CN112248933A - Control method and device for preventing collision of vehicle door and computer storage medium - Google Patents
Control method and device for preventing collision of vehicle door and computer storage medium Download PDFInfo
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- CN112248933A CN112248933A CN202011177264.6A CN202011177264A CN112248933A CN 112248933 A CN112248933 A CN 112248933A CN 202011177264 A CN202011177264 A CN 202011177264A CN 112248933 A CN112248933 A CN 112248933A
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- moving object
- vehicle door
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
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Abstract
The invention discloses a control method and a control device for preventing collision of a vehicle door and a computer storage medium.A control unit receives a vehicle door ready-to-open signal sent by a vehicle door detection unit, responds to whether a moving object exists in a first preset range, and controls a vehicle door control unit to lock the vehicle door if the moving object exists in the first preset range; responding to whether a moving object exists in a second preset range or not if no moving object exists in the first preset range; if no moving object exists in the second preset range, controlling the vehicle door control unit to allow the vehicle door to be opened; and if the moving object exists in the second preset range, judging the safety factor of the opening of the vehicle door in response to the attribute of the moving object, the relative distance between the moving object and the vehicle door, the speed and/or the environmental parameters, and sending the safety factor to the vehicle door control unit and/or the alarm unit, wherein the vehicle can make a decision which is more in line with the experience of the driver by identifying the attribute of the moving object, the driving environment, the driving speed, the relative distance between the moving object and the vehicle door and other parameters.
Description
Technical Field
The invention relates to vehicle control, in particular to a control method and a control device for preventing a vehicle door from being impacted and a computer storage medium.
Background
When a vehicle stops at the roadside and the door is suddenly opened, the door collides with a non-motor vehicle passing by the side, so that the door is damaged, and a rider falls down to the ground to be injured or even seriously injured, so that life danger is caused. When a vehicle stops at the roadside and opens a door, the vehicle collides with a non-motor vehicle passing by the side, such as a bicycle, a battery car and the like, if the speed is low, the vehicle can be injured or the loss is small, but for the non-motor vehicle with high riding speed, the front side of the door usually meets a large impact force when the vehicle collides, a rider is also impacted at the front side, a serious rider is seriously injured, particularly the serious rider can even endanger the life, and the loss is brought to the automobile side and the non-motor vehicle side.
Although it is recommended to perform observation prior to opening the door, observation through the rear view mirror easily causes erroneous judgment of the position of the non-motor vehicle. Many non-motor vehicles are not in line of sight if viewed directly to the rear. Moreover, the speed of the non-motor vehicle is very fast, and even if the door is opened conservatively to a small extent first, the non-motor vehicle can easily scrape the door sideways.
In the prior art, generally, the distance between a non-motor vehicle and a vehicle door is measured, so that door closing locking control which does not allow the vehicle door to be opened or an alarm is given in advance, but because the detection accuracy is low, too dense alarm or frequent control over the vehicle is easily caused, the detection accuracy is not consistent with the actual situation, and the trust of a vehicle owner on the control function is easily reduced. In addition, the door of some vehicles is light to open, and once the door is separated from the door closing lock, the door can be opened by pushing easily, so that the rear non-motor vehicle can not brake in time, and accidents are easily caused.
Disclosure of Invention
The embodiment of the invention provides a control method and device for preventing vehicle door collision and a computer storage medium, which can improve the use safety of a vehicle and the use experience of passengers in the vehicle according to the fact that the opening of a vehicle door is more consistent with the driving environment in the use process of the vehicle.
In a first aspect of the present invention, there is provided a control method for preventing a vehicle door from being struck, comprising the steps of,
step S1, when detecting that the door is ready to open, detecting whether there is a moving object in a first preset range of the vehicle, wherein the first preset range can be set, for example, 0-5 m in the front-back direction of the vehicle,
if a moving object exists in the first preset range, the distance between the moving object and the vehicle door is very short, the probability of a traffic accident that the vehicle door is opened and collides with the vehicle door is very high, and the step S2 is executed; if no moving object exists within the first predetermined range, then go to step S3;
step S2, the door control unit locks the door;
step S3, detecting whether a moving obstacle exists in a second preset range, wherein the second preset range is larger than the first preset range, and if no moving object exists in the second range, allowing the vehicle door to be opened; if there is a moving object within the second predetermined range, then go to step S4;
step S4, identifying the environment attribute of the moving object, the relative distance L1 between the moving object and the vehicle door, the speed V of the moving object and the environment parameter, and calling the data about the braking distance Ls prestored in the control unit to judge the safety factor of the vehicle door opening; and controlling opening and/or alarming of the vehicle door in response to the magnitude of the safety factor;
in addition, the invention provides a control method for preventing collision of a vehicle door, which is suitable for identifying the existence of at least one moving object and comprises the following steps:
presetting a first preset range and a second preset range based on the position of a vehicle door control unit, wherein the second preset range is larger than the first preset range; and
responding to a triggering signal received by the vehicle door control unit when the vehicle door is opened, and judging whether a moving object exists in the first preset range;
if the moving object exists in the first preset range, the vehicle door control unit is prevented from opening the vehicle door;
if no moving object exists in the first preset range, further judging whether a moving object exists in the second preset range;
if no moving object exists in the second preset range, allowing the vehicle door control unit to open the vehicle door;
and if the moving object exists in the second preset range, responding to at least one of the environment attribute and the environment parameter of the moving object, and acquiring a safety factor, so that the vehicle door control unit realizes vehicle door control by means of a preset processing mode corresponding to the safety factor.
In a second aspect, the present invention provides a control device for door crash prevention, comprising: a control unit for detecting whether the vehicle door is ready to be opened, and sending a trigger signal to the moving object detecting unit when detecting that the vehicle door is ready to be opened,
a moving object detection unit for detecting whether a moving object exists in a first preset range when receiving the trigger signal sent by the control unit, wherein the first preset range can be set, for example, 0-5 m in the front-back direction of the vehicle,
if a moving object exists in the first preset range and the distance between the moving object and the vehicle door is very short, the probability of a traffic accident that the vehicle door is opened and the vehicle door collides is very high, and a first detection result is sent to the control unit;
if no moving object exists in the first preset range, detecting whether a moving object exists in a second preset range, wherein the second preset range is larger than the first preset range;
if no moving object exists in the second preset range, sending a second detection result to the control unit, and if the moving object exists in the second preset range, sending a third detection result to the control unit, wherein the third detection result at least comprises the relative distance L between the moving object and the vehicle door1The attribute of the mobile object may include an automobile and a non-automobile.
The environment detection unit is used for detecting road surface properties, weather conditions and other environment parameters related to driving near the vehicle and sending the environment parameters to the control unit;
the speed detection unit is used for detecting the moving object speed V of a moving object and sending the moving object speed V to the control unit;
the control unit is used for controlling the relative distance L according to the attribute of the moving object1Determining a safety factor for the vehicle, and controlling the opening and/or the warning of the door in response to the magnitude of the safety factor, the calculation of the safety factorThe method comprises the following steps:
firstly, the distance traveled by the moving object in the process of completing the whole braking is calculated as a travel distance L2Which can be obtained by the following calculation formula,
L2＝Ls+V*(Topen+Trespon) Wherein, in the step (A),
Topenfor the time required for the door to open from ready to open, TresponDistance L traveled for the reaction time required for a moving object to make a braking decision from finding that the door is ready to open2Reflecting the minimum safe distance between the moving object and the door of the vehicle, and the relative distance L1Distance L from the vehicle2The difference between the two values and a predetermined critical value LpreThe relationship between the two is a safety coefficient, the possibility of collision between the moving object and the vehicle door can be reflected, and a critical value L is presetpreCan set up by oneself, the control unit responds to factor of safety controls door control unit and alarm unit, specifically is:
if L is1-L2Greater than LpreThe control unit acquires a first safety factor and sends the first safety factor to the vehicle door control unit to allow the vehicle door to be opened;
if L is1-L2Greater than zero and less than LpreThe control unit acquires a second safety factor and sends the second safety factor to the vehicle door control unit and the alarm unit so as to control the resistance in the vehicle door opening process and trigger the alarm unit to alarm;
if L is1-L2And when the safety factor is smaller than zero, the control unit acquires a third safety factor and sends the third safety factor to the vehicle door control unit to control the vehicle door to be locked.
In addition, the present invention provides a control device for preventing collision of a vehicle door, which is suitable for identifying the existence of at least one moving object, and comprises:
a vehicle door, comprising: a door main body and a door control unit; and
a detecting element connected to the door control unit such that the door control unit controls to allow or prevent the door body from being opened depending on a result of the detecting element, wherein the detecting element includes a moving object detecting unit disposed at the door body and activated by a door opening trigger signal received by the door control unit, and an environment detecting unit disposed at the door body and activated in a case where the moving object detecting unit detects the absence of a moving object within a first predetermined range, wherein the environment detecting unit is activated to detect the presence of a moving object within a second predetermined range, wherein the door control unit is allowed to open the door if the absence of a moving object within the second predetermined range is detected, and if the moving object exists in the second preset range, responding to at least one of the environment attribute and the environment parameter of the moving object, and acquiring a safety factor, so that the vehicle door control unit realizes vehicle door control by means of a preset processing mode corresponding to the safety factor.
In one embodiment, the detection assembly comprises: a moving object detection unit, an environment detection unit and a speed detection unit.
In a third aspect of the invention, there is provided a computer-readable storage medium having stored thereon computer-executable instructions that, when executed, cause a machine to perform the steps of the method according to any one of the first aspects.
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the invention, nor is it intended to be used to limit the scope of the invention.
The invention mainly has the following advantages:
1. since the traveling speed of the moving object is fast, the traveling distance of the moving object is relatively long from the time when the detection unit of the vehicle detects the rear moving object to the time when the door is opened, and the controller of the rear moving object finds the door is openedSince a response time is required until the braking action is taken and the moving object travels a certain distance, it is necessary to take a time T required for opening the door from the time of preparation to the time of opening the door when determining whether it is safe or notopenAnd reaction time TresponAnd the judgment accuracy is improved by taking the judgment into consideration.
2. The invention can judge the braking distance of the moving object more objectively and truly by combining the environmental attributes, the environmental factors and the like of the moving object, and is beneficial to improving the judging accuracy.
3. When the relative distance L is1Greater than the travel distance L2When L is greater than L1And L2The difference between the two is small, although the possibility of the door collision does not exist in theory, but accidents can also happen due to the small distance between the moving object and the fully opened door, and the critical parameter L is set in the inventionpreWhen L is present1-L2＜LpreIn the process, although the vehicle door can be opened, the resistance for opening the vehicle door is larger, and meanwhile, corresponding alarm measures are provided, so that the vehicle door is more suitable for actual vehicle use scenes.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts.
FIG. 1 illustrates a flow diagram of a control method for preventing a vehicle door from being bumped according to an embodiment of the present invention;
fig. 2 shows a functional block diagram of a control device for preventing a vehicle door from being hit according to an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As described above, in the prior art, improvements are proposed to overcome the drawbacks of the technology of preventing a stationary vehicle from colliding with another vehicle when the door of the stationary vehicle is opened, and in the prior art, most of the technologies only consider the traveling speed of a moving object and the relative distance to the door of the stationary vehicle, but lack of consideration to the environmental attributes and the traveling environment of the moving object, and the result of the determination is not accurate enough and different from the actual situation, thereby reducing the riding experience of passengers.
The environmental attribute includes at least one of: a relative distance L1 from the door control unit, a speed V of the moving object, a height H of the moving object, a road surface condition.
To at least partially address one or more of the above issues, as well as other potential issues, an exemplary embodiment of the present invention is directed to a method of preventing a vehicle door from being struck.
Hereinafter, specific examples of the present scheme will be described in more detail with reference to the accompanying drawings.
Fig. 1 shows a door collision avoidance control method according to an embodiment of the present invention, including the steps of:
step S1, when detecting that the door is ready to open, detecting whether there is a moving object in a first preset range of the vehicle, wherein the first preset range can be set, for example, 0-5 m in the front-back direction of the vehicle,
if a moving object exists in the first preset range, the distance between the moving object and the vehicle door is very short, the probability of a traffic accident that the vehicle door is opened and collides with the vehicle door is very high, and the step S2 is executed; if no moving object exists within the first predetermined range, then go to step S3;
step S2, the door control unit locks the door;
step S3, detecting whether a moving obstacle exists in a second preset range, wherein the second preset range is larger than the first preset range, and if no moving object exists in the second range, allowing the vehicle door to be opened; if there is a moving object within the second predetermined range, then go to step S4;
step S4, identifying the environment attribute of the moving object and the relative distance L between the moving object and the vehicle door1Speed V and environmental parameters, and a braking distance L of the moving object pre-stored in the calling control unitsThe safety factor of the opening of the vehicle door is judged, and the safety factor is sent to the vehicle door control unit and/or the alarm unit;
the door control unit may be implemented as a door switch. The door control unit may directly receive a door opening request from a user to trigger the next control step.
Further, the safety factor is calculated by first calculating a distance traveled by the moving object in completing the entire braking as a travel distance L2Which can be obtained by the following calculation formula,
L2＝Ls+V*(Topen+Trespon) Wherein, in the step (A),
Topenfor the time required for the door to open from ready to open, TopenCan be used as a parameter index of the performance of the automobile door and can be given by an automobile manufacturer, TresponThe distance L traveled for the reaction time required by the control of the moving object between the detection of the complete opening of the door and the taking of a braking action2Reflecting the minimum safe distance between the moving object and the door of the vehicle, and the relative distance L1Distance L from the vehicle2The difference between the two values and a predetermined critical value LpreThe relationship between the two can reflect the possibility of collision between the moving object and the vehicle door, and the preset critical value LpreCan be set by itself, and therefore,
if L is1-L2Greater than LpreThe control unit acquires a first safety factor and sends the first safety factor to the vehicle door control unit to allow the vehicle door to be opened;
if L is1-L2Greater than zero and less than LpreThe control unit acquires a second safety factor and sends the second safety factor to the vehicle door control unit andthe alarm unit is used for controlling resistance in the process of opening the vehicle door and triggering the alarm unit to alarm;
if L is1-L2When the safety coefficient is smaller than zero, the control unit acquires a third safety coefficient and sends the third safety coefficient to the vehicle door control unit to control the vehicle door to be locked;
L1-L2is further defined by Lm。
Further, the environmental attribute of the moving object may include non-motor vehicles, such as bicycles, electric vehicles, and the like, and also motor vehicles, such as cars, trucks, and the like, and the environmental parameter may be the friction coefficient thereof determined according to the material of the road surface and/or the current weather conditions, such as when the road surface is at normal temperature, dry, and free of impurities, the friction coefficient is better, and when the road surface is wet, and accumulated with snow, the friction coefficient is lower.
Further, the peripheral area of the detection door generally has a certain width, and the width may be set to be 1 to 3 meters, and the distance is set in consideration of a distance that the moving object may collide with the door during the forward movement, and when the distance is greater than 3 meters, it is considered that the moving object does not collide with the opened door but travels through the side of the door.
Fig. 2 shows a door collision avoidance control apparatus according to an embodiment of the present invention, adapted to identify the presence of at least one moving object, including:
a vehicle door, comprising: a door main body and a door control unit; and
a detecting element connected to the door control unit such that the door control unit controls to allow or prevent the door body from being opened depending on a result of the detecting element, wherein the detecting element includes a moving object detecting unit disposed at the door body and activated by a door opening trigger signal received by the door control unit, and an environment detecting unit disposed at the door body and activated in a case where the moving object detecting unit detects the absence of a moving object within a first predetermined range, wherein the environment detecting unit is activated to detect the presence of a moving object within a second predetermined range, wherein the door control unit is allowed to open the door if the absence of a moving object within the second predetermined range is detected, and if the moving object exists in the second preset range, responding to at least one of the environment attribute and the environment parameter of the moving object, and acquiring a safety factor, so that the vehicle door control unit realizes vehicle door control by means of a preset processing mode corresponding to the safety factor.
In one embodiment, the door body may be implemented as a conventional door, and the door control unit may be implemented as a door switch. The door control unit may directly receive a door opening request from a user to trigger the next control.
Specifically, the apparatus comprises:
a control unit for detecting whether the vehicle door is ready to be opened, and when detecting that the vehicle door is unlocked or a passenger touches, sending a trigger signal to the moving object detecting unit,
a moving object detection unit for detecting whether a moving object exists in a first preset range when receiving the trigger signal sent by the control unit, wherein the first preset range can be set, for example, 0-5 m in the front-back direction of the vehicle,
if a moving object exists in the first preset range, the distance between the moving object and the vehicle door is very short, the probability of a traffic accident that the vehicle door is opened and the vehicle door collides is very high, and a first detection result is sent to the control unit;
if no moving object exists in the first preset range, detecting whether a moving object exists in a second preset range, wherein the second preset range is larger than the first preset range;
if detecting whether a moving object exists in a second preset range, sending a second detection result to the control unit, if the moving object exists in the second preset range, sending the relative distance between the vehicle door and the moving object and the environment attribute of the moving object to the control unit, wherein the second detection result at least comprises the relative distance and the type of the moving object,
further, the moving object detection unit may be disposed on a vehicle including, but not limited to, a left rear view mirror, a right rear view mirror, a trunk, a front vehicle body end, a rear vehicle body end, etc., the speed detection unit may employ an infrared sensor, a radar, etc.,
further, the type of the moving object may include a non-motor vehicle, a motor vehicle, and the like.
The environment detecting unit is used for detecting road surface properties, weather conditions and other driving related environment parameters near the vehicle and sending the environment parameters to the control unit, the environment detecting unit can be arranged on a left rearview mirror, a right rearview mirror, a trunk, a front end of the vehicle body, a rear end of the vehicle body and the like without limitation, and the speed detecting unit can adopt an infrared sensor, a radar and the like.
The speed detection unit is used for detecting the speed V of the moving object and sending the speed V to the control unit, the speed detection unit can be arranged on a left rearview mirror, a right rearview mirror, a trunk, a front end of the vehicle body, a rear end of the vehicle body and the like, and the speed detection unit can be an infrared sensor, a radar and the like.
The control unit is further used for matching the received second detection result, the received environment parameter and the received speed parameter with data prestored in the control unit so as to obtain the braking distance L of the moving objectsAnd calculating the distance traveled by the moving object in the process of completing the whole braking as a travel distance L2Which can be obtained by the following calculation formula,
L2＝Ls+V*(Topen+Trespon) Wherein, in the step (A),
Topenfor the time required for opening the door from the preparation to the opening of the door, e.g. from pulling up the door handle to the full opening of the door, TopenCan be used as a parameter index of the performance of the automobile door and can be given by an automobile manufacturer;
Tresponthe distance L traveled for the reaction time required by the control of the moving object between the detection of the complete opening of the door and the taking of a braking action2Reflect movementMinimum safe distance between the animal and the vehicle door, and relative distance L1 and travel distance L2The difference between the two values and a predetermined critical value LpreThe relationship between the two can reflect the possibility of collision between the moving object and the vehicle door, and the preset critical value LpreCan be set by oneself, and the relative distance L can be judged1Distance L from the vehicle2The difference between the two values and a predetermined critical value LpreThe relationship between the two or more of them,
if L is1-L2Greater than LpreThe control unit acquires a first safety factor and sends the first safety factor to the vehicle door control unit to allow the vehicle door to be opened;
if L is1-L2Greater than zero and less than LpreThe control unit acquires a second safety factor and sends the second safety factor to the vehicle door control unit and the alarm unit so as to control the resistance in the vehicle door opening process and trigger the alarm unit to alarm;
if L is1-L2When the safety coefficient is smaller than zero, the control unit acquires a third safety coefficient and sends the third safety coefficient to the vehicle door control unit to control the vehicle door to be locked;
further, the braking distance Ls may be obtained by a braking distance of a moving object, such as a motor vehicle, a non-motor vehicle, etc., stored in advance in the control unit under different driving speeds and/or different road environments, the data of the braking distance may be updated by a cloud or manually input, the braking of the moving object mainly depends on the friction force between the tire and the ground, the magnitude of the friction force depends on the friction coefficient, and the braking distance L is obtained by assuming that the friction coefficient is μsV × V/2g μ (g ═ 9.8m/s2), it follows that the braking distance is proportional to the square of the speed and inversely proportional to the coefficient of friction, and when the coefficient of friction is constant, the braking distance depends on the vehicle speed, and if the vehicle speed increases by 1, the braking distance increases by a factor of 4.
The friction coefficient μ is related to various factors, and is generally about 0.8, and may fall below 0.2 in rainy days, which is lower on icy and snowy roads, and different vehicle speeds and braking distances are shown in table 1 assuming that the friction coefficient μ is 0.8.
For example, the following table shows braking distance data for a vehicle at different speeds when the coefficient of friction is 0.8:
| vehicle speed (km/h) | 20 | 30 | 40 | 50 | 60 | 70 | 80 |
| Braking distance (m) | 2 | 4.4 | 7.9 | 12.3 | 17.7 | 24.1 | 31.5 |
| Vehicle speed (km/h) | 90 | 100 | 120 | 150 | 180 | 200 | 250 |
| Braking distance (m) | 39.7 | 49.2 | 70.9 | 110.7 | 159.4 | 196.8 | 307.6 |
TABLE 1
The door control unit is used for controlling the opening and locking of the door and the resistance, wherein the resistance can be related to the safety factor, for example, when the safety factor is smaller, although the door is allowed to open, the passenger needs to pay more attention at the moment, and the resistance for opening the door at the moment is increased.
It is worth mentioning that the safety factor in this embodiment can be assigned as a direct result of the calculation, or can be defined as a level through mapping. And executing corresponding operation according to the grades represented by the different safety factors. For example, the first safety factor described above may be defined as a first level, the second safety factor as a second level, and the third safety factor as a third level.
The alarm unit is used for controlling the alarm device to work to give an alarm when receiving the alarm sent by the control unit, the alarm mode can comprise one of sound and light alarm, for example, the sound alarm can be an in-vehicle sound alarm to prompt passengers, the vehicle body can also give out a sound alarm to prompt moving objects to pay attention, and the light alarm can be that the light in the vehicle flickers at a certain frequency or the light outside the vehicle body flickers at a certain frequency.
Further, the type attribute of the moving object may include non-motor vehicles, such as bicycles, electric vehicles, and the like, and also motor vehicles, such as cars, trucks, and the like, and the road surface attribute may be a friction coefficient determined according to the material of the road surface and/or the current weather conditions, such as a good friction coefficient on a dry, normal temperature road surface without impurities, and a low friction coefficient on a wet, accumulated snow road surface.
Further, the peripheral area of the detection door generally has a certain width, and the width may be set to be 1 m to 3 m, the distance is set in consideration of the distance that the moving object may collide with the door during the forward movement, and when the distance is greater than 3 m, it is assumed that the moving object does not collide with the opened door but travels through the door from the side, and the detection area is not limited to the moving object that travels near the vehicle from the rear of the vehicle, but also includes the moving object that travels near the vehicle from the front of the vehicle.
The present invention may be methods, apparatus, systems and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therein for carrying out aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processing unit of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A method for controlling collision avoidance in a vehicle door adapted to identify the presence of at least one moving object, comprising the steps of:
presetting a first preset range and a second preset range based on the position of a vehicle door control unit, wherein the second preset range is larger than the first preset range; and
responding to a triggering signal received by the vehicle door control unit when the vehicle door is opened, and judging whether a moving object exists in the first preset range;
if the moving object exists in the first preset range, the vehicle door control unit is prevented from opening the vehicle door;
if no moving object exists in the first preset range, further judging whether a moving object exists in the second preset range;
if no moving object exists in the second preset range, allowing the vehicle door control unit to open the vehicle door;
and if the moving object exists in the second preset range, responding to at least one of the environment attribute and the environment parameter of the moving object, and acquiring a safety factor, so that the vehicle door control unit realizes vehicle door control by means of a preset processing mode corresponding to the safety factor.
2. The method of claim 1, wherein the environmental attributes of the moving object comprise at least one of: a relative distance L from the door control unit1The speed V of the moving object, the height H of the moving object, the road surface condition, wherein the environmental attribute of the moving object is ready to be acquired after the step of determining the first preset range.
3. The method of claim 2, wherein obtaining the safety factor further comprises the steps of:
calculating the travel distance L of the moving object from the preparation of opening the door to the completion of braking2Wherein the travel distance L2Is calculated in the manner of L2＝Ls+V*(Topen+Trespon) Wherein, in the step (A),
Lsis the braking distance;
Topenthe time required for the door to open from ready to open;
Tresponthe reaction time required for the moving object to make a braking decision from finding the door open is given.
4. The method of claim 3, further comprising the step of:
comparing the relative distances L1Distance L from the vehicle2To obtain L1-L2Difference value L ofm；
Comparing the difference LmAnd LpreTo obtain said safety factor, wherein LpreIs a preset distance critical value, wherein the safety factors are respectively defined as a first safety factor, a second safety factor and a third safety factor according to different comparison resultsNumber, wherein if the difference is greater than LpreAnd acquiring a first safety factor to allow the vehicle door control unit to correspondingly allow the vehicle door to be opened by virtue of the first safety factor, wherein if the difference value is less than LpreAnd if the difference value is smaller than zero, a third safety factor is obtained, and the vehicle door control unit is correspondingly prevented from opening the vehicle door by the third safety factor.
5. The method of claim 4, further comprising the step of: if the difference is less than LpreIf the safety factor is larger than zero, acquiring a second safety factor, so that the vehicle door control unit relies on the second safety factor; and triggering an alarm after the second safety factor is obtained.
6. The method as claimed in claim 3, wherein the stopping distance Ls varies based on pre-stored data according to a variation of an environmental property of the moving object.
7. The method of claim 3, wherein the environmental attributes of the moving object further comprise: types, preferably types include: non-motor vehicles and motor vehicles.
8. A control device for vehicle door collision avoidance adapted to identify the presence of at least one moving object, comprising:
a vehicle door, comprising: a door main body and a door control unit; and
a detecting element connected to the door control unit such that the door control unit controls to allow or prevent the door body from being opened depending on a result of the detecting element, wherein the detecting element includes a moving object detecting unit disposed at the door body and activated by a door opening trigger signal received by the door control unit, and an environment detecting unit disposed at the door body and activated in a case where the moving object detecting unit detects the absence of a moving object within a first predetermined range, wherein the environment detecting unit is activated to detect the presence of a moving object within a second predetermined range, wherein the door control unit is allowed to open the door if the absence of a moving object within the second predetermined range is detected, and if the moving object exists in the second preset range, responding to at least one of the environment attribute and the environment parameter of the moving object, and acquiring a safety factor, so that the vehicle door control unit realizes vehicle door control by means of a preset processing mode corresponding to the safety factor.
9. The control device according to claim 8, wherein the safety factor is obtained from the steps of:
calculating the travel distance L of the moving object from the preparation of opening the door to the completion of braking2Wherein the travel distance L2Is calculated in the manner of L2＝Ls+V*(Topen+Trespon) Wherein L issFor stopping distance, TopenTime required for opening the door from ready to open, TresponFor the reaction time, L, required for a moving object to make a braking decision from the discovery of the door opening1Is the relative distance between the moving object and the door control unit, V is the speed of the moving object;
comparing the relative distances L1Distance L from the vehicle2To obtain L1-L2Difference value L ofm(ii) a And
comparing the difference LmAnd LpreTo obtain said safety factor, wherein LpreIs a preset distance critical value, wherein the safety factors are respectively defined as a first safety factor, a second safety factor and a third safety factor according to different comparison results, wherein if the difference value is greater than LpreAnd acquiring a first safety factor to allow the vehicle door control unit to correspondingly allow the vehicle door to be opened by virtue of the first safety factor, wherein if the difference value is less than LpreAnd if the difference value is smaller than zero, a third safety factor is obtained, and the vehicle door control unit is correspondingly prevented from opening the vehicle door by the third safety factor.
10. A computer readable storage medium having stored thereon computer executable instructions which, when executed, cause a machine to perform the steps of the method of any one of claims 1-7.
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| CN202011177264.6A CN112248933A (en) | 2020-10-28 | 2020-10-28 | Control method and device for preventing collision of vehicle door and computer storage medium |
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| CN202011177264.6A CN112248933A (en) | 2020-10-28 | 2020-10-28 | Control method and device for preventing collision of vehicle door and computer storage medium |
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Address after: 201822 No.208, building 4, no.1411, Yecheng Road, Jiading Industrial Zone, Jiading District, Shanghai Applicant after: Botai vehicle networking technology (Shanghai) Co.,Ltd. Address before: 201822 No.208, building 4, no.1411, Yecheng Road, Jiading Industrial Zone, Jiading District, Shanghai Applicant before: SHANGHAI PATEO ELECTRONIC EQUIPMENT MANUFACTURING Co.,Ltd. |
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Application publication date: 20210122 |