CN113997861A - Automobile door opening collision early warning method and device and automobile - Google Patents
Automobile door opening collision early warning method and device and automobile Download PDFInfo
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- CN113997861A CN113997861A CN202111345529.3A CN202111345529A CN113997861A CN 113997861 A CN113997861 A CN 113997861A CN 202111345529 A CN202111345529 A CN 202111345529A CN 113997861 A CN113997861 A CN 113997861A
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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
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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Abstract
The application discloses an automobile door opening collision early warning method and device and an automobile. The early warning method for the collision of the opened door of the automobile comprises the following steps: acquiring a detection signal transmitted by an ultrasonic radar detection system on a vehicle; and judging whether foreign matters exist or not according to the detection signal, if so, judging whether the foreign matters are possibly collided when the door is opened at the current moment or not according to the detection signal, and if so, generating early warning information. This application judges whether the detection signal through the ultrasonic radar detection system transmission on the vehicle opens the door at the present moment and probably collides the foreign matter, and generate early warning information when judging as possible, adopt this kind of mode, can use through the lower ultrasonic radar detection system of cost to survey whether near the side of the vehicle has the car or other fixed barriers, the accident that the door of having avoided driving caused, or the condition of the barrier that the door of driving collided ground appears, the intelligent sense of vehicle has been promoted, member and near other traffic participants's in the vehicle security has been promoted.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to an automobile door opening collision early warning method, an automobile door opening collision early warning device and an automobile.
Background
In news reports, it can be seen that the automobile door often collides with other traffic participants passing through the vicinity of the automobile body in the opening process, in the prior art, a driver can only observe manually by means of a rearview mirror, on one hand, a sight blind area may exist, on the other hand, the driver may not observe the vehicle in time in many cases, and passengers in other seats open the automobile door to cause an accident.
Accordingly, a solution is desired to solve or at least mitigate the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The invention aims to provide a method for early warning of collision when an automobile opens a door to solve at least one technical problem.
In one aspect of the invention, an automobile door opening collision early warning method is provided, and the automobile door opening collision early warning method comprises the following steps:
acquiring a detection signal transmitted by an ultrasonic radar detection system on a vehicle;
judging whether foreign matters exist or not according to the detection signal, if so, judging whether foreign matters exist or not
Judging whether the door is opened at the current moment or not to possibly collide with foreign matters according to the detection signal, if so, judging whether the door is opened at the current moment or not
And generating early warning information.
Optionally, the determining whether the door opening at the current moment may collide with the foreign object according to the detection signal includes:
judging whether the foreign body moves, if so, judging whether the foreign body moves
Acquiring a foreign body motion track according to the detection signal;
judging whether the foreign matter approaches the car door or not according to the movement track of the foreign matter, if so, judging whether the foreign matter approaches the car door or not, and if so, judging whether the foreign matter approaches the car door or not
Judging the time required for the vehicle to enter the vehicle door opening range according to the foreign matter motion track, and if the time is less than a preset time threshold value, judging that the time is less than the preset time threshold value
It is judged that the door opening at the present time may collide with a foreign matter.
Optionally, the determining whether the door opening at the current moment may collide with the foreign object according to the detection signal further includes:
judging whether the foreign body moves or not, if not, judging;
acquiring a preset door opening track;
judging whether the foreign matter is located on a preset door opening track, if so, judging whether the foreign matter is located on the preset door opening track
It is judged that the door opening at the present time may collide with a foreign matter.
Optionally, the determining whether the foreign object approaches the vehicle door according to the movement locus of the foreign object includes:
acquiring the distance between the position of the foreign object at any time point and the vehicle door, wherein the time point is called a first time point, and the distance is called a first distance;
acquiring the distance from the position of the foreign object to the vehicle door at any time point before the first time point, which is called as a second distance;
judging whether the first distance is smaller than the second distance, if so, judging that the first distance is smaller than the second distance
And judging that the foreign matter approaches the vehicle door.
Optionally, the determining, according to the movement locus of the foreign object, the time when the vehicle enters the door opening range includes:
judging the running state of the vehicle, and if the running state of the vehicle is the parking state, acquiring the opening range of the vehicle door;
acquiring the movement speed of the foreign matter according to the distance from the door of the vehicle to the foreign matter at each time point and each time point;
obtaining the distance between the position of the foreign matter and the car door at the last time point;
and judging the time required for entering the vehicle door opening range at the current speed according to the movement speed of the foreign matter, the distance between the position of the foreign matter and the vehicle door at the last time point and the vehicle door opening range.
Optionally, the determining, according to the movement locus of the foreign object, the time when the vehicle enters the door opening range includes:
judging the running state of the vehicle, and if the running state of the vehicle is the running state, acquiring the opening range of the vehicle door;
acquiring the running parameters of the vehicle;
acquiring the movement speed of the foreign matter according to the distance from the door of the vehicle to the foreign matter at each time point and each time point;
obtaining the distance between the position of the foreign matter and the car door at the last time point;
and judging the time required for entering the door opening range at the current speed according to the movement speed of the foreign matter, the distance between the position of the foreign matter and the door at the last time point, the running parameters of the vehicle and the door opening range.
Optionally, the generating the warning information includes:
judging whether the movement speed of the foreign matter exceeds a first preset threshold value or not, and if not, judging that the movement speed of the foreign matter exceeds the first preset threshold value
And generating an in-vehicle voice reminding signal and an out-vehicle voice reminding signal.
Optionally, the generating the warning information includes:
judging whether the movement speed of the foreign matter exceeds a first preset threshold value, if so, judging whether the movement speed of the foreign matter exceeds the first preset threshold value
And generating a prompt signal and/or a vehicle door locking signal and sending the prompt signal and/or the vehicle door locking signal to the vehicle door control device.
The application also provides a car collision early warning device that opens door, car collision early warning device that opens door includes:
the system comprises a detection signal acquisition module, a detection signal acquisition module and a detection signal processing module, wherein the detection signal acquisition module is used for acquiring a detection signal transmitted by an ultrasonic radar detection system on a vehicle;
the foreign matter judgment module is used for judging whether foreign matters exist according to the detection signal;
the collision calculation module is used for judging whether the foreign matter is likely to collide when the door is opened at the current moment according to the detection signal when the foreign matter judgment module judges that the door is opened;
the early warning module is used for generating early warning information.
The present application further provides a vehicle, comprising:
an ultrasonic radar detection system disposed on the vehicle;
the automobile door opening collision early warning device, which is the automobile door opening collision early warning device according to claim 8.
Optionally, the ultrasonic radar detection system comprises:
a rear bumper radar group provided on a rear bumper of the vehicle;
a B-pillar radar set disposed on a B-pillar of the vehicle;
an exterior mirror radar set disposed on an exterior mirror of the vehicle;
a front bumper radar set disposed on a front bumper of the vehicle.
Advantageous effects
The automobile door opening collision early warning method judges whether the door is opened at the current moment and can collide with foreign matters or not through detection signals transmitted by an ultrasonic radar detection system on the automobile, and generates early warning information when the judgment is possible.
Drawings
Fig. 1 is a schematic flow chart of an automobile door opening collision warning method according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a system device for implementing the door opening collision warning method of the automobile shown in fig. 1.
Fig. 3 is a schematic device diagram of an automobile door opening collision early warning device according to an embodiment of the present application.
FIG. 4 is a system diagram of a vehicle according to an embodiment of the present application.
Fig. 5 is a schematic view of a rear bumper radar group of a vehicle according to an embodiment of the present application in operation.
Fig. 6 is a schematic diagram of a B-pillar radar set of a vehicle according to an embodiment of the present application in operation.
Reference numerals:
1. a rear bumper radar group; 2. a vehicle; 3. a B-pillar radar set; 4. an exterior mirror radar set; 5. a front bumper radar group; 11. a radar under the left rear bumper; 12. radar under the right rear bumper, 31, radar on the left B-pillar; 32. radar on the right B-pillar; 41. radar below the left outer rear view mirror; 42. radar below the right side outer rear view mirror; 51. a left front bumper radar; 52. a right side front bumper radar; 101. a detection signal acquisition module; 102. a foreign matter judgment module; 103. a collision calculation module; 104. and an early warning module.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. 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. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of an automobile door opening collision warning method according to an embodiment of the present application.
The early warning method for the collision when the automobile opens the door as shown in figure 1 comprises the following steps:
step 1011: acquiring a detection signal transmitted by an ultrasonic radar detection system on a vehicle;
step 1012: judging whether foreign matters exist according to the detection signal, if so, judging whether foreign matters exist
Step 1013: judging whether the door is opened at the current moment or not to possibly collide with foreign matters according to the detection signal, if so, judging whether the door is opened at the current moment or not
Step 1014: and generating early warning information.
The automobile door opening collision early warning method obtains the motion trail of the foreign matter through the detection signal transmitted by the ultrasonic radar detection system on the automobile, judges whether the foreign matter is close to the automobile door or not and possibly collides with the automobile door or not according to the motion trail of the foreign matter, and generates early warning information when the judgment is possible, the method is adopted, whether the automobile or other fixed obstacles exist nearby the side face of the automobile can be detected through the application of the ultrasonic radar detection system with lower cost, the accident caused by the automobile door is avoided, or the condition that the automobile door collides with the obstacles on the ground appears, the intelligent feeling of the automobile is improved, and the safety of other traffic participants nearby the automobile and the automobile in the automobile is improved.
Referring to fig. 4, in the present embodiment, the ultrasonic radar detection system on the vehicle includes a rear bumper radar group 1, a B-pillar radar group 3, an outside rear view mirror radar group 4, and a front bumper radar group 5; wherein the content of the first and second substances,
the rear bumper radar group 1 is provided on a rear bumper of the vehicle 2;
the B-pillar radar group 3 is arranged on a B pillar of the vehicle 2;
the outside rear view mirror radar group 4 is provided on an outside rear view mirror of the vehicle 2;
the front-bumper radar group 5 is provided on a front bumper of the vehicle 2.
In the present embodiment, the rear bumper radar group 1 includes a radar under the right rear bumper 11 and a radar under the right rear bumper 12;
the B-pillar radar group 3 includes a radar 31 on the left B-pillar and a radar 32 on the right B-pillar;
the outside rear view mirror radar group 4 includes a left outside rear view mirror lower radar 41 and a right outside rear view mirror lower radar;
the front-bumper radar group 5 includes a left-side front-bumper radar 51 and a right-side front-bumper radar 52.
In the present embodiment, the radar under the right rear bumper is used to detect whether there is a foreign object (e.g., a vehicle, an obstacle, or a pedestrian) at the right rear, and transmits a detection signal of the ultrasonic radar.
In the present embodiment, the radar under the left rear bumper is used to detect whether there is a foreign object (e.g., a vehicle, an obstacle, or a pedestrian) in the left rear direction, and transmit a detection signal of the ultrasonic radar.
In the present embodiment, the radar on the left B-pillar is used to detect whether there is a foreign object (e.g., a vehicle, an obstacle, or a pedestrian) near the left rear door, and to transmit a detection signal of the ultrasonic radar.
In the present embodiment, the radar on the right B-pillar is used to detect whether there is a foreign object (e.g., a vehicle, an obstacle, or a pedestrian) near the right rear door, and to transmit a detection signal of the ultrasonic radar.
In the present embodiment, the lower-left-side outside rear-view-mirror radar is used to detect whether or not there is a foreign object (e.g., a vehicle, an obstacle, or a pedestrian) near the left front door, and to transmit a detection signal of the ultrasonic radar.
In the present embodiment, the right side outside rear view mirror down radar is used to detect whether there is a foreign object (e.g., a vehicle, an obstacle, or a pedestrian) near the right side front door, and to transmit a detection signal of the ultrasonic radar.
In the present embodiment, the left front bumper radar is used to detect whether there is a foreign object (e.g., a vehicle, an obstacle, or a pedestrian) in the left front, and to transmit a detection signal of the ultrasonic radar.
In the present embodiment, the right front bumper radar is used to detect whether there is a foreign object (e.g., a vehicle, an obstacle, or a pedestrian) in the front left direction, and to transmit a detection signal of the ultrasonic radar.
Referring to fig. 4 to 6, in the present embodiment, the left radars and the right radars are symmetrically disposed (for example, the left front bumper radar and the right front bumper radar), so in the following description, only one side is taken as an example for description, and the principle of the other side is the same as that of the described one side, and the description thereof is omitted.
In this embodiment, the determining whether the door opening at the present time may collide with the foreign object according to the detection signal includes:
judging whether the foreign body moves, if so, judging whether the foreign body moves
Acquiring a foreign body motion track according to the detection signal;
judging whether the foreign matter approaches the car door or not according to the movement track of the foreign matter, if so, judging whether the foreign matter approaches the car door or not, and if so, judging whether the foreign matter approaches the car door or not
Judging the time required for the vehicle to enter the vehicle door opening range according to the foreign matter motion track, and if the time is less than a preset time threshold value, judging that the time is less than the preset time threshold value
It is judged that the door opening at the present time may collide with a foreign matter.
In this way, it can be determined whether a moving foreign object (e.g., an animal, a person, another vehicle, etc.) is likely to collide with the door, and if so, an alarm is given.
The judging whether the door is opened at the current moment or not to possibly collide with the foreign matters according to the detection signal further comprises:
judging whether the foreign body moves or not, if not, judging;
acquiring a preset door opening track;
judging whether the foreign matter is located on a preset door opening track, if so, judging whether the foreign matter is located on the preset door opening track
It is judged that the door opening at the present time may collide with a foreign matter.
Referring to fig. 6, in the present embodiment, when the foreign object does not move, and when the radar detects the foreign object for any one of the radar 31 on the left B-pillar, the radar 32 on the right B-pillar, the radar 42 below the right outer rear view mirror, and the radar 41 below the left outer rear view mirror, it is determined whether the foreign object is located on the preset door opening trajectory by:
when the ultrasonic radar (the radar 31 on the left B column or the radar 32 on the right B column) on the B column detects a foreign object, the linear distance detected by the ultrasonic radar is Y (the linear distance between the foreign object and the radar), and the transverse included angle between Y and the automobile is phi can be obtained according to the ultrasonic signal. Therefore, the distance X1 between the foreign body and the vehicle in the transverse direction can be calculated, X1 is Y1 cos phi 1, and when X1 is not more than X0 (the maximum distance of the transverse direction after the vehicle door is completely opened) or Y is not more than 3X 0 detected by ultrasonic radar, the possibility that the foreign body is collided when the door is opened at the current moment is judged.
It is understood that the determination method of the right side outside rear view mirror lower radar 42 and the left side outside rear view mirror lower radar 41 is similar to the detection method of the ultrasonic radar on the B-pillar, and the description thereof is omitted.
In this way, it can be determined whether the immobile foreign objects (such as stone pillar, etc.) may affect the opening of the door, and sometimes, the human eyes may have visual deviation, and the damage caused by the deviation can be avoided by adopting the above method.
In the present embodiment, the maximum swept area that may occur when each door of the vehicle is opened can be obtained by presetting the door opening trajectory, and as long as the foreign object that does not move is within the area, the foreign object may collide.
It is to be understood that the radar under the left rear bumper 11, the radar under the right rear bumper 12, the left front bumper radar 51, and the right front bumper radar of the present application can also be determined by the above determination, and in this case, the determined door may be a virtual door located behind the rear bumper or in front of the front bumper. The advantage of using the virtual door for judgment is that it prevents the foreign object from being too close to the vehicle, because there is time for the foreign object not to move temporarily but to move in the following period, for example, the foreign object is a standing person, which may not move temporarily but may move during the opening of the vehicle, and the moving direction of the foreign object is likely to move from the rear bumper of the vehicle to the front bumper of the vehicle, if the door is opened during the opening process, the door may collide, and the addition of the virtual door can further prevent accidents.
In this embodiment, acquiring the movement locus of the foreign object includes:
foreign matter positions at least two time points are acquired.
In this embodiment, acquiring the foreign object positions at least two time points includes:
when foreign matter information is acquired at a time point (for example, when a certain radar has acquired distance information of 10 meters and acquired distance information of 8 meters at a certain time point, it is considered that foreign matter information is acquired) by any one of the radars (the radar 11 under the left rear bumper, the radar 12 under the right rear bumper, the radar 31 on the left B pillar, the radar 32 on the right B pillar, the radar 41 under the left outer rear view mirror, the radar 42 under the right outer rear view mirror, the left front bumper radar 51, and the right front bumper radar 52) in the ultrasonic radar detection system, foreign matter positions at least two time points are acquired from the time point, it is understood that at least two time points may be consecutive time points or time points separated by a preset interval, for example, the first time point is 9 point 01 minutes 01 seconds, the second time point may be 9 points 01 minutes 02 seconds or 9 points 01 minutes 03 seconds. It is understood that when multiple time points are obtained, the above method can be analogized in turn.
It is understood that the foreign object position may be obtained by a radar, for example, the foreign object position at the first time point may be relative to a distance from the radar, and the foreign object position at the second time point may also be relative to a distance from the radar.
It can be understood that when the plurality of radars acquire the foreign matter, the judgment of whether the foreign matter is close to the vehicle door can be respectively carried out, and mutual influence is avoided.
In this embodiment, determining whether the foreign object approaches the door according to the movement locus of the foreign object includes:
acquiring the distance between the position of the foreign object at any time point and the vehicle door, wherein the time point is called a first time point, and the distance is called a first distance;
acquiring the distance from the position of the foreign object to the vehicle door at any time point before the first time point, which is called as a second distance;
judging whether the first distance is smaller than the second distance, if so, judging that the first distance is smaller than the second distance
And judging that the foreign matter approaches the vehicle door.
It can be understood that when the number of time points is multiple, the foreign object position of each time point can be obtained and the feature of each foreign object position can be extracted;
the trained motion trail classifier is obtained, the characteristics of the positions of the foreign matters are input into the motion trail classifier, so that motion trail labels are obtained, the motion trail labels comprise approaching labels and non-approaching labels, and when the output is approaching the labels, the foreign matters can be judged to be approaching the car door.
In the present embodiment, the determining the time when the vehicle enters the door opening range from the foreign object motion trajectory includes:
judging the running state of the vehicle, and if the running state of the vehicle is the parking state, acquiring the opening range of the vehicle door;
acquiring the movement speed of the foreign matter according to the distance from the door of the foreign matter at each time point and each time point;
obtaining the distance between the position of the foreign body and the car door at the last time point;
and judging the time required for entering the door opening range at the current speed according to the movement speed of the foreign matter, the distance between the position of the foreign matter and the door at the last time point and the door opening range.
In the present embodiment, when the vehicle running state is the parking state, the operation range includes, according to the movement speed of the foreign object, the distance from the door where the foreign object is located at the last time point, and the door opening range:
when the foreign matter moves and the radar is any one of the radar 11 under the left rear bumper, the radar 12 under the right rear bumper, the left front bumper radar 51, the right front bumper radar 52, the radar 31 on the left B pillar, the radar 32 on the right B pillar, the right outside rear view mirror below radar 42, and the left outside rear view mirror below radar 41, the time required to enter the door opening range at the current speed is determined using the following formula:
referring to fig. 5, t is the time required to enter the door open range at the current speed; y2 is the distance from the vehicle door when the foreign matter is located at the last time point; sqrt is the square root calculation; v is a foreign matter movement speed (in the present embodiment, the movement speed refers to a relative speed with respect to the automobile); y1 is a distance from the door at a time point before the last time point where the foreign object is located;
are all angles.
It is understood that, when the time required for the vehicle to enter the door opening range is determined based on the movement locus of the foreign object, if the time is greater than or equal to the preset time threshold, the determination may be continuously repeated in the future.
In this embodiment, the preset time threshold may be set by itself as needed, or different time thresholds may be set according to different radar positions, for example, one preset time threshold or multiple preset time thresholds are set for the radar 11 under the left rear bumper and the radar 12 under the right rear bumper, one preset time threshold or multiple preset time thresholds are set for the front bumper radar 51 and the front bumper radar 52 on the left side, one preset time threshold or multiple preset time thresholds are set for the radar 31 on the column B on the left side and the radar 32 on the column B on the right side, and one preset time threshold or multiple preset time thresholds are set for the radar 42 under the outer mirror on the right side and the radar 41 under the outer mirror on the left side.
In the present embodiment, the determining the time when the vehicle enters the door opening range from the foreign object motion trajectory includes:
judging the running state of the vehicle, and if the running state of the vehicle is the running state, acquiring the opening range of the vehicle door;
acquiring the running parameters of the vehicle;
acquiring the movement speed of the foreign matter according to the distance from the door of the vehicle to the foreign matter at each time point and each time point;
obtaining the distance between the position of the foreign matter and the car door at the last time point;
and judging the time required for entering the door opening range at the current speed according to the movement speed of the foreign matter, the distance between the position of the foreign matter and the door at the last time point, the running parameters of the vehicle and the door opening range.
In this embodiment, when the vehicle running state is a running state, the time required for determining to enter the door opening range at the current speed according to the movement speed of the foreign object, the distance from the position of the foreign object to the door at the last time point, the running parameter of the vehicle, and the door opening range includes:
the final value of t is determined by multiplying the time t in the formula for judging the time required for entering the door opening range at the current speed by a correction coefficient K according to the vehicle speed, the steering wheel angle signal and the like, the value of K is determined according to the vehicle speed and the steering angle signal, the value of K is smaller than 1, for example, the smaller the value of K is when the vehicle speed is larger, the larger the steering wheel angle is to the right, the smaller the value of K is.
Specifically, the K value is obtained by the following formula:
K-K1 × K2; wherein the content of the first and second substances,
the value ranges of K1 and K2 can be referred to the following table:
in this embodiment, generating the warning information includes:
judging whether the movement speed of the foreign body exceeds a first preset threshold value or not, and if not, judging that the movement speed of the foreign body exceeds the first preset threshold value
And generating an in-vehicle voice reminding signal and an out-vehicle voice reminding signal.
In some cases, although the foreign object is moving, the moving speed of the foreign object is actually slow, if the door is opened, the foreign object (for example, a person) may notice the opening of the door, and thus the door will stop moving by itself, so that the voice reminding signal can remind the person in the vehicle and the person outside the vehicle to notice at the same time, and the door can be opened under the condition that the two parties agree and no danger is caused, for example, the pedestrian stops walking or detours, the door opening angle of the person in the vehicle is reduced, and the pedestrian is allowed to walk on the road.
It can be understood that the voice reminding signal in the vehicle can be amplified through the loudspeaker in the vehicle, and the voice reminding signal outside the vehicle can be amplified through the loudspeaker arranged outside the vehicle.
In this embodiment, generating the warning information includes:
judging whether the movement speed of the foreign body exceeds a first preset threshold value, if so, judging whether the movement speed of the foreign body exceeds the first preset threshold value
And generating a prompt signal and/or a vehicle door locking signal and sending the prompt signal and/or the vehicle door locking signal to the vehicle door control device.
When the foreign matter moving speed is very fast, the situation that the foreign matter moving speed is too late is simply reminded through voice signals, people in the automobile are directly reminded through prompt signals, and therefore the people in the automobile do not drive the automobile door or the automobile door is directly locked through automatic locking to prevent accidents.
Referring to fig. 3, the application further provides an automobile door opening collision early warning device, which includes a detection signal acquisition module 101, a foreign matter judgment module 102, a collision calculation module 103, and an early warning module 104, where the detection signal acquisition module 101 is configured to acquire a detection signal transmitted by an ultrasonic radar detection system on a vehicle; the foreign matter judging module 102 is configured to judge whether a foreign matter exists according to the detection signal; the collision calculation module 103 is configured to determine whether a foreign object may collide with the door opening at the current time according to the detection signal when the foreign object determination module determines that the foreign object is present; the early warning module 104 is used for generating early warning information.
Referring to fig. 4, the present application further provides a vehicle, where the vehicle includes an ultrasonic radar detection system and an automobile door opening collision early warning device, and the ultrasonic radar detection system is disposed on the vehicle; the automobile door opening collision early warning device is the automobile door opening collision early warning device.
Referring to fig. 5, in the present embodiment, the ultrasonic radar detection system includes a rear bumper radar group 1, a B-pillar radar group 3, an outside rear view mirror radar group 4, and a front bumper radar group 5, and the rear bumper radar group 1 is provided on a rear bumper of the vehicle 2; the B-pillar radar group 3 is arranged on a B pillar of the vehicle 2; an exterior mirror radar group 4 is provided on an exterior mirror of the vehicle 2; the front-bumper radar group 5 is provided on a front bumper of the vehicle 2.
In this embodiment, the vehicle of this application further includes built-in loudspeaker and external loudspeaker, and built-in loudspeaker are provided with in the car, and external loudspeaker sets up outside the car.
In this embodiment, the operating parameters of the vehicle may include one or more of the following:
the system comprises steering wheel information, vehicle speed information, navigation steering information and door lock opening information.
In this embodiment, the warning message may be generated when the information on the driving door lock indicates that the door lock is to be opened, or may be generated when the information on the driving door lock is not received.
In this embodiment, be provided with the warning light on the door of vehicle, thereby the cue signal among the early warning information can be sent and is given the warning light and light.
It should be noted that the foregoing explanation of the method embodiment is also applicable to the system of this embodiment, and is not repeated here.
The application also provides an electronic device, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the automobile door opening collision early warning method when executing the computer program.
The application also provides a computer readable storage medium, a computer program is stored in the computer readable storage medium, and the computer program can realize the automobile door opening collision early warning method when being executed by the processor.
Fig. 2 is an exemplary block diagram of an electronic device capable of implementing an automobile door opening collision warning method according to an embodiment of the present application.
As shown in fig. 2, the electronic device includes an input device 501, an input interface 502, a central processor 503, a memory 504, an output interface 505, and an output device 506. The input interface 502, the central processing unit 503, the memory 504 and the output interface 505 are connected to each other through a bus 507, and the input device 501 and the output device 506 are connected to the bus 507 through the input interface 502 and the output interface 505, respectively, and further connected to other components of the electronic device. Specifically, the input device 504 receives input information from the outside and transmits the input information to the central processor 503 through the input interface 502; the central processor 503 processes input information based on computer-executable instructions stored in the memory 504 to generate output information, temporarily or permanently stores the output information in the memory 504, and then transmits the output information to the output device 506 through the output interface 505; the output device 506 outputs the output information to the outside of the electronic device for use by the user.
That is, the electronic device shown in fig. 2 may also be implemented to include: a memory storing computer-executable instructions; and one or more processors that when executing computer executable instructions may implement the automobile door opening collision warning method described in conjunction with fig. 1.
In one embodiment, the electronic device shown in fig. 2 may be implemented to include: a memory 504 configured to store executable program code; one or more processors 503 configured to execute the executable program code stored in the memory 504 to perform the vehicle door opening collision warning method in the above-described embodiments.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media include both non-transitory and non-transitory, removable and non-removable media that implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Furthermore, it will be obvious that the term "comprising" does not exclude other elements or steps. A plurality of units, modules or devices recited in the device claims may also be implemented by one unit or overall device by software or hardware.
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 application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks identified 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.
The Processor in this embodiment may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the apparatus/terminal device by running or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
In this embodiment, the module/unit integrated with the apparatus/terminal device may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow in the method according to the embodiments of the present invention may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain content that is appropriately increased or decreased as required by legislation and patent practice in the jurisdiction. Although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application, and those skilled in the art can make variations and modifications without departing from the spirit and scope of the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Furthermore, it will be obvious that the term "comprising" does not exclude other elements or steps. A plurality of units, modules or devices recited in the device claims may also be implemented by one unit or overall device by software or hardware.
Although the invention has been described in detail hereinabove with respect to a general description and specific embodiments thereof, it will be apparent to those skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The early warning method for the door opening collision of the automobile is characterized by comprising the following steps of:
acquiring a detection signal transmitted by an ultrasonic radar detection system on a vehicle;
judging whether foreign matters exist or not according to the detection signal, if so, judging whether foreign matters exist or not
Judging whether the door is opened at the current moment or not to possibly collide with foreign matters according to the detection signal, if so, judging whether the door is opened at the current moment or not
And generating early warning information.
2. The automobile door opening collision early warning method according to claim 1, wherein the judging whether the door opening at the current moment is possible to collide with the foreign matter according to the detection signal comprises:
judging whether the foreign body moves, if so, judging whether the foreign body moves
Acquiring a foreign body motion track according to the detection signal;
judging whether the foreign matter approaches the car door or not according to the movement track of the foreign matter, if so, judging whether the foreign matter approaches the car door or not, and if so, judging whether the foreign matter approaches the car door or not
Judging the time required for the vehicle to enter the vehicle door opening range according to the foreign matter motion track, and if the time is less than a preset time threshold value, judging that the time is less than the preset time threshold value
It is judged that the door opening at the present time may collide with a foreign matter.
3. The vehicle door opening collision warning method according to claim 2, wherein the determining whether the door opening at the current moment may collide with the foreign object according to the detection signal further comprises:
judging whether the foreign body moves or not, if not, judging;
acquiring a preset door opening track;
judging whether the foreign matter is located on a preset door opening track, if so, judging whether the foreign matter is located on the preset door opening track
It is judged that the door opening at the present time may collide with a foreign matter.
4. The automobile door opening collision early warning method according to claim 2, wherein the judging whether the foreign object approaches the automobile door according to the motion track of the foreign object comprises the following steps:
acquiring the distance between the position of the foreign object at any time point and the vehicle door, wherein the time point is called a first time point, and the distance is called a first distance;
acquiring the distance from the position of the foreign object to the vehicle door at any time point before the first time point, which is called as a second distance;
judging whether the first distance is smaller than the second distance, if so, judging that the first distance is smaller than the second distance
And judging that the foreign matter approaches the vehicle door.
5. The automobile door opening collision early warning method according to claim 4, wherein the step of judging the time when the vehicle enters the door opening range according to the foreign matter motion track comprises the following steps:
judging the running state of the vehicle, and if the running state of the vehicle is the parking state, acquiring the opening range of the vehicle door;
acquiring the movement speed of the foreign matter according to the distance from the door of the vehicle to the foreign matter at each time point and each time point;
obtaining the distance between the position of the foreign matter and the car door at the last time point;
and judging the time required for entering the vehicle door opening range at the current speed according to the movement speed of the foreign matter, the distance between the position of the foreign matter and the vehicle door at the last time point and the vehicle door opening range.
6. The automobile door opening collision early warning method according to claim 5, wherein the step of judging the time when the vehicle enters the door opening range according to the foreign matter motion track comprises the following steps:
judging the running state of the vehicle, and if the running state of the vehicle is the running state, acquiring the opening range of the vehicle door;
acquiring the running parameters of the vehicle;
acquiring the movement speed of the foreign matter according to the distance from the door of the vehicle to the foreign matter at each time point and each time point;
obtaining the distance between the position of the foreign matter and the car door at the last time point;
and judging the time required for entering the door opening range at the current speed according to the movement speed of the foreign matter, the distance between the position of the foreign matter and the door at the last time point, the running parameters of the vehicle and the door opening range.
7. The automobile door opening collision warning method according to claim 5 or 6, wherein the generating of the warning information includes:
judging whether the movement speed of the foreign matter exceeds a first preset threshold value or not, and if not, judging that the movement speed of the foreign matter exceeds the first preset threshold value
And generating an in-vehicle voice reminding signal and an out-vehicle voice reminding signal.
8. The automobile door opening collision warning method according to claim 5 or 6, wherein the generating of the warning information includes:
judging whether the movement speed of the foreign matter exceeds a first preset threshold value, if so, judging whether the movement speed of the foreign matter exceeds the first preset threshold value
And generating a prompt signal and/or a vehicle door locking signal and sending the prompt signal and/or the vehicle door locking signal to the vehicle door control device.
9. The utility model provides an automobile door opening collision early warning device which characterized in that, automobile door opening collision early warning device includes:
the system comprises a detection signal acquisition module, a detection signal acquisition module and a detection signal processing module, wherein the detection signal acquisition module is used for acquiring a detection signal transmitted by an ultrasonic radar detection system on a vehicle;
the foreign matter judgment module is used for judging whether foreign matters exist according to the detection signal;
the collision calculation module is used for judging whether the foreign matter is likely to collide when the door is opened at the current moment according to the detection signal when the foreign matter judgment module judges that the door is opened;
the early warning module is used for generating early warning information.
10. A vehicle, characterized in that the vehicle comprises:
an ultrasonic radar detection system disposed on the vehicle;
the automobile door opening collision early warning device, which is the automobile door opening collision early warning device according to claim 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111345529.3A CN113997861A (en) | 2021-11-15 | 2021-11-15 | Automobile door opening collision early warning method and device and automobile |
| PCT/CN2022/103040 WO2023082663A1 (en) | 2021-11-15 | 2022-06-30 | Automobile door-opening collision warning method and apparatus, and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111345529.3A CN113997861A (en) | 2021-11-15 | 2021-11-15 | Automobile door opening collision early warning method and device and automobile |
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| Publication Number | Publication Date |
|---|---|
| CN113997861A true CN113997861A (en) | 2022-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111345529.3A Pending CN113997861A (en) | 2021-11-15 | 2021-11-15 | Automobile door opening collision early warning method and device and automobile |
Country Status (2)
| Country | Link |
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| CN (1) | CN113997861A (en) |
| WO (1) | WO2023082663A1 (en) |
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| WO2023082663A1 (en) * | 2021-11-15 | 2023-05-19 | 中国第一汽车股份有限公司 | Automobile door-opening collision warning method and apparatus, and vehicle |
| CN116142122A (en) * | 2022-11-29 | 2023-05-23 | 江苏施耐勒智能科技有限公司 | Intelligent automobile part assembly management system and method based on Internet of things |
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| WO2023082663A1 (en) | 2023-05-19 |
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