CN114856353B - Vehicle door control system and vehicle door control method - Google Patents

Vehicle door control system and vehicle door control method Download PDF

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Publication number
CN114856353B
CN114856353B CN202210443871.5A CN202210443871A CN114856353B CN 114856353 B CN114856353 B CN 114856353B CN 202210443871 A CN202210443871 A CN 202210443871A CN 114856353 B CN114856353 B CN 114856353B
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China
Prior art keywords
door
resistance
information
opening
vehicle
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CN202210443871.5A
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CN114856353A (en
Inventor
朱浩天
肖晖
黄雨晴
程洋
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Chery Automobile Co Ltd
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Chery Automobile Co Ltd
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Priority to CN202210443871.5A priority Critical patent/CN114856353B/en
Publication of CN114856353A publication Critical patent/CN114856353A/en
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    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05C—BOLTS OR FASTENING DEVICES FOR WINGS, SPECIALLY FOR DOORS OR WINDOWS
    • E05C17/00—Devices for holding wings open; Devices for limiting opening of wings or for holding wings open by a movable member extending between frame and wing; Braking devices, stops or buffers, combined therewith
    • E05C17/003—Power-actuated devices for limiting the opening of vehicle doors
    • E05C17/006—Power-actuated devices for limiting the opening of vehicle doors with means for detecting obstacles outside the doors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/531—Doors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

The application discloses a vehicle door control system and a vehicle door control method, and belongs to the technical field of vehicle door auxiliary functions. The system comprises: the device comprises a processor, a door opening sensor, an object detection device and a door resistance actuator; the door opening sensor is used for acquiring opening information of the door; the object detection device is used for acquiring the movement information of the external object; the processor is respectively connected with the door opening sensor, the door resistance actuator and the object detection device and is used for generating resistance information based on the opening information of the door and the movement information of an external object, wherein the resistance information comprises resistance required to be applied by the door resistance actuator; the door resistance actuator is connected with the hinge between the vehicle body and the door and is used for acquiring resistance information and applying corresponding resistance to the rotation of the hinge based on the resistance information. The system can increase the resistance of opening the door of a driver and can effectively avoid accidental collision possibly occurring when the door of the vehicle is opened, and the personal safety of the driver and the passenger is ensured.

Description

Vehicle door control system and vehicle door control method
Technical Field
The application relates to the technical field of auxiliary functions of vehicle doors, in particular to a vehicle door control system and a vehicle door control method.
Background
During the driver's disembarkation, there is a risk of collision between the vehicle and pedestrians, vehicles or non-motor vehicles behind it. In the prior art, in order to avoid collision, drivers and passengers need to carefully observe the condition of the coming vehicle at the rear, and open the vehicle door for getting off when no collision risk exists.
However, there is a risk in a manner of manually observing the condition of the vehicle coming from the rear, and the occurrence of collision cannot be completely avoided. If a driver forgets to observe the road condition, the vehicle door is opened directly or the vehicle coming from other directions is not noticed, the vehicle is easy to collide, and the risk is high.
Disclosure of Invention
In view of the above, the application provides a vehicle door control system and a vehicle door control method, which can effectively avoid accidental collision possibly occurring when a vehicle door is opened and ensure personal safety of drivers and passengers.
Specifically, the method comprises the following technical scheme:
in one aspect, an embodiment of the present application provides a vehicle door control system, including: the device comprises a processor, a door opening sensor, an object detection device and a door resistance actuator;
the door opening sensor is used for acquiring opening information of the door;
the object detection device is used for acquiring the movement information of an external object;
the processor is respectively connected with the door opening sensor, the door resistance actuator and the object detection device and is used for generating resistance information based on the opening information of the door and the movement information of the external object, wherein the resistance information comprises resistance which needs to be applied by the door resistance actuator;
the vehicle door resistance actuator is connected with the hinge between the vehicle body and the vehicle door and is used for acquiring resistance information and applying corresponding resistance to rotation of the hinge based on the resistance information.
In some embodiments, the processor is further configured to determine a collision time of the door with the target object and an opening of the door at the time of collision based on the opening information of the door and the movement information of the external object; and
and generating resistance information based on the collision time of the vehicle door and the target object and the opening degree of the vehicle door when collision occurs.
In some embodiments, the processor is further configured to update the resistance information in response to an end of the collision time;
and sending updated resistance information to the vehicle door resistance actuator, wherein the updated resistance information only comprises a default resistance value.
In some embodiments, the processor is further configured to determine that the door is unable to collide with the target object based on the opening information of the door and the movement information of the external object;
and obtaining the resistance information based on the fact that the vehicle door cannot collide with the target object, wherein the resistance information only comprises a default resistance value.
On the other hand, the embodiment of the application also provides a vehicle door control method, which is applied to a processor of a vehicle and comprises the following steps:
acquiring opening information of a vehicle door and movement information of an external object, wherein the opening information of the vehicle door is acquired through a vehicle door opening sensor, and the movement information of the external object is acquired by an object detection device;
generating resistance information based on the opening information of the vehicle door and the movement information of the external object, wherein the resistance information comprises resistance required to be applied by a vehicle door resistance actuator;
and sending the resistance information to the vehicle door resistance actuator.
In some embodiments, the generating the resistance information based on the opening information of the door and the movement information of the external object includes:
determining the collision time of the vehicle door and the target object and the opening of the vehicle door when collision occurs based on the opening information of the vehicle door and the movement information of the external object;
and generating resistance information based on the collision time of the vehicle door and the target object and the opening degree of the vehicle door when collision occurs.
In some embodiments, the opening information of the door includes a current opening and a speed of opening the door;
the movement information of the external object comprises the distance between the external object and the vehicle, the movement speed and the angle between the connecting line between the external object and the vehicle along the movement direction of the vehicle.
In some embodiments, when the collision time is from 0 to T, the calculation formula of the resistance that the door resistance actuator needs to apply is:
wherein P is s The resistance to be applied for the door resistance actuatorForce; d (D) 0 A door opening value at time 0; d (D) s The current opening degree is the current opening degree; d (D) T The door opening value is the collision moment; p (P) 0 Is the default resistance value.
In some embodiments, the method further comprises:
updating the resistance information in response to the end of the collision time;
and sending updated resistance information to the vehicle door resistance actuator, wherein the updated resistance information only comprises a default resistance value.
In some embodiments, the method further comprises:
determining that the vehicle door and the target object cannot collide based on the opening information of the vehicle door and the movement information of the external object;
and obtaining the resistance information based on the fact that the vehicle door cannot collide with the target object, wherein the resistance information only comprises a default resistance value.
According to the vehicle door control system provided by the embodiment of the application, the opening degree sensor of the vehicle door and the movement information of the external object are respectively acquired through the vehicle door opening degree sensor positioned on the hinge between the vehicle body and the vehicle door and the object detection device positioned outside the vehicle body and are sent to the processor, the processor can determine the collision time of the vehicle door and the target object and the opening degree of the vehicle door when collision occurs based on the opening degree information of the vehicle door and the movement information of the external object, further determine the resistance information, and then send the resistance information to the vehicle door resistance actuator positioned on the hinge, so that the vehicle door resistance actuator applies corresponding resistance to the rotation of the hinge, and the resistance of opening the door of a driver and passengers is increased.
Therefore, on one hand, the resistance applied by the door resistance actuator is adjusted, so that the risk degree of collision between the door of a driver and an external object can be reminded, and the driver can know the environment outside the vehicle, so that the door is actively abandoned or opened in a suspending way; on the other hand, the opening speed of the vehicle door can be reduced, so that accidental collision possibly occurring when the vehicle door is opened quickly can be effectively avoided, and the personal safety of drivers and passengers is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a door control system according to an exemplary embodiment of the present application;
FIG. 2 is a method flow chart of a door control method according to an exemplary embodiment of the present application;
fig. 3 is a flowchart illustrating a method for generating resistance information based on opening information of a door and movement information of an external object in a door control method according to an exemplary embodiment of the present application.
Reference numerals in the drawings are respectively expressed as:
1-a processor;
2-a door opening sensor;
3-a door resistance actuator;
4-object detection means.
Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
The drawings in the embodiments of the present application are used for clearly and completely describing the technical solutions in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms of orientation, such as "upper", "lower", "side", etc., used in the embodiments of the present application are generally based on the relative relationships of the orientations shown in fig. 1, and are used merely to more clearly describe structures and relationships between structures, and are not intended to describe absolute orientations. The orientation may change when the product is placed in different orientations, e.g. "up", "down" may be interchanged.
During the driver's disembarkation, there is a risk of collision between the vehicle and pedestrians, vehicles or non-motor vehicles behind it.
At present, the phenomenon that the coming vehicles or the coming persons collide with the vehicle doors frequently occurs, so that not only is the economic loss caused by vehicle owners, but also casualties are possibly caused, and adverse effects are generated on the social travel environment. However, the current process of opening the vehicle door mainly depends on autonomous observation of a person, and the occurrence of such an event cannot be effectively avoided.
There is a door early warning system for a passenger car in the related art. However, the passenger car door early warning system cannot control the door opening action of passengers, and when the car has collision risk, the car door early warning system can prompt a driver and passengers to open the car door at the moment through warning sounds or early warning indicator lamps to have certain safety risks. However, in the early warning system, a user cannot intuitively understand the intention of the system, the experience is poor, and the possibility that even if the early warning system of the vehicle door alarms in time, a passenger still opens the vehicle door forcefully to cause an accident exists.
In order to solve the problems in the related art, the embodiment of the application provides a vehicle door control system, which can effectively avoid accidental collision possibly occurring when a vehicle door is opened and ensure personal safety of drivers and passengers.
Fig. 1 is a schematic structural view of a door control system according to an exemplary embodiment of the present application.
Referring to fig. 1, a door control system provided by an embodiment of the present application includes: a processor 1, a door opening sensor 2, an object detection device 4, and a door resistance actuator 3;
the door opening sensor 2 is used for acquiring opening information of the door.
And the object detection device 4 is used for acquiring the movement information of the external object.
The processor 1 is connected to a door opening sensor 2, a door resistance actuator 3 and an object detecting device 4, respectively, for generating resistance information based on door opening information and movement information of an external object, the resistance information including resistance that the door resistance actuator 3 needs to apply.
The door resistance actuator 3 is connected with the hinge between the vehicle body and the door, and is used for acquiring resistance information and applying corresponding resistance to the rotation of the hinge based on the resistance information.
According to the vehicle door control system provided by the embodiment of the application, the opening degree sensor of the vehicle door and the movement information of the external object are respectively acquired through the vehicle door opening degree sensor positioned on the hinge between the vehicle body and the vehicle door and the object detection device positioned outside the vehicle body and are sent to the processor, the processor can determine the collision time of the vehicle door and the target object and the opening degree of the vehicle door when collision occurs based on the opening degree information of the vehicle door and the movement information of the external object, further determine the resistance information, and then send the resistance information to the vehicle door resistance actuator positioned on the hinge, so that the vehicle door resistance actuator applies corresponding resistance to the rotation of the hinge, and the resistance of opening the door of a driver and passengers is increased.
Therefore, on one hand, the resistance applied by the door resistance actuator is adjusted, so that the risk degree of collision between the door of a driver and an external object can be reminded, and the driver can know the environment outside the vehicle, so that the door is actively abandoned or opened in a suspending way; on the other hand, the opening speed of the vehicle door can be reduced, so that accidental collision possibly occurring when the vehicle door is opened quickly can be effectively avoided, and the personal safety of drivers and passengers is ensured.
It can be appreciated that the door control system provided by the embodiment of the application is used when the vehicle is in a stationary state and the door needs to be opened.
Therefore, the vehicle door control system provided by the embodiment of the application can increase the door opening resistance of drivers and passengers, effectively avoid accidental collision possibly occurring when the vehicle door is opened, and ensure the personal safety of the drivers and passengers.
The following further describes and describes the structure of the door control system provided in the embodiment of the present application:
the door opening sensor 2 is used to acquire opening information of the door.
In some embodiments, the door opening sensor 2 is located on a hinge between the door and the vehicle body.
The operation principle of the door opening sensor 2 is as follows: when the door is opened, namely, the door rotates in a direction away from the car body, the hinge rotates, the door opening sensor 2 rotates along with the hinge, and at the moment, the door opening sensor 2 can acquire the rotating speed and the rotating angle information of the hinge, so that the door opening information is acquired.
After the door opening information is acquired, the door opening sensor 2 may send the door opening information acquired in real time to the processor 1 in a signal, where the signal includes the real-time door opening information.
It is understood that the opening information of the door includes opening information and a door opening speed.
In some embodiments, the door opening sensor 2 is connected to the processor 1 via a CAN bus.
The door resistance actuator 3 is configured to acquire resistance information and apply a corresponding resistance to the rotation of the hinge based on the resistance information.
In some embodiments, the door resistance actuator 3 is located on a hinge between the door and the body.
The working principle of the door resistance actuator 3 is as follows: upon receiving the resistance information from the processor 1, the door resistance actuator 3 parses the resistance information and generates a corresponding magnitude of resistance and applies the resistance to the hinge so that a certain resistance is received when the driver opens the door.
In some embodiments, the door resistance actuator 3 is connected to the processor 1 via a CAN bus.
In some embodiments, the door resistance actuator 3 operates only in a scene in which the door opening gradually increases, and the door resistance value only maintains the default resistance value when the door opening gradually decreases.
The default resistance value is the lowest resistance value of the vehicle door when the driver opens or closes the vehicle door.
The object detecting device 4 is used for acquiring movement information of an external object.
In some embodiments, the object detection device 4 comprises at least two detectors. Wherein each detector is used for acquiring movement information of objects in the detected range.
After each detector has acquired movement information of objects within its detected range, each detector may send the acquired real-time movement information of objects within the detected range to the processor 1 in a signal containing the real-time movement information of objects.
After the processor 1 receives the movement information of the object measured by each detector, the processor 1 can integrate the movement information of the real-time object measured by at least two detectors to obtain real-time external panoramic image information, and calculate the distance between the external object and the vehicle, the movement speed and the angle between the connecting line between the external object and the vehicle along the movement direction of the vehicle according to the real-time external panoramic image information.
In some embodiments, the object detection device 4 is connected to the processor 1 via a CAN bus.
There are a number of possible implementations of the arrangement of the object detection device 4, and the following are given by way of example of several possible implementations:
in one possible implementation, the object detection device 4 comprises two detectors for acquiring environmental information on both sides and behind the vehicle.
Wherein, two detectors are located respectively in left rear and right rear of the automobile body.
In some embodiments, each detector may be radar. Wherein the information carrier of the radar is an electromagnetic wave.
It will be appreciated that the radar has a transmitter, wherein the transmitter includes a transmit antenna and a receive antenna. When the radar is started to detect, the transmitting antenna emits electromagnetic wave energy to a certain direction in space, so that the electromagnetic wave contacts with an object in the direction, and then the object reflects the electromagnetic wave; meanwhile, the receiving antenna receives the electromagnetic wave reflected by the object, sends the electromagnetic wave to the inside of the transmitter for processing, and obtains the information of the object contacted by the electromagnetic wave according to the time of the transmitting antenna transmitting the electromagnetic wave and the time of the receiving antenna receiving the electromagnetic wave, wherein the information comprises the distance, the change rate of the distance or the radial speed, the azimuth, the height and the like of the target object to the radar.
In some embodiments, the types of radar include adaptive cruise control radar, anti-collision radar, and millimeter wave radar.
Alternatively, the radar may be a vehicle millimeter wave radar. Since the vehicle-mounted millimeter wave radar can detect an object in the frequency domain of 30-300 GHz (the wavelength is 1-10 mm), when the radar is the vehicle-mounted millimeter wave radar, the detection accuracy is high, the range is wide, and the collision risk can be reduced to the greatest extent.
In one possible implementation, the object detection device 4 comprises two detectors for acquiring environmental information on both sides and behind the vehicle. The two detectors are respectively positioned between the two vehicle doors at the left side of the vehicle body and between the two vehicle doors at the right side of the vehicle body.
In some embodiments, the detector may be a radar.
In one possible implementation, the object detection device 4 comprises three detectors to obtain environmental information on both sides and behind the vehicle.
The three detectors are respectively positioned right behind the vehicle body, between the two vehicle doors on the left side of the vehicle body and between the two vehicle doors on the right side of the vehicle body.
In some embodiments, the three detectors may each be radar.
In one possible implementation, the object detection device 4 comprises four detectors to obtain environmental information on both sides and behind the vehicle.
The four detectors are respectively positioned at the left rear, the right rear, the left front and the right front of the vehicle body.
In some embodiments, the four detectors may each be radar.
It will be appreciated that the greater the number of detectors, the more accurate the environmental information acquired.
For the processor 1, the processor 1 is configured to process information based on the opening information of the door and movement information of an external object, and generate resistance information including resistance that the door resistance actuator 3 needs to apply.
In some embodiments, the processor 1 is further configured to determine a collision time of the door with the target object and an opening of the door at the time of collision based on the opening information of the door and the movement information of the external object; and generating resistance information based on a collision time of the door with the target object and an opening degree of the door at the time of collision.
The opening degree of the vehicle door represents the current opening angle of the vehicle door, namely the angle between the vehicle door and the vehicle body. In general, the opening of the door is between 0 and 90 degrees. When the door is closed, the opening degree of the door is 0 degrees.
Taking the left back door as an example, when the processor 1 calculates that the collision time of the target object and the left back door is 3s after the current moment according to the opening information of the door and the movement information of the external object, namely, if the target object runs according to the current speed and direction, the collision between the target object and the left back door is generated after 3 s.
So configured, the resistance value required to be applied for the door resistance actuator 3 can be determined by the processor 1. See the next method example for specific calculation of resistance values.
In some embodiments, the processor 1 is further configured to update the resistance information in response to the end of the collision time; and sending the updated resistance information to the vehicle door resistance actuator, wherein the updated resistance information only comprises a default resistance value.
Since the door resistance actuator intervenes in the opening of the door so that the door does not collide with the target object at the time of collision, there is no risk of collision between the vehicle and the target object, the resistance value required to be applied by the door resistance actuator 3 can be maintained to a default resistance value by the processor 1 so as to facilitate the opening of the door by the driver.
Taking the left back door as an example, when the processor 1 calculates that the collision time between the target object and the left back door is 3s after the current moment according to the opening information of the door and the movement information of the external object, the door resistance actuator 3 is used for applying resistance to the left back door within 3s after the current moment, and after 3s after the current moment, the door resistance actuator 3 restores the resistance information of the left back door to a default resistance value.
In some embodiments, the processor 1 is further configured to determine that the door cannot collide with the target object based on the opening information of the door and the movement information of the external object; and obtaining resistance information based on the fact that the vehicle door cannot collide with the target object, wherein the resistance information only comprises a default resistance value.
When the driver opens the door, the processor 1 determines that the current vehicle is not at risk of collision, and the resistance value required to be applied by the door resistance actuator 3 can be kept at the default resistance value without applying resistance by the door resistance actuator 3.
The embodiment of the application also provides a vehicle door control method, and a flow chart of the method is shown in fig. 2. It should be understood that the door control system of the previous embodiment may employ the door control method of this embodiment. The descriptions of the two embodiments may be contrasted, where features described in one embodiment are equally applicable to the other embodiment, unless contradicted.
Referring to fig. 2, the door control method is applied to a processor of a vehicle, and includes the steps of:
step 201, obtaining opening information of a vehicle door and movement information of an external object.
The opening information of the vehicle door is acquired through a vehicle door opening sensor, and the movement information of an external object is acquired through an object detection device.
By acquiring opening information of the vehicle door and movement information of an external object, data preparation can be provided for subsequent calculation of the vehicle door resistance.
In some embodiments, the door opening sensor and the object detection device each perform information acquisition every preset time period.
Alternatively, the preset time period may be 50 milliseconds.
In some embodiments, the opening information of the door includes a current opening and a speed of opening the door.
The current opening of the vehicle door is directly obtained through a vehicle door opening sensor.
The door opening speed can be calculated by dividing the difference between the current door opening and the door opening obtained in the previous time by the preset time period.
In some embodiments, the movement information of the foreign object includes a distance to the vehicle, a movement speed, and an angle between a line connecting the vehicle and the vehicle along a movement direction of the vehicle.
The distance between the external object and the vehicle and the angle between the connecting line between the external object and the vehicle along the moving direction of the vehicle can be directly obtained through the object detection device.
The moving speed of the external object and the vehicle can be obtained by dividing the difference between the distance between the current object and the vehicle and the distance between the object acquired in the previous time and the vehicle by the preset time period.
Step 202, generating resistance information based on opening information of the vehicle door and movement information of an external object.
Wherein the resistance information includes a resistance that the door resistance actuator is required to apply.
As shown in fig. 3, this step 202 is specifically implemented as follows:
step 2021, determining a collision time of the door with the target object and an opening of the door at the time of collision based on the opening information of the door and the movement information of the external object.
By determining the collision time of the collision of the door with the target object and the opening of the door at the time of the collision, data preparation can be provided for the subsequent generation of the resistance information.
The door opening sensor and the object detection device acquire information once every preset time period, so that the collision time T and the opening of the door in collision are updated once every preset time period, and the updated numerical value covers the original collision time T and the opening value of the door in original collision.
In some embodiments, it may be desirable to determine whether the target object collides with the vehicle door before calculating the time of collision.
The method specifically comprises the following steps:
the moving direction of the target object is acquired.
In response to the movement direction of the target object being the same as the movement direction of the vehicle, it is determined that the target object does not collide with the door.
In response to the movement direction of the target object being different from the movement direction of the vehicle, it is determined that the target object is likely to collide with the vehicle door.
The moving direction of the target object is obtained through connecting the current position of the target object with the position of the target object acquired in the previous time.
In some embodiments, the resistance information is derived based on the inability of the door to collide with the target object, wherein the resistance information includes only a default resistance value.
And in response to determining that the vehicle door cannot collide with the target object, the resistance information is set to a default resistance value to facilitate a driver to open the vehicle door to get off the vehicle, wherein the risk of collision with the target object is indicated to be absent.
In some embodiments, the collision time is calculated based on the door being able to collide with the target object.
It can be understood that the collision time is the collision time of the vehicle door and the target object on the premise that the movement direction and the movement speed of the target object are not changed.
In some embodiments, the collision time may be calculated based on the distance, angle, and speed of movement of the door from the target object.
Specifically, the collision time may be obtained by dividing the distance of the door from the target object by the movement speed of the target object.
In some embodiments, the opening of the door at the time of the collision may be calculated based on the time of the collision, the opening of the current door, and the speed of opening the door.
Specifically, the opening degree of the door at the time of collision may be obtained by adding the product of the collision time and the speed of opening the door to the opening degree of the current door.
Step 2022 generates resistance information based on the collision time of the door with the target object and the opening of the door at the time of collision.
Wherein the resistance information includes a resistance that the door resistance actuator is required to apply.
By generating the resistance information, control of the pushing resistance of the door can be achieved.
In some embodiments, when the collision time is from 0 to T, the calculation formula of the resistance that the door resistance actuator needs to apply is:
wherein P is s The resistance to be applied for the door resistance actuator; d (D) 0 A door opening value at time 0; d (D) s Is the current opening degree; d (D) T The door opening value is the collision moment; p (P) 0 Is the default resistance value.
In some embodiments, the resistance that the door resistance actuator needs to apply is calculated every preset time period during the time period of collision between 0 and T. That is, the vehicle door control method provided by the embodiment of the application can realize dynamic calculation of the vehicle door resistance, so that the risk degree of collision between the vehicle door of a driver and an external object can be reminded by adjusting the resistance applied by the vehicle door resistance actuator, and the driver and the passenger can know the environment outside the vehicle, so that accidental collision possibly occurring when the vehicle door is opened can be effectively avoided, and the safety of the driver and the passenger can be ensured.
In some embodiments, the resistance information is updated in response to the end of the collision time; and sending the updated resistance information to the vehicle door resistance actuator, wherein the updated resistance information only comprises a default resistance value.
And responding to the end of the collision time, indicating that the risk of collision with the target object does not exist, and recovering the resistance information to a default resistance value so as to facilitate the driver to open the vehicle door to get off.
Step 203, the resistance information is sent to a door resistance actuator.
The adjustment of the door resistance can be achieved by sending the resistance information to the door resistance actuator.
According to the vehicle door control system provided by the embodiment of the application, the opening degree sensor of the vehicle door and the movement information of the external object are respectively acquired through the vehicle door opening degree sensor positioned on the hinge between the vehicle body and the vehicle door and the object detection device positioned outside the vehicle body and are sent to the processor, the processor can determine the collision time of the vehicle door and the target object and the opening degree of the vehicle door when collision occurs based on the opening degree information of the vehicle door and the movement information of the external object, further determine the resistance information, and then send the resistance information to the vehicle door resistance actuator positioned on the hinge, so that the vehicle door resistance actuator applies corresponding resistance to the rotation of the hinge, and the resistance of opening the door of a driver and passengers is increased.
Therefore, on one hand, the resistance applied by the door resistance actuator is adjusted, so that the risk degree of collision between the door of a driver and an external object can be reminded, and the driver can know the environment outside the vehicle, so that the door is actively abandoned or opened in a suspending way; on the other hand, the opening speed of the vehicle door can be reduced, so that accidental collision possibly occurring when the vehicle door is opened quickly can be effectively avoided, and the personal safety of drivers and passengers is ensured.
In the present disclosure, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless explicitly defined otherwise.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. The specification and examples are to be regarded in an illustrative manner only.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (2)

1. A vehicle door control system, the system comprising: a processor (1), a door opening sensor (2), an object detection device (4) and a door resistance actuator (3);
the door opening sensor (2) is used for acquiring opening information of a door every preset time period and sending the opening information to the processor (1), wherein the opening information comprises a current opening and a door opening speed, the current opening is directly acquired through the door opening sensor (2), the door opening speed is obtained by dividing a difference value between the current opening and the opening acquired before by the preset time period, and the opening represents an included angle between the door and a vehicle body;
the object detection device (4) comprises at least two detectors, each detector is used for acquiring real-time movement information of an object in a detection range of the detector every other preset time period and sending the real-time movement information to the processor (1);
the processor (1) is respectively connected with the door opening sensor (2), the door resistance actuator (3) and the object detection device (4) and is used for receiving the opening information sent by the door opening sensor (2) every other preset time period; receiving and integrating the real-time movement information sent by each detector every preset time period to obtain real-time external panoramic image information; calculating to obtain movement information of an external object according to the real-time external panoramic image information, wherein the movement information of the external object comprises a distance between the external object and a vehicle, a movement speed of the external object, and an angle between a connecting line between the external object and the vehicle and a movement direction of the vehicle; acquiring a moving direction of a target object and a moving direction of the vehicle, wherein the moving direction of the target object is obtained through connecting a current position of the target object with a position of the target object acquired in the previous time; in response to the fact that the moving direction of the target object is the same as the moving direction of the vehicle, determining that the target object and the vehicle door cannot collide, and generating resistance information, wherein the resistance information only comprises a default resistance value, and the default resistance value is the lowest resistance value when the vehicle door is opened or closed; determining that the target object collides with the vehicle door in response to the fact that the moving direction of the target object is different from the moving direction of the vehicle, and determining the collision time of the vehicle door and the target object based on the moving information of the external object, wherein the collision time is obtained by dividing the distance between the vehicle door and the target object by the moving speed of the target object; determining the opening degree of the vehicle door when collision occurs based on the collision time and the opening degree information of the vehicle door, wherein the opening degree of the vehicle door when collision occurs is obtained by adding the product of the collision time and the opening speed to the current opening degree; and calculating the resistance information at intervals of the preset time period based on the collision time and the opening of the vehicle door when the collision occurs and sending the resistance information to the vehicle door resistance actuator (3), wherein the resistance information comprises resistance which the vehicle door resistance actuator (3) needs to apply, the resistance is the default resistance value when the opening of the vehicle door is gradually reduced, and a calculation formula of the resistance is as follows when the collision time is 0 to T:
wherein P is s For the resistance, D 0 A door opening value D of 0 time s D is the current opening degree T The door opening value at the time of collision, P 0 Is the default resistance value;
the vehicle door resistance actuator (3) is connected with a hinge between the vehicle body and the vehicle door and is used for acquiring the resistance information every other preset time period and applying corresponding resistance to the rotation of the hinge based on the resistance information;
the processor (1) is further configured to update the resistance information in response to the end of the collision time, and to send updated resistance information to the door resistance actuator (3), wherein the updated resistance information includes only the default resistance value.
2. A door control method applied to a processor of a vehicle, the method comprising:
acquiring opening information of a vehicle door and real-time movement information of an object in a detection range, wherein the opening information of the vehicle door is acquired by a vehicle door opening sensor at intervals of a preset time period and is sent to the processor (1), the real-time movement information of the object in the detection range is acquired by at least two detectors included in an object detection device at intervals of the preset time period and is sent to the processor by the detectors, the opening information comprises a current opening and a door opening speed, the current opening is directly acquired by the vehicle door opening sensor (2), and the door opening speed is obtained by dividing a difference value between the current opening and the opening acquired at the previous time by the preset time period, and the opening represents an included angle between the vehicle door and a vehicle body;
receiving the opening information sent by the door opening sensor every other preset time period;
receiving and integrating the real-time moving information sent by each detector to obtain real-time external panoramic image information;
calculating to obtain movement information of an external object according to the real-time external panoramic image information, wherein the movement information of the external object comprises a distance between the external object and a vehicle, a movement speed of the external object, and an angle between a connecting line between the external object and the vehicle and a movement direction of the vehicle;
acquiring a moving direction of a target object and a moving direction of the vehicle, wherein the moving direction of the target object is obtained through connecting a current position of the target object with a position of the target object acquired in the previous time;
determining that the target object and the vehicle door do not collide in response to the movement direction of the target object and the movement direction of the vehicle being the same;
generating resistance information in response to the target object and the vehicle door not being collided, wherein the resistance information only comprises a default resistance value, and the default resistance value is the lowest resistance value when the vehicle door is opened or closed;
determining that the target object and the vehicle door collide in response to the movement direction of the target object and the movement direction of the vehicle being different;
determining a collision time of the door with the target object based on movement information of the external object in response to collision of the target object with the door, wherein the collision time is obtained by dividing a distance between the door and the target object by a movement speed of the target object;
determining the opening degree of the vehicle door when collision occurs based on the collision time and the opening degree information of the vehicle door, wherein the opening degree of the vehicle door when collision occurs is obtained by adding the product of the collision time and the opening speed to the current opening degree;
generating resistance information based on the collision time and the opening of the vehicle door in the collision, and sending the resistance information to a vehicle door resistance actuator, wherein the resistance information comprises resistance to be applied by the vehicle door resistance actuator, the resistance is the default resistance value when the opening of the vehicle door is gradually reduced, and a calculation formula of the resistance is as follows when the collision time is 0 to T:
wherein P is s For the resistance, D 0 A door opening value D of 0 time s D is the current opening degree T The door opening value at the time of collision, P 0 Is the default resistance value;
and updating the resistance information and transmitting the updated resistance information to the door resistance actuator in response to the end of the collision time, wherein the updated resistance information only includes the default resistance value.
CN202210443871.5A 2022-04-25 2022-04-25 Vehicle door control system and vehicle door control method Active CN114856353B (en)

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