Methods, devices, systems, storage media, and vehicles for controlling the opening angle of car doors.

Abstract

This invention relates to the field of vehicle technology and discloses a method, device, system, storage medium, and vehicle for controlling the opening angle of a vehicle door. The method includes: acquiring the actual position information of an obstacle using a first set of ranging radars and a second set of ranging radars; wherein the first set of ranging radars and the second set of ranging radars are respectively located on the front and rear sides of the vehicle door; projecting the obstacle onto a preset spatial grid based on the actual position information of the obstacle to obtain the grid coordinates of the obstacle; and controlling the opening angle of the vehicle door based on the grid coordinates. This invention provides a method, device, system, storage medium, and vehicle for controlling the opening angle of a vehicle door, which detects obstacles before the door opens, projects the obstacles onto a spatial grid, and rationally controls the opening angle of the vehicle door based on the grid coordinates of the obstacles.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method, device, system, storage medium, and vehicle for controlling the opening angle of a vehicle door. Background Technology

[0002] With the rapid development of vehicle control technology and the increasing demands of users for driving and riding comfort, the level of vehicle intelligence is constantly improving, and automatic doors are gradually being applied to various intelligent vehicles.

[0003] Current automatic car doors lack collision detection when opening. If there are obstacles in the door's opening area, the door may collide or scrape against them during normal opening, causing damage. Conversely, if there are obstacles in the door's opening area, but there is still sufficient space for the user to get in and out, the door's opening angle cannot be controlled. Therefore, the door's opening angle cannot be properly controlled. Summary of the Invention

[0004] This invention provides a method, device, system, storage medium, and vehicle for controlling the opening angle of a vehicle door. Before the door is opened, obstacles are detected and projected onto a spatial grid. The opening angle of the door is then reasonably controlled based on the grid coordinates of the obstacles.

[0005] To address the aforementioned technical problems, in a first aspect, embodiments of the present invention provide a method for controlling the opening angle of a vehicle door, comprising:

[0006] The actual position information of the obstacle is obtained by the first set of ranging radar and the second set of ranging radar; wherein the first set of ranging radar and the second set of ranging radar are respectively located on the front and rear sides of the vehicle door.

[0007] Based on the actual position information of the obstacle, the obstacle is projected onto a preset spatial grid to obtain the grid coordinates of the obstacle;

[0008] The opening angle of the vehicle door is controlled according to the grid coordinates.

[0009] As a preferred embodiment, controlling the opening angle of the vehicle door based on the grid coordinates specifically includes:

[0010] Within a triangle with the first shortest position as the vertex, the second shortest position as the line connecting the obstacle to the first set of ranging radars, and the grid coordinates as the vertices, calculate the included angle of the base with the first shortest position as the vertex.

[0011] If the included angle of the bottom edge is an obtuse angle, it is determined that the door will not collide with the obstacle when it is opened normally, and the door is controlled to open normally.

[0012] If the included angle of the bottom edge is a right angle, it is determined that the door will not collide with the obstacle when it is opened normally, and the door is controlled to open normally.

[0013] If the included angle of the bottom edge is an acute angle, it is determined that the door will collide with the obstacle when it is opened normally. The acute angle is compared with the minimum angle threshold that allows passengers to get on and off the vehicle. If the acute angle is not less than the minimum angle threshold, the door is controlled to open to a safe angle based on the acute angle. The safe angle is greater than or equal to the minimum angle threshold and less than or equal to the acute angle.

[0014] As a preferred embodiment, controlling the opening angle of the vehicle door based on the grid coordinates specifically includes:

[0015] The grid coordinates are matched with a preset set of normal door opening grid coordinates;

[0016] If the grid coordinates belong to the preset set of normal door opening grid coordinates, the match is successful, it is determined that the door will not collide with the obstacle when it is opened normally, and the door is controlled to open normally.

[0017] If the grid coordinates do not belong to the preset set of normal door opening grid coordinates, the matching fails, and it is determined that the door will collide with the obstacle when it is opened normally. Based on the preset correspondence between grid coordinates and door opening angle, the target opening angle is obtained according to the grid coordinates. The target opening angle is compared with the minimum angle threshold that passengers can get on and off the vehicle. If the target opening angle is not less than the minimum angle threshold, the door is controlled to open to a safe angle according to the target opening angle. The safe angle is greater than or equal to the minimum angle threshold and less than or equal to the target opening angle.

[0018] As a preferred embodiment, in the preset spatial grid, each unit grid is rectangular in shape.

[0019] To address the aforementioned technical problems, in a second aspect, embodiments of the present invention provide a control device for the opening angle of a vehicle door, comprising:

[0020] The ranging module is used to obtain the actual position information of the obstacle through the first set of ranging radar and the second set of ranging radar; wherein the first set of ranging radar and the second set of ranging radar are respectively located on the front and rear sides of the door.

[0021] The projection module is used to project the obstacle onto a preset spatial grid based on the actual position information of the obstacle, thereby obtaining the grid coordinates of the obstacle.

[0022] The control module is used to control the opening angle of the door according to the grid coordinates.

[0023] As a preferred embodiment, the control module specifically includes:

[0024] Angle calculation unit is used to calculate the included angle of the base with the first shortest position as the vertex within a triangle with the first shortest position of the line connecting the obstacle to the first group of ranging radars, the second shortest position of the line connecting the obstacle to the second group of ranging radars, and the grid coordinates as the vertices.

[0025] The first control unit is used to determine that the door will not collide with the obstacle when it is opened normally if the included angle of the bottom edge is an obtuse angle, and to control the door to open normally.

[0026] The second control unit is used to determine that the door will not collide with the obstacle when it is opened normally if the included angle of the bottom edge is a right angle, and to control the door to open normally.

[0027] The third control unit is used to determine that if the included angle of the bottom edge is an acute angle, the door will collide with the obstacle when it is opened normally, and compares the acute angle with the minimum angle threshold that allows passengers to get on and off the vehicle. If the acute angle is not less than the minimum angle threshold, the control unit controls the door to open to a safe angle based on the acute angle. The safe angle is greater than or equal to the minimum angle threshold and less than or equal to the acute angle.

[0028] As a preferred embodiment, the control module specifically includes:

[0029] A matching unit is used to match the grid coordinates with a preset set of normal door opening grid coordinates;

[0030] The fourth control unit is used to determine that if the grid coordinates belong to the preset normal door opening grid coordinate set, the match is successful, and the door will not collide with the obstacle when it is opened normally, and to control the door to open normally.

[0031] The fifth control unit is configured to determine that if the grid coordinates do not belong to the preset set of normal door opening grid coordinates, the matching fails and the door will collide with the obstacle when it is opened normally. Based on the preset correspondence between grid coordinates and door opening angles, the control unit obtains the target opening angle according to the grid coordinates and compares the target opening angle with the minimum angle threshold that allows passengers to get on and off the vehicle. If the target opening angle is not less than the minimum angle threshold, the control unit opens the door to a safe angle according to the target opening angle. The safe angle is greater than or equal to the minimum angle threshold and less than or equal to the target opening angle.

[0032] As a preferred embodiment, in the preset spatial grid, each unit grid is rectangular in shape.

[0033] To address the aforementioned technical problems, in a third aspect, embodiments of the present invention provide a control system for the opening angle of a vehicle door, including a gateway and a first domain controller; wherein,

[0034] The gateway is used to obtain the actual location information of the obstacle through a first set of ranging radars and a second set of ranging radars; wherein the first set of ranging radars and the second set of ranging radars are respectively located on the front and rear sides of the vehicle door.

[0035] The first domain controller is used to project the obstacle onto a preset spatial grid based on the actual position information of the obstacle, and obtain the grid coordinates of the obstacle;

[0036] The first domain controller is also used to control the opening angle of the door based on the grid coordinates.

[0037] As a preferred embodiment, the system further includes a second domain controller; wherein,

[0038] The second domain controller is used to display the grid coordinates of the obstacle and the opening process of the door.

[0039] As a preferred embodiment, the first domain controller is a vehicle body domain controller.

[0040] As a preferred embodiment, the second domain controller is an autonomous intelligent cockpit domain controller.

[0041] To address the aforementioned technical problems, in a fourth aspect, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed, implements the door opening angle control method as described in any of the first aspects.

[0042] To address the aforementioned technical problems, in a fifth aspect, embodiments of the present invention provide a vehicle, the vehicle comprising:

[0043] Memory, used to store computer programs;

[0044] A processor for executing the computer program;

[0045] Wherein, when the processor executes the computer program, it implements the door opening angle control method as described in any of the first aspects.

[0046] Compared with the prior art, the present invention provides a method, device, system, storage medium, and vehicle for controlling the opening angle of a car door. The advantages are as follows: the spatial grid is pre-adjusted, and during real-time detection, after obtaining the actual position information of the obstacle, the obstacle is first mapped to the preset spatial grid to obtain its grid coordinates. Then, the opening angle of the car door is controlled according to its grid coordinates. By combining collision detection with spatial grid calculation, the result of whether a collision will occur during the opening process of the car door can be accurately obtained, thereby controlling whether the car door is opened and the opening angle, which can ensure vehicle safety and passenger safety. Attached Figure Description

[0047] To more clearly illustrate the technical features of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart illustrating a preferred embodiment of a method for controlling the opening angle of a vehicle door provided by the present invention;

[0049] Figure 2 yes Figure 1 A flowchart illustrating a preferred embodiment of step S13;

[0050] Figure 3 yes Figure 1 A flowchart illustrating another preferred embodiment of step S13;

[0051] Figure 4 This is a schematic diagram of a preferred embodiment of the spatial grid projection in controlling the door opening angle of the present invention;

[0052] Figure 5 This is a schematic diagram of a preferred embodiment of a door opening angle control device provided by the present invention;

[0053] Figure 6 This is a schematic diagram of a preferred embodiment of a vehicle provided by the present invention;

[0054] Figure 7 This is a schematic diagram of a vehicle system architecture provided by the present invention. Detailed Implementation

[0055] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should all fall within the scope of protection of the present invention.

[0056] In the description of this invention, it should be understood that the numbering itself, such as "first", "second", etc., is only used to distinguish the described objects and has no sequential or technical meaning, and should not be construed as specifying or implying the importance of the described objects.

[0057] Figure 1 The diagram shown is a flowchart of a preferred embodiment of a method for controlling the opening angle of a car door provided by the present invention.

[0058] like Figure 1 As shown, the method includes:

[0059] S11: Obtain the actual position information of the obstacle through the first set of ranging radar and the second set of ranging radar; wherein the first set of ranging radar and the second set of ranging radar are respectively located on the front and rear sides of the vehicle door.

[0060] S12: Project the obstacle onto a preset spatial grid based on the actual position information of the obstacle to obtain the grid coordinates of the obstacle;

[0061] S13: Control the opening angle of the door according to the grid coordinates.

[0062] It should be noted that the door opening angle control method provided by this invention can be applied to the side doors (front and rear doors), top wing doors, or NT doors of a vehicle. Unlocking the door is the signal that triggers this invention.

[0063] Preferably, for ease of explanation, the number of obstacles is limited to one in this invention. If the number of obstacles is greater than one, distance measurement, mapping, and door control can be performed on each obstacle, as in S11-S13. In the subsequent description of this invention, the door is described using a side door as an example.

[0064] The door opening angle control method provided by this invention is applied to vehicles. As an example, the specific system architecture diagram of a vehicle is as follows: Figure 6As shown, the GCW acts as the central computing gateway. Its radar detection data acquisition layer is responsible for collecting radar data and disseminating it to various domains within the vehicle via HOAService. The BDCM, as the body domain controller, receives real-time radar data through HOAService and disseminates data to services within its domain. Its collaborative computing service layer is responsible for mathematical calculations, spatial grid calculations, and error accuracy parameter control. Its control execution service layer executes automatic door opening and alarm logic based on the calculation results from the collaborative computing service layer. The IDCM, as the autonomous intelligent cockpit domain controller, has an HMI responsible for cockpit displays, including real-time display of obstacles in the spatial grid, real-time display of the door opening process, and alarm sound control for approaching obstacles.

[0065] Preferably, the first set of ranging radars is installed on the front side of the vehicle door along the Z-axis, and the second set of ranging radars is installed on the rear side of the vehicle door along the Z-axis. The first set of ranging radars consists of a first ranging radar and a second ranging radar, and the second set of ranging radars consists of a third ranging radar and a fourth ranging radar.

[0066] Furthermore, the first ranging radar, the second ranging radar, the third ranging radar, and the fourth ranging radar are centimeter-level ranging radars, and each ranging radar has the ability to detect obstacles within 2 meters.

[0067] It is understood that the number of ranging radars in the first group is not limited to two, and the number of ranging radars in the second group is not limited to two either; the number of ranging radars in both groups can be selected according to actual needs. The two ranging radars in each group of the present invention ensure that ranging has a comparative reference, improving measurement accuracy, while also reducing costs.

[0068] As an example, the first ranging radar is installed on the upper front side of the door, the second ranging radar is installed on the lower front side of the door, the third ranging radar is installed on the upper rear side of the door, and the fourth ranging radar is installed on the lower rear side of the door.

[0069] Furthermore, before implementing this invention, the door opening area needs to be divided into a spatial grid. For ease of calculation, the spatial grid also defines the X-axis and Y-axis directions, and the grid coordinates of a unit grid are represented as (X, Y). Each spatial grid unit is a centimeter-level grid, corresponding to the accuracy of the ranging radar. Moreover, it needs to be debugged in advance based on obstacles of different types and sizes, adjusting the size of the unit grid to achieve a balance between door opening success rate, safety, and the accuracy of door-to-obstacle distance error control during the debugging phase.

[0070] Preferably, before step S11, the method further includes:

[0071] S10: Determine whether there is an obstacle in the door opening direction using the ranging radar. If there is an obstacle in the door opening direction, continue to step S11. If there is no obstacle in the door opening direction, control the door to open normally.

[0072] Specifically, if the range-finding radar return signal obtained by the GCW is null, it indicates that no obstacle has been detected. In this case, the BDCM's Control Execution Service Layer can directly control the door to open normally without further obstacle detection steps. The door opening process can also be displayed in real-time by the IDCM's HMI.

[0073] If the return value from the ranging radar obtained by GCW is not empty, it indicates that an obstacle has been detected. The Collaborative Computing Service Layer of BDCM needs to further obtain the actual position information of the obstacle based on the returned data. Then, based on the actual position information of the obstacle, it is projected onto a preset spatial grid to obtain its grid coordinates (X, Y) in the preset spatial grid. Finally, based on the grid coordinates (X, Y), it is determined whether the door will collide or scratch the obstacle during the opening process. If it will, the Control Execution Service Layer of BDCM controls the door to open to a suitable angle or not to open the door. If not, the Control Execution Service Layer of BDCM controls the door to open normally.

[0074] This invention provides a method for controlling the opening angle of a vehicle door. The spatial grid is pre-adjusted, and during real-time detection, after obtaining the actual position information of the obstacle, the obstacle is first mapped to the preset spatial grid to obtain its grid coordinates. Then, the opening angle of the vehicle door is controlled according to its grid coordinates. By combining collision detection with spatial grid calculation, the result of whether a collision will occur during the opening process of the vehicle door can be accurately obtained, thereby controlling whether the vehicle door is opened and the opening angle, which can ensure vehicle safety and passenger safety.

[0075] In a preferred embodiment, such as Figure 2 As shown, controlling the opening angle of the car door according to the grid coordinates specifically includes:

[0076] S131: Within a triangle with the first shortest position as the vertex, the second shortest position as the line connecting the obstacle to the first set of ranging radars, and the grid coordinates as the vertices, calculate the included angle of the base with the first shortest position as the vertex.

[0077] S132: If the included angle of the bottom edge is an obtuse angle, it is determined that the door will not collide with the obstacle when it is opened normally, and the door is controlled to open normally;

[0078] S133: If the included angle of the bottom edge is a right angle, it is determined that the door will not collide with the obstacle when it is opened normally, and the door is controlled to open normally;

[0079] S134: If the included angle of the bottom edge is an acute angle, it is determined that the door will collide with the obstacle when it is opened normally. The acute angle is compared with the minimum angle threshold that allows passengers to get on and off the vehicle. If the acute angle is not less than the minimum angle threshold, the door is controlled to open to a safe angle according to the acute angle. The safe angle is greater than or equal to the minimum angle threshold and less than or equal to the acute angle.

[0080] As an example, such as Figure 4As shown, after the GCW obtains the obstacle's position information through the first set of ranging radars, it publishes this data to the BDCM via HOAService. The BDCM's Collaborative Computing Service layer first determines the first shortest position H3 of the line connecting the obstacle to the first set of ranging radars (i.e., the point closest to the door is on the same horizontal line as H3), and obtains the distance A from the obstacle to H3. Similarly, after the GCW obtains the obstacle's position information through the second set of ranging radars, it publishes this data to the BDCM via HOAService. The BDCM's Collaborative Computing Service layer first determines the second shortest position M3 of the line connecting the obstacle to the second set of ranging radars (this can also be obtained symmetrically), and obtains the distance B from the obstacle to M3. After obtaining the position H3, position M3, distance A, and distance B, the BDCM's Collaborative Computing Service layer can map the obstacle to a preset spatial grid and obtain its grid coordinates (5, 3). During mapping, as shown... Figure 4 As shown, obstacles will be mapped as close to the vehicle body as possible (i.e., the obstacle is mostly or entirely above the grid coordinates (5, 3)). Furthermore, when determining distances A and B, the selection is made closer to the door opening side (i.e.,...). Figure 4 The central door hinge is on the left side. When determining distances A and B, the right side line of the grid coordinates (5, 3) should be used as the reference.

[0081] Then the BDCM's Collaborative Computing Service Layer performs the calculation. Figure 4 The angle ∠b in the middle (which can be obtained using the law of cosines) indicates that if ∠b > 90°, it means that the obstacle is not in the opening direction of the door. It is determined that the door will not collide with the obstacle when it is opened normally, and the control execution service layer controls the door to open normally.

[0082] If ∠b=90°, it means that the obstacle is exactly on the arc of the door opening (but due to the previous debugging, such as the mapping of the obstacle and the selection of distance A and distance B, a collision will not occur at this time). It is determined that the door will not collide with the obstacle when it opens normally, and the Control execution service layer controls the door to open normally.

[0083] If ∠b < 90°, it means the obstacle is within the door opening area. Opening the door in this case will cause it to collide or scrape against the obstacle. Therefore, ∠b needs to be further compared with the minimum angle threshold θ0 for passengers to get on and off the vehicle. If ∠b ≥ θ0, it means passengers can disembark normally after the door opens, and the Control execution service layer will control the door to open to a safe angle. Among them, the safety angle meets the following conditions: If ∠b < θ0, it means that even if the door is opened to ∠b, the passenger still cannot get off normally, and the automatic door opening operation is not performed.

[0084] It should be noted that after obtaining distances A and B in the Collaborative Computing Service Layer of BDCM, they can also be compared with the door length (the length between H3 and M3). Assuming the door length is C, then: if A + B ≤ C, it means the obstacle occupies a large or significant amount of space and is very close to the door, so the door opening operation is not performed; if A + B > C, it means the obstacle occupies a small or minimal amount of space, or is far from the door. Further, by intersecting lines A and B and forming a triangle with side C, it can be seen that the distance from the intersection of A and B to side C is generally less than the distance from the obstacle to side C, meaning it is closer to the vehicle than the obstacle itself. At this point, ∠b can be calculated further, and subsequent judgments and controls can be performed based on ∠b.

[0085] The present invention controls the opening angle of the car door based on the nearest distance to the obstacle, which can maximize the safety of opening the car door.

[0086] In a preferred embodiment, such as Figure 3 As shown, controlling the opening angle of the car door according to the grid coordinates specifically includes:

[0087] S131': Match the grid coordinates with a preset set of normal door opening grid coordinates;

[0088] S132': If the grid coordinates belong to the preset normal door opening grid coordinate set, the match is successful, it is determined that the door will not collide with the obstacle when it is opened normally, and the door is controlled to open normally.

[0089] S133': If the grid coordinates do not belong to the preset normal door opening grid coordinate set, the matching fails, and it is determined that the door will collide with the obstacle when it is opened normally. Based on the preset correspondence between grid coordinates and door opening angle, the target opening angle is obtained according to the grid coordinates. The target opening angle is compared with the minimum angle threshold that passengers can get on and off the vehicle. If the target opening angle is not less than the minimum angle threshold, the door is controlled to open to a safe angle according to the target opening angle. Wherein, the safe angle is greater than or equal to the minimum angle threshold and less than or equal to the target opening angle.

[0090] Specifically, this embodiment pre-divides the spatial grid into normal door-opening areas and areas where doors cannot be opened normally (in the spatial grid, the area where the car door cannot be opened normally is generally a fan-shaped area, and the area outside this fan-shaped area is the area where the car door can be opened normally). The coordinates of the normal door-opening areas are treated as a set, namely, a preset set of normal door-opening grid coordinates, and the grid coordinates in the areas where doors cannot be opened normally are correlated with the door opening angle. During real-time control, the Collaborative Computing Service Layer of the BDCM only needs to match the grid coordinates with the preset set of normal door-opening grid coordinates to obtain the area where the door is located, thereby determining whether the door can be opened normally. Specifically: if the grid coordinates belong to the preset set of normal door-opening grid coordinates, the match is successful, indicating that the door can be opened normally; if the grid coordinates do not belong to the preset set of normal door-opening grid coordinates, the match fails, indicating that the door cannot be opened normally. If the door cannot be opened normally, the target opening angle θ of the grid coordinates is obtained based on the correspondence between the grid coordinates and the door opening angle, and compared with the minimum angle threshold θ0 that allows passengers to get on and off the vehicle. If θ ≥ θ0, it means that passengers can get off the vehicle normally after the door is opened, and the Control execution service layer can open the door to a safe angle. Among them, the safety angle meets the following conditions: If θ < θ0, it means that even if the door is opened to θ, the passenger still cannot get off normally and the automatic door opening operation is not performed.

[0091] In a preferred embodiment, such as Figure 4 As shown, in the preset spatial grid, each unit grid is rectangular in shape.

[0092] In this embodiment, the shape of each unit grid is defined as a rectangle, and the unit length on both sides can be freely adjusted according to the debugging results. Moreover, adjusting the unit length on one side does not affect the unit length on the other side, ensuring the independence and flexibility of adjustment.

[0093] Preferably, during the process of opening the car door, the present invention also performs real-time detection of obstacles.

[0094] Understandably, maintaining real-time ranging, mapping, collision detection, and door control during the opening of the car door enables real-time collision detection of obstacles (such as moving obstacles), further improving safety.

[0095] Preferably, the method further includes:

[0096] When an obstacle is detected, a voice announcement will be made;

[0097] When it is determined that the car door will collide with the obstacle during the opening process, a voice announcement will be made.

[0098] It should be understood that the implementation of all or part of the above-described method for controlling the opening angle of a vehicle door can also be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of the above-described method for controlling the opening angle of a vehicle door. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0099] Figure 5 The diagram shown is a preferred embodiment of a door opening angle control device provided by the present invention. The device can realize the entire process of the door opening angle control method described in any of the above embodiments and achieve the corresponding technical effects.

[0100] like Figure 5 As shown, the device includes:

[0101] The ranging module 21 is used to obtain the actual position information of the obstacle through the first set of ranging radar and the second set of ranging radar; wherein the first set of ranging radar and the second set of ranging radar are respectively located on the front and rear sides of the door.

[0102] Projection module 22 is used to project the obstacle onto a preset spatial grid based on the actual position information of the obstacle, and obtain the grid coordinates of the obstacle;

[0103] The detection module 23 is used to control the opening angle of the car door according to the grid coordinates.

[0104] In a preferred embodiment, the control module 23 specifically includes:

[0105] Angle calculation unit 231 is used to calculate the included angle of the base with the first shortest position as the vertex in a triangle with the first shortest position of the line connecting the obstacle to the first group of ranging radars, the second shortest position of the line connecting the obstacle to the second group of ranging radars, and the grid coordinates as the vertices.

[0106] The first determination unit 232 is used to determine that the door will not collide with the obstacle when it is opened normally if the included angle of the bottom edge is an obtuse angle, and to control the door to open normally.

[0107] The second determination unit 233 is used to determine that the door will not collide with the obstacle when it is opened normally if the included angle of the bottom edge is a right angle, and to control the door to open normally.

[0108] The third determination unit 234, the third control unit, is used to determine that if the included angle of the bottom edge is an acute angle, the door will collide with the obstacle when it is opened normally, and compares the acute angle with the minimum angle threshold that allows passengers to get on and off the vehicle. If the acute angle is not less than the minimum angle threshold, the door is controlled to open to a safe angle according to the acute angle. The safe angle is greater than or equal to the minimum angle threshold and less than or equal to the acute angle.

[0109] In a preferred embodiment, the control module 23 specifically includes:

[0110] Matching unit 231' is used to match the grid coordinates with a preset set of normal door opening grid coordinates;

[0111] The fourth determination unit 232' is used to determine that if the grid coordinates belong to the preset normal door opening grid coordinate set, the match is successful, and the door will not collide with the obstacle when it is opened normally, and the door is controlled to open normally.

[0112] The fifth determination unit 233' is used to determine that if the grid coordinates do not belong to the preset normal door opening grid coordinate set, the matching fails, and the door will collide with the obstacle when it is opened normally. Based on the preset correspondence between grid coordinates and door opening angle, the target opening angle is obtained according to the grid coordinates. The target opening angle is compared with the minimum angle threshold that passengers can get on and off the vehicle. If the target opening angle is not less than the minimum angle threshold, the door is controlled to open to a safe angle according to the target opening angle. The safe angle is greater than or equal to the minimum angle threshold and less than or equal to the target opening angle.

[0113] In a preferred embodiment, each unit grid in the preset spatial grid is rectangular in shape.

[0114] In a preferred embodiment, the ranging module 21 is further configured to:

[0115] The system uses a ranging radar to determine if there is an obstacle in the direction the door opens. If there is an obstacle, the system continues with obstacle detection, projection, and vehicle control steps. If there is no obstacle in the direction the door opens, the system controls the door to open normally.

[0116] In a preferred embodiment, the device further includes:

[0117] The broadcast module is used to broadcast voice messages when an obstacle is detected.

[0118] And when it is determined that the car door will collide with the obstacle during the opening process, a voice announcement will be made.

[0119] Accordingly, the present invention provides a control system for the opening angle of a car door, which can realize the entire process of the car door opening angle control method described in any of the above embodiments and achieve the corresponding technical effects.

[0120] The system includes a gateway and a first domain controller; wherein...

[0121] The gateway is used to obtain the actual location information of the obstacle through a first set of ranging radars and a second set of ranging radars; wherein the first set of ranging radars and the second set of ranging radars are respectively located on the front and rear sides of the vehicle door.

[0122] The first domain controller is used to project the obstacle onto a preset spatial grid based on the actual position information of the obstacle, and obtain the grid coordinates of the obstacle;

[0123] The first domain controller is also used to control the opening angle of the door based on the grid coordinates.

[0124] Preferably, the first set of ranging radars is installed on the front side of the vehicle door along the Z-axis, and the second set of ranging radars is installed on the rear side of the vehicle door along the Z-axis. The first set of ranging radars consists of a first ranging radar and a second ranging radar, and the second set of ranging radars consists of a third ranging radar and a fourth ranging radar.

[0125] Furthermore, the first ranging radar, the second ranging radar, the third ranging radar, and the fourth ranging radar are centimeter-level ranging radars, and each ranging radar has the ability to detect obstacles within 2 meters.

[0126] In a preferred embodiment, the system further includes a second domain controller; wherein,

[0127] The second domain controller is used to display the grid coordinates of the obstacle and the opening process of the door.

[0128] In a preferred embodiment, the gateway is a central gateway (GCW).

[0129] In a preferred embodiment, the first domain controller is a body domain controller (BDCM).

[0130] In a preferred embodiment, the second domain controller is an Intelligent Autonomous Cockpit Domain Controller (IDCM).

[0131] In a preferred embodiment, the first domain controller specifically controls the opening angle of the vehicle door through the following steps:

[0132] Within a triangle with the first shortest position as the vertex, the second shortest position as the line connecting the obstacle to the first set of ranging radars, and the grid coordinates as the vertices, calculate the included angle of the base with the first shortest position as the vertex.

[0133] If the included angle of the bottom edge is an obtuse angle, it is determined that the door will not collide with the obstacle when it is opened normally, and the door is controlled to open normally.

[0134] If the included angle of the bottom edge is a right angle, it is determined that the door will not collide with the obstacle when it is opened normally, and the door is controlled to open normally.

[0135] If the included angle of the bottom edge is an acute angle, it is determined that the door will collide with the obstacle when it is opened normally. The acute angle is compared with the minimum angle threshold that allows passengers to get on and off the vehicle. If the acute angle is not less than the minimum angle threshold, the door is controlled to open to a safe angle based on the acute angle. The safe angle is greater than or equal to the minimum angle threshold and less than or equal to the acute angle.

[0136] In a preferred embodiment, the first domain controller specifically controls the opening angle of the vehicle door through the following steps:

[0137] The grid coordinates are matched with a preset set of normal door opening grid coordinates;

[0138] If the grid coordinates belong to the preset set of normal door opening grid coordinates, the match is successful, it is determined that the door will not collide with the obstacle when it is opened normally, and the door is controlled to open normally.

[0139] If the grid coordinates do not belong to the preset set of normal door opening grid coordinates, the matching fails, and it is determined that the door will collide with the obstacle when it is opened normally. Based on the preset correspondence between grid coordinates and door opening angle, the target opening angle is obtained according to the grid coordinates. The target opening angle is compared with the minimum angle threshold that passengers can get on and off the vehicle. If the target opening angle is not less than the minimum angle threshold, the door is controlled to open to a safe angle according to the target opening angle. The safe angle is greater than or equal to the minimum angle threshold and less than or equal to the target opening angle.

[0140] In a preferred embodiment, each unit grid in the preset spatial grid is rectangular in shape.

[0141] In a preferred embodiment, the second domain controller is further configured to:

[0142] When an obstacle is detected, a voice announcement will be made;

[0143] When it is determined that the car door will collide with the obstacle during the opening process, a voice announcement will be made.

[0144] Figure 6 The diagram shown is a structural schematic of a preferred embodiment of a vehicle provided by the present invention. The vehicle is capable of implementing the entire process of the door opening angle control method described in any of the above embodiments and achieving the corresponding technical effects.

[0145] like Figure 6 As shown, the vehicle includes:

[0146] Memory 31 is used to store computer programs;

[0147] Processor 32 is used to execute the computer program;

[0148] When the processor 32 executes the computer program, it implements the door opening angle control method as described in any of the above embodiments.

[0149] For example, the computer program may be divided into one or more modules / units, which are stored in the memory 31 and executed by the processor 32 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the vehicle.

[0150] The processor 32 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0151] The memory 31 can be used to store the computer programs and / or modules. The processor 32 implements various functions of the vehicle by running or executing the computer programs and / or modules stored in the memory 31 and calling the data stored in the memory 31. The memory 31 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, phonebook, etc.). In addition, the memory 31 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital card (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0152] It should be noted that the aforementioned vehicles include, but are not limited to, processors and memory, as will be understood by those skilled in the art. Figure 6 The structural diagram is merely an example of the vehicle described above and does not constitute a limitation on the vehicle. It may include more parts than shown, or combine certain parts, or use different parts.

[0153] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. It should be noted that, for those skilled in the art, several equivalent obvious modifications and / or equivalent substitutions can be made without departing from the technical principles of the present invention, and these obvious modifications and / or equivalent substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling the opening angle of a vehicle door, characterized in that, include: The actual position information of obstacles is obtained through a first set of ranging radars and a second set of ranging radars; wherein, the first set of ranging radars and the second set of ranging radars are respectively installed on the front and rear sides of the vehicle door; the first set of ranging radars is installed on the Z-axis direction of the front side of the vehicle door and the second set of ranging radars is installed on the Z-axis direction of the rear side of the vehicle door, and the number of ranging radars in the first set of ranging radars is greater than or equal to 2, and the number of ranging radars in the second set of ranging radars is greater than or equal to 2. Based on the actual position information of the obstacle, the obstacle is projected onto a preset spatial grid to obtain the grid coordinates of the obstacle; Controlling the opening angle of the vehicle door based on the grid coordinates specifically includes: Within a triangle with the first shortest position as the vertex, the second shortest position as the line connecting the obstacle to the first set of ranging radars, and the grid coordinates as the vertices, calculate the included angle of the base with the first shortest position as the vertex. If the included angle of the bottom edge is an obtuse angle, it is determined that the door will not collide with the obstacle when it is opened normally, and the door is controlled to open normally. If the included angle of the bottom edge is a right angle, it is determined that the door will not collide with the obstacle when it is opened normally, and the door is controlled to open normally. If the included angle of the bottom edge is an acute angle, it is determined that the door will collide with the obstacle when it is opened normally. The acute angle is compared with the minimum angle threshold that allows passengers to get on and off the vehicle. If the acute angle is not less than the minimum angle threshold, the door is controlled to open to a safe angle based on the acute angle. The safe angle is greater than or equal to the minimum angle threshold and less than or equal to the acute angle.

2. The method for controlling the opening angle of a vehicle door according to claim 1, characterized in that, The step of controlling the opening angle of the vehicle door according to the grid coordinates specifically includes: The grid coordinates are matched with a preset set of normal door opening grid coordinates; If the grid coordinates belong to the preset set of normal door opening grid coordinates, the match is successful, it is determined that the door will not collide with the obstacle when it is opened normally, and the door is controlled to open normally. If the grid coordinates do not belong to the preset set of normal door opening grid coordinates, the matching fails, and it is determined that the door will collide with the obstacle when it is opened normally. Based on the preset correspondence between grid coordinates and door opening angle, the target opening angle is obtained according to the grid coordinates. The target opening angle is compared with the minimum angle threshold that passengers can get on and off the vehicle. If the target opening angle is not less than the minimum angle threshold, the door is controlled to open to a safe angle according to the target opening angle. The safe angle is greater than or equal to the minimum angle threshold and less than or equal to the target opening angle.

3. The method for controlling the opening angle of a vehicle door according to any one of claims 1 to 2, characterized in that, In the preset spatial grid, each unit grid is rectangular in shape.

4. A control device for the opening angle of a vehicle door, characterized in that, include: The ranging module is used to acquire the actual position information of obstacles through a first set of ranging radars and a second set of ranging radars. The first set of ranging radars and the second set of ranging radars are respectively located on the front and rear sides of the vehicle door. The first set of ranging radars is installed on the Z-axis direction of the front side of the vehicle door, and the second set of ranging radars is installed on the Z-axis direction of the rear side of the vehicle door. The first set of ranging radars has more than or equal to two ranging radars, and the second set of ranging radars has more than or equal to two ranging radars. The projection module is used to project the obstacle onto a preset spatial grid based on the actual position information of the obstacle, thereby obtaining the grid coordinates of the obstacle. A control module is used to control the opening angle of the vehicle door based on the grid coordinates; The control module includes an angle calculation unit and a matching unit; the angle calculation unit is used to calculate the base angle; the matching unit is used to match the grid coordinates with a preset set of normal door opening grid coordinates; Angle calculation unit is used to calculate the included angle of the base with the first shortest position as the vertex within a triangle with the first shortest position of the line connecting the obstacle to the first group of ranging radars, the second shortest position of the line connecting the obstacle to the second group of ranging radars, and the grid coordinates as the vertices. The first control unit is used to determine that the door will not collide with the obstacle when it is opened normally if the included angle of the bottom edge is an obtuse angle, and to control the door to open normally. The second control unit is used to determine that the door will not collide with the obstacle when it is opened normally if the included angle of the bottom edge is a right angle, and to control the door to open normally. The third control unit is used to determine that if the included angle of the bottom edge is an acute angle, the door will collide with the obstacle when it is opened normally, and compares the acute angle with the minimum angle threshold that allows passengers to get on and off the vehicle. If the acute angle is not less than the minimum angle threshold, the control unit controls the door to open to a safe angle based on the acute angle. The safe angle is greater than or equal to the minimum angle threshold and less than or equal to the acute angle.

5. The door opening angle control device according to claim 4, characterized in that, The matching unit is used to match the grid coordinates with a preset set of normal door opening grid coordinates; The fourth control unit is used to determine that if the grid coordinates belong to the preset normal door opening grid coordinate set, the match is successful, and the door will not collide with the obstacle when it is opened normally, and to control the door to open normally. The fifth control unit is configured to determine that if the grid coordinates do not belong to the preset set of normal door opening grid coordinates, the matching fails and the door will collide with the obstacle when it is opened normally. Based on the preset correspondence between grid coordinates and door opening angles, the control unit obtains the target opening angle according to the grid coordinates and compares the target opening angle with the minimum angle threshold that allows passengers to get on and off the vehicle. If the target opening angle is not less than the minimum angle threshold, the control unit opens the door to a safe angle according to the target opening angle. The safe angle is greater than or equal to the minimum angle threshold and less than or equal to the target opening angle.

6. The door opening angle control device according to any one of claims 4 to 5, characterized in that, In the preset spatial grid, each unit grid is rectangular in shape.

7. A control system for the opening angle of a vehicle door, characterized in that, This includes the gateway and the first domain controller; among which, The gateway is used to acquire the actual position information of obstacles through a first set of ranging radars and a second set of ranging radars; wherein, the first set of ranging radars and the second set of ranging radars are respectively located on the front and rear sides of the vehicle door; the first set of ranging radars is installed on the Z-axis direction of the front side of the vehicle door, and the second set of ranging radars is installed on the Z-axis direction of the rear side of the vehicle door, and the number of ranging radars in the first set of ranging radars is greater than or equal to 2, and the number of ranging radars in the second set of ranging radars is greater than or equal to 2. The first domain controller is used to project the obstacle onto a preset spatial grid based on the actual position information of the obstacle, and obtain the grid coordinates of the obstacle; The first domain controller is also configured to control the opening angle of the door based on the grid coordinates; The system also includes a second domain controller; wherein... The second domain controller is used to display the grid coordinates of the obstacle and the opening process of the door.

8. The control system for the door opening angle according to claim 7, characterized in that, The first domain controller is the vehicle body domain controller.

9. The control system for the door opening angle according to claim 7, characterized in that, The second domain controller is the Automated Intelligent Cockpit Domain Controller.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the door opening angle control method as described in any one of claims 1 to 3.

11. A vehicle, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program; The processor executes the computer program to implement the door opening angle control method as described in any one of claims 1 to 3.

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