CN114312662B - Control system and vehicle - Google Patents
Control system and vehicle Download PDFInfo
- Publication number
- CN114312662B CN114312662B CN202011048899.6A CN202011048899A CN114312662B CN 114312662 B CN114312662 B CN 114312662B CN 202011048899 A CN202011048899 A CN 202011048899A CN 114312662 B CN114312662 B CN 114312662B
- Authority
- CN
- China
- Prior art keywords
- ultrasonic ranging
- ranging sensor
- distance
- sensor
- kick
- 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
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The application discloses control system and vehicle, this control system includes: the system comprises a main control chip and a communication module, wherein the main control chip is configured to receive a first distance of a first obstacle behind a vehicle body sensed by a rear ultrasonic ranging sensor and a second distance of a second obstacle behind the vehicle body sensed by an ultrasonic kicking sensor when a back door is in a closed state, and send a door opening control instruction to the communication module when the change of the first distance indicates that the first obstacle is close to the vehicle body and the change of the second distance meets a back door opening condition; and the communication module is configured to receive the door opening control instruction and send the door opening control instruction to the back door controller so that the back door controller controls the back door to execute the opening action. According to the embodiment of the application, the situation that an object is close to the rear of the vehicle and the back door is automatically opened when the vehicle kicks is met, the probability that the back door is opened by mistake can be effectively reduced, and the control efficiency of the back door is improved.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a control system and a vehicle.
Background
Currently, in the automotive control field, the opening of the tailgate can be controlled by sensing a "kick" action under the rear bumper. A capacitive sensor is arranged below the rear bumper, and a user makes a specified action through feet in a capacitive sensor area to control the back door to be opened. The principle is that the capacitive sensor converts the sensed motion signal of the user into a level high-low signal, and then based on the change of the level signal, whether the foot motion of the user accords with a preset motion signal is determined. When the coincidence is determined, the back door is controlled to be opened. However, under some special conditions, the back door may be opened by mistake.
Disclosure of Invention
In view of the foregoing drawbacks or shortcomings of the prior art, it is desirable to provide a control system and a vehicle that eliminates the risk of a vehicle tailgate being opened by mistake.
In a first aspect, the invention provides a control system, which comprises a main control chip and a communication module, wherein the control system is connected with a back door controller through the communication module, the control system is connected with a rear ultrasonic ranging sensor and an ultrasonic kicking sensor through signals, and the rear ultrasonic ranging sensor and the ultrasonic kicking sensor are arranged at the rear part of a vehicle body;
The main control chip is configured to receive a first distance of a first obstacle behind a vehicle body sensed by the rear ultrasonic ranging sensor and a second distance of a second obstacle behind the vehicle body sensed by the ultrasonic kicking sensor when the back door is in a closed state, and send a door opening control instruction to the communication module when the change amount of the first distance indicates that the first obstacle is close to the vehicle body and the change amount of the second distance meets a back door opening condition;
and the communication module is configured to receive the door opening control instruction and send the door opening control instruction to the back door controller so that the back door controller controls the back door to execute the opening action.
In a second aspect, the present invention provides a vehicle comprising the control system described in the second aspect.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a control system and a vehicle, the control system comprises: the control system is connected with the rear door controller through the communication module, is connected with the rear ultrasonic ranging sensor and the ultrasonic kicking sensor through signals, and is arranged at the rear part of the vehicle body; the main control chip is configured to receive a first distance of a first obstacle behind the vehicle body sensed by the rear ultrasonic ranging sensor and a second distance of a second obstacle behind the vehicle body sensed by the ultrasonic kick sensor when the back door is in a closed state, and send a door opening control instruction to the communication module when the change amount of the first distance indicates that the first obstacle is close to the vehicle body and the change amount of the second distance meets a back door opening condition; and the communication module is configured to receive the door opening control instruction and send the door opening control instruction to the back door controller so that the back door controller controls the back door to execute the opening action. According to the embodiment of the application, the automatic opening of the back door is required to meet the requirement that an object is close to the rear of the vehicle and the foot kicking action is carried out, so that the probability that the back door is opened by mistake can be effectively reduced, and the control efficiency of the back door is improved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings, in which:
fig. 1 shows a schematic structural diagram of an application scenario according to an embodiment of the present application;
FIG. 2 illustrates a block diagram of a control system according to an embodiment of the present application;
FIG. 3 illustrates another block diagram of a control system according to an embodiment of the present application;
FIG. 4 illustrates a top view of an ultrasonic ranging sensor and an ultrasonic kick sensor detection range in accordance with an embodiment of the present application;
FIG. 5 shows a timing diagram of the operation of a rear ultrasonic sensor disposed on the rear side of a vehicle according to an embodiment of the present application;
FIG. 6 illustrates a side view of an ultrasonic ranging sensor and an ultrasonic kick sensor detection range in accordance with an embodiment of the present application;
FIG. 7 is a schematic view of the mounting direction and detectable area of an ultrasonic kick sensor according to an embodiment of the present application;
FIG. 8 illustrates a timing diagram of the operation of a sensor at a front ultrasonic wave provided on the front side of a vehicle in an embodiment of the present application;
FIG. 9 shows a timing diagram of the operation of the front ultrasonic sensor and the rear ultrasonic sensor according to an embodiment of the present application;
Fig. 10 shows a flowchart of a control method of the control system according to the embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1, fig. 1 shows a schematic structural diagram of an application scenario related to the present application. When the user 200 approaches the rear of the vehicle 100, the user 200 wishes that the back door can be automatically opened. A tailgate control system is pre-installed in the vehicle 100 to control the tailgate to be automatically opened or closed. The back door control system can comprise a back door controller 6, a control system 3, a back ultrasonic ranging sensor 4 and an ultrasonic foot kicking sensor 5, wherein the vehicle body 1 of the vehicle 100 is movably connected with the back door 2, and the locking (namely, the back door is closed) and the unlocking (namely, the back door is opened) of the back door and the vehicle body are realized through the back door controller 6 arranged on the vehicle body or the back door.
The plurality of sets of rear ultrasonic ranging sensors 4 may be disposed at the rear of the vehicle body 1, and the set heights of the plurality of sets of rear ultrasonic ranging sensors 4 may be different, the plurality of sets of rear ultrasonic ranging sensors 4 may detect an object behind the vehicle 100, and the rear ultrasonic kick sensor 5 may detect a motion portion of the user 200, for example, a foot of the user 200. The control system 3 can respectively drive a plurality of groups of rear ultrasonic ranging sensors 4 to work and collect signals fed back by the rear ultrasonic ranging sensors. To obtain ranging information between the vehicle 100 and the user 200. The control system 3 receives ranging information between the vehicle 100 and the user 200 from each rear ultrasonic ranging sensor 4, and determines whether to drive the ultrasonic kick sensor 5 to operate according to the ranging information between the vehicle and the user.
Then, when the ultrasonic kick sensor 5 is operated, the control system 3 receives the ranging information between the vehicle 100 and the action site of the probe user 200 from the ultrasonic kick sensor 5, and the control system 3 controls the operation state of the back door controller 6 according to the ranging information between the vehicle 100 and the action site of the probe user 200. When the back door controller is in the locking state, the back door controller is controlled to be switched from the locking state to the unlocking state, namely, the back door 2 is controlled to be automatically opened, so that the detection user 200 can directly put the carried article 300 into the trunk. When the back door controller is in the unlocking state, the back door controller is controlled to be switched from the unlocking state to the locking state, namely the back door 2 is controlled to be automatically closed.
The control system 3 is electrically connected to a back door controller 6. The control system 3 may be electrically connected with a rear ultrasonic ranging sensor 4 and an ultrasonic kick sensor 5. The control system 3 and the back door controller 6, and the control system 3 and the rear ultrasonic ranging sensor 4 and the ultrasonic kick sensor 5 may be connected by a wire harness. When the rear ultrasonic ranging sensor 4 detects an object behind the vehicle 100, the rear ultrasonic ranging sensor 4 may send a low voltage to the control system 3, and when the user 200 approaches the motion part (such as the foot) to the ultrasonic kick sensor 5, the ultrasonic kick sensor 5 may sense a kick signal, then the ultrasonic kick sensor 5 may send a low voltage to the control system 3, and then the control system 3 controls the back door controller 6 to switch from the locked state to the unlocked state or from the unlocked state to the locked state.
Referring to fig. 2, fig. 2 shows a block diagram of a control system. The control system comprises a main control chip 302 and a communication module 303, wherein the control system is connected with a back door controller (namely a back door ECU) through the communication module 303, the control system is connected with a rear ultrasonic ranging sensor and an ultrasonic kicking sensor through signals, and the rear ultrasonic ranging sensor and the ultrasonic kicking sensor are arranged at the rear part of a vehicle body;
The main control chip 302 is configured to receive a first distance of a first obstacle behind the vehicle body sensed by the rear ultrasonic ranging sensor and a second distance of a second obstacle behind the vehicle body sensed by the ultrasonic kick sensor when the back door is in a closed state, and send a door opening control instruction to the communication module when the change amount of the first distance indicates that the first obstacle is close to the vehicle body and the change amount of the second distance meets a back door opening condition;
the communication module 303 is configured to receive the door opening control instruction and send the door opening control instruction to the back door controller, so that the back door controller controls the back door to perform the opening action.
The first obstacle may be a body part of the user, and the change amount of the first distance is used to represent a relative relationship between the user and the vehicle, for example, taking an initial distance between the user and the vehicle as a reference, the distance between the user and the vehicle gradually decreases relative to the initial distance, which indicates that the user is approaching the vehicle, and if the distance between the user and the vehicle gradually increases relative to the initial distance, which indicates that the user is away from the vehicle.
The second obstacle may be a user's action site, such as a user's foot or leg. The amount of change in distance of the second obstacle is used to represent the relative relationship between the user's foot and the lower surface of the trunk. For example, taking an initial distance between the user's foot and the lower surface of the back box as a reference, the distance between the user's foot and the lower surface of the back box gradually decreases relative to the initial distance, and then the user's foot is indicated to be close to the lower surface of the back box; if the distance of the user's foot from the lower surface of the back box increases gradually with respect to the initial distance, it is indicated that the user's foot is away from the lower surface of the back box. When the motion information of the feet of the user is continuously detected, a door opening control instruction is sent to the communication module to the back door controller, and the back door controller is switched from a locking state to an unlocking state to finish automatic opening of the back door.
According to the technical scheme, when the obstacle is detected to be close, the back door is automatically opened by further determining the kicking action, so that the probability that the back door is not opened is effectively reduced.
It should be noted that the control system may include a main control chip and a communication module, where the main control chip and the communication module may be distributed on different printed circuit boards. The control system may be an electronic control unit (english full name Electronic Control Unit, english abbreviation ECU), or may be called a vehicle-mounted computer. The analog-digital converter (English full scale Analog to Digital Converter, english abbreviated ADC) converts continuous signals in analog form of the ultrasonic ranging sensor and the ultrasonic kicking sensor into discrete signals in digital form and transmits the discrete signals to the main control chip, the main control chip can also be called a micro control unit (English full scale Microcontroller Unit, english abbreviated MCU), and when the variation of the first distance and the variation of the second distance meet the back door opening condition, the main control chip sends a door opening control instruction to the communication module; the back door controller (back door ECU) receives the door opening control instruction and controls the back door to be opened.
In one embodiment, the control system further includes a drive module 304. The driving module, the main control chip and the communication module can be distributed on different printed circuit boards. The main control chip, the communication module and the driving module can be integrated on the same printed circuit board.
The rear ultrasonic ranging sensor may include a plurality of rear ultrasonic ranging sensors as shown in fig. 3. For example, a first rear ultrasonic ranging sensor 401, a second rear ultrasonic ranging sensor 402, a third rear ultrasonic ranging sensor 403, and a fourth rear ultrasonic ranging sensor 404.
The first rear ultrasonic ranging sensor 401 and the second rear ultrasonic ranging sensor 402 are provided in both side areas of the rear of the vehicle body, and the third rear ultrasonic ranging sensor 403 and the fourth rear ultrasonic ranging sensor 404 are provided in an intermediate position area of the rear of the vehicle body. The intermediate position area can be adjusted according to different vehicle types.
The main control chip 302 is further configured to, when the back door is in a closed state, send a first driving control signal, a second driving control signal and a third driving control signal to the driving module 304 in a polling manner at a first preset interval;
The driving module 304 is configured to receive a first driving control signal from the main control chip, and send the first driving control signal to the first rear ultrasonic ranging sensor and the second rear ultrasonic ranging sensor, so that the first rear ultrasonic ranging sensor performs distance detection in response to the first driving control signal to obtain a plurality of first sub-distances corresponding to the first obstacle, and the second rear ultrasonic ranging sensor performs distance detection in response to the first driving control signal to obtain a plurality of second sub-distances corresponding to the first obstacle;
the driving module 304 is further configured to receive a second driving control signal from the main control chip, and send the second driving control signal to the third rear ultrasonic ranging sensor, so that the third rear ultrasonic ranging sensor performs distance detection in response to the second driving control signal, and obtains a plurality of third sub-distances corresponding to the first obstacle.
The driving module 304 is further configured to receive a third driving control signal from the main control chip, and send the third driving control signal to the fourth rear ultrasonic ranging sensor, so that the fourth rear ultrasonic ranging sensor performs distance detection in response to the third driving control signal, to obtain a plurality of fourth sub-distances from the first obstacle.
As shown in fig. 3, the vehicle 100 may provide voltage to a control system, and the control system may further include a POWER module 301, where the POWER module 301 uses two low dropout linear regulators (LDOs), one is a low dropout linear regulator (low dropout regulator, abbreviated as LDOs in english) with a voltage of 12V to 5V, and is mainly used for providing voltage (POWER) for the communication module to work and for the POWER input of the low dropout linear regulator (LDO) at the later stage, and the load capacity needs to be above 1A. A low dropout linear regulator (LDO) is a low dropout linear regulator (LDO) which is converted from 5V to 3.3V and is used for providing voltage for a main control chip (MCU), a communication module and a driving module to work, and the load capacity is required to be more than 500 mA.
Preferably, the main control chip, the communication module and the driving module may be integrated on the same printed circuit board, for example, on the printed circuit board of the ECU. According to the embodiment of the application, the main control chip, the communication module and the driving module are integrated on the same printed circuit board, so that the vehicle-mounted space can be effectively saved.
The master control chip is further configured to: selecting a distance minimum value from the plurality of first sub-distances, the plurality of second sub-distances, the plurality of third sub-distances and the plurality of fourth sub-distances respectively; arranging the minimum distance values according to a time sequence to obtain a sequencing result; determining that the minimum distance value corresponding to the adjacent two times in the sequencing result meets the minimum distance value corresponding to the next time and is smaller than the minimum distance value corresponding to the previous time; counting the continuous occurrence times of the distance minimum value corresponding to the later time being smaller than the distance minimum value corresponding to the former time; when the number of continuous occurrences reaches the preset number of groups, the first obstacle is determined to be close to the vehicle body, and a kick driving control signal is sent to the driving module in a polling mode according to a second preset interval.
And the driving module is configured to receive the kick driving control signal and send the kick driving control signal to the ultrasonic kick sensor.
As shown in fig. 4, a first rear ultrasonic ranging sensor 401 provided on the rear side of the vehicle body is denoted as a rear right angle ultrasonic ranging sensor (RR), a second rear ultrasonic ranging sensor 402 is denoted as a rear left angle ranging ultrasonic sensor (RL), a third rear ultrasonic ranging sensor 403 is denoted as a rear right middle ultrasonic ranging sensor (RRM), and a fourth rear ultrasonic ranging sensor 404 is denoted as a rear left middle ultrasonic ranging sensor (RLM).
Referring to fig. 5, fig. 5 shows a timing chart of the operation of the sensor at the ultrasonic wave provided at the rear side of the vehicle. The four ultrasonic ranging sensors are divided into three groups to work in a polling manner according to the interval time. The processing can enable ultrasonic signals generated by the plurality of ultrasonic ranging sensors during working not to interfere with each other, and can reduce waiting time, so that distance information between the first obstacle and the rear side of the vehicle body can be detected efficiently. The first group is a first rear ultrasonic ranging sensor 401 and a second rear ultrasonic ranging sensor 402, the second group is a third rear ultrasonic ranging sensor 403, and the third group is a fourth rear ultrasonic ranging sensor 404. The driving module can drive the three groups of rear ultrasonic ranging sensors according to the interval time of 10ms, and calculate the distance information of the first obstacle.
Taking the first group as the first rear ultrasonic ranging sensor 401 and the second rear ultrasonic ranging sensor 402 as an example, the product of the time interval and the sound velocity of two adjacent square waves obtained by the first rear ultrasonic ranging sensor 401 and the second rear ultrasonic ranging sensor 402 is the propagation path of the ultrasonic wave, and half of the path is the distance between the rear two-side ultrasonic ranging sensors and the first obstacle, wherein the time interval of the two adjacent square waves is 30ms. The rear left angle ranging ultrasonic sensor (RL) and the rear right angle ultrasonic ranging sensor (RR) emit driving signals at the time of 0ms, the rear left middle ultrasonic ranging sensor (RLM) emits driving signals at the time of 10ms, and the rear right middle ultrasonic ranging sensor (RRM) emits driving signals at the time of 20 ms. It can be seen that, between the first rear ultrasonic ranging sensor 401 and the second rear ultrasonic ranging sensor 402 obtaining the first square wave and the second square wave, the third rear ultrasonic ranging sensor 403 and the fourth rear ultrasonic ranging sensor 404 send driving signals, so that the detection period is changed from 30ms to 10ms, which can reduce the waiting time required for ranging and provide the distance information of the first obstacle detection more efficiently.
Detecting the distance s between the first rear ultrasonic ranging sensor 401, the second rear ultrasonic ranging sensor 402, the third rear ultrasonic ranging sensor 403, the fourth rear ultrasonic ranging sensor 404 and the first obstacle in real time, and selecting the minimum value s between each rear ultrasonic ranging sensor and the first obstacle at the same time 1 、s 2 、s 3 、s 4 …s n-1 、s n As the detection distance, and comparing the magnitude of the detection distances between two adjacent moments, if 10 groups of detection distances are continuously monitored to meet the requirement that the value of the next moment is smaller than that of the previous moment, if: s is(s) n ＜s n-1 ，s n-1 ＜s n-2 ，s n-2 ＜s n-3 …, it is determined that the first obstacle is close to the vehicle body. If the distance variation of the first obstacle does not reach the preset group number, the electronic control unit is switched to the sleep mode. The value of n is a natural number.
In one embodiment, as shown in fig. 4, the ultrasonic kick sensor may further include a first ultrasonic kick sensor 501 and a second ultrasonic kick sensor 502.
The first ultrasonic foot kick sensor 501 and the second ultrasonic foot kick sensor 502 are respectively arranged in two side areas below the back door of the vehicle body, and a first detection surface of the first ultrasonic foot kick sensor 501 and a second detection surface of the second ultrasonic foot kick sensor 502 are oppositely arranged; as shown in fig. 3, the detection areas of the opposite detection surfaces may overlap each other, thereby improving the detection accuracy of the kick motion. Even in a more sensitive climate environment, the probability of misjudgment action can be effectively reduced by the technical scheme that the detection surfaces of the two ultrasonic foot kicking sensors are oppositely arranged.
And the main control chip is configured to send a first kick driving control signal and a second kick driving control signal to the driving module in a polling mode according to a second preset interval when the first obstacle is determined to be close to the car body.
The driving module is configured to receive a first kick driving control signal from the main control chip and send the first kick driving control signal to the first ultrasonic kick sensor 501, so that the first ultrasonic kick sensor 501 responds to the first kick driving control signal to execute distance detection within a first preset time to obtain a plurality of first kick distances corresponding to the second obstacle;
the driving module is further configured to receive a second kick driving control signal from the main control chip and send the second kick driving control signal to the second ultrasonic kick sensor 502, so that the second ultrasonic kick sensor 502 is configured to respond to the second kick driving control signal to execute distance detection within a first preset time to obtain a plurality of second kick distances corresponding to the second obstacle.
In one embodiment, the master chip is further configured to: respectively counting a first variation of the adjacent two first kick distances and a second variation of the adjacent two second kick distances in a first preset time; if the first variable quantity meets the first preset value or the second variable quantity meets the first preset value, determining that the variable quantity of the second distance meets the back door opening condition, and sending a door opening control instruction to the communication module; if the first variation does not meet a first preset value or the second variation does not meet the first preset value in the first preset time, respectively counting a third variation of two adjacent first kick distances and a fourth variation of two adjacent second kick distances in the second preset time, and if the third variation meets the first preset value or the fourth variation meets the first preset value, determining that the variation of the second distance meets a back door opening condition and sending a door opening control instruction to the communication module; otherwise, control enters sleep mode.
Referring to fig. 4, the present application sets two ultrasonic sensors as kick sensors under the rear part of the vehicle body, and makes the detection area widest through the adjustment of the installation angle, even achieves the technical effect of 0 blind area.
As shown in fig. 6, the control system 3 receives ranging information between the vehicle 100 and the user 200 from the rear ultrasonic ranging sensor 4, and drives the ultrasonic kick sensor to operate according to the ranging information between the vehicle and the user. The ultrasonic kick sensor controls the back door controller to switch from a locked state to an unlocked state according to the ranging information between the vehicle 100 and the foot of the detection user 200, i.e., controls the back door 2 to be automatically opened, so that the detection user 200 can directly put the carried article 300 into the trunk.
As shown in fig. 7, the detection area of the left ultrasonic kick sensor is a first area, and the detection area of the right ultrasonic kick sensor is a second area, in this way, in the blind area range of one ultrasonic kick sensor, the detection compensation is performed by using the other ultrasonic kick sensor as the detection compensation, so that the detection area is 0 blind area.
Acquiring the distances between the first ultrasonic kick sensor 501, the second ultrasonic kick sensor 502 and the second obstacle in real time includes: polling and sending driving signals to the two ultrasonic foot kicking sensors at set interval time; the distances from the second obstacle detected by the two ultrasonic kick sensors in response to the driving signals are received.
The control system may be configured to drive the two ultrasonic kick sensors to obtain a product of a time interval and a sound velocity of two adjacent square waves, i.e. a propagation path of the ultrasonic wave, and half of the path is a distance between each ultrasonic kick sensor and the second obstacle, wherein the time interval of the two adjacent square waves is 30ms. Wherein the time interval between two adjacent square waves is 30ms. The interval between the transmission time of the driving signals of the two ultrasonic foot kicking sensors is 10ms, one ultrasonic foot kicking sensor transmits the driving signals at the time of 0ms, and the other ultrasonic foot kicking sensor transmits the driving signals at the time of 10ms, so that between the first square wave and the second square wave obtained by the one ultrasonic foot kicking sensor, the other ultrasonic foot kicking sensor transmits the driving signals, the detection period is changed from 30ms to 10ms, the waiting time required by distance measurement can be reduced, and the distance information of the first obstacle detection can be provided more efficiently.
According to the method and the device, the distance information of the obstacle is detected by polling and driving each ultrasonic ranging sensor or ultrasonic kick sensor, so that the mutual noninterference among a plurality of sensors can be ensured, the waiting time of the detection distance is effectively reduced, and the efficiency of detecting the obstacle is effectively improved.
When the preset time is 2s, the distance between the second obstacles detected by the two ultrasonic foot kicking sensors is in a continuously changing value within the 2s, the difference value of the detection distances between two adjacent moments of the same ultrasonic foot kicking sensor in the two ultrasonic foot kicking sensors is accumulated within 2s to exceed a preset threshold value, and then a person is considered to kick, and the back door controller is unlocked by controlling the back door controller to finish automatic opening of the back door. If the two ultrasonic kick sensors fail to detect the distance variation meeting the threshold within 1min, the back door controller is switched to the sleep mode.
According to the method and the device, the actual kicking action is considered by detecting that the variation of the obstacle distance exceeds the threshold value, and the probability that the back door is opened by mistake can be effectively reduced under any special working condition. Such as in the case of a relatively harsh outside climate environment.
In the embodiment provided by the application, the main control chip may be further configured to receive a third distance of the first obstacle behind the vehicle body sensed by the ultrasonic ranging sensor and a second distance of the second obstacle behind the vehicle body sensed by the ultrasonic kicking sensor, and send a door closing control instruction to the communication module when the third distance meets a safety condition and the variation of the second distance meets a back door closing condition.
And the communication module is also configured to receive the door closing control instruction and send the door closing control instruction to the back door controller so that the back door controller controls the back door to execute the closing action.
The safety condition here refers to that the user's action is not erroneously clamped during the closing process of the back door, and the distance between the user's kicking action and the detectable areas of the first ultrasonic kicking sensor 501 and the second ultrasonic kicking sensor 502 can be ensured. And if the first obstacle is not in the safety area, switching the control system to the sleep mode.
The working mode of the rear ultrasonic ranging sensor is the same as that of the ultrasonic kicking sensor, and detailed description thereof is omitted.
When the preset time is 2s, the distance between the second obstacles detected by the two ultrasonic foot kicking sensors is in a continuously changing value within the 2s, the difference value of the detection distances between two adjacent times of the same ultrasonic foot kicking sensor in the two ultrasonic foot kicking sensors is accumulated within 2s, and exceeds a preset threshold value, so that a person is considered to be in a foot kicking action at the moment, and the back door is controlled to be automatically closed. If the two ultrasonic kick sensors cannot detect the distance change amount meeting the threshold within 1min, the control system is switched to the sleep mode.
Compared with the prior art, the embodiment of the application has the advantages that under the condition that the automatic closing function of the back door is not provided, when a user takes out a large article from the back box and is inconvenient to close the back box, the automatic closing of the back door can be completed by using a kicking action.
In one embodiment, the control system is connected with the automatic gearbox control unit through a communication module, and is in signal connection with a front ultrasonic ranging sensor which is arranged at the front part of the vehicle body; the control system also includes a drive module;
the main control chip is further configured to receive gear information sent by the automatic gearbox control unit when the control system is switched from the sleep mode to the working mode, and when the gear information is a forward gear, receive a fourth distance of an obstacle in front of the vehicle body sensed by the front ultrasonic ranging sensor, and send an alarm driving control signal to the driving module when the fourth distance meets an alarm condition.
The driving module is configured to receive the alarm driving control signal and send the alarm driving control signal to the alarm prompting device.
As shown in fig. 4, the front ultrasonic ranging sensor signals may further include a first front ultrasonic ranging sensor 405, a second front ultrasonic ranging sensor 406, a third front ultrasonic ranging sensor 407, and a fourth front ultrasonic ranging sensor 408.
The first front ultrasonic ranging sensor 405 and the second front ultrasonic ranging sensor 406 are provided in both side regions of the vehicle body front portion, and the third front ultrasonic ranging sensor 407 and the fourth front ultrasonic ranging sensor 408 are provided in an intermediate position region of the vehicle body front portion. The intermediate position area can be adjusted and set according to the vehicle type.
The rear ultrasonic ranging sensor may further include a first rear ultrasonic ranging sensor 401, a second rear ultrasonic ranging sensor 402, a third rear ultrasonic ranging sensor 403, and a fourth rear ultrasonic ranging sensor 404, the first rear ultrasonic ranging sensor 401 and the second rear ultrasonic ranging sensor 402 are disposed at both side areas of the rear of the vehicle body, and the third rear ultrasonic ranging sensor 403 and the fourth rear ultrasonic ranging sensor 404 are disposed at an intermediate position area of the rear of the vehicle body.
In the embodiment provided by the application, the main control chip may be further configured to receive gear information sent by the automatic gearbox control unit when the control system is switched from the sleep mode to the working mode, send a first group of driving control signals, a second group of driving control signals and a third group of driving control signals to the driving module in a polling manner when the gear information is a reverse gear, receive a fourth distance of an obstacle in front of the vehicle body sensed by the front ultrasonic ranging sensor, receive a fifth distance of the obstacle in rear of the vehicle body sensed by the rear ultrasonic ranging sensor, and send an alarm driving control signal to the driving module when the fourth distance and the fifth distance respectively meet alarm conditions;
The drive module is configured to receive the first set of drive control signals and send the first set of drive control signals to the first front ultrasonic ranging sensor 405, the second front ultrasonic ranging sensor 406, the first rear ultrasonic ranging sensor 401, the second rear ultrasonic ranging sensor 402;
the drive module may also be configured to receive a second set of drive control signals and send the second set of drive control signals to the third front ultrasonic ranging sensor 407 and the third rear ultrasonic ranging sensor 403;
the drive module is configured to receive the third set of drive control signals and transmit the third set of drive control signals to the fourth front ultrasonic ranging sensor 408 and the fourth rear ultrasonic ranging sensor 404.
Referring to fig. 8, fig. 8 shows a timing chart of the operation of the sensor at the front ultrasonic wave provided on the front side of the vehicle. The front ultrasonic ranging sensor provided on the front side of the vehicle body is represented as a front left-angle ultrasonic ranging sensor (FL), a front left-middle ultrasonic ranging sensor (FLM), a front right-middle ultrasonic ranging sensor (FRM), and a front right-angle ultrasonic ranging sensor (FR). The front left-hand ultrasonic ranging sensor (FL) and the front right-hand ultrasonic ranging sensor (FR) emit driving signals at 0ms, the front left-hand ultrasonic ranging sensor (FLM) emits driving signals at 10ms, and the front right-hand ultrasonic ranging sensor (FRM) emits driving signals at 20 ms. The time interval between two adjacent square waves obtained by each front ultrasonic ranging sensor is 30ms. In the polling mode, between the first square wave and the second square wave obtained by the first front ultrasonic ranging sensor 405 and the second front ultrasonic ranging sensor 406, the third front ultrasonic ranging sensor 407 and the fourth front ultrasonic ranging sensor 408 send out driving signals, so that the detection period is changed from 30ms to 10ms, the waiting time required for ranging can be reduced, and the fourth distance of the detected front obstacle can be provided more efficiently.
According to the technical scheme provided by the embodiment of the application, three groups of polling driving are carried out on the driving modes of the front ultrasonic ranging sensor and the rear ultrasonic ranging sensor, so that mutual noninterference among the sensors can be guaranteed, the detection waiting time can be effectively reduced, and the efficiency of obstacle detection can be effectively improved.
In the embodiment provided by the application, the main control chip can be further configured to calculate a first vertical distance between an obstacle in front of the vehicle body and the vehicle body based on the fourth distance, or calculate a second vertical distance between an obstacle behind the vehicle body and the vehicle body based on the fifth distance; and determining an alarm region level according to the first vertical distance or the second vertical distance, and generating an alarm driving control signal corresponding to the alarm region level. The first vertical distance refers to a distance between the front obstacle and the front of the vehicle body. The second vertical distance refers to the distance between the rear obstacle and the rear of the vehicle body.
Warning areas to which the distances from the forward obstacle detected by the first forward ultrasonic ranging sensor 405, the second forward ultrasonic ranging sensor 406, the third forward ultrasonic ranging sensor 407, and the fourth forward ultrasonic ranging sensor 408 are dependent are determined, respectively.
Meanwhile, the vertical distance between the front obstacle and the front side of the vehicle body is calculated using a trigonometric algorithm according to the distance between each of the front obstacle and the front obstacle. Judging whether the vertical distance between the front obstacle and the vehicle body is in an alarm range, and if the vertical distance between the front obstacle and the front side of the vehicle body is in the alarm range, controlling the alarm device to send out an alarm prompt. The vertical distance refers to a vertical distance between a front obstacle and a plane where a vehicle head is located, and more specifically, the vertical distance can be measured and calculated by taking a plane where a license plate is located as a reference plane.
When the vertical distance is 20-50cm, prompting red color for the collision warning area; the vertical distance is 50-80cm, and the warning area is important, so that yellow is prompted; when the vertical distance is 80-120cm, the warning area is a general warning area, and the warning is green. When the vertical distance is in the different warning areas, the buzzer can prompt the sound warning with different frequencies, and the minimum vertical distance between the vehicle and the front obstacle is prompted in the instrument. The above-mentioned front obstacle is not particularly limited, and includes, but is not limited to, a person, a stationary building, and other vehicles.
In the embodiment of the application, the driving safety can be effectively improved by setting the multi-level alarm area.
Referring to fig. 9, fig. 9 shows a timing chart of the operation of the front ultrasonic sensor provided on the front side of the vehicle and the rear ultrasonic sensor provided on the rear side. A front left-hand ultrasonic ranging sensor (FL), a front right-hand ultrasonic ranging sensor (FR) provided in front of the vehicle body, and a rear left-hand ultrasonic ranging sensor (RL), a rear right-hand ultrasonic ranging sensor (RR) provided in rear of the vehicle body emit driving signals at 0ms, a front left-hand ultrasonic ranging sensor (FLM) provided in front of the vehicle body and a rear left-hand ultrasonic ranging sensor (RLM) provided in rear of the vehicle body emit driving signals at 10ms, and finally a front right-hand ultrasonic ranging sensor (FRM) provided in front of the vehicle body and a rear right-hand ultrasonic ranging sensor (RRM) provided in rear of the vehicle body emit driving signals at 20 ms. Also, the detection period is changed from 30ms to 10ms.
And respectively judging a warning area to which the fourth distance detected by the four front ultrasonic ranging sensors arranged on the front side of the vehicle body and the fifth distance detected by the four rear ultrasonic ranging sensors arranged on the rear side of the vehicle body are subordinate. Meanwhile, calculating a first vertical distance between an obstacle in front of the vehicle body and the front side of the vehicle body by using a triangular algorithm according to the fourth distance; and calculating a second vertical distance between the obstacle behind the vehicle body and the rear side of the vehicle body by using a trigonometric algorithm according to the fifth distance. Judging whether the first vertical distance and the second vertical distance are in an alarm range, and if so, controlling the alarm device to send out an alarm prompt. And a fifth distance specific acquisition process of the rear ultrasonic ranging sensor and the rear obstacle arranged at the rear side of the vehicle body refers to a fourth distance specific acquisition process of the front ultrasonic ranging wave sensor and the front obstacle.
The control system of the present application is further described in conjunction with the above-described embodiments, fig. 2, 3, and 10.
Step 1001: under normal operating voltage, when there are no other trigger conditions, the control system (ECU) is in sleep mode to reduce product power consumption.
Step 1002: the control system (ECU) receives a power supply gear state from a body controller (english acronym Body Control Module, BCM), and when the Body Controller (BCM) is in the OFF range, it proceeds to step 1004. Otherwise, step 1003 is entered.
Step 1003: when the power supply gear is in the non-OFF gear, the control system (ECU) receives a vehicle speed signal from a vehicle body electronic stability system (english full name Electronic Stability Program, english abbreviation ESP), and when the vehicle is stationary, the process proceeds to step 1004, otherwise, the process proceeds to step 1013.
Step 1004: the control system (ECU) receives the key signal from the smart key system, and when it receives the key signal, it proceeds to step 1005, otherwise it returns to step 1001.
Step 1005: the control system (ECU) switches from the sleep mode to the back door control operation mode and proceeds to step 1006.
Step 1006: the control system (ECU) proceeds to step 1007 by receiving a back door status, such as in a closed state, sent from a back door controller (back door ECU), otherwise proceeds to step 1010.
Step 1007: the rear ultrasonic ranging sensors provided at the rear side of the vehicle body are operated, and in order to prevent the ultrasonic signals from interfering with each other when the four rear ultrasonic ranging sensors are operated, the polling operation is performed in three groups. The first group is a rear left angle ranging ultrasonic sensor (RL) and a rear right angle ultrasonic ranging sensor (RR), the second group is a rear left middle ultrasonic ranging sensor (RLM), and the third group is a rear right middle ultrasonic ranging sensor (RRM). Three groups of ultrasonic ranging sensors are driven at intervals of 10ms, and distances between the ultrasonic ranging sensors and a user body part are calculated.
Detecting distances between a rear left angle ranging ultrasonic sensor (RL), a rear right angle ranging ultrasonic sensor (RR), a rear left middle ultrasonic ranging sensor (RLM) and a rear right middle ultrasonic ranging sensor (RRM) and a user body part in real time, and selecting minimum values s of the ultrasonic ranging sensors and first obstacles in all directions at the same moment 1 、s 2 、s 3 、s 4 …s n-1 、s n As the detection distance,and comparing the detection distances between two adjacent moments, if 10 groups of detection distances are continuously monitored to meet the condition that the value of the next moment is smaller than that of the previous moment, if: s is(s) n ＜s n-1 ，s n-1 ＜s n-2 ，s n-2 ＜s n-3 …, at this time, the process proceeds to step 1008. If not, return to 1001.
Step 1008: the two ultrasonic kick sensors start to work, and the left ultrasonic kick Sensor (SL) and the right ultrasonic kick Sensor (SR) are in polling work, and the time interval is 10ms. The transmission time interval of the working driving signals is 10ms, one ultrasonic foot kick sensor sends out the driving signals at the time of 0ms, and the other ultrasonic foot kick sensor sends out the driving signals at the time of 10ms.
When the distance detected by the two ultrasonic kick sensors is at a value which is continuously changed within 2s, and the difference value of the detection distances of two adjacent moments of the same ultrasonic kick sensor in the two ultrasonic kick sensors is accumulated within 2s and exceeds a preset threshold, if a person is considered to be performing the kick action at the moment, step 1009 is entered, if the distance change meeting the threshold is not detected by the two ultrasonic kick sensors within 1min, for example, within 1min, step 1001 is returned.
Step 1009: the control system (ECU) sends an instruction to the back door controller (back door ECU) through a local area network (CAN) communication mode so that the back door controller executes back door opening actions.
Step 1010: the ultrasonic ranging sensor arranged at the rear side of the vehicle body works in the working mode step 1007. If it is detected that the obstacle distance behind the vehicle is within the safety area, the process proceeds to step 1011, otherwise, the process returns to step 1001. The safety area is the distance between the user's foot and the detection area of the ultrasonic sensor, and the distance can be ensured when the user's foot is kicked.
Step 1011: the ultrasonic kick sensor begins to operate in a manner that is synchronized with step 1008. The two ultrasonic kick sensors start to work, and the left ultrasonic kick Sensor (SL) and the right ultrasonic kick Sensor (SR) are in polling work, and the time interval is 10ms. The transmission time interval of the working driving signals is 10ms, one ultrasonic foot kick sensor sends out the driving signals at the time of 0ms, and the other ultrasonic foot kick sensor sends out the driving signals at the time of 10ms.
When the distance detected by the two ultrasonic kick sensors is at a value which is continuously changed within 2s, and the difference value of the detection distances of two adjacent moments of the same ultrasonic kick sensor in the two ultrasonic kick sensors is accumulated within 2s and exceeds a preset threshold, if a person is considered to be performing the kick action at the moment, step 1012 is entered, if the distance change meeting the threshold is not detected by the two ultrasonic kick sensors within 1min, for example, within 1min, step 1001 is returned.
Step 1012: the control system (ECU) sends an instruction to a back door controller (back door ECU) through a local area network (CAN) communication mode, and the back door controller executes back door closing action.
Step 1013: and a control system (ECU) for switching from the sleep mode to the driving operation mode.
Step 1014: the control system (ECU) reads gear information sent by the automatic gearbox control unit (english full name Transmission Control Unit, english abbreviation TCU) through a local area network (CAN) communication mode, and when the gear is in the forward gear, the step 1015 is entered. Otherwise, step 1017 is entered.
Step 1015: the front ultrasonic ranging sensor arranged at the front side of the vehicle body starts to work. In order to prevent the ultrasonic signals from interfering with each other when the four front ultrasonic ranging sensors are operated, the polling operation is performed in three groups. The first group is front left-angle ultrasonic ranging sensor (FL) and front right-angle ultrasonic ranging sensor (FR), the second group is front left-middle ultrasonic ranging sensor (FLM), and the third group is front right-middle ultrasonic ranging sensor (FRM). Three groups of ultrasonic ranging sensors are driven at intervals of 10ms, distances between the three groups of ultrasonic ranging sensors and a user body are calculated, and warning areas to which obstacle distances detected by front left-angle ultrasonic ranging sensors (FL), front right-angle ultrasonic ranging sensors (FR), front left-middle ultrasonic ranging sensors (FLM) and front right-middle ultrasonic ranging sensors (FRM) are subordinate are respectively determined. Meanwhile, the vertical distance between the front obstacle and the front side of the vehicle body is calculated using a trigonometric algorithm according to the distance between each of the front obstacle and the front obstacle. And judging whether the vertical distance between the front obstacle and the vehicle body is in an alarm range. If the vertical distance between the front obstacle and the front side of the vehicle body is within the alarm range, the routine proceeds to step 1016, and if not, the routine returns to step 1013.
Step 1016: when the vertical distance is 20-50 cm, prompting red color as a collision warning area; the vertical distance is 50-80 cm, and the warning area is a main warning area, so that yellow is prompted; when the vertical distance is 80-120 cm, the warning area is a general warning area, and green is prompted. When the vertical distance is in the different warning areas, the buzzer can prompt the sound warning with different frequencies, and the minimum vertical distance between the vehicle and the front obstacle is prompted in the instrument.
Step 1017: the control system (ECU) reads gear information sent by the automatic Transmission Control Unit (TCU) through a local area network (CAN) communication mode, and when the gear is in reverse gear, the process proceeds to step 1018. Otherwise, go back to step 1013.
Step 1018: the front ultrasonic ranging sensor provided on the front side of the vehicle body and the rear ultrasonic ranging sensor provided on the rear side start to operate, and polling operations are performed in three groups so that signals of the ultrasonic ranging sensors do not interfere with each other when they operate. A front left-hand ultrasonic ranging sensor (FL), a front right-hand ultrasonic ranging sensor (FR) provided in front of the vehicle body, and a rear left-hand ultrasonic ranging sensor (RL), a rear right-hand ultrasonic ranging sensor (RR) provided in rear of the vehicle body emit driving signals at 0ms, a front left-hand ultrasonic ranging sensor (FLM) provided in front of the vehicle body and a rear left-hand ultrasonic ranging sensor (RLM) provided in rear of the vehicle body emit driving signals at 10ms, and finally a front right-hand ultrasonic ranging sensor (FRM) provided in front of the vehicle body and a rear right-hand ultrasonic ranging sensor (RRM) provided in rear of the vehicle body emit driving signals at 20 ms.
And respectively judging a warning area to which the fourth distance detected by the four front ultrasonic ranging sensors arranged on the front side of the vehicle body and the fifth distance detected by the four rear ultrasonic ranging sensors arranged on the rear side of the vehicle body are subordinate. Meanwhile, calculating a first vertical distance between an obstacle in front of the vehicle body and the front side of the vehicle body by using a triangular algorithm according to the fourth distance; and calculating a second vertical distance between the obstacle behind the vehicle body and the rear side of the vehicle body by using a trigonometric algorithm according to the fifth distance. Judging whether the first vertical distance and the second vertical distance are in the alarm range, if so, entering step 1019, if not, returning to step 1013.
Step 1019: when the vertical distance is 20-50cm, the collision warning area is about to be collided, and the instrument prompts red; the vertical distance is 50-80cm, and the yellow color is prompted by the instrument as an important warning area; when the vertical distance is 80-120cm, the warning area is a general warning area, and the warning area is green through the instrument. When the vertical distance is in the different warning areas, the audible warning with different frequencies can be prompted by the buzzer, and the minimum vertical distance between the vehicle body and the front obstacle and the rear obstacle can be prompted in the instrument.
The ultrasonic foot-kicking sensor can be suitable for severe weather environment outside the vehicle, and besides the fact that a vehicle key can be detected in a designated area, the condition that an object is close to the rear of the vehicle is required to be met, and the automatic opening function of the back door can be executed only by foot-kicking action. When the change of the kicking action distance exceeds the threshold value, the kicking action is considered to be real, small animals and the like run from the lower part of the tail, and the risk of false opening is avoided. Meanwhile, the device has a reversing radar function, three groups of polling driving are carried out on the front side ultrasonic ranging sensor and the rear side ultrasonic kicking sensor, mutual interference is avoided, waiting time can be reduced, and distance information of third obstacle detection can be provided more efficiently.
The embodiment of the application also provides a back door control system, which comprises: the control system, the rear ultrasonic ranging sensor and the ultrasonic kick sensor described above, the rear ultrasonic ranging sensor and the ultrasonic kick sensor being provided at the rear of the vehicle body, the rear ultrasonic ranging sensor being configured to sense a distance from the vehicle body to a first obstacle behind the vehicle body;
the ultrasonic kick sensor is configured to sense a distance of a second obstacle from a vehicle body.
The back door control system provided by the application not only can detect the car key in the appointed area, but also can meet the condition that an object is close to the rear of the car, and the automatic back door opening function can be executed only by the action of kicking the foot. When the change of the kicking action distance exceeds the threshold value, the kicking action is considered to be real, small animals and the like run from the lower part of the tail, and the risk of false opening is avoided.
The technical scheme that this application put forward still possesses back door self-closing function, can realize taking out big article and be inconvenient for closing under the back case condition at the back incasement when the user, uses the foot to play the action, accomplishes the self-closing of back door.
The ultrasonic foot-kicking sensor can be suitable for severe weather environment outside a vehicle, and can achieve a 0 blind area and a wide detection area through adjustment of an installation angle.
In addition, the three-way vehicle-mounted radar device has a reversing radar function, three groups of polling driving are carried out on the front side ultrasonic ranging sensor and the rear side ultrasonic kicking sensor, mutual interference is avoided, waiting time can be reduced, and distance information of third obstacle detection can be provided more efficiently.
In another aspect, embodiments of the present application also provide a vehicle including the tailgate control system described above.
The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the disclosure. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
Claims (10)
1. The control system is characterized by comprising a main control chip and a communication module, wherein the control system is connected with a back door controller through the communication module, the control system is connected with a rear ultrasonic ranging sensor and an ultrasonic kicking sensor through signals, and the rear ultrasonic ranging sensor and the ultrasonic kicking sensor are arranged at the rear part of a vehicle body;
the main control chip is configured to receive a first distance of a first obstacle behind a vehicle body sensed by the rear ultrasonic ranging sensor and a second distance of a second obstacle behind the vehicle body sensed by the ultrasonic kicking sensor when the back door is in a closed state, and send a door opening control instruction to the communication module when the change amount of the first distance indicates that the first obstacle is close to the vehicle body and the change amount of the second distance meets a back door opening condition;
The communication module is configured to receive the door opening control instruction and send the door opening control instruction to the back door controller so that the back door controller controls the back door to execute an opening action;
the control system further comprises a driving module, wherein the rear ultrasonic ranging sensor comprises a first rear ultrasonic ranging sensor, a second rear ultrasonic ranging sensor, a third rear ultrasonic ranging sensor and a fourth rear ultrasonic ranging sensor, the first rear ultrasonic ranging sensor and the second rear ultrasonic ranging sensor are arranged in two side areas of the rear part of the vehicle body, and the third rear ultrasonic ranging sensor and the fourth rear ultrasonic ranging sensor are arranged in a middle position area of the rear part of the vehicle body;
the main control chip is further configured to send a first driving control signal, a second driving control signal and a third driving control signal to the driving module in a polling manner according to a first preset interval when the back door is in a closed state;
the driving module is configured to receive the first driving control signal from the main control chip, and send the first driving control signal to the first rear ultrasonic ranging sensor and the second rear ultrasonic ranging sensor, so that the first rear ultrasonic ranging sensor responds to the first driving control signal to perform distance detection to obtain a plurality of first sub-distances corresponding to the first obstacle, and the second rear ultrasonic ranging sensor responds to the first driving control signal to perform distance detection to obtain a plurality of second sub-distances corresponding to the first obstacle;
Or, receiving the second driving control signal from the main control chip, and sending the second driving control signal to the third rear ultrasonic ranging sensor, so that the third rear ultrasonic ranging sensor responds to the second driving control signal to execute distance detection to obtain a plurality of third sub-distances corresponding to the first obstacle;
or, receiving the third driving control signal from the main control chip, and sending the third driving control signal to the fourth rear ultrasonic ranging sensor, so that the fourth rear ultrasonic ranging sensor responds to the third driving control signal to execute distance detection, and a plurality of fourth sub-distances from the first obstacle are obtained.
2. The control system of claim 1, wherein the main control chip, the communication module, and the drive module are integrated on a same circuit board.
3. The control system of claim 1, wherein the master control chip is further configured to: selecting a distance minimum value from the plurality of first sub-distances, the plurality of second sub-distances, the plurality of third sub-distances and the plurality of fourth sub-distances respectively;
Arranging the minimum distance values according to a time sequence to obtain a sequencing result;
determining that the distance minimum value corresponding to two adjacent times in the sequencing result meets the distance minimum value corresponding to the next time and is smaller than the distance minimum value corresponding to the previous time;
counting the continuous occurrence times of the minimum distance value which is smaller than the minimum distance value which is corresponding to the previous time and meets the requirement of the next time;
when the number of continuous occurrence times reaches a preset group number, determining that the first obstacle is close to the vehicle body, and sending a kick driving control signal to the driving module in a polling manner according to a second preset interval;
the drive module is configured to receive the kick drive control signal and transmit the kick drive control signal to the ultrasonic kick sensor.
4. The control system according to claim 3, wherein the ultrasonic kick sensor includes a first ultrasonic kick sensor and a second ultrasonic kick sensor, the first ultrasonic kick sensor and the second ultrasonic kick sensor being disposed in both side areas below a vehicle body back door, respectively, and a first detection surface of the first ultrasonic kick sensor and a second detection surface of the second ultrasonic kick sensor being disposed opposite to each other;
The main control chip is configured to send a first kick driving control signal and a second kick driving control signal to the driving module in a polling manner according to a second preset interval when the first obstacle is determined to be close to the vehicle body;
the driving module is configured to receive the first kick driving control signal from the main control chip and send the first kick driving control signal to the first ultrasonic kick sensor, so that the first ultrasonic kick sensor responds to the first kick driving control signal to execute distance detection within a first preset time to obtain a plurality of first kick distances corresponding to the second obstacle; or, receiving the second kick driving control signal from the main control chip, and sending the second kick driving control signal to the second ultrasonic kick sensor, so that the second ultrasonic kick sensor is configured to respond to the second kick driving control signal to execute distance detection within a first preset time, and obtain a plurality of second kick distances corresponding to the second obstacle.
5. The control system of claim 4, wherein the master control chip is further configured to:
Respectively counting a first variation of the adjacent two first kick distances and a second variation of the adjacent two second kick distances in the first preset time;
if the first variable quantity meets a first preset value or the second variable quantity meets the first preset value, determining that the variable quantity of the second distance meets a back door opening condition, and sending a door opening control instruction to the communication module;
if the first variation does not meet a first preset value or the second variation does not meet the first preset value in the first preset time, respectively counting a third variation of two adjacent first kick distances and a fourth variation of two adjacent second kick distances in the second preset time, and if the third variation meets the first preset value or the fourth variation meets the first preset value, determining that the variation of the second distance meets a back door opening condition and sending a door opening control instruction to the communication module; otherwise, control enters sleep mode.
6. The control system of claim 1, wherein the master control chip is further configured to receive a third distance of a first obstacle behind a vehicle body sensed by an ultrasonic ranging sensor and a second distance of a second obstacle behind the vehicle body sensed by an ultrasonic kicking sensor, and to send a door closing control instruction to the communication module when the third distance satisfies a safety condition and a variation of the second distance satisfies a back door closing condition;
The communication module is further configured to receive the door closing control instruction and send the door closing control instruction to the back door controller, so that the back door controller controls the back door to execute a closing action.
7. The control system according to claim 1, wherein the control system is connected to an automatic transmission control unit through the communication module, the control system is in signal connection with a front ultrasonic ranging sensor signal provided at a front portion of a vehicle body;
the control system also comprises a driving module;
the main control chip is further configured to receive gear information sent by the automatic gearbox control unit when the control system is switched from a sleep mode to a working mode, and when the gear information is a forward gear, receive a fourth distance of an obstacle in front of a vehicle body sensed by a front ultrasonic ranging sensor, and send an alarm driving control signal to the driving module when the fourth distance meets an alarm condition;
the driving module is configured to receive the alarm driving control signal and send the alarm driving control signal to an alarm prompting device.
8. The control system of claim 7, wherein the front ultrasonic ranging sensor signals include a first front ultrasonic ranging sensor, a second front ultrasonic ranging sensor, a third front ultrasonic ranging sensor, and a fourth front ultrasonic ranging sensor, the first front ultrasonic ranging sensor and the second front ultrasonic ranging sensor being disposed in both side regions of a front portion of the vehicle body, the third front ultrasonic ranging sensor and the fourth front ultrasonic ranging sensor being disposed in an intermediate position region of the front portion of the vehicle body;
the rear ultrasonic ranging sensor comprises a first rear ultrasonic ranging sensor, a second rear ultrasonic ranging sensor, a third rear ultrasonic ranging sensor and a fourth rear ultrasonic ranging sensor, wherein the first rear ultrasonic ranging sensor and the second rear ultrasonic ranging sensor are arranged in two side areas of the rear part of the vehicle body, and the third rear ultrasonic ranging sensor and the fourth rear ultrasonic ranging sensor are arranged in a middle position area of the rear part of the vehicle body;
the main control chip is further configured to receive gear information sent by the automatic gearbox control unit when the control system is switched from a sleep mode to a working mode, send a first group of driving control signals, a second group of driving control signals and a third group of driving control signals to the driving module in a polling mode when the gear information is a reverse gear, receive a fourth distance of an obstacle in front of a vehicle body sensed by a front ultrasonic ranging sensor, receive a fifth distance of an obstacle behind the vehicle body sensed by a rear ultrasonic ranging sensor, and send an alarm driving control signal to the driving module when the fourth distance and the fifth distance respectively meet alarm conditions;
The driving module is configured to receive the first set of driving control signals and send the first set of driving control signals to the first front ultrasonic ranging sensor, the second front ultrasonic ranging sensor, the first rear ultrasonic ranging sensor, the second rear ultrasonic ranging sensor;
or, receiving the second set of driving control signals and transmitting the second set of driving control signals to the third front ultrasonic ranging sensor and the third rear ultrasonic ranging sensor;
or, receiving the third set of driving control signals and transmitting the third set of driving control signals to the fourth front ultrasonic ranging sensor and the fourth rear ultrasonic ranging sensor.
9. The control system of claim 8, wherein the control system is configured to control the control system,
the main control chip is further configured to calculate a first vertical distance between an obstacle in front of a vehicle body and the vehicle body based on the fourth distance, or calculate a second vertical distance between the obstacle in front of the vehicle body and the vehicle body based on the fifth distance;
and determining an alarm region level according to the first vertical distance or the second vertical distance, and generating an alarm driving control signal corresponding to the alarm region level.
10. A vehicle, characterized in that it comprises a control system according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011048899.6A CN114312662B (en) | 2020-09-29 | 2020-09-29 | Control system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011048899.6A CN114312662B (en) | 2020-09-29 | 2020-09-29 | Control system and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114312662A CN114312662A (en) | 2022-04-12 |
| CN114312662B true CN114312662B (en) | 2023-06-13 |
Family
ID=81011124
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011048899.6A Active CN114312662B (en) | 2020-09-29 | 2020-09-29 | Control system and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114312662B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115366842B (en) * | 2022-08-15 | 2024-06-14 | 一汽奔腾轿车有限公司 | Automobile kick luggage case control system and method |
| CN115306254A (en) * | 2022-08-19 | 2022-11-08 | 上海纳恩汽车技术股份有限公司 | Method and system for controlling a tailgate of a vehicle |
| CN115419345B (en) * | 2022-10-08 | 2024-06-07 | 奇瑞汽车股份有限公司 | Tail gate control method and vehicle |
| CN117572428A (en) * | 2023-11-16 | 2024-02-20 | 中国海洋石油集团有限公司 | Ranging method, ranging device, computing equipment and computer storage medium |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7688179B2 (en) * | 2005-12-12 | 2010-03-30 | Denso International America, Inc. | Hands-free vehicle door opener |
| DE102008063366B4 (en) * | 2008-12-30 | 2022-04-28 | Huf Hülsbeck & Fürst Gmbh & Co. Kg | Device for contactless actuation of a tailgate of a motor vehicle and method for actuating a tailgate of a motor vehicle and motor vehicle |
| FR2995432B1 (en) * | 2012-09-10 | 2015-08-21 | Continental Automotive France | METHOD FOR OPENING / CLOSING OPENING IN SECURE HANDS-FREE ACCESS BY DETECTING MOTION OF LOWER USER MEMBER |
| WO2014199235A2 (en) * | 2013-05-15 | 2014-12-18 | Magna Closures Inc. | Method and system for operating a closure panel of a vehicle |
| US9475369B2 (en) * | 2013-07-17 | 2016-10-25 | Aisin Seiki Kabushiki Kaisha | Vehicle door opening and closing apparatus and method of controlling the same |
| CN104612530A (en) * | 2014-12-09 | 2015-05-13 | 中山市佐敦音响防盗设备有限公司 | Automobile trunk induction self-opening system |
| JP6537488B2 (en) * | 2016-12-14 | 2019-07-03 | オムロンオートモーティブエレクトロニクス株式会社 | Vehicle door opening and closing control device |
-
2020
- 2020-09-29 CN CN202011048899.6A patent/CN114312662B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114312662A (en) | 2022-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114312662B (en) | Control system and vehicle | |
| US9714032B2 (en) | Driving assistance apparatus | |
| US9688274B2 (en) | Driving assistance apparatus | |
| CN108068800B (en) | Automatic parking control system, probe module, vehicle and automatic parking control method | |
| US7176789B2 (en) | Method for measuring distance and measuring device for it | |
| US20190122056A1 (en) | Ultrasonic object detection system for motor vehicles and method of operation thereof | |
| US6150932A (en) | Vehicle operator alert process | |
| EP1640745B1 (en) | Obstacle detection method and system, particularly for systems for assisting the parking of vehicles | |
| Jeong et al. | Low cost design of parallel parking assist system based on an ultrasonic sensor | |
| CN105492277B (en) | Driving ancillary equipment | |
| US6100796A (en) | Obstacle recognition system in a motor vehicle | |
| CN207345798U (en) | Automated parking system | |
| US7358850B2 (en) | Obstacle detection method and system, particularly for systems for assisting the parking of vehicles | |
| CN104278907A (en) | Object detection device for a vehicle | |
| CN104536006B (en) | System and its control method that radar for backing car and trunk open function are combined | |
| CN113561911B (en) | Vehicle control method, vehicle control device, millimeter wave radar, and storage medium | |
| CN108674362A (en) | Anti- rearward collision early warning locking device when a kind of automobile door opening | |
| US7119666B2 (en) | Method for controlling and evaluating a sensor device shared by a plurality of applications | |
| CN108082183A (en) | Automatic parking control system and control method, probe module and vehicle | |
| CN111896963A (en) | Sensor detection method for opening of automobile tail gate | |
| CN101900815B (en) | Work method of anti-jamming reversing radar | |
| CN204405838U (en) | The system that radar for backing car and trunk open function combine | |
| JP3527433B2 (en) | Distance detection device | |
| CN113552575B (en) | Parking obstacle detection method and device | |
| KR20180045425A (en) | Vehicle driving assistance system and vehicle driving assistance method |
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 |