CN112627673B - Scissor door control system and method - Google Patents
Scissor door control system and method Download PDFInfo
- Publication number
- CN112627673B CN112627673B CN202011528117.9A CN202011528117A CN112627673B CN 112627673 B CN112627673 B CN 112627673B CN 202011528117 A CN202011528117 A CN 202011528117A CN 112627673 B CN112627673 B CN 112627673B
- Authority
- CN
- China
- Prior art keywords
- door
- vehicle
- scissor
- obstacle
- scissor door
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000009471 action Effects 0.000 claims abstract description 30
- 230000004888 barrier function Effects 0.000 claims abstract description 14
- 230000002401 inhibitory effect Effects 0.000 claims description 12
- 230000001960 triggered effect Effects 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000011217 control strategy Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 23
- 230000008569 process Effects 0.000 description 13
- 230000006870 function Effects 0.000 description 6
- 230000003993 interaction Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000005355 Hall effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000003897 fog Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- E05F15/77—Power-operated mechanisms for wings with automatic actuation using wireless control
-
- 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
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/02—Occupant safety arrangements or fittings, e.g. crash pads
-
- 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
Abstract
The application discloses scissors door control system and method, the system includes: the vehicle door ultrasonic sensor is used for detecting an obstacle in a preset area range of the scissor door and measuring a vehicle door obstacle distance between the scissor door and the obstacle; the main controller is used for acquiring the barrier distance of the vehicle door and generating a control instruction according to the barrier distance of the vehicle door; and the main actuator is used for sending a scissor door action request to the main controller, triggering the ultrasonic sensor of the car door to act, and controlling the scissor door to act according to the control command, wherein the scissor door action comprises opening, closing and stopping. The application can improve the technical problem that the existing scissor door control technology lacks an intelligent control strategy and can not avoid collision danger in time.
Description
Technical Field
The present application relates to the field of motor vehicles, and more particularly, to a scissor door control system and method.
Background
With the expansion of the automobile market, the exterior design of automobiles also becomes an important commercial value point, wherein the personalized design of the automobile door is one of the important selling points of many manufacturers. In addition to the most common direct-opening or sliding doors, there are also more unique forms of scissor doors, butterfly doors, and the like.
Scissors doors, i.e. scissors doors, can be broadly divided into the following three types: the direct opening type is a door opening mode of directly opening upwards and downwards; the opening is outward, and the opening can be upward only after the opening is outward for a certain angle; hybrid, can open outwardly like a normal door, can also open upwardly.
Most of the existing scissor doors in the market are opened manually, and the functions of electric opening are few, including luxury vehicles. The electronic function of opening of scissors door also provides the helping hand effect of opening or closing mostly, and current scissors door opens the technique and lacks intelligent control, can't avoid in time collision danger.
Disclosure of Invention
The application provides a scissor door control system and a scissor door control method, which are used for solving the technical problem that the existing scissor door control technology is lack of an intelligent control strategy, so that collision danger cannot be avoided in time.
In view of the above, a first aspect of the present application provides a scissor door control system, comprising: the system comprises a vehicle door ultrasonic sensor, a main controller and a main actuator;
the vehicle door ultrasonic sensor is used for detecting an obstacle in a preset area range of the scissor door and measuring a vehicle door obstacle distance between the scissor door and the obstacle;
the main controller is used for acquiring the barrier distance of the vehicle door and generating a control instruction according to the barrier distance of the vehicle door;
and the main actuator is used for sending a scissor door action request to the main controller, triggering the car door ultrasonic sensor to act, and controlling the scissor door to act according to the control command, wherein the scissor door action comprises opening, closing and stopping.
Optionally, the vehicle door ultrasonic sensor is mounted on a vehicle door accessory of the scissors door.
Optionally, the method further includes: a millimeter wave radar;
the millimeter wave radar is installed at a door corner of the scissor door and used for monitoring information of other vehicles in a preset DOW area of the vehicle, triggering the main controller to start DOW early warning under the condition that collision danger is judged to exist according to the information of the other vehicles, and generating a control instruction for inhibiting the scissor door from being opened, wherein the information of the other vehicles comprises the distances between the other vehicles and the vehicle and the speeds of the other vehicles.
Optionally, the method further includes: a camera device;
the camera device comprises a front-view camera, a rear-view camera and a panoramic camera;
the forward-looking camera is used for acquiring a forward video stream in a forward preset large and small visual field of the vehicle;
the rear-view camera is used for acquiring a backward video stream in the preset large and small visual fields from the back of the vehicle;
and the panoramic camera is used for acquiring the panoramic video stream within the preset radius range of the vehicle.
Optionally, the method further includes: a parking radar;
the parking radar is used for detecting obstacle information in a preset distance range of the vehicle, the obstacle information comprises a vehicle body obstacle distance, a vehicle body obstacle direction and a vehicle body obstacle area, and the master controller is triggered to generate a control command of the scissor door action according to the obstacle information.
Optionally, the method further includes: an ESP;
the ESP is used for acquiring the vehicle speed and the vehicle speed validity signal of the vehicle in real time, and triggering the main controller to generate a control command for inhibiting the scissor door from being opened under the condition that the vehicle speed is judged to exceed the vehicle speed threshold value.
Optionally, the method further includes: a vehicle control unit;
the vehicle control unit is used for acquiring the current gear state of the vehicle in real time, and triggering the main controller to generate a control instruction for inhibiting the scissor door from being opened under the condition that the current gear state is judged to be the preset gear state.
A second aspect of the present application provides a scissor door control method, including:
after a scissor door action request is received, detecting an obstacle in a scissor door preset area range, and measuring a vehicle door obstacle distance between the scissor door and the obstacle;
generating a control instruction according to the barrier distance of the vehicle door;
and controlling the scissor door to act according to the control command, wherein the scissor door acts including opening, closing and stopping.
Optionally, the controlling the scissor door to move according to the control command further includes:
monitoring other vehicle information in a preset DOW area of the vehicle;
and under the condition that the collision danger is judged to exist according to the other vehicle information, the DOW early warning is started, and a control command for inhibiting the scissor door from being opened is generated, wherein the other vehicle information comprises the distance between the other vehicle and the speed of the other vehicle.
Optionally, the controlling the scissor door to move according to the control command further includes:
detecting obstacle information in a preset distance range of the vehicle, wherein the obstacle information comprises a vehicle body obstacle distance, a vehicle body obstacle direction and a vehicle body obstacle area;
and generating a control command of the scissor door action according to the obstacle information.
According to the technical scheme, the embodiment of the application has the following advantages:
in this application, a scissor door control system is provided, including: the vehicle door ultrasonic sensor is used for detecting an obstacle in a preset area range of the scissor door and measuring a vehicle door obstacle distance between the scissor door and the obstacle; the main controller is used for acquiring the barrier distance of the vehicle door and generating a control instruction according to the barrier distance of the vehicle door; and the main actuator is used for sending a scissor door action request to the main controller, triggering the ultrasonic sensor of the car door to act, and controlling the scissor door to act according to the control command, wherein the scissor door action comprises opening, closing and stopping.
According to the scissor door control system, when the main actuator sends a scissor door action request, the ultrasonic sensor of the vehicle door is triggered to detect whether an obstacle exists near the vehicle door, and if the obstacle exists, the distance between the obstacle and the vehicle door is detected, namely the obstacle distance of the vehicle door; at the moment, if the scissor door action request is to open the scissor door, the main controller controls the main actuator to inhibit the opening of the vehicle door through the control instruction after receiving the detection information; if the scissor door detects that the obstacle approaches when the scissor door performs opening action, the main controller controls the main actuator to stop the opening action of the door through a control command, so that collision is avoided; the scissors door action is not a simple electric control process, but an adaptive action process. Therefore, the problem that the existing scissor door control technology lacks an intelligent control strategy and cannot avoid collision dangers in time can be solved.
Drawings
Fig. 1 is a schematic structural diagram of a scissor door control system according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a scissor door control method according to an embodiment of the present disclosure;
FIG. 3 is a block diagram of an exemplary door control system according to an embodiment of the present disclosure;
fig. 4 is a schematic view illustrating information transmission of a scissor door control system according to an embodiment of the present disclosure.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
To facilitate understanding, referring to fig. 1, the present application provides an embodiment of a scissor door control system, comprising: a door ultrasonic sensor 101, a main controller 102, and a main actuator 103.
And the vehicle door ultrasonic sensor 101 is used for detecting an obstacle in the range of the scissor door preset area and measuring the vehicle door obstacle distance between the scissor door and the obstacle.
Further, the door ultrasonic sensor is mounted on a door attachment of the scissors door.
An ultrasonic sensor is a sensor that converts an ultrasonic signal into another energy signal. Ultrasonic waves are mechanical waves with a vibration frequency higher than 20 kHz. It has the features of high frequency, short wavelength, less diffraction, high directivity, directional propagation, etc. The detection mode of the ultrasonic wave is direct reflection, and the detected object in front of the sensor is detected by the sensor through partially reflecting the emitted sound wave back to a receiver of the sensor. The distance between the detected object and the ultrasonic sensor can be calculated through the wave speed and the reflection time.
It can be understood that the more reliable detection information can be obtained by mounting the door Ultrasonic sensor on the door accessory, and the Ultrasonic sensors (USS) on the scissors door are respectively mounted on the left door and the right door, that is, the door Ultrasonic sensors include a left door Ultrasonic sensor USS-L1 and a right door Ultrasonic sensor USS-R1. The door accessories are mounted on the door and provide various accessories with auxiliary functions, including door glass, window lifters, hinges, door locks, inner and outer handles, stoppers, sealing strips, and the like.
The preset area range is set according to the specific situation of the vehicle, and is generally at least the maximum space range swept by the fully opened scissor door of the vehicle or larger than the space range. The detection can be set to be real-time, and after the obstacle leaves the range of the preset area, the detection information without the obstacle can be continuously acquired.
And the main controller 102 is used for acquiring the vehicle door obstacle distance and generating a control instruction according to the vehicle door obstacle distance.
The main controller SCU (Single Control Unit, SCU) is mainly responsible for acquiring detection information, processing the detection information, and generating a related Control instruction. In the embodiment, the detection information mainly processed by the main controller SCU is the barrier distance of the vehicle door, the vehicle door cannot perform opening or closing actions due to the presence of a barrier near the vehicle door, if a door opening request is received at the moment, the main controller generates a control instruction for inhibiting the vehicle door from being opened, and if the vehicle door is in the opening process, the main controller generates a control instruction for stopping the vehicle door from being opened, so that the vehicle door is prevented from colliding with the barrier; the door closing request process can also be intelligently adjusted according to the principle, and details are not repeated.
Besides processing the detection information of the barrier distance of the vehicle door, the main controller can also detect other information of the scissor door control process according to actual requirements, even other detection information in the whole vehicle body system can be uniformly sent to the main controller to be processed.
And the main actuator 103 is used for sending a scissor door action request to the main controller, triggering the ultrasonic sensor of the car door to act, and controlling the scissor door to act according to the control command, wherein the scissor door action comprises opening, closing and stopping.
The main actuator SDC (Scissors Door Control, SDC) is a scissor Door controller, is configured to execute commands to Control the movement of the scissor Door, is disposed on the scissor Door, and can receive a request from a driver and send the request to the main controller, in addition to executing Control commands of the main controller. The driver request may be sent through a scissor door remote control or APP, and the detailed technology is not described herein. The main actuator may also be mounted on both the left and right vehicle doors, SDCL and SDCR.
It can be understood that the reason why the door ultrasonic sensor is triggered to operate at the same time when the scissor door operation request is sent to the main controller is that whether the scissor door needs to be opened or closed, the obstacle detection needs to be performed immediately, and the scissor door opening or closing operation needs to be suppressed once the obstacle is detected. The scissors door is stopped when an obstacle is detected in the opening or closing process of the scissors door, and the scissors door needs to be stopped to avoid collision danger.
In addition, the main actuator SDC can be connected with a Hall sensor for feeding back the opening angle and the opening degree of the car door and controlling the opening amplitude of the scissor door. The Hall sensor is a Hall sensor, which is a magnetic field sensor manufactured according to the Hall effect.
Further, still include: a millimeter wave radar;
the millimeter wave radar is installed at the door corner of the scissor door and used for monitoring other vehicle information in a preset DOW area of the vehicle, under the condition that the collision danger is judged to exist according to the other vehicle information, the main controller is triggered to start DOW early warning, a control command for restraining the scissor door from being opened is generated, and the other vehicle information comprises the distance between the other vehicle and the speed of the other vehicle.
The millimeter wave seeker has the characteristics of small volume, light weight and high spatial resolution; compared with optical probes such as infrared, laser, television and the like, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather and all day long; in addition, the anti-interference and anti-stealth capabilities of the millimeter wave seeker are also superior to those of other microwave seekers; the millimeter wave radar can distinguish and identify very small targets and can simultaneously identify a plurality of targets. The millimeter wave radar is a sensing device capable of quickly sensing information such as the distance, the speed, the azimuth angle and the like of an object in an internal circumference environment within the range of 0-200 meters in all-weather scenes.
The millimeter wave radar mainly detects other vehicle conditions near the vehicle, and can acquire the distance between the vehicle and the speed of the vehicle if other vehicles close to the vehicle exist in a preset DOW (Door opening warning) area, and calculate the collision time according to the speed and the distance, so as to judge whether collision danger exists or not, and trigger the main controller to start DOW warning if the collision danger exists, so as to inhibit Door opening. If the vehicle has a smaller speed, the relative speed can be calculated, then the collision time is obtained, and finally the collision danger condition is judged.
It can be understood that if the collision time is less than a certain threshold, that is, there is a collision risk, at this time, if a door opening command needs to be executed, the DOW warning is triggered. Millimeter wave radars can be respectively arranged on the left door and the right door, and DOW alarms are respectively arranged on the doors on the two sides; and carrying out targeted early warning according to the vehicle information on different sides.
Further, still include: a camera device;
the camera device comprises a front-view camera, a rear-view camera and a panoramic camera;
the forward-looking camera is used for acquiring a forward video stream in a forward preset large and small visual field of the vehicle;
the rear-view camera is used for acquiring a rear-view video stream in a rear preset large and small visual field of the vehicle;
and the panoramic camera is used for acquiring a panoramic video stream within the preset radius range of the vehicle.
Accordingly, the above-mentioned detection information now includes a forward video stream, a backward video stream, and a panoramic video stream.
The camera device comprises cameras in various directions, so that video information of the vehicle can be comprehensively provided, the video information can reflect the conditions of obstacles around the current vehicle most visually, a driver can directly give up the decision of opening the vehicle door according to the conditions of the obstacles in the video, and collision is avoided.
The preset large and small visual fields are generally fan-shaped visual field ranges taking a camera as a vertex, and the side length of a fan shape can be set; the preset radius is based on the center of a vehicle as the center of a circle, a radius with a certain size is set, and a panorama of a circle within the radius range is selected.
The camera device can be combined with the control display assembly to realize human-computer interaction. The Control and Display Unit CDU (CDU) mainly displays video streams of various orientations on an interactive interface, or inputs a door motion request on the interactive interface according to an operation requirement.
Further, still include: a parking radar;
the parking radar is used for detecting obstacle information in a preset distance range of the vehicle, the obstacle information comprises a vehicle body obstacle distance, a vehicle body obstacle direction and a vehicle body obstacle area, and the parking radar triggers the main controller to generate a control command of the scissor door action according to the obstacle information.
The obstacle information acquired by the parking radar is based on the whole body of the vehicle as a reference standard, and is different from the obstacle acquired by the ultrasonic sensor of the vehicle door, the detected obstacle may be an obstacle at the head or the tail of the vehicle, and the obstacle at the position possibly has a space threat to the opening of the vehicle door, so that the detection needs to be carried out on the environment around the whole vehicle body, and the main controller is triggered to carry out self-adaptive adjustment control on the scissor door. It has been found that the scissor door operation can be controlled similarly to an obstacle near the door or an obstacle around the vehicle body, and that the scissor door operation is an effective monitoring means for avoiding a collision.
The detection of the obstacle information can be set to be in a real-time form, the opening of the vehicle door is restrained when the obstacle approaches, or the opening of the vehicle door is stopped, and the opening operation of the vehicle door can be continuously completed after the obstacle is far away from a preset distance range.
Further, still include: an ESP;
and the ESP is used for acquiring the vehicle speed and the vehicle speed validity signal of the vehicle in real time, and triggering the main controller to generate a control command for inhibiting the opening of the scissor door under the condition that the vehicle speed is judged to exceed the vehicle speed threshold value.
An Electronic Stability Program (ESP) is a system or Program that effectively prevents a vehicle from running away when it reaches its dynamic limits while improving the handling performance of the vehicle. Besides obtaining the current vehicle speed of the vehicle, the vehicle speed needs to be confirmed whether to be an effective vehicle speed, and the possibility of false detection and delay detection is eliminated.
When the vehicle speed exceeds a certain vehicle speed threshold value, the situation that the vehicle is still running or is not stopped stably is shown, and the driving door is obviously unsafe, so that the opening of the scissor door needs to be judged according to the vehicle speed. The vehicle speed threshold is set according to actual conditions, but theoretically, the vehicle speed threshold may be a positive number close to 0.
Further, the method also comprises the following steps: a vehicle control unit;
and the vehicle control unit is used for acquiring the current gear state of the vehicle in real time and triggering the main controller to generate a control instruction for inhibiting the scissors door from being opened under the condition that the current gear state is judged to be the preset gear state.
The Vehicle Control Unit (VCU) has many functions, and it is not simple to acquire the gear state information, but in the embodiments of the present application, the functions of the VCU in the gear state operation are mainly described, and other functions are not described herein again.
The preset gear state generally refers to a D gear (Drive) and an R gear (Reverse), and this indicates that the vehicle has a certain vehicle speed and may exceed a vehicle speed threshold while the vehicle is traveling. The preset gear state corresponds to a P gear (Parking gear) and an N gear (neutral gear), and the two gears of the vehicle are generally in a Parking state and are preliminary judgment that the vehicle door can be safely opened. The vehicle speed judgment and the gear judgment are processes of detection and judgment which need to be completed firstly when a door opening request exists, are preconditions for opening the scissor door and are used for ensuring the safety of personnel in the vehicle.
In addition, a positioning module can be added in the body of the vehicle, and is mainly used for providing an IMU + GPS signal for determining the position of the vehicle, such as a garage with good environment, an outdoor parking lot with poor environment or other non-parking areas. The information can provide reference for the height and the opening size of the scissor door.
For convenience of understanding, an example of a scissor door control system is provided, and referring to fig. 3, the scissor door control system includes a main controller SCU, door ultrasonic sensors USS (USS-R1 and USS-L1), and main actuators SDC (SDCL and SDCR), in an actual process, Short Range Radars (SRR) (SRR-RL and SRR-RR) may be used instead of millimeter wave radars, and the technical effect is similar to that of millimeter wave radars, and a positioning module (IMU + GPS) controls display modules CDU, ESP, vehicle controllers VCU, and XPU. The XPU only represents a connecting assembly, and because more detection devices exist, detection information obtained by detection devices except the door is firstly sent to the XPU, so the device connected with the XPU is provided with a camera device, a parking radar, a control display assembly and the like, wherein the camera device comprises a left front camera, a right rear camera, a right front camera, a right rear camera, a panoramic left camera and a panoramic right camera; it can be found that the panoramic camera is connected by an AVM (around view Monitor, panoramic camera system). Besides, a signal switching module CGW (Central Gate Way) is further included to realize information interaction between the main controller and each of the other detecting devices.
The information interaction process in the scissor door control system is as shown in fig. 4, a main controller SCU can respectively obtain detection information from a connector XPU, a car door ultrasonic sensor USS and an ESP, the main controller SCU can respectively realize the information interaction with a control display assembly CDU and a main actuator SDC, wherein the main controller SDC can also be connected with a Hall sensor, and the data of the Hall sensor of the stay bar motor comprises the percentage of opening the door and the real value of the Hall sensor of the stay bar motor. The intelligent control is mainly embodied in whether the scissor door can be opened in the current state or whether the scissor door in the opening process needs to stop to avoid collision, and the closed car door belongs to the car door which has been developed to the maximum space range and is generally in the safe state, and the detection and control judgment process is similar to the above, so that the information flow for closing the car door is not repeated herein.
According to the scissor door control system provided by the embodiment of the application, when the main actuator sends a scissor door action request, the ultrasonic sensor of the vehicle door is triggered to detect whether an obstacle exists near the vehicle door, and if the obstacle exists, the distance between the obstacle and the vehicle door is detected, namely the obstacle distance of the vehicle door; at the moment, if the scissor door action request is to open the scissor door, the main controller controls the main actuator to inhibit the opening of the vehicle door through the control instruction after receiving the detection information; if the scissor door detects that the obstacle approaches when the scissor door performs the opening action, the main controller controls the main actuator to stop the opening action of the automobile door through a control command, so that collision is avoided; the scissors door action is not a simple electric control process, but an adaptive action process. Therefore, the technical problem that the existing scissor door control technology lacks an intelligent control strategy and can not avoid collision danger in time can be solved.
The foregoing is an embodiment of a scissor door control system, and the following provides an embodiment of a scissor door control method.
To facilitate understanding, referring to fig. 2, the present application provides an embodiment of a scissor door control method, comprising:
And step 202, generating a control command according to the vehicle door obstacle distance.
And step 203, controlling the scissor door to move according to the control command, wherein the scissor door moves including opening, closing and stopping.
Further, step 203, before, further comprising:
monitoring other vehicle information in a preset DOW area of the vehicle;
and under the condition that the collision danger is judged to exist according to the information of other vehicles, the DOW early warning is started, and a control command for inhibiting the scissor door from being opened is generated, wherein the information of other vehicles comprises the distances between the other vehicles and the vehicle and the speeds of the other vehicles.
Further, step 203, before, further comprising:
detecting obstacle information in a preset distance range of the vehicle, wherein the obstacle information comprises a vehicle body obstacle distance, a vehicle body obstacle direction and a vehicle body obstacle area;
and generating a control command of the scissor door action according to the obstacle information.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. 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 application 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 application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for executing all or part of the steps of the method described in the embodiments of the present application through a computer device (which may be a personal computer, a server, or a network device). 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 embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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 in the embodiments of the present application.
Claims (8)
1. A scissor door control system, comprising: the system comprises a vehicle door ultrasonic sensor, a main controller, a main actuator and a vehicle control unit;
the vehicle door ultrasonic sensor is used for detecting an obstacle in a preset area range of the scissor door and measuring a vehicle door obstacle distance between the scissor door and the obstacle, the vehicle door ultrasonic sensor is mounted on a vehicle door accessory of the scissor door, and the preset area range is the maximum space range swept by the scissor door of a vehicle when the scissor door is completely opened;
the main controller is used for acquiring the barrier distance of the vehicle door and generating a control instruction according to the barrier distance of the vehicle door;
the main actuator is a scissor door controller and is used for sending a scissor door action request to the main controller, triggering the automobile door ultrasonic sensor to act and controlling the scissor door to act according to the control command, wherein the scissor door action comprises opening, closing and stopping, the main actuator is connected with a Hall sensor, and the Hall sensor is used for feeding back the opening angle and the opening degree of the automobile door and further controlling the opening amplitude of the scissor door;
the vehicle control unit is used for acquiring the current gear state of the vehicle in real time, and triggering the main controller to generate a control instruction for inhibiting the scissor door from being opened under the condition that the current gear state is judged to be a preset gear state;
and the main controller is in communication connection with the main actuator and the vehicle control unit respectively.
2. A scissor door control system according to claim 1, further comprising: a millimeter wave radar;
the millimeter wave radar is installed at a door corner of the scissor door and used for monitoring other vehicle information in a preset door opening early warning area of the vehicle, triggering the main controller to open a door opening early warning under the condition that collision danger is judged to exist according to the other vehicle information, and generating a control instruction for inhibiting the scissor door from being opened, wherein the other vehicle information comprises the distance between other vehicles and the vehicle and the speed of other vehicles.
3. A scissor door control system according to claim 1, further comprising: a camera device;
the camera device comprises a front-view camera, a rear-view camera and a panoramic camera;
the forward-looking camera is used for acquiring a forward video stream in a forward preset large and small visual field of the vehicle;
the rear-view camera is used for acquiring a backward video stream in the preset large and small visual fields from the back of the vehicle;
and the panoramic camera is used for acquiring the panoramic video stream within the preset radius range of the vehicle.
4. A scissor door control system according to claim 1, further comprising: a parking radar;
the parking radar is used for detecting obstacle information in a preset distance range of the vehicle, the obstacle information comprises a vehicle body obstacle distance, a vehicle body obstacle direction and a vehicle body obstacle area, and the master controller is triggered to generate a control command of the scissor door action according to the obstacle information.
5. A scissor door control system according to claim 1, further comprising: a vehicle body electronic stability system;
the electronic vehicle body stabilizing system is used for acquiring a vehicle speed and a vehicle speed validity signal of the vehicle in real time, and triggering the main controller to generate a control instruction for inhibiting the scissor door from being opened under the condition that the vehicle speed is judged to exceed a vehicle speed threshold value.
6. A scissor door control method used in the scissor door control system according to any one of claims 1 to 5, comprising:
after receiving a scissor door action request, detecting an obstacle in a scissor door preset area range, and measuring a vehicle door obstacle distance between the scissor door and the obstacle, wherein the preset area range is at least the maximum space range swept by the scissor door of a vehicle when the scissor door is completely opened;
generating a control instruction according to the barrier distance of the vehicle door;
and controlling the scissor door to act according to the control command, wherein the scissor door acts including opening, closing and stopping.
7. A method of controlling a scissor door according to claim 6, wherein the controlling the scissor door to operate according to the control command further comprises:
monitoring other vehicle information in a preset door opening early warning area of the vehicle;
and under the condition that the collision danger is judged to exist according to the other vehicle information, opening a door opening early warning, and generating a control command for inhibiting the scissors door from being opened, wherein the other vehicle information comprises the distance between the other vehicle and the speed of the other vehicle.
8. A method of controlling a scissor door according to claim 6, wherein the controlling the scissor door to operate according to the control command further comprises:
detecting obstacle information in a preset distance range of the vehicle, wherein the obstacle information comprises a vehicle body obstacle distance, a vehicle body obstacle direction and a vehicle body obstacle area;
and generating a control command of the scissor door action according to the obstacle information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011528117.9A CN112627673B (en) | 2020-12-22 | 2020-12-22 | Scissor door control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011528117.9A CN112627673B (en) | 2020-12-22 | 2020-12-22 | Scissor door control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112627673A CN112627673A (en) | 2021-04-09 |
| CN112627673B true CN112627673B (en) | 2022-08-16 |
Family
ID=75321243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011528117.9A Active CN112627673B (en) | 2020-12-22 | 2020-12-22 | Scissor door control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112627673B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113216784B (en) * | 2021-04-21 | 2023-02-10 | 深圳市顺禾电器科技有限公司 | Vehicle door control method, controller and vehicle |
| CN113236067B (en) * | 2021-05-13 | 2022-10-14 | 广州小鹏自动驾驶科技有限公司 | Scissor door control method and device, vehicle and storage medium |
| CN113914736A (en) * | 2021-09-28 | 2022-01-11 | 奇瑞汽车股份有限公司 | Control method, device and equipment of electric tail gate and storage medium |
| CN114607230A (en) * | 2022-03-21 | 2022-06-10 | 中国第一汽车股份有限公司 | Intelligent vehicle door control method and device, electronic equipment and storage medium |
| CN114508281A (en) * | 2022-03-25 | 2022-05-17 | 浙江吉利控股集团有限公司 | Vehicle door control method, device, equipment and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104401270A (en) * | 2014-10-24 | 2015-03-11 | 苏州德鲁森自动化系统有限公司 | Method for preventing automobile door from colliding barrier |
| CN106437386A (en) * | 2016-07-30 | 2017-02-22 | 桐城市祥瑞机动车辆检测有限公司 | Automatic sedan door device with security detection function |
| CN110023784A (en) * | 2016-12-05 | 2019-07-16 | 株式会社电装 | Obstacle detector |
| CN111284403A (en) * | 2018-12-07 | 2020-06-16 | 宝沃汽车（中国）有限公司 | Vehicle door opening control method and system and vehicle |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010056171A1 (en) * | 2010-12-24 | 2012-06-28 | Volkswagen Ag | Method for automatically actuating a closing element of a vehicle and corresponding device and vehicle |
| GB2545651B (en) * | 2015-12-18 | 2018-10-24 | Jaguar Land Rover Ltd | Door protection system and method |
| JP6627610B2 (en) * | 2016-03-30 | 2020-01-08 | アイシン精機株式会社 | Door opening restriction device and vehicle door opening operation control method |
| US10443292B2 (en) * | 2016-04-25 | 2019-10-15 | Magna Closures, Inc. | Non-contact obstacle detection system for motor vehicles |
| CN106143299B (en) * | 2016-07-21 | 2018-11-16 | 贵州吉利新能源汽车有限公司 | A kind of opening door of vehicle early warning auxiliary system |
| CN205951821U (en) * | 2016-07-25 | 2017-02-15 | 南京信息工程大学 | Car anticollision early -warning system that opens door based on bluetooth |
| CN106004755A (en) * | 2016-08-02 | 2016-10-12 | 东南（福建）汽车工业有限公司 | Parking scratch-resistant and anti-collision control system based on vehicle stability system ESC |
| US10196007B2 (en) * | 2016-11-16 | 2019-02-05 | GM Global Technology Operations LLC | Vehicle sensor mounting systems |
| JP6651031B2 (en) * | 2016-12-16 | 2020-02-19 | 三菱電機株式会社 | Vehicle door collision prevention device and vehicle door collision prevention method |
| CN106945660B (en) * | 2017-02-24 | 2019-09-24 | 宁波吉利汽车研究开发有限公司 | A kind of automated parking system |
| US10086833B1 (en) * | 2017-06-16 | 2018-10-02 | GM Global Technology Operations LLC | Automobile door open hazard warning system and methods |
| KR102572784B1 (en) * | 2018-10-25 | 2023-09-01 | 주식회사 에이치엘클레무브 | Driver assistance system and control method for the same |
| CN110217164A (en) * | 2019-05-05 | 2019-09-10 | 徐俊华 | A kind of parking enabling automatic detection device and detection method |
| CN110346804A (en) * | 2019-06-28 | 2019-10-18 | 江铃汽车股份有限公司 | Alarm method, device and readable storage medium storing program for executing based on automatic parking auxiliary system |
-
2020
- 2020-12-22 CN CN202011528117.9A patent/CN112627673B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104401270A (en) * | 2014-10-24 | 2015-03-11 | 苏州德鲁森自动化系统有限公司 | Method for preventing automobile door from colliding barrier |
| CN106437386A (en) * | 2016-07-30 | 2017-02-22 | 桐城市祥瑞机动车辆检测有限公司 | Automatic sedan door device with security detection function |
| CN110023784A (en) * | 2016-12-05 | 2019-07-16 | 株式会社电装 | Obstacle detector |
| CN111284403A (en) * | 2018-12-07 | 2020-06-16 | 宝沃汽车（中国）有限公司 | Vehicle door opening control method and system and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112627673A (en) | 2021-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112627673B (en) | Scissor door control system and method | |
| CN106708040B (en) | Sensor module, automated driving system and the method for automated driving system | |
| US8442755B2 (en) | Systems and methods for preventing motor vehicle side doors from coming into contact with obstacles | |
| CN111663865B (en) | Self-learning, noise filtering for radar for automotive applications | |
| US11603041B2 (en) | Vehicle hatch clearance determining system | |
| US10613219B1 (en) | Vehicle parking assistance for avoiding contact with garage doors | |
| RU2735340C1 (en) | Parking control method and parking control device | |
| CN111003068B (en) | Continuously operating active hood device connected with ADAS | |
| CN110341623B (en) | Vehicle door anti-collision early warning system and early warning method | |
| US20160107579A1 (en) | Method and apparatus for controlling vehicle exterior mirrors | |
| WO2019069429A1 (en) | Parking control method and parking control device | |
| CN110228454A (en) | Automotive throttle prevents from accidentally stepping on method, electronic equipment and automobile | |
| CN109334597B (en) | Automobile door opening anti-collision device and method based on magneto-rheological damper | |
| WO2020157108A1 (en) | Method and system for limiting the movement of a door of a vehicle | |
| CN109313859B (en) | Method for automatically activating an obstacle recognition device of a motor vehicle and obstacle assistance device | |
| JP2017102840A (en) | Vehicle monitoring device | |
| CN110803104A (en) | Vehicle door blind area monitoring system, monitoring method and vehicle | |
| CN114442120A (en) | Laser ranging anti-collision method | |
| CN114332803A (en) | Vehicle door self-adaptive control method, system, storage medium and vehicle | |
| CN113216784B (en) | Vehicle door control method, controller and vehicle | |
| CN116101168A (en) | Exterior rear view mirror system, control method thereof and vehicle | |
| CN104943605B (en) | Caution system and alarming method for power for the vehicles | |
| CN114856352B (en) | Vehicle door obstacle avoidance control method, device and equipment | |
| CN218805510U (en) | Door control system and vehicle | |
| CN114999224B (en) | Electric bicycle, intelligent environment sensing obstacle avoidance method for electric bicycle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240305 Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province 510000 Patentee before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Country or region before: China |
|
| TR01 | Transfer of patent right |