CN111251992A - Door opening early warning method and system, readable storage medium and automobile - Google Patents
Door opening early warning method and system, readable storage medium and automobile Download PDFInfo
- Publication number
- CN111251992A CN111251992A CN202010074631.3A CN202010074631A CN111251992A CN 111251992 A CN111251992 A CN 111251992A CN 202010074631 A CN202010074631 A CN 202010074631A CN 111251992 A CN111251992 A CN 111251992A
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- automobile
- early warning
- distance
- door opening
- relative speed
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
- B60J5/00—Doors
- B60J5/04—Doors arranged at the vehicle sides
- B60J5/047—Doors arranged at the vehicle sides characterised by the opening or closing movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a door opening early warning method, which is applied to an automobile and comprises the following steps: when the automobile is detected to stop and the radar detects an object behind the automobile, acquiring the distance between the automobile and the object behind the automobile; if the distance is smaller than the distance threshold value, judging whether the relative speed of the object moving towards the automobile is larger than 0 km/h; and if so, executing the early warning instruction. The invention directly judges whether a moving target close to the automobile exists or not and sends out early warning to the personnel in the automobile, and the automobile can adopt a radar without adopting a camera and the personnel in the automobile do not need to observe a shot picture whether the personnel in the automobile forget to observe or not. The invention also discloses a system, a readable storage medium and an automobile adopting the method.
Description
Technical Field
The invention relates to the technical field of automobile safety, in particular to a door opening early warning method, a door opening early warning system, a readable storage medium and an automobile.
Background
With the rapid development of the automobile industry and the improvement of the living standard of people, automobiles become one of indispensable transportation tools for people to go out, freight transportation and the like.
In the daily use of the vehicle, there are scenes that a driver or a passenger opens a door to get off the vehicle. When the door is opened, if a moving object passes through the door, the moving object may collide with the door, and an accident may be caused. At present, a camera is arranged at the tail of a vehicle to shoot a picture behind the vehicle, and an in-vehicle person can observe the shot picture to determine whether a moving object exists near the vehicle or not so as to avoid accidents.
In some cases, the accident may still occur when the vehicle door is opened due to the fact that a person in the vehicle forgets to observe a shot picture of the camera.
Disclosure of Invention
One object of the present invention is to provide a door opening warning method capable of giving a warning.
A door opening early warning method is applied to an automobile and comprises the following steps:
when the automobile is detected to stop and the radar detects an object behind the automobile, acquiring the distance between the automobile and the object behind the automobile;
if the distance is smaller than a distance threshold value, judging whether the object moves towards the automobile;
and if so, executing the early warning instruction.
The invention has the beneficial effects that: the method has the advantages that whether the moving target close to the automobile exists or not is directly judged, early warning is sent to the personnel in the automobile, the automobile can adopt a radar without adopting a camera and the personnel in the automobile do not need to observe a shot picture whether the personnel in the automobile forget to observe or not.
In addition, the door opening early warning method provided by the invention can also have the following additional technical characteristics:
further, before the step of obtaining the distance between the automobile and the object behind the automobile, the method comprises:
acquiring gear information of the automobile;
and if the gear information is a gear except for a reverse gear, acquiring the distance between the automobile and the object behind the automobile.
Further, the step of determining whether the object is moving towards the car comprises:
and acquiring the relative speed of the object moving towards the automobile, and judging whether the relative speed is greater than 0 km/h.
Further, the step of obtaining the relative speed of the object moving towards the car comprises:
acquiring a distance L1 between the object and the automobile;
after a specified time interval Δ t, the distance L2 between the object and the vehicle is again determined, and the relative speed is determined
Further, if yes, the step of executing the warning instruction includes:
if the relative speed v is greater than 0, acquiring the distance L between the object and the automobile at the moment, and judging whether the collision time TTC is L/v which is less than or equal to 1.5 s;
if yes, sending an early warning request to the automobile processing unit;
and executing the early warning instruction, wherein the early warning instruction is one or more of sound early warning, light early warning and vehicle door locking.
Further, the early warning instruction includes locking the door, the car passes through the radar and obtains relative speed, the radar sets up the left side and the right side of car afterbody, the execution object of locking the door is for being close to the door of object.
Further, if yes, the step of executing the warning instruction further includes:
and when the early warning instruction is executed, waiting for a preset time and then stopping executing the early warning instruction.
Another objective of the present invention is to provide a door opening warning system for an automobile, comprising:
the acquisition module is used for acquiring the distance between the automobile and an object behind the automobile when the automobile is detected to stop and the radar detects the object behind the automobile;
the judging module is used for judging whether the relative speed of the object moving towards the automobile is greater than 0km/h or not if the distance is smaller than a distance threshold value;
and the execution module is used for executing an early warning instruction when the relative speed of the object moving towards the automobile is greater than 0 km/h.
The present invention also provides a readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the method described above.
The invention also provides a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method as described above when executing the program.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a door opening warning method according to a first embodiment of the present invention;
fig. 2 is a detailed flowchart of a door opening warning method according to a first embodiment of the present invention;
fig. 3 is a schematic flow chart of a door opening warning method according to a second embodiment of the present invention;
fig. 4 is a block diagram showing the structure of a door opening warning system according to a third embodiment of the present invention;
fig. 5 is a schematic diagram of signal transmission among components of a door opening early warning system according to a third embodiment of the present invention;
fig. 6 is a schematic connection diagram of components of a door opening warning system according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1, a first embodiment of the present invention provides a door opening warning method for an automobile, including the following steps.
S1, when the automobile is detected to stop and the radar detects an object behind the automobile, the distance between the automobile and the object behind the automobile is obtained.
In the embodiment, the distance of the object is obtained through the radar, the radar is distributed on the left side and the right side of the tail of the automobile, the types of the radar can be KP2-15K843-AA and KP2-15K844-AA, and the radar can be a 24GHz millimeter wave radar.
It should be noted that, a passenger car Door opening early warning (Door Open Alert) technology is also called a DOA technology.
Specifically, the step of S1 may include:
s11, acquiring gear information and speed information of the automobile;
and S12, if the gear information is a gear except for a reverse gear and the value of the speed information is equal to 0, acquiring the distance between the automobile and the object behind the automobile.
It should be noted that the technical solution of the present embodiment is mainly to prevent the passenger from opening the door by mistake, specifically, the driver or the passenger forgets to observe the situation behind the vehicle. When the automobile is braked in the reverse gear, a wide-angle reverse image is generally arranged in the automobile, a driver can observe a rearview mirror, and at the moment, the situation behind the automobile is always observed by people in the automobile, so that the condition of parking in the reverse gear does not need to be identified and captured, the operation burden of a system is reduced, and the operation performance is improved.
It should be noted that capturing the objects filters a portion of the smaller objects, which will only capture objects larger than a minimum size, which in this embodiment is the size of a typical bicycle, such as length (1.8 + -0.2) m, height (including an adult rider) (1.7 + -0.2) m.
In order to filter smaller objects, the radar scattering cross section area of the object fed back to the radar can be obtained during radar ranging, the radar scattering cross section area RCS corresponding to the minimum size is 10dBsm, and when RCS is larger than 10dBsm, the distance between the object and the corresponding object is obtained.
And S2, if the distance is smaller than a distance threshold value, judging whether the object moves towards the automobile.
It will be appreciated that only moving objects will cause a safety hazard and therefore the relative velocity needs to be captured. The radar is arranged on two sides of the tail of the automobile, so that objects on two sides behind the automobile can be captured simultaneously, whether the objects move or not can be judged, whether the scattering intensity fed back to the radar by the corresponding objects changes or not can be judged, and if the scattering intensity changes continuously, the objects are judged to be moving objects.
Specifically, step S2 includes:
s21, obtaining the relative speed of the object moving towards the automobile, and judging whether the relative speed is greater than 0 km/h.
In this embodiment, the distance threshold is selected to be 2m, and in other embodiments, the distance threshold may be selected according to actual situations. The distance between the object and the automobile is specifically the distance between the object and the radar.
It should be noted that, when there are a plurality of moving objects behind the vehicle, it may be preferable to acquire the relative speed of the object closest to the vehicle, so as to reduce the resource occupancy rate of the vehicle control system.
Specifically, the step of acquiring the relative speed of the object moving towards the automobile comprises the following steps:
acquiring a distance L1 between the object and the automobile;
after a specified time interval Δ t, the distance L2 between the object and the vehicle is again determined, and the relative speed is determined
It should be noted that Δ t can be understood as instantaneous, such as 0.1s, that is, by obtaining the distance difference between the object and the vehicle before and after 0.1s, the instantaneous relative speed can be obtained.
And S3, if so, executing an early warning instruction.
Specifically, S3 includes the following steps:
s31, if the relative speed v is greater than 0, acquiring the distance L between the object and the automobile at the moment, and judging whether the collision time TTC is L/v which is less than or equal to 1.5 s;
s32, if yes, sending an early warning request to the automobile processing unit;
and S33, executing the early warning instruction, wherein the early warning instruction comprises sound early warning, light early warning and vehicle door locking.
In order to realize early warning more accurately, a distance measuring radar can be arranged on the side surface of the automobile to obtain the distance between the side surface of the automobile and the object, and in the embodiment, the early warning is executed when the transverse distance between the automobile and the object is less than 2.5 m.
Referring to fig. 2, the early warning process in the present embodiment includes:
when the non-reverse gear is engaged and the speed is 0km/h, the DOA enters a working mode. The radar starts to track and detect the target object in the blind area, and the target object approaches to the detected rear direction: relative speed V and relative distance L, then calculating TTC as L/V, and judging whether TTC conditions are met; if the condition is met, judging whether the transverse distance between the target and the vehicle is within the range, and if the condition is met, lightening a DOA indicating lamp on the corresponding side; at the moment, if the corresponding side door lock is locked, the indicator lamp begins to flash and gives out sound alarm to remind a driver or passengers that a target vehicle approaches behind the vehicle and the door is opened to cause collision risk.
The method has the advantages that whether the moving target close to the automobile exists or not can be directly judged, early warning is sent to personnel in the automobile, whether the personnel in the automobile forget to observe or not, the automobile can adopt a radar without adopting a camera, and the personnel in the automobile do not need to observe a shot picture.
Preferably, the early warning instruction includes locking the door, the car passes through the radar and obtains relative speed, the radar sets up the left side and the right side of car afterbody, the execution object of locking the door is for being close to the door of object.
It will be appreciated that the left door is locked when a moving object is approaching the left side of the vehicle, and the right door is locked when a moving object is approaching the right side.
Referring to fig. 3, a second embodiment of the present invention provides a door opening warning method, which is substantially the same as the first embodiment except that:
step S3 is followed by:
and S4, when the early warning instruction is executed, stopping executing the early warning instruction after waiting for preset time.
In this embodiment, the preset time is 5s, which can be selected according to the actual situation.
If the radar continuously monitors that a moving object exists behind the automobile under the condition that the preset time is not set, the automobile can continuously execute an early warning instruction, if the automobile door is locked, when the moving object leaves the monitoring range of the radar, the system can judge that no moving object exists behind the automobile and unlock the automobile door, at the moment, the moving object can be just positioned at the main driving automobile door, and at the moment, the driving automobile door can also cause accidents.
Referring to fig. 4, a third embodiment of the present invention provides a door opening warning system for an automobile, including:
the acquisition module is used for acquiring the distance between the automobile and an object behind the automobile when the automobile is detected to stop and the radar detects the object behind the automobile;
the judging module is used for judging whether the relative speed of the object moving towards the automobile is greater than 0km/h or not if the distance is smaller than a distance threshold value;
and the execution module is used for executing an early warning instruction when the relative speed of the object moving towards the automobile is greater than 0 km/h.
In this embodiment, adopt the radar to carry out the range finding, because the car often can the side direction park, in order to prevent that the radar from being influenced by the car that the rear stopped, the radar setting is in the both sides of car afterbody.
Referring to fig. 5, in the present embodiment, the DOA system receives the speed and yaw rate signals of the ESP, and is used to determine whether the operating speed is reached, and calculate the turning radius; receiving a gear signal of the TCU, and judging the current vehicle motion state; the DOA master radar is used for detecting the left target object information and judging whether an alarm signal needs to be sent or not, and is also responsible for forwarding alarm information of the right slave radar, and the signal is sent to the instrument and the MP5 through the CAN of the whole vehicle; the DOA slave radar is used for detecting the left target object information, judging whether an alarm needs to be sent out or not, and sending an alarm signal to the master radar; the left and right outer rearview mirror DOALED indicating lamps are used for prompting the collision risk of a driver, the left and right radars control the LEDs through hard wires, and the alarm state is displayed through normal lighting and flickering; the MP5 switch is set to independently switch on and off the DOA function, and the DOA early warning display is carried out; the instrument sends out warning sound and displays related state indication and self-checking fault information.
Referring to fig. 6, the radar hardware mainly consists of the following three parts:
1) a radio frequency part: 2TX 4RX antenna, send-receive signal modulation circuit;
2) signal processing: MCU processor unit, communication processor unit;
3) an external circuit: the device comprises a power module, a whole vehicle CAN module, a private CAN module, an LED driving module and a wire harness connector.
The whole vehicle is electrified, the system enters a working state after passing self-checking, and the system enters a DOA working mode after IGN ON, non-R gear, zero vehicle speed and DOA activation appear in the electrifying period; and if the IGN is OFF, the R gear is engaged, the vehicle speed is greater than zero or the DOA is not activated, the DOA function is closed.
A fourth embodiment of the invention provides a readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the method of the second embodiment.
A fifth embodiment of the invention provides an automobile comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of the second embodiment when executing the program.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a door opening early warning method, is applied to the car, the left side and the right side of the afterbody of car all are equipped with the radar, the radar is used for detecting the object behind the car side, its characterized in that includes following step:
when the automobile is detected to stop and the radar detects an object behind the automobile, acquiring the distance between the automobile and the object behind the automobile;
if the distance is smaller than a distance threshold value, judging whether the object moves towards the automobile;
and if so, executing the early warning instruction.
2. The door opening warning method according to claim 1, wherein before the step of obtaining the distance between the automobile and the object behind the automobile, the method comprises:
acquiring gear information of the automobile;
and if the gear information is a gear except for a reverse gear, acquiring the distance between the automobile and the object behind the automobile.
3. The door opening warning method according to claim 1, wherein the step of determining whether the object is moving toward the vehicle comprises:
and acquiring the relative speed of the object moving towards the automobile, and judging whether the relative speed is greater than 0 km/h.
4. The door opening warning method according to claim 3, wherein the step of obtaining the relative speed of the object moving toward the vehicle comprises:
acquiring a distance L1 between the object and the automobile;
after a specified time interval Δ t, the distance L2 between the object and the vehicle is again determined, and the relative speed is determined
5. The door opening warning method according to claim 1, wherein if yes, the step of executing the warning command comprises:
if the relative speed v is greater than 0, acquiring the distance L between the object and the automobile at the moment, and judging whether the collision time TTC is L/v which is less than or equal to 1.5 s;
if yes, sending an early warning request to the automobile processing unit;
and executing the early warning instruction, wherein the early warning instruction is one or more of sound early warning, light early warning and vehicle door locking.
6. The door opening early warning method according to claim 5, wherein the early warning instruction comprises locking a door, the automobile obtains the relative speed through radars, the radars are arranged on the left side and the right side of the tail of the automobile, and an execution object of locking the door is the door close to the object.
7. The door opening warning method according to claim 1, wherein if yes, the step of executing the warning command further comprises:
and when the early warning instruction is executed, waiting for a preset time and then stopping executing the early warning instruction.
8. The utility model provides a warning system opens door, is applied to the car which characterized in that includes:
the acquisition module is used for acquiring the distance between the automobile and an object behind the automobile when the automobile is detected to stop and the radar detects the object behind the automobile;
the judging module is used for judging whether the relative speed of the object moving towards the automobile is greater than 0km/h or not if the distance is smaller than a distance threshold value;
and the execution module is used for executing an early warning instruction when the relative speed of the object moving towards the automobile is greater than 0 km/h.
9. A readable storage medium having stored thereon computer instructions, characterized in that the instructions, when executed by a processor, implement the method of any one of claims 1 to 7.
10. An automobile comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any one of claims 1 to 7 when executing the program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010074631.3A CN111251992A (en) | 2020-01-22 | 2020-01-22 | Door opening early warning method and system, readable storage medium and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010074631.3A CN111251992A (en) | 2020-01-22 | 2020-01-22 | Door opening early warning method and system, readable storage medium and automobile |
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| CN111251992A true CN111251992A (en) | 2020-06-09 |
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| CN202010074631.3A Pending CN111251992A (en) | 2020-01-22 | 2020-01-22 | Door opening early warning method and system, readable storage medium and automobile |
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