Vehicle door obstacle avoidance system, vehicle door control method and vehicle

Abstract

The invention relates to a vehicle door obstacle avoidance system, a vehicle door control method and a vehicle, and relates to the technical field of vehicle safety. The vehicle door obstacle avoidance system comprises a collision early warning subsystem, a vehicle body control subsystem and a sound instrument control subsystem. The camera is used for collecting an environment image around the vehicle; the radar sensor is used for collecting radar data around the vehicle; the collision early warning subsystem is used for determining whether obstacles around the vehicle meet the vehicle locking triggering condition or not based on the environment image and the radar data, sending a vehicle door locking signal to the vehicle body control subsystem when the obstacles around the vehicle meet the vehicle locking triggering condition, and sending an alarm prompt signal to the sound instrument control subsystem; the vehicle body control subsystem is used for locking a vehicle door according to the vehicle door locking signal when the vehicle door of the vehicle is in an unlocking state; and the sound instrument control subsystem is used for controlling a loudspeaker to make an alarm sound according to the alarm prompt signal.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automobile safety technology, and in particular to a door obstacle avoidance system, a door control method, and a vehicle. Background Art

[0002] With the development of society, the number of cars on the market has increased, and driving has become a common mode of transportation. This has led to numerous accidents, resulting in significant personal and property losses. One such incident is the "door-opening accident," which occurs when a car door is opened incorrectly, preventing timely obstacle avoidance. Most "door-opening accidents" occur when a car opens its door while stopped, causing collisions with people behind it, resulting in accidents and personal injury.

[0003] In related technologies, collision safety devices can be installed on car doors. The car door opening collision prevention safety device can detect approaching pedestrians or objects through front and rear sensors, trigger the sound and light alarm of the corresponding door to issue a warning, and use the electromagnetic attraction between the electromagnetic block and the magnetic conductive block to increase the door opening resistance to prevent the door from being easily opened, thereby improving safety when opening and closing the door.

[0004] However, the door obstacle avoidance method in the above solution is relatively simple and the door obstacle avoidance effect is poor. Summary of the Invention

[0005] The embodiments of the present application provide a vehicle door obstacle avoidance system, a vehicle door control method, and a vehicle, which can improve the vehicle door obstacle avoidance effect. The technical solution is as follows:

[0006] In one aspect, a vehicle door obstacle avoidance system is provided, the vehicle door obstacle avoidance system comprising a collision warning subsystem, a vehicle body control subsystem, and an audio instrument control subsystem;

[0007] The vehicle body control subsystem is connected to the collision warning subsystem and the audio instrument control subsystem respectively;

[0008] The collision warning subsystem is connected to the camera and the radar sensor;

[0009] The audio instrument control subsystem is connected to the speaker;

[0010] The camera is used to collect images of the environment around the vehicle;

[0011] The radar sensor is used to collect radar data around the vehicle;

[0012] The collision warning subsystem is configured to determine, based on the environmental image and the radar data, whether obstacles around the vehicle meet a vehicle locking triggering condition, and, when the obstacles around the vehicle meet the vehicle locking triggering condition, send a door locking signal to the body control subsystem and send an alarm prompt signal to the audio and instrument control subsystem;

[0013] The body control subsystem is configured to lock the vehicle door according to the door locking signal when the vehicle door is in an unlocked state;

[0014] The audio instrument control subsystem is used to control the speaker to emit an alarm sound according to the alarm prompt signal.

[0015] In one possible implementation, the collision warning subsystem is configured to determine, based on the environmental image and the radar data, whether an obstacle around a first door of the vehicle satisfies a vehicle locking trigger condition, and send a door locking signal to the body control subsystem when the obstacle around the first door satisfies the vehicle locking trigger condition;

[0016] The body control subsystem is configured to lock the first door according to the door locking signal when the door of the vehicle is in an unlocked state.

[0017] In one possible implementation, the collision warning subsystem is used to:

[0018] Inputting the environmental image and the radar data into an obstacle recognition algorithm to obtain an obstacle recognition result output by the obstacle recognition algorithm; the obstacle recognition result is used to indicate the position and movement of obstacles around the vehicle;

[0019] Inputting the environmental image into a visibility recognition model to obtain visibility information output by the visibility recognition model;

[0020] Determine whether the obstacle meets the vehicle locking triggering condition based on the obstacle recognition result and the visibility information.

[0021] In one possible implementation, the collision warning subsystem is used to:

[0022] determining a warning level based on the obstacle identification result and the visibility information;

[0023] When the warning level is higher than a specified level, it is determined that the obstacle meets the vehicle locking triggering condition.

[0024] In a possible implementation, the collision warning subsystem is further configured to:

[0025] When the warning level is higher than the specified level and the vehicle door is in a locked state, upon receiving an unlock signal triggered by a user, the unlock signal is ignored and / or a reminder is issued.

[0026] In one possible implementation, the collision warning subsystem is used to:

[0027] When the second door in the vehicle is an electric door and the second door is opened and the opening angle is less than an angle threshold, when the warning level is higher than the specified level, a door angle limitation signal is sent to the body control subsystem to limit the maximum opening angle of the second door to the angle at which the second door has been opened.

[0028] In a possible implementation, the collision warning subsystem is further configured to send a door handle control signal corresponding to the warning level to the vehicle body control subsystem, where the door handle control signal is one of a low-frequency vibration signal and a high-frequency vibration signal.

[0029] In one possible implementation, the collision warning subsystem is used to:

[0030] When the warning level is higher than the first warning level and lower than the third warning level, the collision warning subsystem sends the low-frequency vibration signal to the body control subsystem; the low-frequency vibration signal is used to instruct the door switch to vibrate at a first frequency;

[0031] When the warning level is higher than the third warning level, the high-frequency vibration signal is sent to the body control subsystem through the collision warning subsystem; the high-frequency vibration signal is used to instruct the door switch to vibrate at a second frequency; the first frequency is lower than the second frequency.

[0032] In another aspect, a vehicle door control method is provided, the method being executed by the vehicle door obstacle avoidance system, the method comprising:

[0033] collecting an image of the environment around the vehicle by using the camera;

[0034] collecting radar data around the vehicle by using the millimeter-wave radar sensor;

[0035] The collision warning subsystem determines, based on the environmental image and the radar data, whether obstacles around the vehicle meet a vehicle locking triggering condition, and when the obstacles around the vehicle meet the vehicle locking triggering condition, sends a door locking signal to the body control subsystem and sends an alarm prompt signal to the audio and instrument control subsystem;

[0036] locking the vehicle door according to the door locking signal by the vehicle body control subsystem when the vehicle door is in an unlocked state;

[0037] The audio instrument control subsystem controls the loudspeaker to emit an alarm sound according to the alarm prompt signal.

[0038] On the other hand, a vehicle is provided, comprising the above-mentioned vehicle door obstacle avoidance system.

[0039] The technical solution provided by this application may have the following beneficial effects:

[0040] The collision warning subsystem collects environmental images and radar data through cameras and radar sensors. The collected environmental images and radar data are used to identify obstacles and determine whether the obstacles meet the vehicle locking trigger conditions; when an obstacle is detected, the collision warning subsystem sends a door locking signal to the body control subsystem and an alarm prompt signal to the audio and instrument control subsystem. The body control subsystem automatically locks the door when the door is unlocked according to the door locking signal, thereby preventing the vehicle from being hit or damaged; the audio and instrument control subsystem drives the speaker to sound an alarm to remind the user to pay attention to the risks in the surrounding environment. This solution effectively improves the safety of the vehicle when parking or driving at low speed, reduces the probability of door damage caused by external obstacles, and improves the door obstacle avoidance effect.

[0041] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] Figure 1 This is an application scenario diagram of a vehicle door obstacle avoidance system according to an embodiment of the present application;

[0044] Figure 2 1 is a schematic structural diagram of a vehicle door obstacle avoidance system according to an embodiment of the present application;

[0045] Figure 3 is a flow chart of a vehicle door control method provided by one embodiment of the present application;

[0046] Figure 4 It is a structural diagram of a safety anti-collision door provided by an embodiment of the present application. DETAILED DESCRIPTION

[0047] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0048] Figure 1 This is an application scenario diagram of a vehicle door obstacle avoidance system according to an embodiment of the present application. Figure 1 As shown, the scene includes a vehicle 100, which includes a door obstacle avoidance system 10. The door obstacle avoidance system 10 can collect environmental images and radar data around the vehicle. After receiving the environmental images and radar data, it determines whether the current door needs to avoid an obstacle based on the environmental images and radar data. If the door needs to avoid an obstacle, it locks the door and sounds an alarm.

[0049] Figure 2 FIG. 1 is a schematic diagram of the structure of a vehicle door obstacle avoidance system according to an embodiment of the present application. Figure 2 As shown, the door obstacle avoidance system 200 includes a collision warning subsystem 21, a body control subsystem 22, and an audio instrument control subsystem 23;

[0050] The body control subsystem 22 is connected to the collision warning subsystem 21 and the audio and instrument control subsystem 23 respectively;

[0051] The collision warning subsystem 21 is connected to the camera 24 and the radar sensor 25;

[0052] The audio instrument control subsystem 23 is connected to the speaker 26;

[0053] A camera 24 is used to collect images of the environment around the vehicle;

[0054] A radar sensor 25, for collecting radar data around the vehicle;

[0055] The collision warning subsystem 21 is used to determine whether obstacles around the vehicle meet the vehicle locking trigger conditions based on environmental images and radar data. If the obstacles around the vehicle meet the vehicle locking trigger conditions, it sends a door locking signal to the body control subsystem 22 and an alarm prompt signal to the audio and instrument control subsystem 23;

[0056] The body control subsystem 22 is configured to lock the vehicle doors according to the door locking signal when the vehicle doors are in an unlocked state;

[0057] The audio instrument control subsystem 23 is used to control the speaker 26 to emit an alarm sound according to the alarm prompt signal.

[0058] The aforementioned cameras are image acquisition devices, which can be high-definition wide-angle cameras or surround-view cameras. These cameras can be installed in the front, back, left, and right directions of the vehicle to capture real-time images of the vehicle's surroundings. These images can be used to identify targets such as pedestrians, obstacles, and other vehicles, and extract their location, size, and motion trajectory through image processing algorithms.

[0059] Among them, the above-mentioned radar sensor can be a millimeter wave radar or a laser radar, which is installed in the area near the vehicle door and is used to detect the distance, relative speed and azimuth of objects around the vehicle compared to the vehicle.

[0060] In some embodiments, the radar sensor and camera can synchronously input the collected environmental images and radar data around the vehicle into the collision warning subsystem, which will fuse, analyze and process the environmental images and radar data to determine whether the obstacles around the vehicle meet the vehicle locking trigger conditions.

[0061] In some embodiments, the collision warning subsystem uses an image recognition algorithm to perform target detection on the environmental image around the vehicle, identifying possible obstacles in the surrounding area and the movement status of the obstacles; at the same time, combined with the radar data around the vehicle to provide data such as the distance, speed, angle between the obstacle and the vehicle, it further verifies the approach trend of the obstacle.

[0062] Among them, the above-mentioned vehicle locking trigger condition can be a preset rule condition. For example, when the distance between the obstacle and the vehicle is less than 30 cm, the approaching speed is greater than 0.5 m / s, or there is a trend of continuous approach, the obstacle meets the vehicle locking trigger condition.

[0063] In some embodiments, multiple level thresholds can be set for the judgment process of whether the obstacles around the vehicle meet the vehicle locking trigger conditions, supporting dynamic adjustment to adapt to different vehicle models, usage environments and user needs, thereby improving the flexibility and adaptability of the system.

[0064] Among them, the above-mentioned body control subsystem has the ability to drive the door lock motor and the electric door controller functional components.

[0065] In some embodiments, when the body control subsystem receives a door lock signal, it determines whether the current door status is unlocked. If the door is unlocked, the door lock motor is started and the automatic door locking operation is performed; if the door is already in a locked state, no additional action is performed.

[0066] In some embodiments, the door lock signal may be directed to all or some of the vehicle doors. The body control subsystem locks the corresponding doors (all or some) according to the door lock signal.

[0067] The audio and instrument control subsystem supports multiple alarm modes, including but not limited to beeps, voice announcements, and emergency alerts. Alarm content can be differentiated based on the warning level, for example: Level 1: gentle beep; Level 2: intermittent beeps; Level 3: continuous high-frequency alarm.

[0068] In some embodiments, after the audio instrument control subsystem controls the speaker to emit an alarm sound according to the alarm prompt signal, it can also be linked with the HUD (Head-Up Display) and the instrument display screen to display a warning prompt.

[0069] In an embodiment of the present application, the collision warning subsystem collects environmental images and radar data through cameras and radar sensors. The collected environmental images and radar data are used to identify obstacles and determine whether the obstacles meet the vehicle locking trigger conditions; when an obstacle is detected, the collision warning subsystem sends a door locking signal to the body control subsystem and an alarm prompt signal to the audio and instrument control subsystem. The body control subsystem automatically locks the door when the door is unlocked according to the door locking signal, thereby preventing the vehicle from being hit or damaged; the audio and instrument control subsystem drives the speaker to emit an alarm sound to remind the user to pay attention to the risks of the surrounding environment. This solution effectively improves the safety of the vehicle when parking or driving at low speed, reduces the probability of door damage caused by external obstacles, and improves the door obstacle avoidance effect.

[0070] Based on the solutions shown in any one or more of the above embodiments, in one possible implementation, the collision warning subsystem is configured to determine, based on an environmental image and radar data, whether an obstacle around a first door of the vehicle satisfies a vehicle locking trigger condition, and send a door locking signal to the body control subsystem when the obstacle around the first door satisfies the vehicle locking trigger condition;

[0071] The body control subsystem is used to lock the first door according to a door locking signal when the vehicle doors are in an unlocked state.

[0072] The first door is any door on the vehicle, such as the left front door.

[0073] In some embodiments, the collision warning subsystem can use image recognition algorithms to perform target detection on images captured by the camera, identify whether there are obstacles around the first door and the movement status of the obstacle, analyze the radar data, and determine key parameters such as the distance, relative speed, and azimuth between the obstacle and the first door.

[0074] The collision warning subsystem identifies and analyzes obstacles within the spatial area surrounding the first door, rather than the entire vehicle. For example, if the first door is the left front door, the collision warning subsystem will focus on obstacle dynamics within a certain sector-shaped area (e.g., 0° to 60°) on the left front.

[0075] In some embodiments, when the collision warning subsystem confirms that there is an obstacle around the first door and the obstacle meets the vehicle locking trigger condition, a door locking signal is generated and sent to the body control subsystem through the communication interface.

[0076] In an embodiment of the present application, when there is an obstacle near a door on one side and the other doors are safe, the collision warning subsystem locks the affected first door and keeps the remaining doors normally usable, thereby improving the convenience of door use and effectively improving the obstacle avoidance effect of the doors.

[0077] Based on the solutions shown in any one or more of the above embodiments, the collision warning subsystem is used to input the environmental image and radar data into the obstacle recognition algorithm and obtain the obstacle recognition results output by the obstacle recognition algorithm; the obstacle recognition results are used to indicate the location and movement of obstacles around the vehicle;

[0078] Inputting the environmental image into the visibility recognition model to obtain visibility information output by the visibility recognition model;

[0079] Determine whether the obstacle meets the vehicle locking trigger conditions based on the obstacle recognition results and visibility information.

[0080] Among them, the above-mentioned obstacle recognition algorithm is a machine learning model that has the ability to determine the location and movement of obstacles around the vehicle based on environmental images and radar data.

[0081] Among them, the above-mentioned obstacle recognition result is the result data output by the obstacle recognition algorithm, which is used to indicate whether there are obstacles around the vehicle, as well as the spatial position (e.g., relative coordinates) and movement trend (e.g., stationary, approaching, or moving away) of the existing obstacles relative to the vehicle.

[0082] Among them, the above-mentioned visibility recognition model is a machine learning model used to evaluate the visibility conditions of the current environment.

[0083] The visibility information indicates the clarity and visual distance of the current environment, such as high visibility, medium visibility or low visibility, and a specific clarity percentage, where a higher percentage indicates a higher definition.

[0084] In some embodiments, the collision warning subsystem is configured to input the environmental image and radar data into a first obstacle recognition algorithm and obtain a first obstacle recognition result output by the first obstacle recognition algorithm; the first obstacle recognition result is configured to indicate the position and movement of obstacles around a target door, where the target door is a partial door on the vehicle;

[0085] Inputting the environment image into a first visibility recognition model, obtaining first visibility information output by the first visibility recognition model, wherein the first visibility information indicates visibility around the target vehicle door;

[0086] Determine whether the obstacle meets the vehicle locking triggering condition based on the first obstacle recognition result and the first visibility information.

[0087] In the above solution, the first visibility recognition model is a machine learning model capable of identifying the location and movement of obstacles around the target vehicle door based on environmental images and radar data. The first visibility recognition model is also a machine learning model capable of determining whether the obstacle meets the vehicle locking trigger condition based on the first obstacle recognition result and the first visibility information.

[0088] In one possible implementation, when the visibility information indicates that the visibility of the target door is higher than a first visibility threshold, and the obstacle recognition result indicates that the distance between the obstacle and the target door is less than a first distance, it is determined that the obstacle meets the vehicle locking trigger condition.

[0089] In this embodiment, when visibility is high, it is easier for the target object outside the vehicle to observe the door opening status of the vehicle. At this time, a lower distance threshold can be used, and the vehicle can be locked when the moving target object is relatively close to the vehicle, thereby avoiding invalid locking of the vehicle.

[0090] In another possible implementation, when the visibility information indicates that the visibility of the target door is lower than a first visibility threshold and the obstacle recognition result indicates that the distance between the obstacle and the target door meets a first distance, it is determined that the obstacle meets the vehicle locking trigger condition.

[0091] In this embodiment, when visibility is low, it is difficult for the target object outside the vehicle (such as pedestrians) to observe the open state of the vehicle door. At this time, a higher distance threshold (that is, the first distance) is used. When the moving target object is relatively far away from the vehicle, the vehicle is locked to prevent the target object from not noticing the vehicle door opening and causing an accident.

[0092] In the embodiment of the present application, the obstacle recognition result provides the location and movement of the obstacle, which helps the collision warning subsystem to more accurately indicate the current status of the obstacle. The visibility information can help the collision warning subsystem evaluate the visibility of the vehicle's current environment. Based on the visibility of the environment and the location and movement of the obstacle, these two types of information are combined to determine whether the obstacle meets the vehicle locking trigger conditions. This can significantly improve the adaptability of the door to complex environments, ensure that reasonable decisions can be made under various weather and lighting conditions, increase the scientificity and safety of the door obstacle avoidance, and improve the door obstacle avoidance effect.

[0093] Based on the solutions shown in any one or more of the above embodiments, in one possible implementation, the collision warning subsystem is used to:

[0094] Determine the warning level based on obstacle identification results and visibility information;

[0095] When the warning level is higher than the specified level, it is determined that the obstacle meets the vehicle locking triggering conditions.

[0096] Among them, the above-mentioned warning level is a risk level indicator generated by the collision warning subsystem after a comprehensive assessment of the state of the obstacle and the environmental visibility. The warning level can be divided into multiple levels (for example, level one is low risk and level three is high risk).

[0097] The above-mentioned designated level is a preset warning level threshold, which is used as a preparation for judging whether to trigger the vehicle locking mechanism.

[0098] In some embodiments, the collision warning subsystem scores the potential threat level of the obstacle compared to the target door based on at least one of the distance, approach speed, movement direction of the obstacle compared to the target door, and visibility information around the target door, and determines the warning level based on the score.

[0099] For example, if the obstacle is less than 30 cm away from the target door and is approaching at a speed of 0.8 m / s, the obstacle will be scored high; if the obstacle is more than 50 cm away from the target door and is stationary, the obstacle will be scored low.

[0100] For example, if the current environment is in a low visibility state (for example, insufficient light at night), the obstacle score is increased; if the current environment is in a good visibility state, the score is lowered to reduce the probability of false triggering.

[0101] In some embodiments, the obstacle score and visibility score can be combined through a weighted formula, and different weights can be assigned to the obstacle score and visibility score to calculate the final score, and the warning level can be determined based on the final score. For example, level 1 (low risk): warning level ≤ 30 points; level 2 (medium risk): 30 ＜Level 2 warning level ≤ 70; Level 3 (high risk): warning level > 70. Optionally, each level corresponds to a different response strategy, such as prompting at level 1, vibration feedback at level 2, and automatic locking at level 3.

[0102] In the embodiment of the present application, through the quantitative indicator of warning level, the collision warning subsystem can dynamically adjust the response strategy according to factors such as the proximity of the obstacle, the speed of movement, and the environmental visibility. It is not limited to a simple binary judgment (trigger / not trigger) of whether the obstacle meets the warning level. The judgment of door obstacle avoidance has greater flexibility and intelligence, and can achieve graded response under different levels of danger, take precise protective measures, and improve the door obstacle avoidance effect.

[0103] Based on the solutions shown in any one or more of the above embodiments, in a possible implementation, the collision warning subsystem is further used to:

[0104] When the warning level is higher than the specified level and the vehicle door is in the locked state, when an unlock signal triggered by the user is received, the unlock signal is ignored and / or a reminder is issued.

[0105] The locked state means that the door is currently locked and cannot be opened manually or electrically.

[0106] Among them, the above-mentioned unlocking signal triggered by the user refers to the unlocking request signal sent by the user through the remote control key, the button in the car or the mobile phone application software, etc., which is used to request the control of unlocking the vehicle door.

[0107] In some embodiments, when the warning level is higher than a specified level and the vehicle door is in the locked state, when the collision warning subsystem receives an unlocking signal triggered by the user, it does not respond to the user's unlocking request and maintains the vehicle door locked state to prevent safety accidents caused by unlocking the vehicle door when there is a potential obstacle.

[0108] Among them, the above-mentioned reminder refers to various reminder methods issued to users through the vehicle, which is used to inform users that there is a high risk in the current environment and it is recommended to postpone opening the door.

[0109] In some embodiments, the collision warning subsystem may be processed in any one or a combination of the following ways:

[0110] Ignore the unlock signal, that is, do not respond to the user's unlock request, keep the door locked, and prevent collision or pinching caused by opening the door; issue a reminder, even if it is not unlocked, play voice prompts through the speaker, display warning icons on the instrument, vibrate the seat, etc. to inform the user that the current environment is dangerous, and it is recommended to wait until it is safe before trying to open the door.

[0111] In this embodiment of the present application, if the vehicle door is currently locked and the user attempts to unlock it, the collision warning subsystem can ignore the unlock signal or issue a warning. This solution is suitable for extremely dangerous scenarios, such as when the vehicle is parked in a narrow area, when pedestrians are approaching, or when other objects are about to contact the vehicle door. If the user attempts to unlock the door at this time, the door may be struck or someone may be pinched. By preventing the unlocking operation or promptly warning the user, potential accidents are effectively avoided and the vehicle door's obstacle avoidance effect is improved.

[0112] Based on the solutions shown in any one or more of the above embodiments, in one possible implementation, the collision warning subsystem is used to:

[0113] When the second door in the vehicle is an electric door, the second door is opened and the opening angle is less than an angle threshold, when the warning level is higher than a specified level, a door angle limit signal is sent to the body control subsystem to limit the maximum opening angle of the second door to the angle at which the second door has been opened.

[0114] The second door refers to a specific door on the vehicle (eg, the right rear door).

[0115] The electric door is a vehicle door that is opened and closed by a motor, and is equipped with an angle sensor and a door control ECU (Electronic Control Unit).

[0116] The above-mentioned opening angle refers to the angle at which the second door opens relative to the vehicle body.

[0117] The angle threshold is a preset upper limit of the angle (eg, 20° or 30°), which is used to determine whether the second door is in a state of just being opened.

[0118] The door angle limit signal is a command signal generated by the collision warning subsystem and sent to the body control subsystem. The command signal is used to indicate that the opened angle of the second door is limited to the maximum opening angle of the second door.

[0119] In the embodiment of the present application, the solution expands the application scenarios of the warning level, especially for the control of electric doors. When the second door is opened but the angle is less than the angle threshold, and the warning level exceeds the specified level, the system will send a door angle limit signal to the body control subsystem, and limit the maximum opening angle to the currently opened angle. When danger approaches, the door opening range will be quickly narrowed to prevent the door from colliding with other objects while continuing to open, effectively improving the door's obstacle avoidance effect.

[0120] Based on the solutions shown in any one or more of the above embodiments, the collision warning subsystem is also used to send a door handle control signal corresponding to the warning level to the body control subsystem, and the door handle control signal is one of a low-frequency vibration signal and a high-frequency vibration signal.

[0121] Among them, the above-mentioned door handle control signal is a command signal generated by the collision warning subsystem and sent to the body control subsystem, which is used to drive the vibration motor installed inside the door handle to generate vibration feedback of a specific frequency. In some embodiments, the low-frequency vibration signal can be a vibration signal with a frequency range of 5 to 20 Hz, and the high-frequency vibration signal can be a vibration signal with a frequency range of 30 to 100 Hz.

[0122] In some embodiments, the collision warning subsystem includes a mapping table of vibration signals and warning levels, in which there is a mapping relationship between vibration signals and warning levels. Each warning level corresponds to a door handle control signal. Higher warning levels correspond to high-frequency vibration signals, and lower warning levels correspond to low-frequency vibrations.

[0123] When the collision warning subsystem determines that the warning level reaches the preset trigger threshold (for example, level 2 and above), it selects a specific vibration signal type (for example, a low-frequency vibration signal or a high-frequency vibration signal) from a preset mapping table according to the warning level, generates a corresponding door handle control signal, and transmits it to the body control subsystem through the on-board communication bus. The body control subsystem parses the door handle control signal content and drives the vibration motor installed in the door handle to start working at the specified frequency.

[0124] In an embodiment of the present application, the collision warning subsystem can send a door handle control signal to the body control subsystem according to the warning level. The specific form is a low-frequency vibration signal or a high-frequency vibration signal, which can remind the user of potential dangers in the current environment through tactile perception. Compared with traditional visual or auditory prompts, vibration feedback is more immediate and intuitive, especially in noisy environments. It can convey information more effectively, allowing users to feel the warning when touching the door handle, effectively improving the obstacle avoidance effect of the door.

[0125] Based on the solutions shown in any one or more of the above embodiments, the collision warning subsystem is used to:

[0126] When the warning level is higher than the first warning level and lower than the third warning level, a low-frequency vibration signal is sent to the body control subsystem through the collision warning subsystem; the low-frequency vibration signal is used to instruct the door switch to vibrate at a first frequency;

[0127] When the warning level is higher than the third warning level, a high-frequency vibration signal is sent to the body control subsystem through the collision warning subsystem; the high-frequency vibration signal is used to instruct the door switch to vibrate at a second frequency; the first frequency is lower than the second frequency.

[0128] Among them, the above-mentioned first warning level is a lower warning level, indicating that the current obstacle risk is low, and the third warning level is a higher warning level, indicating that the current obstacle risk is high. After determining the current warning level, the collision warning subsystem compares the current warning level with the first warning level. When the current warning level is higher than the first warning level, it compares the current warning level with the third warning level. When the current warning level is lower than the third warning level, it generates a low-frequency vibration signal and sends the low-frequency vibration signal to the body control subsystem via the vehicle communication bus, instructing the door switch to vibrate at a first frequency. The body control subsystem analyzes the low-frequency vibration signal and controls the vibration motor installed in the door switch to start working at the first frequency, so that the user feels the low-frequency vibration feedback when operating the door. When the current warning level is higher than the third warning level, it indicates that the current obstacle risk is very high. The collision warning subsystem generates a low-frequency vibration signal and sends a high-frequency vibration signal to the body control subsystem via the vehicle communication bus, instructing the door switch to vibrate at a second frequency higher than the first frequency, thereby enhancing the user's perception and reminding the user that the current door opening behavior is high-risk.

[0129] In the embodiment of the present application, the solution further refines the door handle vibration signal, selects different frequency modes according to different warning levels, uses low-frequency vibration at lower warning levels, and uses high-frequency vibration at higher warning levels, thereby realizing a multi-level vibration feedback mechanism based on different risk levels. The user's cognitive ability to potential dangers is enhanced through physical tactile means, and the graded vibration strategy can better match the degree of danger, allowing users to perceive different levels of threats through touch, respond accordingly, and improve the obstacle avoidance effect of the door.

[0130] refer to Figure 3 , Figure 3 A flow chart of a vehicle door control method according to an embodiment of the present invention is shown. The vehicle door control method is as follows: Figure 2 The door obstacle avoidance system in the method includes steps 310, 320, 330, 340 and 350, as follows.

[0131] Step 310: Collect environmental images around the vehicle through a camera.

[0132] Step 320: Collect radar data around the vehicle through the millimeter-wave radar sensor.

[0133] Step 330: The collision warning subsystem determines whether the obstacles around the vehicle meet the vehicle locking trigger conditions based on the environmental image and radar data. When the obstacles around the vehicle meet the vehicle locking trigger conditions, the collision warning subsystem sends a door locking signal to the body control subsystem and sends an alarm prompt signal to the audio and instrument control subsystem.

[0134] Step 340: When the vehicle doors are in an unlocked state, the vehicle body control subsystem locks the vehicle doors according to the door locking signal.

[0135] Step 350: The audio instrument control subsystem controls the speaker to emit an alarm sound according to the alarm prompt signal.

[0136] In an embodiment of the present application, the collision warning subsystem collects environmental images and radar data through cameras and radar sensors. The collected environmental images and radar data are used to identify obstacles and determine whether the obstacles meet the vehicle locking trigger conditions; when an obstacle is detected, the collision warning subsystem sends a door locking signal to the body control subsystem and an alarm prompt signal to the audio and instrument control subsystem. The body control subsystem automatically locks the door when the door is unlocked according to the door locking signal, thereby preventing the vehicle from being hit or damaged; the audio and instrument control subsystem drives the speaker to emit an alarm sound to remind the user to pay attention to the risks of the surrounding environment. This solution effectively improves the safety of the vehicle when parking or driving at low speed, reduces the probability of door damage caused by external obstacles, and improves the door obstacle avoidance effect.

[0137] For example, based on Figures 2 to 3 Corresponding to any one or more embodiments, the embodiments of the present application propose a safe anti-collision door design.

[0138] This embodiment applies the FCM (Forward Collision Mitigation) system principle, the BDM (Barrier Door Management) control principle, and the DMC (Door Monitoring Control) alarm display principle.

[0139] The FCM system is an advanced automotive safety technology. Its core function is to continuously monitor the traffic environment ahead of the vehicle using radar sensors, assess the relative speed and distance between the vehicle ahead and any pedestrians, and predict the risk of a potential collision. Upon detecting a potential collision threat, the FCM system immediately alerts the driver through visual signals to maintain a safe distance. It also activates the collision warning system, providing an audible alarm and a warning image on the driver information display, prompting the driver to take evasive action or reduce speed. In an emergency, if the driver fails to respond promptly, the FCM system automatically initiates emergency braking to avoid or mitigate the severity of the collision.

[0140] The BDM system works closely with the FCM to further enhance the vehicle's safety performance. When the FCM system detects a moving object approaching the vehicle, posing a risk of a "door-opening kill," it sends a specific signal to the BDM system. Upon receiving the signal, the BDM immediately sends a command to close the doors, ensuring that the doors remain closed in dangerous situations. This prevents passengers from unknowingly opening the doors and potentially colliding with approaching pedestrians or vehicles. When the FCM system confirms that there are no moving objects approaching, or that the speed of the approaching objects is not sufficient to pose a danger, the BDM system unlocks the doors, allowing passengers to open the doors normally, thus achieving a safe anti-collision door function.

[0141] The DMC warning system complements the FCM system, enhancing the driver's awareness of their surroundings. When the FCM system detects a moving object approaching the vehicle and a potential door opening hazard, it sends a specific signal to the DMC system. Upon receiving the signal, DMC issues an audible warning through the instrument panel or uses a voice prompt to clearly inform the driver that a pedestrian or other obstacle is approaching and that the door should not be opened, thus preventing accidents. This audible warning or voice prompt can promptly alert the driver to their surroundings, especially when vision is obstructed or attention is distracted, effectively preventing door opening accidents.

[0142] In summary, the FCM, BDM, and DMC systems together form a comprehensive vehicle safety protection network. The FCM system uses radar monitoring and collision warning to proactively identify potential collision risks; the BDM system controls the door openings to prevent "door-opening" accidents; and the DMC system uses audible alarms to enhance the driver's awareness of the surrounding environment. The coordinated efforts of the FCM, BDM, and DMC systems significantly enhance vehicle safety, providing more comprehensive protection for drivers and pedestrians, effectively preventing and reducing traffic accidents, and making a significant contribution to road safety.

[0143] Please refer to Figure 4 , Figure 4 The schematic diagram of the structure of the safety anti-collision door provided by one embodiment of the present application is shown. Figure 4 As shown in the figure, the FCM system, or collision warning system, consists of at least four cameras and six radar sensors. The cameras are located on the front, rear, left, and right sides of the vehicle, providing all-around visual monitoring and capturing real-time image information of the vehicle's surroundings. The three front radars and three rear radars, mounted on the front and rear bumpers, respectively, accurately monitor traffic conditions in front and behind the vehicle, including the distance, speed, and movement of other vehicles, pedestrians, and obstacles. These sensors work together to ensure the FCM system can comprehensively and accurately assess the vehicle's surroundings and provide timely warnings of potential collision risks.

[0144] The BDM system, or body control system, has its main components located on the left side below the vehicle's instrument panel and connected to the FCM and DMC controllers via wiring harnesses. When the FCM detects an approaching moving object, posing a risk of a door-opening emergency, the BDM system immediately responds by locking the doors, preventing them from being opened in this dangerous situation. This prevents collisions with pedestrians or vehicles, ensuring the safety of passengers and pedestrians.

[0145] The DMC system, or DMC audio and instrument control system, also requires a vehicle to have at least four speakers. These speakers are typically mounted on the four doors, one at the front and one at the rear, to sound warning audible alerts. The DMC controller is located in the center below the instrument panel and is connected to the FCM and BDM controllers via wiring harnesses. When the FCM system detects an approaching object, posing a potential door opening hazard, the DMC system immediately issues an audible warning through the speakers or uses a voice prompt to alert the driver to the surroundings and avoid opening the door in unsafe conditions, effectively preventing accidents. DETAILED DESCRIPTION

[0146] 1. Hardware installation and configuration:

[0147] FCM system: Ensure that four cameras and six radar sensors are installed. The cameras are installed on the front, rear, left, and right sides of the vehicle, and the radars are installed on the front and rear bumpers. All sensors should be properly calibrated to ensure data accuracy and system reliability.

[0148] BDM system: Install the BDM controller on the left side below the instrument panel and ensure that the wiring harness connecting it to the FCM controller and DMC controller is correct to achieve fast signal transmission.

[0149] DMC system: Install at least four speakers in the front and rear doors of the vehicle to ensure that the sound warning can be clearly conveyed to the driver and passengers. The DMC controller should be installed in the center below the instrument panel and connected to all related controllers.

[0150] 2. Software programming and debugging:

[0151] Develop and integrate control software for FCM, BDM and DMC systems to ensure that each system can work together to achieve real-time data processing and risk assessment.

[0152] Conduct system-level testing and debugging, including sensor response time, data processing accuracy, timeliness and effectiveness of warning signals, and reliability of door locking and unlocking mechanisms.

[0153] 3. System calibration and verification:

[0154] Before the vehicle leaves the factory, a comprehensive system calibration is performed, including sensor positioning, angle adjustment, and signal strength testing, to ensure that all hardware is correctly installed and functions properly on the vehicle.

[0155] By simulating different driving scenarios and collision risks, the system's functionality is verified, including its performance at different speeds, distances, and obstacle types, to ensure the system's effectiveness and safety under actual driving conditions.

[0156] 4. User training and manuals:

[0157] Provides a detailed user manual that explains the working principles, functions and usage of the FCM, BDM and DMC systems, helping drivers understand how these systems improve driving safety.

[0158] Organize user training sessions to demonstrate system operation and emphasize correct responses in emergency situations to ensure drivers can fully utilize these safety technologies.

[0159] 5. After-sales service and technical support:

[0160] Establish an after-sales service system to provide system maintenance, troubleshooting and software upgrade services to ensure long-term and stable operation of the system.

[0161] Set up a technical support hotline to answer user questions, provide operational guidance in emergency situations, and enhance user trust and reliance on the system.

[0162] Through the implementation of the above measures, the effective deployment and operation of FCM, BDM and DMC systems in vehicles can be ensured, providing comprehensive safety protection for drivers and passengers, reducing the occurrence of traffic accidents and improving the overall driving experience.

[0163] The above is merely an example of an embodiment of the present application and should not be construed as limiting the present application. Professionals should understand that various variations and modifications may be made to the embodiment to accommodate different application requirements. Therefore, the scope of the present application should be defined by the claims appended hereto.

[0164] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0165] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A vehicle door obstacle avoidance system, characterized in that: The door obstacle avoidance system includes a collision warning subsystem, a body control subsystem, and an audio instrument control subsystem; The vehicle body control subsystem is connected to the collision warning subsystem and the audio instrument control subsystem respectively; The collision warning subsystem is connected to the camera and the radar sensor; The audio instrument control subsystem is connected to the speaker; The camera is used to collect images of the environment around the vehicle; The radar sensor is used to collect radar data around the vehicle; The collision warning subsystem is configured to determine, based on the environmental image and the radar data, whether obstacles around the vehicle meet a vehicle locking triggering condition, and, when the obstacles around the vehicle meet the vehicle locking triggering condition, send a door locking signal to the body control subsystem and send an alarm prompt signal to the audio and instrument control subsystem; The body control subsystem is configured to lock the vehicle door according to the door locking signal when the vehicle door is in an unlocked state; The audio instrument control subsystem is used to control the speaker to emit an alarm sound according to the alarm prompt signal.

2. The system according to claim 1, wherein: the collision warning subsystem is configured to determine, based on the environmental image and the radar data, whether an obstacle around the first door of the vehicle satisfies a vehicle locking triggering condition, and send a door locking signal to the body control subsystem when the obstacle around the first door satisfies the vehicle locking triggering condition; The body control subsystem is configured to lock the first door according to the door locking signal when the door of the vehicle is in an unlocked state.

3. The system according to claim 1 or 2, characterized in that The collision warning subsystem is used to: Inputting the environmental image and the radar data into an obstacle recognition algorithm to obtain an obstacle recognition result output by the obstacle recognition algorithm; the obstacle recognition result is used to indicate the position and movement of obstacles around the vehicle; Inputting the environmental image into a visibility recognition model to obtain visibility information output by the visibility recognition model; Determine whether the obstacle meets the vehicle locking triggering condition based on the obstacle recognition result and the visibility information.

4. The system according to claim 3, characterized in that The collision warning subsystem is used to: determining a warning level based on the obstacle identification result and the visibility information; When the warning level is higher than a specified level, it is determined that the obstacle meets the vehicle locking triggering condition.

5. The system according to claim 4, characterized in that The collision warning subsystem is also used to: When the warning level is higher than the specified level and the vehicle door is in a locked state, upon receiving an unlock signal triggered by a user, the unlock signal is ignored and / or a reminder is issued.

6. The system according to claim 5, characterized in that The collision warning subsystem is used to: When the second door in the vehicle is an electric door and the second door is opened and the opening angle is less than an angle threshold, when the warning level is higher than the specified level, a door angle limitation signal is sent to the body control subsystem to limit the maximum opening angle of the second door to the angle at which the second door has been opened.

7. The system according to claim 3, wherein: The collision warning subsystem is further configured to send a door handle control signal corresponding to the warning level to the vehicle body control subsystem, wherein the door handle control signal is one of a low-frequency vibration signal and a high-frequency vibration signal.

8. The system according to claim 7, characterized in that The collision warning subsystem is used to: When the warning level is higher than the first warning level and lower than the third warning level, the collision warning subsystem sends the low-frequency vibration signal to the body control subsystem; the low-frequency vibration signal is used to instruct the door switch to vibrate at a first frequency; When the warning level is higher than the third warning level, the high-frequency vibration signal is sent to the body control subsystem through the collision warning subsystem; the high-frequency vibration signal is used to instruct the door switch to vibrate at a second frequency; the first frequency is lower than the second frequency.

9. A vehicle door control method, characterized in that: The method is performed by the vehicle door obstacle avoidance system according to claim 1, and the method includes: collecting an image of the environment around the vehicle by using the camera; collecting radar data around the vehicle by using the millimeter-wave radar sensor; The collision warning subsystem determines, based on the environmental image and the radar data, whether obstacles around the vehicle meet a vehicle locking triggering condition, and when the obstacles around the vehicle meet the vehicle locking triggering condition, sends a door locking signal to the body control subsystem and sends an alarm prompt signal to the audio and instrument control subsystem; locking the vehicle door according to the door locking signal by the vehicle body control subsystem when the vehicle door is in an unlocked state; The audio instrument control subsystem controls the loudspeaker to emit an alarm sound according to the alarm prompt signal.

10. A vehicle, characterized in that: The vehicle includes the door obstacle avoidance system according to claim 1.

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