and the obstacle exists in a preset range of the vehicle door, and the vehicle door is provided with at least two distance measurement modules;
the included angle prediction module is used for calculating and obtaining an opening included angle threshold value of the vehicle door through a triangular positioning mode and a trigonometric function according to a distance value measured by the first distance measurement module, a distance value measured by the second distance measurement module and preset relative distance values among the first distance measurement module, the second distance measurement module and the vehicle door hinge;
the vehicle door control module is used for sending an instruction to control a vehicle door opening and closing executing mechanism to open the vehicle door to a vehicle door safety included angle according to the opening included angle threshold value;
the included angle prediction module specifically includes:
the first included angle prediction submodule is used for calculating the distance between the barrier and a perpendicular line on the vehicle door in a triangle with the barrier, the first ranging module and the second ranging module as vertexes according to the distance value measured by the first ranging module, the distance value measured by the second ranging module and the preset relative distance value of the first ranging module and the second ranging module, and calculating an opening included angle threshold value of the vehicle door through a trigonometric function formula according to the distance between the perpendicular line and the distance value between a hinge of the vehicle door and a foot drop point, wherein the foot drop is the foot drop corresponding to the perpendicular line from the barrier to the vehicle door;
or
A second included angle prediction submodule, configured to predict a second included angle according to the distance value measured by the first ranging module, the distance value measured by the second ranging module, and a preset relative distance value between the first ranging module and the second ranging module, calculating a base included angle with the first ranging module as a vertex in a triangle with the barrier, the first ranging module and the second ranging module as the vertices, and calculating the distance value between the vehicle door hinge and the barrier through a trigonometric function formula according to the distance value measured by the first distance measuring module, the included angle of the bottom edge and the preset relative distance value between the first distance measuring module and the vehicle door hinge, and then calculating the threshold value of the opening included angle of the vehicle door through a trigonometric function formula in a triangle taking the barrier, the first distance measuring module and the vehicle door hinge as vertexes.
5. The automotive door control apparatus according to claim 4, wherein the angle prediction module further comprises:
a third included angle prediction submodule, configured to, when the number of distance values obtained from the first distance measurement module and the second distance measurement module is greater than two, obtain, through cyclic triggering of the first included angle prediction submodule or the second included angle prediction submodule, door opening included angles between all obstacles and a vehicle door calculated in a triangle in which a preset relative distance value between the first distance measurement module and the second distance measurement module is a base, a distance value measured by the first distance measurement module is a first side, and a distance value measured by the second distance measurement module is a second side, then execute an included angle comparison submodule, and directly trigger the first included angle prediction submodule or the second included angle prediction submodule if the number of distance values obtained from the first distance measurement module and the second distance measurement module is equal to two;
and the included angle comparison submodule is used for comparing each barrier with the door opening included angle of the vehicle door, and setting the minimum door opening included angle as an opening included angle threshold value.
6. The door control apparatus for an automobile according to any one of claims 4 to 5, further comprising:
the vehicle door closing monitoring module is used for controlling the vehicle door opening and closing actuating mechanism to close the vehicle door and monitoring a motor Hall signal sent by the vehicle door opening and closing actuating mechanism in real time when the vehicle door is in an open state and a vehicle door closing instruction sent by a user is received;
and the vehicle door brake control module is used for judging whether the vehicle door touches an obstacle in the closing process according to the monitored Hall signal variation of the motor, and if so, sending a control signal to enable the vehicle door opening and closing executing mechanism to stop operating.
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| CN112502548A (en) * | 2019-09-16 | 2021-03-16 | 比亚迪股份有限公司 | Vehicle, method and apparatus for controlling door opening of vehicle, and storage medium |
| CN110965893B (en) * | 2019-11-25 | 2021-09-03 | 广州小鹏汽车科技有限公司 | Vehicle and control method and device thereof |
| CN110949286B (en) * | 2019-12-16 | 2021-06-04 | 广州小鹏汽车科技有限公司 | Vehicle and control method and device thereof |
| CN113267155A (en) * | 2020-02-17 | 2021-08-17 | 青岛海尔电冰箱有限公司 | Refrigerator and door opening angle detection method |
| CN111593991B (en) * | 2020-03-31 | 2023-02-28 | 宁波吉利汽车研究开发有限公司 | Automobile door control method and device and storage medium |
| CN112943025B (en) * | 2021-02-20 | 2022-08-16 | 广州小鹏自动驾驶科技有限公司 | Automatic starting and stopping method of vehicle door and related device |
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Effective date of registration: 20210913 Address after: 528315 B333, West Lecong Road, Lecong Town, Shunde District, Guangdong, Foshan Patentee after: WINBO-DONGJIAN AUTOMOTIVE TECHNOLOGY Co.,Ltd. Patentee after: Guangdong Dongjian Automobile Intelligent System Co.,Ltd. Address before: 528315 B333, West Lecong Road, Lecong Town, Shunde District, Guangdong, Foshan Patentee before: WINBO-DONGJIAN AUTOMOTIVE TECHNOLOGY Co.,Ltd. |