WO2023082663A1 - 一种汽车开门碰撞预警方法、装置及车辆 - Google Patents

一种汽车开门碰撞预警方法、装置及车辆 Download PDF

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Publication number
WO2023082663A1
WO2023082663A1 PCT/CN2022/103040 CN2022103040W WO2023082663A1 WO 2023082663 A1 WO2023082663 A1 WO 2023082663A1 CN 2022103040 W CN2022103040 W CN 2022103040W WO 2023082663 A1 WO2023082663 A1 WO 2023082663A1
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WIPO (PCT)
Prior art keywords
foreign object
vehicle
door
door opening
judging
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PCT/CN2022/103040
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English (en)
French (fr)
Inventor
张栋
丁逢
陈鹤文
姜长坤
毕圆浩
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中国第一汽车股份有限公司
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Publication of WO2023082663A1 publication Critical patent/WO2023082663A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems

Definitions

  • the present application relates to the technical field of automobiles, in particular to an automobile door opening collision warning method, an automobile door opening collision warning device and a vehicle.
  • the object of the present invention is to provide a car door opening collision warning method to at least solve the above-mentioned one technical problem.
  • One aspect of the present invention provides a car door opening collision warning method, the car door opening collision warning method includes:
  • the detection signal it is judged whether it is possible to collide with a foreign object when the door is opened at the current moment, and if so, then
  • said judging according to the detection signal whether opening the door at the current moment may collide with a foreign object includes:
  • the judging according to the detection signal whether opening the door at the current moment may collide with a foreign object further includes:
  • the judging whether the foreign object approaches the door according to the foreign object trajectory includes:
  • this time point is called the first time point, and this distance is called the first distance;
  • the second distance Obtain the distance from the position of the foreign object to the car door at any time point before the first time point, this example is called the second distance
  • the judging the time when the vehicle enters the door opening range according to the foreign object trajectory includes:
  • the time required to enter the door opening range at the current speed is judged according to the moving speed of the foreign object, the distance from the position of the foreign object to the door at the last time point, and the door opening range.
  • the judging the time when the vehicle enters the door opening range according to the foreign object trajectory includes:
  • the time required to enter the door opening range at the current speed is determined according to the moving speed of the foreign object, the distance from the position of the foreign object to the door at the last time point, the operating parameters of the vehicle, and the door opening range.
  • the generating early warning information includes:
  • the generating early warning information includes:
  • the present application also provides a car door opening collision warning device, said car door opening collision warning device comprising:
  • a detection signal acquisition module the detection signal acquisition module is used to obtain the detection signal transmitted by the ultrasonic radar detection system on the vehicle;
  • a foreign object judging module the foreign object judging module is used to judge whether there is a foreign object according to the detection signal
  • a collision calculation module the collision calculation module is used to determine whether the foreign object may be collided with the foreign object when the door is opened at the current moment according to the detection signal when the foreign object judgment module judges yes;
  • An early warning module configured to generate early warning information.
  • the present application also provides a vehicle, the vehicle comprising:
  • the ultrasonic radar detection system is arranged on the vehicle;
  • a car door opening collision warning device said car door opening collision warning device is the car door opening collision warning device as claimed in claim 8 .
  • the ultrasonic radar detection system includes:
  • the rear bumper radar set is arranged on the rear bumper of the vehicle;
  • the B-pillar radar set is arranged on the B-pillar of the vehicle;
  • an exterior rearview mirror radar set the exterior rearview mirror radar set is arranged on the exterior rearview mirror of the vehicle;
  • a front bumper radar set, the front bumper radar set is arranged on the front bumper of the vehicle.
  • the automobile door opening collision early warning method of the present application judges whether the door may collide with a foreign object at the current moment through the detection signal transmitted by the ultrasonic radar detection system on the vehicle, and generates early warning information when it is judged to be possible.
  • the lower ultrasonic radar detection system is applied to detect whether there is an incoming vehicle or other fixed obstacles near the side of the vehicle, avoiding accidents caused by opening the door, or the situation where the door hits obstacles on the ground, and improving the safety of the vehicle.
  • the sense of intelligence improves the safety of the occupants of the vehicle and other traffic participants near the vehicle.
  • FIG. 1 is a schematic flow chart of a method for early warning of a car door opening collision according to an embodiment of the present application.
  • Fig. 2 is a schematic diagram of system equipment for realizing the car door opening collision warning method shown in Fig. 1 .
  • Fig. 3 is a device schematic diagram of an automobile door opening collision warning device according to an embodiment of the present application.
  • FIG. 4 is a system diagram of a vehicle according to an embodiment of the present application.
  • Fig. 5 is a schematic diagram of the rear bumper radar group of a vehicle in operation according to an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a B-pillar radar group of a vehicle in operation according to an embodiment of the present application.
  • Rear bumper radar group 2. Vehicle; 3. B-pillar radar group; 4. Exterior mirror radar group; 5. Front bumper radar group; 11. Radar under the left rear bumper; 12. Right Radar under the side rear bumper, 31. Radar on the left B-pillar; 32. Radar on the right B-pillar; 41. Radar under the left exterior rearview mirror; 42. Radar under the right exterior rearview mirror; 51. Left front bumper radar; 52. Right front bumper radar; 101. Detection signal acquisition module; 102. Foreign object judgment module; 103. Collision calculation module; 104. Early warning module.
  • FIG. 1 is a schematic flow chart of a method for early warning of a car door opening collision according to an embodiment of the present application.
  • the automobile door opening collision warning method as shown in Figure 1 comprises:
  • Step 1011 Obtain the detection signal transmitted by the ultrasonic radar detection system on the vehicle;
  • Step 1012 Judging whether there is a foreign object according to the detection signal, if so, then
  • Step 1013 According to the detection signal, it is judged whether opening the door at the current moment may collide with a foreign object, and if so, then
  • Step 1014 Generate warning information.
  • the automobile door opening collision warning method of the present application obtains the trajectory of the foreign object through the detection signal transmitted by the ultrasonic radar detection system on the vehicle, and judges whether the foreign object is close to the door and whether it may collide with the door according to the trajectory of the foreign object, and judges that it is possible
  • the low-cost ultrasonic radar detection system can be applied to detect whether there is an incoming vehicle or other fixed obstacles near the side of the vehicle, avoiding accidents caused by opening the door, or opening the door
  • the occurrence of obstacles on the ground improves the intelligence of the vehicle and improves the safety of the occupants of the vehicle and other traffic participants near the vehicle.
  • the ultrasonic radar detection system on the vehicle includes a rear bumper radar group 1, a B-pillar radar group 3, an exterior rearview mirror radar group 4 and a front bumper radar group 5; wherein,
  • the rear bumper radar set 1 is arranged on the rear bumper of the vehicle 2;
  • the B-pillar radar group 3 is arranged on the B-pillar of the vehicle 2;
  • the exterior rearview mirror radar group 4 is arranged on the exterior rearview mirror of the vehicle 2;
  • the front bumper radar group 5 is arranged on the front bumper of the vehicle 2 .
  • the rear bumper radar group 1 includes a radar 11 under the right rear bumper and a radar 12 under the right rear bumper;
  • the B-pillar radar group 3 includes a radar 31 on the left B-pillar and a radar 32 on the right B-pillar;
  • the exterior rearview mirror radar group 4 includes a radar 41 below the left exterior rearview mirror and a radar below the right exterior rearview mirror;
  • the front bumper radar group 5 includes a left front bumper radar 51 and a right front bumper radar 52 .
  • the radar under the right rear bumper is used to detect whether there is a foreign object (such as a vehicle, an obstacle or a pedestrian, etc.) at the right rear, and transmits the detection signal of the ultrasonic radar.
  • a foreign object such as a vehicle, an obstacle or a pedestrian, etc.
  • the radar under the left rear bumper is used to detect whether there is a foreign object (such as a vehicle, an obstacle or a pedestrian, etc.) in the left rear, and transmits the detection signal of the ultrasonic radar.
  • a foreign object such as a vehicle, an obstacle or a pedestrian, etc.
  • the radar on the left B-pillar is used to detect whether there are foreign objects (such as vehicles, obstacles or pedestrians) near the left rear door, and transmit the detection signal of the ultrasonic radar.
  • the radar on the right B-pillar is used to detect whether there are foreign objects (such as vehicles, obstacles or pedestrians) near the right rear door, and transmit the detection signal of the ultrasonic radar.
  • the radar under the left exterior rearview mirror is used to detect whether there are foreign objects (such as vehicles, obstacles or pedestrians) near the left front door, and transmit the detection signal of the ultrasonic radar.
  • the radar under the right exterior rearview mirror is used to detect whether there are foreign objects (such as vehicles, obstacles or pedestrians) near the right front door, and transmit the detection signal of the ultrasonic radar.
  • the left front bumper radar is used to detect whether there is a foreign object (such as a vehicle, an obstacle or a pedestrian, etc.) in the left front, and transmits the detection signal of the ultrasonic radar.
  • a foreign object such as a vehicle, an obstacle or a pedestrian, etc.
  • the right front bumper radar is used to detect whether there is a foreign object (such as a vehicle, an obstacle or a pedestrian, etc.) in the left front, and transmits the detection signal of the ultrasonic radar.
  • a foreign object such as a vehicle, an obstacle or a pedestrian, etc.
  • each radar on the left side and each radar on the right side are arranged symmetrically (such as the left front bumper radar and the right front bumper radar), therefore, in the following narration , only one side is described as an example, and the principle of the other side is the same as that of the described side, and will not be repeated here.
  • judging whether the door may collide with a foreign object at the current moment includes:
  • the judging according to the detection signal whether opening the door at the current moment may collide with a foreign object further includes:
  • the straight-line distance detected by the ultrasonic radar is Y (the straight-line distance between the foreign object and the radar)
  • the angle between Y and the transverse direction of the vehicle can be obtained as ⁇ .
  • the detection method of the radar 42 below the right exterior rearview mirror and the radar 41 below the left exterior rearview mirror is similar to the detection method of the ultrasonic radar on the B-pillar, and will not be repeated here.
  • the maximum sweeping area that may occur when each door of the vehicle is opened can be obtained through the preset door opening trajectory. As long as the non-moving foreign object is within the area, it may collide with the foreign object.
  • the radar 11 under the left rear bumper, the radar 12 under the right rear bumper, the left front bumper radar 51 and the right front bumper radar of the present application can also be judged by the above judgment,
  • the determined vehicle door may be a virtual vehicle door, and the virtual vehicle door is located behind the rear bumper or in front of the front bumper.
  • the advantage of using the virtual car door to judge is to prevent foreign objects from getting too close to the vehicle, because there is time, although the foreign object does not move temporarily, it may also move in the future.
  • the foreign object is a standing person, although it may not move temporarily, but It may also move during the process of opening the vehicle door, and its moving direction is likely to move from the rear bumper of the vehicle to the front bumper of the vehicle. If the door is opened during this process, it may still collide. Through the addition of this virtual door , which can further prevent accidents from happening.
  • obtaining the movement track of the foreign object includes:
  • obtaining the foreign object positions at at least two time points includes:
  • any radar in the ultrasonic radar detection system acquires foreign object information at a point in time (for example, when The distance information obtained by a certain radar is 10 meters, and when the distance information obtained at a certain moment is 8 meters, it can be considered that the foreign object information has been obtained), starting from this time point, the foreign object at least two time points are obtained
  • the foreign object at least two time points can be continuous time points or time points separated by preset intervals, for example, the first time point is 9:01:01, and the second time point It could be 9:01:02 or 9:01:03. It can be understood that when multiple time points are obtained, the above method can be followed by analogy.
  • the position of the foreign object can be obtained by radar.
  • the position of the foreign object at the first time point can be relative to the distance from the radar, and the position of the foreign object at the second time point can also be relative to the distance from the radar. .
  • judging whether a foreign object is close to the door according to the trajectory of the foreign object includes:
  • this time point is called the first time point, and this distance is called the first distance;
  • the second distance Obtain the distance from the position of the foreign object to the car door at any time point before the first time point, this example is called the second distance
  • the motion trajectory classifier input the features of each foreign object position into the motion trajectory classifier to obtain the motion trajectory label, the motion trajectory label includes close labels and non-close labels, and when the output is close to the label, foreign objects can be judged Approach the door.
  • judging the time when the vehicle enters the door opening range according to the trajectory of the foreign object includes:
  • the running state of the vehicle is the parking state
  • the distance from the position of the foreign object to the door at the last time point, and the opening range of the door include:
  • the radars are radar 11 under the left rear bumper, radar 12 under the right rear bumper, left front bumper radar 51, right front bumper radar 52, and left B-pillar radar 31 , the radar 32 on the right B-pillar, the radar 42 below the right exterior rearview mirror, and the radar 41 below the left exterior rearview mirror detects a foreign object, use the following formula to judge that the vehicle has entered the door opening range at the current speed time required when:
  • t is the time required when entering the opening range of the car door at the current speed
  • Y2 is the distance from the position of the foreign object to the car door at the last time point
  • sqrt is the square root calculation
  • V is the moving speed of the foreign object (in this implementation In the example, the movement speed refers to the relative speed relative to the car)
  • Y1 is the distance from the position of the foreign object to the door at a time point before the last time point; are angles.
  • the preset time threshold can be set by itself according to needs, and different time thresholds can also be set according to the different positions of the radar, for example, the radar 11 under the left rear bumper and the radar 11 under the right rear bumper.
  • Radar 12 sets a preset time threshold or multiple preset time thresholds, sets a preset time threshold or multiple preset time thresholds for the left front bumper radar 51 and the right front bumper radar 52, and sets a preset time threshold or multiple preset time thresholds for the left side B
  • the radar 31 on the pillar and the radar 32 on the right B-pillar set a preset time threshold or multiple preset time thresholds, and set a preset time threshold for the radar 42 below the right exterior rearview mirror and the radar 41 below the left exterior rearview mirror.
  • a preset time threshold or a plurality of preset time thresholds it can be understood that these time thresholds may be the same or different.
  • judging the time when the vehicle enters the door opening range according to the trajectory of the foreign object includes:
  • the time required to enter the door opening range at the current speed is determined according to the moving speed of the foreign object, the distance from the position of the foreign object to the door at the last time point, the operating parameters of the vehicle, and the door opening range.
  • the running state of the vehicle is the driving state
  • the distance between the location of the foreign object and the door at the last time point the operating parameters of the vehicle, and the opening range of the door, it is judged that the vehicle is entering the vehicle door at the current speed.
  • the time required when opening the scope includes:
  • the time t in the formula for judging the time required to enter the door opening range at the current speed is multiplied by a correction coefficient k to determine the final t value.
  • the value of k is determined according to the vehicle speed and the rotation angle signal.
  • the K value is less than 1. For example, when the vehicle speed is higher, the K value is smaller, and the steering wheel is turned to the right, and the K value is smaller.
  • the K value is obtained using the following formula:
  • K1 and K2 can refer to the following table:
  • generating early warning information includes:
  • the moving speed of the foreign object is actually very slow. If the door is opened at this time, the foreign object (such as a person) may notice that the door is opened and stop the movement by itself. Therefore, by giving a voice reminder signal It can remind the people in the car and the people outside the car to pay attention at the same time, so that the door can be opened when the two parties reach a consensus and there will be no danger. Pedestrians walk.
  • the voice reminder signal inside the car can pass through the speaker power amplifier inside the car, and the voice reminder signal outside the car can pass through the speaker power amplifier provided outside the car.
  • generating early warning information includes:
  • the present application also provides a car door opening collision warning device, which includes a detection signal acquisition module 101, a foreign object judgment module 102, a collision calculation module 103, an early warning module 104, and a detection signal acquisition module 101 It is used to obtain the detection signal transmitted by the ultrasonic radar detection system on the vehicle; the foreign object judging module 102 is used to judge whether there is a foreign object according to the detection signal; the collision calculation module 103 is used to judge according to the detection signal when the foreign object judging module judges as yes. Whether it is possible to collide with a foreign object when opening the door at the current moment; the early warning module 104 is used to generate early warning information.
  • the present application also provides a vehicle, the vehicle includes an ultrasonic radar detection system and a vehicle door opening collision warning device, the ultrasonic radar detection system is arranged on the vehicle; the vehicle door opening collision warning device is the vehicle door opening collision warning device as described above early warning device.
  • the ultrasonic radar detection system includes a rear bumper radar group 1, a B-pillar radar group 3, an exterior mirror radar group 4, a front bumper radar group 5, and the rear bumper radar group 1 is set On the rear bumper of the vehicle 2; the B pillar radar group 3 is arranged on the B pillar of the vehicle 2; the exterior rearview mirror radar group 4 is arranged on the exterior rearview mirror of the vehicle 2; the front bumper radar group 5 is arranged on the front bumper of the vehicle 2.
  • the vehicle of the present application further includes a built-in horn and an external horn, the built-in horn is disposed inside the vehicle, and the external horn is disposed outside the vehicle.
  • the operating parameters of the vehicle may include one or more of the following parameters:
  • Steering wheel information vehicle speed information, navigation steering information, and door lock information.
  • the early warning information may be generated when the opening door lock information indicates that the door lock is about to be opened, or it may have already been generated when the opening door lock information is not received.
  • a reminder light is provided on the door of the vehicle, and the reminder signal in the early warning information can be sent to the reminder light so that the reminder light is turned on.
  • the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
  • the processor executes the computer program, the above car door opening collision warning method is realized.
  • the present application also provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the above method for early warning of a vehicle door opening collision can be realized.
  • Fig. 2 is an exemplary structural diagram of an electronic device capable of implementing a car door opening collision warning method according to an embodiment of the present application.
  • the electronic device includes an input device 501 , an input interface 502 , a central processing unit 503 , a memory 504 , an output interface 505 and an output device 506 .
  • the input interface 502, the central processing unit 503, the memory 504 and the output interface 505 are connected to each other through the bus 507, and the input device 501 and the output device 506 are respectively connected to the bus 507 through the input interface 502 and the output interface 505, and then connected to other components of the electronic device. Component connections.
  • the input device 504 receives input information from the outside, and transmits the input information to the central processing unit 503 through the input interface 502; the central processing unit 503 processes the input information based on computer-executable instructions stored in the memory 504 to generate output information, temporarily or permanently store the output information in the memory 504, and then transmit the output information to the output device 506 through the output interface 505; the output device 506 outputs the output information to the outside of the electronic device for the user to use.
  • the electronic device shown in FIG. 2 can also be implemented as including: a memory storing computer-executable instructions; and one or more processors, which can Realize the automobile door opening collision warning method described in conjunction with FIG. 1 .
  • the electronic device shown in FIG. 2 may be implemented to include: a memory 504 configured to store executable program code; one or more processors 503 configured to run the executable code stored in the memory 504.
  • the program code is used to execute the car door opening collision warning method in the above embodiment.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read-only memory (ROM) or flash RAM. Memory is an example of computer readable media.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash random access memory
  • Computer-readable media include both permanent and non-permanent, removable and non-removable media, which may be implemented by any method or technology for storage of information.
  • Information may be computer readable instructions, data structures, modules of a program, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), data versatile disc (DVD) or other optical storage, A magnetic tape cartridge, tape disk storage or other magnetic storage device, or any other non-transmission medium, that may be used to store information that can be accessed by a computing device.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read only memory
  • EEPROM electrically erasable programmable read-only
  • the embodiments of the present application may be provided as methods, systems or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • each block in the flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks identified in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block in the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or overall flowchart illustrations can be implemented by a dedicated hardware-based system that performs the specified functions or operations. implemented, or may be implemented by a combination of special purpose hardware and computer instructions.
  • the processor referred to in this embodiment may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit , ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the memory can be used to store computer programs and/or modules, and the processor realizes various functions of the device/terminal device by running or executing the computer programs and/or modules stored in the memory and calling the data stored in the memory.
  • the memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playback function, an image playback function, etc.); The data created by the use (such as audio data, phone book, etc.) and so on.
  • the memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • non-volatile memory such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • the integrated module/unit of the device/terminal device is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the present invention realizes all or part of the processes in the methods of the above-mentioned embodiments, and can also be completed by instructing related hardware through computer programs, and the computer programs can be stored in a computer-readable storage medium.
  • the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form.
  • the computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • electrical carrier signal telecommunication signal and software distribution medium, etc.
  • the embodiments of the present application may be provided as methods, systems or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.

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Abstract

一种汽车开门碰撞预警方法、装置及车辆（2）。汽车开门碰撞预警方法包括：获取车辆（2）上的超声波雷达探测系统传递的探测信号；根据探测信号判断是否具有异物，若是，则根据探测信号判断在当前时刻开门是否可能会碰撞异物，若是，则生成预警信息。

Description

一种汽车开门碰撞预警方法、装置及车辆 技术领域
本申请涉及汽车技术领域，具体涉及一种汽车开门碰撞预警方法、汽车开门碰撞预警装置以及车辆。
背景技术
在新闻报道中，经常可以看到汽车车门在打开过程中，碰撞上从车身附近经过的其他交通参与者，现有技术中，驾驶者只能凭借后视镜来进行人为观察，一方面，可能会有视线盲区，另一方面，很多情况下驾驶者可能没来得及观察，其他座位的乘客就已经打开车门导致事故发生了。
因此，希望有一种技术方案来解决或至少减轻现有技术的上述不足。
发明内容
本发明的目的在于提供一种汽车开门碰撞预警方法来至少解决上述的一个技术问题。
本发明的一个方面，提供一种汽车开门碰撞预警方法，所述汽车开门碰撞预警方法包括：
获取车辆上的超声波雷达探测系统传递的探测信号；
根据所述探测信号判断是否具有异物，若是，则
根据探测信号判断在当前时刻开门是否可能会碰撞异物，若是，则
生成预警信息。
可选地，所述根据探测信号判断在当前时刻开门是否可能会碰撞异物包 括：
判断异物是否运动，若是，则
根据所述探测信号获取异物运动轨迹；
根据所述异物运动轨迹判断异物是否接近车门，若是，则
根据所述异物运动轨迹判断车辆进入至车门打开范围时所需的时间，若该时间小于预设时间阈值，则
判断在当前时刻开门可能会碰撞异物。
可选地，所述根据探测信号判断在当前时刻开门是否可能会碰撞异物进一步包括：
判断异物是否运动，若否，则；
获取预设开门轨迹；
判断异物是否位于预设开门轨迹上，若是，则
判断在当前时刻开门可能会碰撞异物。
可选地，所述根据所述异物运动轨迹判断异物是否接近车门包括：
获取任意一个时间点的异物所在位置距离车门的距离，该时间点称为第一时间点，该距离称为第一距离；
获取第一时间点之前的任意一个时间点的异物所在位置距离车门的距离，该举例称为第二距离；
判断第一距离是否小于第二距离，若是，则
判断异物接近车门。
可选地，所述根据所述异物运动轨迹判断车辆进入至车门打开范围时的时间包括：
判断车辆运行状态，若所述车辆运行状态为停车状态时，获取车门打开范围；
根据所述异物在各个时间点距离车门的距离以及各个时间点获取异物运动速度；
获取最后一个时间点时所述异物所在位置距离车门的距离；
根据所述异物运动速度、所述最后一个时间点时所述异物所在位置距离车门的距离以及车门打开范围判断以当前速度进入至车门打开范围时所需的 时间。
可选地，所述根据所述异物运动轨迹判断车辆进入至车门打开范围时的时间包括：
判断车辆运行状态，若所述车辆运行状态为行驶状态时，获取车门打开范围；
获取车辆的运行参数；
根据所述异物在各个时间点距离车门的距离以及各个时间点获取异物运动速度；
获取最后一个时间点时所述异物所在位置距离车门的距离；
根据所述异物运动速度、所述最后一个时间点时所述异物所在位置距离车门的距离、所述车辆的运行参数以及车门打开范围判断以当前速度进入至车门打开范围时所需的时间。
可选地，所述生成预警信息包括：
判断所述异物运动速度是否超过第一预设阈值，若否，则
生成车内语音提醒信号以及车外语音提醒信号。
可选地，所述生成预警信息包括：
判断所述异物运动速度是否超过第一预设阈值，若是，则
生成提示信号和/或车门锁死信号并发送给车门控制装置。
本申请还提供了一种汽车开门碰撞预警装置，所述汽车开门碰撞预警装置包括：
探测信号获取模块，所述探测信号获取模块用于获取车辆上的超声波雷达探测系统传递的探测信号；
异物判断模块，所述异物判断模块用于根据所述探测信号判断是否具有异物；
碰撞计算模块，所述碰撞计算模块用于在异物判断模块判断为是时，根据探测信号判断在当前时刻开门是否可能会碰撞异物；
预警模块，所述预警模块用于生成预警信息。
本申请还提供了一种车辆，所述车辆包括：
超声波雷达探测系统，所述超声波雷达探测系统设置在所述车辆上；
汽车开门碰撞预警装置，所述汽车开门碰撞预警装置为如权利要求8所述的汽车开门碰撞预警装置。
可选地，所述超声波雷达探测系统包括：
后保险杠雷达组，所述后保险杠雷达组设置在所述车辆的后保险杠上；
B柱雷达组，所述B柱雷达组设置在所述车辆的B柱上；
外后视镜雷达组，所述外后视镜雷达组设置在所述车辆的外后视镜上；
前保险杠雷达组，所述前保险杠雷达组设置在所述车辆的前保险杠上。
有益效果
本申请的汽车开门碰撞预警方法通过车辆上的超声波雷达探测系统传递的探测信号判断在当前时刻开门是否可能会碰撞异物，并在判断为可能的时候生成预警信息，采用这种方式，能够通过成本较低的超声波雷达探测系统应用到探测车辆侧面附近是否有来车或者其他的固定的障碍物，避免了开车门造成的事故，或者开车门碰到地面的障碍物的情况出现，提升了车辆的智能感，提升了车内成员和车辆附近其他交通参与者的安全性。
附图说明
图1是本申请一实施例的汽车开门碰撞预警方法的流程示意图。
图2是用于实现图1所示的汽车开门碰撞预警方法的系统设备示意图。
图3是本申请一实施例的汽车开门碰撞预警装置的装置示意图。
图4是本申请一实施例的车辆的系统示意图。
图5是本申请一实施例的车辆的后保险杠雷达组工作时的示意图。
图6是本申请一实施例的车辆的B柱雷达组工作时的示意图。
附图标记：
1、后保险杠雷达组；2、车辆；3、B柱雷达组；4、外后视镜雷达组；5、前保险杠雷达组；11、左侧后保险杠下的雷达；12、右侧后保险杠下的雷达、31、左侧B柱上的雷达；32、右侧B柱上的雷达；41、左侧外后视镜下方雷达；42、右侧外后视镜下方雷达；51、左侧前保险杠雷达；52、右侧前保险杠雷达；101、探测信号获取模块；102、异物判断模块；103、碰撞计算模块；104、预警模块。
具体实施方式
为使本申请实施的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行更加详细的描述。在附图中，自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。所描述的实施例是本申请一部分实施例，而不是全部的实施例。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。下面结合附图对本申请的实施例进行详细说明。
图1是本申请一实施例的汽车开门碰撞预警方法的流程示意图。
如图1所示的汽车开门碰撞预警方法包括：
步骤1011：获取车辆上的超声波雷达探测系统传递的探测信号；
步骤1012：根据探测信号判断是否具有异物，若是，则
步骤1013：根据探测信号判断在当前时刻开门是否可能会碰撞异物，若是，则
步骤1014：生成预警信息。
本申请的汽车开门碰撞预警方法通过车辆上的超声波雷达探测系统传递的探测信号获取异物运动轨迹，并根据异物运动轨迹来判断异物是否接近车门以及是否可能会与车门进行碰撞，并在判断为可能的时候生成预警信息，采用这种方式，能够通过成本较低的超声波雷达探测系统应用到探测车辆侧面附近是否有来车或者其他的固定的障碍物，避免了开车门造成的事故，或者开车门碰到地面的障碍物的情况出现，提升了车辆的智能感，提升了车内成员和车辆附近其他交通参与者的安全性。
参见图4，在本实施例中，车辆上的超声波雷达探测系统包括后保险杠雷达组1、B柱雷达组3、外后视镜雷达组4以及前保险杠雷达组5；其中，
后保险杠雷达组1设置在车辆2的后保险杠上；
B柱雷达组3设置在车辆2的B柱上；
外后视镜雷达组4设置在车辆2的外后视镜上；
前保险杠雷达组5设置在车辆2的前保险杠上。
在本实施例中，后保险杠雷达组1包括右侧后保险杠下的雷达11以及右侧后保险杠下的雷达12；
B柱雷达组3包括左侧B柱上的雷达31以及右侧B柱上的雷达32；
外后视镜雷达组4包括左侧外后视镜下方雷达41以及右侧外后视镜下方雷达；
前保险杠雷达组5包括左侧前保险杠雷达51以及右侧前保险杠雷达52。
在本实施例中，右侧后保险杠下的雷达用于探测右后方是否有异物(例如车辆、障碍物或者行人等)，并将超声波雷达的探测信号传递过来。
在本实施例中，左侧后保险杠下的雷达用于探测左后方是否有异物(例如车辆、障碍物或者行人等)，并将超声波雷达的探测信号传递过来。
在本实施例中，左侧B柱上的雷达用于探测左侧后门附近是否有异物(例如车辆、障碍物或者行人等)，并将超声波雷达的探测信号传递过来。
在本实施例中，右侧B柱上的雷达用于探测右侧后门附近是否有异物(例如车辆、障碍物或者行人等)，并将超声波雷达的探测信号传递过来。
在本实施例中，左侧外后视镜下方雷达用于探测左侧前门附近是否有异物(例如车辆、障碍物或者行人等)，并将超声波雷达的探测信号传递过来。
在本实施例中，右侧外后视镜下方雷达用于探测右侧前门附近是否有异物(例如车辆、障碍物或者行人等)，并将超声波雷达的探测信号传递过来。
在本实施例中，左侧前保险杠雷达用于探测左前方是否有异物(例如车辆、障碍物或者行人等)，并将超声波雷达的探测信号传递过来。
在本实施例中，右侧前保险杠雷达用于探测左前方是否有异物(例如车辆、障碍物或者行人等)，并将超声波雷达的探测信号传递过来。
参见图4至图6，在本实施例中，左侧的各个雷达与右侧的各个雷达为对称设置(例如左侧前保险杠雷达与右侧前保险杠雷达)，因此，在下述叙述中，仅以一侧为例描述，另一侧与所描述的一侧原理相同，在此不再赘述。
在本实施例中，根据探测信号判断在当前时刻开门是否可能会碰撞异物包括：
判断异物是否运动，若是，则
根据所述探测信号获取异物运动轨迹；
根据异物运动轨迹判断异物是否接近车门，若是，则
根据异物运动轨迹判断车辆进入至车门打开范围时所需的时间，若该时间小于预设时间阈值，则
判断在当前时刻开门可能会碰撞异物。
采用这种方式，能够判断出那些会移动的异物(例如动物、人、其他车辆等)是否可能与车门碰撞，若是，则进行报警。
所述根据探测信号判断在当前时刻开门是否可能会碰撞异物进一步包括：
判断异物是否运动，若否，则；
获取预设开门轨迹；
判断异物是否位于预设开门轨迹上，若是，则
判断在当前时刻开门可能会碰撞异物。
参见图6，在本实施例中，异物不运动时，且当雷达为左侧B柱上的雷达31、右侧B柱上的雷达32、右侧外后视镜下方雷达42以及左侧外后视镜下方雷达41中的任意一个探测到异物时，通过如下方法判断异物是否位于预设开门轨迹上：
位于B柱上的超声波雷达(左侧B柱上的雷达31或右侧B柱上的雷达32)探测到异物时，此时超声波雷达探测的直线距离为Y(异物与雷达的直线距离)，根据超声波信号可得到Y和汽车横向的夹角为φ。由此可计算得到异物在横向距离车的间距X1，X1＝Y1*cosφ1，当X1≤X0(车门完全打开后的横向的最大距离)或者超声波雷达探测到的Y≤3*X0时则判断在当前时刻开门可能会碰撞异物。
可以理解的是，右侧外后视镜下方雷达42以及左侧外后视镜下方雷达41的判断方法与B柱上的超声波雷达的探测方法相似，在此不再赘述。
采用这种方式，可以判断那些不动的异物(例如石柱等)是否可能会影响到车门开门，有时，人肉眼会有些视觉偏差，而采用上述的方法则可以避免这种偏差带来的危害。
在本实施例中，通过预设开门轨迹可以获取到车辆的每个门打开时所可能出现最大扫过面积，只要不移动的异物在该面积内，则可能会碰撞异物。
可以理解的是，本申请的左侧后保险杠下的雷达11、右侧后保险杠下的雷达12、左侧前保险杠雷达51以及右侧前保险杠雷达也可以用上述判断来判断，此时，所判断的车门可以是一个虚拟车门，该虚拟车门位于后保险杠后方或者前保险杠前方。采用虚拟车门进行判断的好处是，防止有异物离车辆太近，因为有时间，异物虽然暂时不移动，也可能在后续中移动，例如，该异物为站立的人，其虽然可能暂时不移动，但是可能在车辆开门过程中也会移动，而其移动方向很可能是自车辆后保险杠向车辆前保险杠方向移动，如果在这个过程中车门开启，还是可能会碰撞，通过这种虚拟车门的增加，可以进一步防止意外发生。
在本实施例中，获取异物运动轨迹包括：
获取至少两个时间点的异物位置。
在本实施中，获取至少两个时间点的异物位置包括：
当超声波雷达探测系统中任意一个雷达(左侧后保险杠下的雷达11、右侧后保险杠下的雷达12、左侧B柱上的雷达31、右侧B柱上的雷达32、左侧外后视镜下方雷达41、右侧外后视镜下方雷达42、左侧前保险杠雷达51、右侧前保险杠雷达52中的一个)在一个时间点获取到异物信息时(例如，当某个雷达一直获取到的距离信息为10米，而在某一时刻获取到的距离信息为8米时，可以认为获取到了异物信息)，自该时间点开始，获取至少两个时间点的异物位置，可以理解的是，至少两个时间点可以是连续的时间点也可以是相隔预设间隔的时间点，例如，第一个时间点为9点01分01秒，则第二个时间点可以是9点01分02秒，也可以是9点01分03秒。可以理解的是，当获取多个时间点时，可以以上述方法依次类推。
可以理解的是，异物位置可以通过雷达获取，例如，第一时间点的异物位置可以以距离该雷达的距离为相对位置，第二时间点的异物位置也可以以距离该雷达的距离为相对位置。
可以理解的是，当多个雷达获取到异物时，可以分别进行异物是否接近车门的判断，相互之间不影响。
在本实施例中，根据异物运动轨迹判断异物是否接近车门包括：
获取任意一个时间点的异物所在位置距离车门的距离，该时间点称为第一时间点，该距离称为第一距离；
获取第一时间点之前的任意一个时间点的异物所在位置距离车门的距离，该举例称为第二距离；
判断第一距离是否小于第二距离，若是，则
判断异物接近车门。
可以理解的是，当时间点的数量为多个时，还可以获取每个时间点的异物位置并提取每个异物位置的特征；
获取训练好的运动轨迹分类器，将各个异物位置的特征输入至运动轨迹分类器中，从而获取运动轨迹标签，运动轨迹标签包括靠近标签以及非靠近标签，当输出为靠近标签时，可以判断异物接近车门。
在本实施例中，根据异物运动轨迹判断车辆进入至车门打开范围时的时间包括：
判断车辆运行状态，若车辆运行状态为停车状态时，获取车门打开范围；
根据异物在各个时间点距离车门的距离以及各个时间点获取异物运动速度；
获取最后一个时间点时异物所在位置距离车门的距离；
根据异物运动速度、最后一个时间点时异物所在位置距离车门的距离以及车门打开范围判断以当前速度进入至车门打开范围时所需的时间。
在本实施例中，当车辆运行状态为停车状态时，根据异物运动速度、最后一个时间点时异物所在位置距离车门的距离以及车门打开范围包括：
当异物运动且雷达为左侧后保险杠下的雷达11、右侧后保险杠下的雷达12、左侧前保险杠雷达51以及右侧前保险杠雷达52、左侧B柱上的雷达31、右侧B柱上的雷达32、右侧外后视镜下方雷达42以及左侧外后视镜下方雷达41中的任意一个探测到异物时，采用如下公式判断以当前速度进入至车门打开范围时所需的时间：
Figure PCTCN2022103040-appb-000001
其中，
Figure PCTCN2022103040-appb-000002
请参见图5，t为以当前速度进入至车门打开范围时所需的时间；Y2为最后一个时间点时异物所在位置距离车门的距离；sqrt为平方根计算；V为异物运动速度(在本实施例中，该运动速度是指相对于汽车的相对速度)；Y1为最后一个时间点之前的一个时间点时异物所在位置距离车门的距离；
Figure PCTCN2022103040-appb-000003
Figure PCTCN2022103040-appb-000004
均为角度。
可以理解的是，当根据所述异物运动轨迹判断车辆进入至车门打开范围时所需的时间，若该时间大于或者等于预设时间阈值时，可以在未来持续重复上述的判断。
在本实施例中，预设时间阈值可以根据需要自行设定，也可以根据雷达的位置不同设置不同的时间阈值，例如，为左侧后保险杠下的雷达11、右侧后保险杠下的雷达12设置一个预设时间阈值或者多个预设时间阈值，为左侧前保险杠雷达51以及右侧前保险杠雷达52设置一个预设时间阈值或者多个预设时间阈值，为左侧B柱上的雷达31、右侧B柱上的雷达32设置一个预设时间阈值或者多个预设时间阈值，为右侧外后视镜下方雷达42以及左侧外后视镜下方雷达41设置一个预设时间阈值或者多个预设时间阈值，可以理解的是，这些时间阈值可以相同也可以不同。
在本实施例中，根据异物运动轨迹判断车辆进入至车门打开范围时的时间包括：
判断车辆运行状态，若车辆运行状态为行驶状态时，获取车门打开范围；
获取车辆的运行参数；
根据所述异物在各个时间点距离车门的距离以及各个时间点获取异物运动速度；
获取最后一个时间点时所述异物所在位置距离车门的距离；
根据所述异物运动速度、所述最后一个时间点时所述异物所在位置距离车门的距离、所述车辆的运行参数以及车门打开范围判断以当前速度进入至车门打开范围时所需的时间。
在本实施例中，当车辆运行状态为行驶状态时，根据所述异物运动速度、最后一个时间点时异物所在位置距离车门的距离、车辆的运行参数以及车门打开范围判断以当前速度进入至车门打开范围时所需的时间包括：
根据车速和方向盘转角信号等给判断以当前速度进入至车门打开范围时所需的时间的公式中的时间t乘以一个修正系数k确定最终的t值，k的值根据车速以及转角信号确定，K值小于1，例如，当车速越大时k值越小，方向盘向右转角越大，k值越小。
具体而言，K值采用如下公式获取：
K＝K1*K2；其中，
K1以及K2的取值范围可参考下表：
Figure PCTCN2022103040-appb-000005
Figure PCTCN2022103040-appb-000006
在本实施例中，生成预警信息包括：
判断异物运动速度是否超过第一预设阈值，若否，则
生成车内语音提醒信号以及车外语音提醒信号。
在有些情况下，虽然异物在运动，但是事实上异物的运动速度很慢，如果此时开门，异物(例如人)可能会注意到开门，从而会自行停止运动，因此，通过给出语音提醒信号可以同时提醒车内的人以及车外的人注意，从而可以在双方达成共识不会出现危险的情况下开门，例如，行人停止走路或者绕行，车内人员开门角度变小，让出道路给行人走路。
可以理解的是，车内语音提醒信号可以通过车内的喇叭功放，车外语音提醒信号可以通过车外设置的喇叭功放。
在本实施例中，生成预警信息包括：
判断异物运动速度是否超过第一预设阈值，若是，则
生成提示信号和/或车门锁死信号并发送给车门控制装置。
当异物运动速度较快时，单纯通过语音信号提醒已经来不及的情况，通过提示信号来直接提醒车内的人，从而让车内的人不开车门或者直接通过自动锁死车门的方式来防止意外发生。
参见图3，本申请还提供了一种汽车开门碰撞预警装置，所述汽车开门碰撞预警装置包括探测信号获取模块101，异物判断模块102、碰撞计算模块103、预警模块104，探测信号获取模块101用于获取车辆上的超声波雷达探测系统传递的探测信号；异物判断模块102用于根据所述探测信号判断是否具有异物；碰撞计算模块103用于在异物判断模块判断为是时，根据探测信号判断在当前时刻开门是否可能会碰撞异物；预警模块104用于生成预警信息。
参见图4，本申请还提供了一种车辆，所述车辆包括超声波雷达探测系统以及汽车开门碰撞预警装置，超声波雷达探测系统设置在车辆上；汽车开门碰撞预警装置为如上所述的汽车开门碰撞预警装置。
参见图5，在本实施例中，超声波雷达探测系统包括后保险杠雷达组1、B柱雷达组3、外后视镜雷达组4、前保险杠雷达组5，后保险杠雷达组1设置在所述车辆2的后保险杠上；B柱雷达组3设置在车辆2的B柱上；外后视镜雷达组4设置在所述车辆2的外后视镜上；前保险杠雷达组5设置在车辆2的前保险杠上。
在本实施例中，本申请的车辆进一步包括内置喇叭以及外置喇叭，内置喇叭设置有车内，外置喇叭设置在车外。
在本实施例中，车辆的运行参数可以包括如下参数中的一种或多种：
方向盘信息、车速信息、导航转向信息以及开车门锁信息。
在本实施例中，预警信息可以在开车门锁信息表示门锁要被打开时生成，也可以在没有与收到开车门锁信息时已生成。
在本实施例中，车辆的车门上设置有提示灯，预警信息中的提示信号可以发送给提示灯从而使提示灯亮起。
需要说明的是，前述对方法实施例的解释说明也适用于本实施例的系统，此处不再赘述。
本申请还提供了一种电子设备，包括存储器、处理器以及存储在存储器中并能够在处理器上运行的计算机程序，处理器执行计算机程序时实现如上的汽车开门碰撞预警方法。
本申请还提供了一种计算机可读存储介质，计算机可读存储介质存储有计算机程序，计算机程序被处理器执行时能够实现如上的汽车开门碰撞预警方法。
图2是能够实现根据本申请一个实施例提供的汽车开门碰撞预警方法的电子设备的示例性结构图。
如图2所示，电子设备包括输入设备501、输入接口502、中央处理器503、存储器504、输出接口505以及输出设备506。其中，输入接口502、中央处理器503、存储器504以及输出接口505通过总线507相互连接，输入设备501和输出设备506分别通过输入接口502和输出接口505与总线507连接，进而与电子设备的其他组件连接。具体地，输入设备504接收来自外部的输入信息，并通过输入接口502将输入信息传送到中央处理器503；中央处理器503基于存储器504中存储的计算机可执行指令对输入信息进行处理以生成输出信息，将输出信息临时或者永久地存储在存储器504中，然后通过输出接口505将输出信息传送到输出设备506；输出设备506将输出信息输出到电子设备的外部供用户使用。
也就是说，图2所示的电子设备也可以被实现为包括：存储有计算机可执行指令的存储器；以及一个或多个处理器，该一个或多个处理器在执行计算机可执行指令时可以实现结合图1描述的汽车开门碰撞预警方法。
在一个实施例中，图2所示的电子设备可以被实现为包括：存储器504，被配置为存储可执行程序代码；一个或多个处理器503，被配置为运行存储器504中存储的可执行程序代码，以执行上述实施例中的汽车开门碰撞预警方法。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动，媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数据多功能光盘(DVD)或其他光学存储、磁盒式磁带、磁带磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。
本领域技术人员应明白，本申请的实施例可提供为方法、系统或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
此外，显然“包括”一词不排除其他单元或步骤。装置权利要求中陈述的多个单元、模块或装置也可以由一个单元或总装置通过软件或硬件来实现。
附图中的流程图和框图，图示了按照本申请各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，模块、程序段、或代码的一部分包括一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地标识的方框实际上可以基本并行地执行，他们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或总流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
在本实施例中所称处理器可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
存储器可用于存储计算机程序和/或模块，处理器通过运行或执行存储在存储器内的计算机程序和/或模块，以及调用存储在存储器内的数据，实现装置/终端设备的各种功能。存储器可主要包括存储程序区和存储数据区，其中， 存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据手机的使用所创建的数据(比如音频数据、电话本等)等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如硬盘、内存、插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)、至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
在本实施例中，装置/终端设备集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，计算机程序包括计算机程序代码，计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。计算机可读介质可以包括：能够携带计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减。本申请虽然以较佳实施例公开如上，但其实并不是用来限定本申请，任何本领域技术人员在不脱离本申请的精神和范围内，都可以做出可能的变动和修改，因此，本申请的保护范围应当以本申请权利要求所界定的范围为准。
本领域技术人员应明白，本申请的实施例可提供为方法、系统或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
此外，显然“包括”一词不排除其他单元或步骤。装置权利要求中陈述的多个单元、模块或装置也可以由一个单元或总装置通过软件或硬件来实现。
虽然，上文中已经用一般性说明及具体实施方案对本发明作了详尽的描述，但在本发明基础上，可以对之作一些修改或改进，这对本领域技术人员而言是显而易见的。因此，在不偏离本发明精神的基础上所做的这些修改或改进，均属于本发明要求保护的范围。

Claims (10)

  1. 一种汽车开门碰撞预警方法，其特征在于，所述汽车开门碰撞预警方法包括：
    获取车辆上的超声波雷达探测系统传递的探测信号；
    根据所述探测信号判断是否具有异物，若是，则
    根据探测信号判断在当前时刻开门是否可能会碰撞异物，若是，则
    生成预警信息。
  2. 如权利要求1所述的汽车开门碰撞预警方法，其特征在于，所述根据探测信号判断在当前时刻开门是否可能会碰撞异物包括：
    判断异物是否运动，若是，则
    根据所述探测信号获取异物运动轨迹；
    根据所述异物运动轨迹判断异物是否接近车门，若是，则
    根据所述异物运动轨迹判断车辆进入至车门打开范围时所需的时间，若该时间小于预设时间阈值，则
    判断在当前时刻开门可能会碰撞异物。
  3. 如权利要求2所述的汽车开门碰撞预警方法，其特征在于，所述根据探测信号判断在当前时刻开门是否可能会碰撞异物进一步包括：
    判断异物是否运动，若否，则；
    获取预设开门轨迹；
    判断异物是否位于预设开门轨迹上，若是，则
    判断在当前时刻开门可能会碰撞异物。
  4. 如权利要求2所述的汽车开门碰撞预警方法，其特征在于，所述根据所述异物运动轨迹判断异物是否接近车门包括：
    获取任意一个时间点的异物所在位置距离车门的距离，该时间点称为第一时间点，该距离称为第一距离；
    获取第一时间点之前的任意一个时间点的异物所在位置距离车门的距离，该举例称为第二距离；
    判断第一距离是否小于第二距离，若是，则
    判断异物接近车门。
  5. 如权利要求4所述的汽车开门碰撞预警方法，其特征在于，所述根据所述异物运动轨迹判断车辆进入至车门打开范围时的时间包括：
    判断车辆运行状态，若所述车辆运行状态为停车状态时，获取车门打开范围；
    根据所述异物在各个时间点距离车门的距离以及各个时间点获取异物运动速度；
    获取最后一个时间点时所述异物所在位置距离车门的距离；
    根据所述异物运动速度、所述最后一个时间点时所述异物所在位置距离车门的距离以及车门打开范围判断以当前速度进入至车门打开范围时所需的时间。
  6. 如权利要求5所述的汽车开门碰撞预警方法，其特征在于，所述根据所述异物运动轨迹判断车辆进入至车门打开范围时的时间包括：
    判断车辆运行状态，若所述车辆运行状态为行驶状态时，获取车门打开范围；
    获取车辆的运行参数；
    根据所述异物在各个时间点距离车门的距离以及各个时间点获取异物运动速度；
    获取最后一个时间点时所述异物所在位置距离车门的距离；
    根据所述异物运动速度、所述最后一个时间点时所述异物所在位置距离车门的距离、所述车辆的运行参数以及车门打开范围判断以当前速度进入至车门打开范围时所需的时间。
  7. 如权利要求5或6所述的汽车开门碰撞预警方法，其特征在于，所述生成预警信息包括：
    判断所述异物运动速度是否超过第一预设阈值，若否，则
    生成车内语音提醒信号以及车外语音提醒信号。
  8. 如权利要求5或6所述的汽车开门碰撞预警方法，其特征在于，所述生成预警信息包括：
    判断所述异物运动速度是否超过第一预设阈值，若是，则
    生成提示信号和/或车门锁死信号并发送给车门控制装置。
  9. 一种汽车开门碰撞预警装置，其特征在于，所述汽车开门碰撞预警装置包括：
    探测信号获取模块，所述探测信号获取模块用于获取车辆上的超声波雷达探测系统传递的探测信号；
    异物判断模块，所述异物判断模块用于根据所述探测信号判断是否具有异物；
    碰撞计算模块，所述碰撞计算模块用于在异物判断模块判断为是时，根据探测信号判断在当前时刻开门是否可能会碰撞异物；
    预警模块，所述预警模块用于生成预警信息。
  10. 一种车辆，其特征在于，所述车辆包括：
    超声波雷达探测系统，所述超声波雷达探测系统设置在所述车辆上；
    汽车开门碰撞预警装置，所述汽车开门碰撞预警装置为如权利要求8所述的汽车开门碰撞预警装置。
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