A collision avoidance warning method applicable to forward-opening vehicle doors

Abstract

This invention discloses a collision avoidance warning method applicable to sequentially opening vehicle doors. The method includes an occupant warning module and an outside occupant warning module. By detecting the door's open / closed status and the surrounding environment, it determines whether opening the door poses a danger and assesses the level of danger. Based on the danger level, it issues warnings to the occupants: locking the door if the danger is high, and allowing the occupants to open the door if the danger is low. Simultaneously, it issues warnings to other vehicles, non-motorized vehicles, and pedestrians outside the vehicle. This invention improves vehicle door warning methods and provides a way to prevent traffic accidents caused by opening vehicle doors.

Description

Technical fields:

[0001] This invention belongs to the field of automotive safety, specifically relating to a collision warning method applicable to forward-opening vehicle doors. Background technology:

[0002] Vehicle safety has always been a major concern. In recent years, accidents involving pedestrians or non-motorized vehicles colliding with car doors due to passengers or drivers suddenly opening them have occurred repeatedly, endangering public transportation safety. Providing warnings to occupants before opening car doors and alerting other road users when the doors are opened could significantly reduce the occurrence of such accidents.

[0003] A door opening warning system is a driver assistance system that uses sensors to monitor in real time whether there are vehicles or other road users nearby that may collide with the vehicle when the occupants open their doors, and issues alerts or warnings. With the assistance of door opening warning systems, drivers and passengers can receive a warning of an impending collision before opening the door, allowing them to stop the opening process in time and thus reducing the traffic accident rate. However, current door collision avoidance warning systems still suffer from problems such as high cost, large effective warning range, and long effective warning time. Currently, door opening warning systems are still in the development stage; if timely warnings can be issued to those opening doors, the incidence of such traffic accidents will be reduced. Summary of the Invention:

[0004] The purpose of this invention is to provide a collision avoidance warning method applicable to sequentially opening vehicle doors, so as to solve the problem of the imperfection of existing vehicle door collision avoidance warning methods, and realize the function of warning the occupants or driver and traffic participants outside the vehicle when the vehicle door is opened, thereby effectively avoiding traffic accidents caused by the sudden opening of the vehicle door.

[0005] This invention is implemented as follows: a collision avoidance warning method applicable to sequentially opening vehicle doors, comprising the following steps:

[0006] Step 1, the method includes an in-vehicle occupant warning module and an out-of-vehicle occupant warning module. The in-vehicle occupant warning module includes a door open / close status unit, an external environment detection unit, an external hazard level determination unit, and an in-vehicle occupant warning unit. The out-of-vehicle occupant warning module includes a light warning unit and an audible warning unit.

[0007] Step 2: The door switch status unit detects the door status. When it is determined that the occupant has touched the door switch, the external environment detection unit is activated.

[0008] Step 3: The external environment detection unit collects data on the lateral and longitudinal distances of pedestrians, non-motorized vehicles, and motorized vehicles from the vehicle, determines whether these objects will affect the opening of the vehicle doors, and calculates hazard assessment factors, which are then transmitted to the external hazard level assessment unit. These hazard assessment factors include pedestrian hazard assessment factors, non-motorized vehicle hazard assessment factors, and motorized vehicle hazard assessment factors.

[0009] Step 4: The external hazard level determination unit classifies the hazard into five levels based on the hazard situation determination factors and transmits the information to the vehicle occupant warning unit.

[0010] Step 5: The occupant warning unit controls whether the doors are locked and the on / off switches of the light warning device and the sound warning device according to different danger levels.

[0011] Step 6: If the risk level is low, the vehicle door can be opened. Once the door is detected to be open, the external personnel warning module will be activated.

[0012] The vehicle exterior environment detection unit includes a pedestrian detection unit, a non-motorized vehicle detection unit, and a motorized vehicle detection unit.

[0013] The pedestrian detection unit outside the vehicle collects the left lateral distance L of the pedestrian. pl Horizontal distance L of pedestrians pr Longitudinal distance L in front of pedestrian pf Longitudinal distance L behind pedestrian pb Calculate pedestrian hazard assessment factors, including the pedestrian left-side hazard factor D. pl Pedestrian right-side risk factor D pr .

[0014] The left lateral distance L of the pedestrian pl The distance from the pedestrian on the left side of the vehicle to the Y-plane reference plane; the pedestrian's right lateral distance L. pr The distance from the pedestrian on the right side of the vehicle to the Y-plane reference plane; the longitudinal distance L in front of the pedestrian. pf The distance from the pedestrian in front of the vehicle to the X reference plane; the longitudinal distance L behind the pedestrian. pb The distance from the pedestrian behind the vehicle to the X reference plane is given.

[0015] The Y-reference plane is the longitudinal symmetry plane of the vehicle; the X-reference plane is a vertical plane that passes through the opening and closing of the occupant's door and is perpendicular to the Y-reference plane.

[0016] The external non-motorized vehicle detection unit collects the left lateral distance L of the non-motorized vehicle. nml Horizontal distance L to the right of non-motorized vehicles nmr Longitudinal distance L in front of non-motorized vehicles nmf Longitudinal distance L behind non-motorized vehicles nmbCalculate the non-motorized vehicle hazard assessment factors, including the non-motorized vehicle left-side hazard factor D. nml Risk factor D on the right side of non-motorized vehicles nmr .

[0017] The left lateral distance L of the non-motorized vehicle nml The distance from the left side of the vehicle to the Y-plane reference plane; the right lateral distance L of the non-motorized vehicle. nmr The distance from the right-hand non-motorized vehicle to the Y-plane; the longitudinal distance L in front of the non-motorized vehicle. nmf The distance from the non-motorized vehicle in front of the vehicle to the X reference plane; the longitudinal distance L behind the non-motorized vehicle. nmb The distance between the rear of the vehicle and the non-motorized vehicle and the X reference plane is the distance.

[0018] The external vehicle detection unit collects the left lateral distance L of the vehicle. ml 1. Right lateral distance of motor vehicle L mr Longitudinal distance L of the vehicle in front mf Longitudinal distance L behind the vehicle mb Calculate the motor vehicle hazard assessment factors, including the left-side hazard factor D. ml Hazard factor D on the right side of the motor vehicle mr .

[0019] The left lateral distance L of the motor vehicle ml The distance from the left side of the vehicle to the Y-plane reference plane; the right lateral distance L of the vehicle. mr The distance from the right side of the vehicle to the Y-plane; the longitudinal distance L at the front of the vehicle. mf The distance from the front of the vehicle to the X reference plane; the longitudinal distance L behind the vehicle. mb The distance between the vehicle behind the vehicle and the X reference plane is the distance.

[0020] The vehicle exterior hazard level determination unit divides the vehicle exterior hazard level into five levels by receiving pedestrian hazard determination factors, non-motorized vehicle hazard determination factors, and motorized vehicle hazard determination factors transmitted by the vehicle exterior environment detection unit.

[0021] If the pedestrian's left-side hazard factor D is received pl <1 or pedestrian right-side risk factor D pr <1 or the left-side hazard factor D of non-motorized vehicles nml <1 or the hazard factor D on the right side of a non-motorized vehicle nmr <1 or the left-side hazard factor D of the motor vehicle ml <1 or the hazard factor D on the right side of the motor vehicle mr If the value is less than 1, then opening the car door at this time is considered dangerous, with a danger level of Level 1; if a pedestrian's left-side danger factor 1≤D is received, then... pl≤3 or pedestrian right-side risk factor 1≤D pr ≤3, Risk factor 1≤D for non-motorized vehicles on the left side nml ≤3 or the hazard factor on the right side of the non-motorized vehicle is 1≤D nmr ≤3, Hazard factor 1 ≤ D on the left side of the motor vehicle ml ≤3 or the hazard factor on the right side of the motor vehicle is 1≤D mr If the value is ≤3, then opening the car door at this time is considered dangerous, with a danger level of level two; if the danger factor 1≤D is received from the left side of the pedestrian... pl ≤3 or pedestrian right-side risk factor 1≤D pr ≤3, Risk factor 1≤D for non-motorized vehicles on the left side nml ≤3 or the hazard factor on the right side of the non-motorized vehicle is 1≤D nmr ≤3, Hazard factor D on the left side of the motor vehicle ml 3. Hazard factor D on the right side of the motor vehicle mr If the value is greater than 3, it is determined that opening the car door at this time is unsafe, and the danger level is level three; if the danger factor 1≤D is received from the left side of the pedestrian, it is determined that opening the car door at this time is unsafe. pl ≤3 or pedestrian right-side risk factor 1≤D pr ≤3, Risk factor D on the left side of non-motorized vehicles nml 3. Danger factor D on the right side of non-motorized vehicles nmr 3. Hazard factor D on the left side of the motor vehicle ml 3. Hazard factor D on the right side of the motor vehicle mr If the value is greater than 3, it is determined that opening the car door at this time is relatively safe, and the danger level is level four; if the danger factor D from the left side of the pedestrian is received at the same time... pl >3. Pedestrian right-side risk factor D pr 3. Danger factor D on the left side of non-motorized vehicles nml 3. Danger factor D on the right side of non-motorized vehicles nmr 3. Hazard factor D on the left side of the motor vehicle ml 3. Hazard factor D on the right side of the motor vehicle mr If the value is >3, then it is determined that opening the car door at this time is safe, and the danger level is level five.

[0022] The in-vehicle occupant warning unit controls whether the doors are locked and the on / off switches of the light warning device and the sound warning device based on the danger level determined by the external danger level assessment unit.

[0023] If the hazard level is Level 1, the door opening / closing status unit detects which door the occupant intends to open, locks the door, and activates the audible and visual warning devices for that door. The external environment detection unit and the external hazard level determination unit then reassess the external environment and hazard level. If the detected level is another hazard level, the door is unlocked. If the hazard level remains Level 1, the external environment detection unit and the external hazard level determination unit reassess the external environment and hazard level until the hazard level drops to another hazard level, at which point the door is unlocked. If the hazard level is Level 2 or 3, the audible and visual warning devices for the door the occupant intends to open are activated. If the hazard level is Level 4, the visual warning device for the door the occupant intends to open is activated. If the hazard level is Level 5, neither the visual nor the audible warning devices are activated.

[0024] If the sound warning device receives a danger level of Level 1, it will announce "Danger, the car door is locked"; if it receives a danger level of Level 2, it will announce "A motor vehicle or non-motor vehicle is approaching, danger, it is not recommended to open the car door"; if it receives a danger level of Level 3, it will announce "A non-motor vehicle is approaching, please be careful when opening the door"; the light warning device is a door ambient light.

[0025] The external personnel warning module detects the door status based on the door open / close status unit. When it is determined that an occupant has opened the door, the light warning unit is activated.

[0026] The light warning unit is an ambient light strip installed on the A-pillar and C-pillar of the vehicle body. It turns on when the door is detected to be open, and warns pedestrians, non-motorized vehicles and motorized vehicles in front and behind.

[0027] The sound warning unit calculates the pedestrian left-side warning factor V based on data collected by the vehicle external environment detection unit. pl Pedestrian Right-Side Warning Factor V pr Non-motorized vehicle left-side warning factor V nml Non-motorized vehicle right-side warning factor V nmr Left-side warning factor V for motor vehicles ml Motor vehicle right-side warning factor V mr .

[0028] If the pedestrian's left-side warning factor V pl ≥3, Pedestrian Right-Side Warning Factor V pr ≥3, Non-motorized vehicle left-side warning factor V nml ≥3, Non-motorized vehicle right-side warning factor V nmr ≥3, Left-side warning factor V for motor vehicles ml ≥3, Right-side warning factor V for motor vehicles mrIf ≥3 are simultaneously met, the audible warning device will not be activated; if the pedestrian's left-side warning factor is 1.5... <V pl <3 or pedestrian right-side warning factor 1.5 <V pr <3. Warning factor V for non-motorized vehicles on the left side nml ≥3, Non-motorized vehicle right-side warning factor V nmr ≥3, Left-side warning factor V for motor vehicles ml ≥3, Right-side warning factor V for motor vehicles mr If the warning factor is ≥3, the audible warning device will be activated, and the voice message will be "Door opening in progress"; if the pedestrian left-side warning factor is 1.5... <V pl <3 or pedestrian right-side warning factor 1.5 <V pr <3. Warning factor on the left side of non-motorized vehicles: 1.5 <V nml <3 or non-motorized vehicle right-side warning factor 1.5 <V nmr <3. Left-side warning factor V for motor vehicles ml ≥3, Warning factor v on the right side of the motor vehicle mr If the pedestrian warning factor is ≥3, the audible warning device will be activated, and the voice announcement will read, "The car door is opening, please be careful and avoid it." If the pedestrian warning factor on the left is 1.5... <v pl <3 or pedestrian right-side warning factor 1.5 <V pr <3. Warning factor on the left side of non-motorized vehicles: 1.5 <V nml <3 or non-motorized vehicle right-side warning moving object factor 1.5 <V nmr <3. Warning factor on the left side of the vehicle: 1.5 <V ml <3 or right-side warning factor for motor vehicles 1.5 <V mr If the warning factor is less than 3, the audible warning device will be activated, and the voice announcement will read, "The door is opening; please be aware of the approaching pedestrian, non-motorized vehicle, or motorized vehicle." If the pedestrian's left warning factor is V... pl ≤1.5, Pedestrian right-side warning factor V pr ≤1.5, warning factor V for the left side of non-motorized vehicles nml ≤1.5, warning factor V on the right side of non-motorized vehicles nmr ≤1.5, Left-side warning factor V for motor vehicles ml ≤1.5, Warning Factor V on the Right Side of Motor Vehicles mr If any one of ≤1.5 is true, the sound warning device will be activated, and the voice broadcast will say: "The door is opening, please be careful to avoid it; pedestrians, non-motorized vehicles, and motorized vehicles are approaching, please be aware of danger." Attached image description:

[0029] Figure 1 A flowchart of the present invention is shown. Detailed implementation method:

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in more detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and do not limit the scope of the invention.

[0031] like Figure 1 As shown, this embodiment of the invention provides a collision avoidance warning method applicable to sequentially opening vehicle doors. The method includes an in-vehicle occupant warning module and an out-of-vehicle occupant warning module. By detecting the door opening and closing status and the surrounding environment of the vehicle, it determines whether there is a danger in opening the door at that moment and judges the danger level. Based on the danger level, it issues a warning to the occupants inside the vehicle. If the danger level is high, the door is locked; if the danger level is low, the occupants are allowed to open the door. At the same time as the occupants open the door, it issues warnings to motor vehicles, non-motor vehicles, and pedestrians outside the vehicle.

[0032] A collision avoidance warning method applicable to sequentially opening vehicle doors includes the following steps:

[0033] Step 1, the method includes an in-vehicle occupant warning module and an out-of-vehicle occupant warning module. The in-vehicle occupant warning module includes a door open / close status unit, an external environment detection unit, an external hazard level determination unit, and an in-vehicle occupant warning unit. The out-of-vehicle occupant warning module includes a light warning unit and an audible warning unit.

[0034] Step 2: The door switch status unit detects the door status. When it is determined that the occupant has touched the door switch, the external environment detection unit is activated.

[0035] Step 3: The external environment detection unit collects data on the lateral and longitudinal distances of pedestrians, non-motorized vehicles, and motorized vehicles from the vehicle, determines whether these objects will affect the opening of the vehicle doors, and calculates hazard assessment factors, which are then transmitted to the external hazard level assessment unit. These hazard assessment factors include pedestrian hazard assessment factors, non-motorized vehicle hazard assessment factors, and motorized vehicle hazard assessment factors.

[0036] Step 4: The external hazard level determination unit classifies the hazard into five levels based on the hazard situation determination factors and transmits the information to the vehicle occupant warning unit.

[0037] Step 5: The occupant warning unit controls whether the doors are locked and the on / off switches of the light warning device and the sound warning device according to different danger levels.

[0038] Step 6: If the risk level is low, the vehicle door can be opened. Once the door is detected to be open, the external personnel warning module will be activated.

[0039] In this embodiment of the invention, the status of the car door is first detected. When it is determined that the occupant has touched the car door switch, the external environment detection unit is activated.

[0040] The vehicle exterior environment detection unit includes a pedestrian detection unit, a non-motorized vehicle detection unit, and a motorized vehicle detection unit.

[0041] The pedestrian detection unit outside the vehicle collects the left lateral distance L of the pedestrian. pl Horizontal distance L of pedestrians pr Longitudinal distance L in front of pedestrian pf Longitudinal distance L behind pedestrian pb Calculate the pedestrian danger situation judgment factor.

[0042] The left lateral distance L of the pedestrian pl The distance from the pedestrian on the left side of the vehicle to the Y-plane reference plane; the pedestrian's right lateral distance L. pr The distance from the pedestrian on the right side of the vehicle to the Y-plane reference plane; the longitudinal distance L in front of the pedestrian. pf The distance from the pedestrian in front of the vehicle to the X reference plane; the longitudinal distance L behind the pedestrian. pb The distance from the pedestrian behind the vehicle to the X reference plane is given.

[0043] The Y-reference plane is the longitudinal symmetry plane of the vehicle; the X-reference plane is a vertical plane that passes through the opening and closing of the occupant's door and is perpendicular to the Y-reference plane.

[0044] The pedestrian danger assessment factors include pedestrian left-side danger factor D. pl Pedestrian right-side risk factor D pr .

[0045] Pedestrian left risk factor D pl The calculation formula is as follows:

[0046]

[0047] Where: L d L is the width of the car door. v This refers to the width of the vehicle body;

[0048] Pedestrian right risk factor D pl The calculation formula is as follows:

[0049]

[0050] The external non-motorized vehicle detection unit collects the left lateral distance L of the non-motorized vehicle. nml Horizontal distance L to the right of non-motorized vehicles nmr Longitudinal distance L in front of non-motorized vehicles nmf Longitudinal distance L behind non-motorized vehicles nmb Calculate the risk assessment factors for non-motorized vehicles.

[0051] The left lateral distance L of the non-motorized vehicle nmlThe distance from the left side of the vehicle to the Y-plane reference plane; the right lateral distance L of the non-motorized vehicle. nmr The distance from the right-hand non-motorized vehicle to the Y-plane; the longitudinal distance L in front of the non-motorized vehicle. nmf The distance from the non-motorized vehicle in front of the vehicle to the X reference plane; the longitudinal distance L behind the non-motorized vehicle. nmb The distance between the rear of the vehicle and the non-motorized vehicle and the X reference plane is the distance.

[0052] The non-motorized vehicle hazard assessment factors include the non-motorized vehicle left-side hazard factor D. nml Risk factor D on the right side of non-motorized vehicles nmr .

[0053] Risk factor D on the left side of non-motorized vehicles nml The calculation formula is as follows:

[0054]

[0055] Risk factor D on the right side of non-motorized vehicles nmr The calculation formula is as follows:

[0056]

[0057] The external vehicle detection unit collects the left lateral distance L of the vehicle. ml 1. Right lateral distance of motor vehicle L mr Longitudinal distance L of the vehicle in front mf Longitudinal distance L behind the vehicle mb Calculate the risk assessment factors for motor vehicles.

[0058] The left lateral distance L of the motor vehicle ml The distance from the left side of the vehicle to the Y-plane reference plane; the right lateral distance L of the vehicle. mr The distance from the right side of the vehicle to the Y-plane; the longitudinal distance L at the front of the vehicle. mf The distance from the front of the vehicle to the X reference plane; the longitudinal distance L behind the vehicle. mb The distance between the vehicle behind the vehicle and the X reference plane is the distance.

[0059] The motor vehicle hazard assessment factors include the left-side hazard factor D. ml Hazard factor D on the right side of the motor vehicle mr .

[0060] Risk factor D on the left side of the motor vehicle ml The calculation formula is as follows:

[0061]

[0062] Hazard factor D on the right side of the motor vehicle mr The calculation formula is as follows:

[0063]

[0064] The vehicle exterior hazard level determination unit divides the vehicle exterior hazard level into five levels by receiving pedestrian hazard assessment factors, non-motorized vehicle hazard assessment factors, and motorized vehicle hazard assessment factors transmitted by the vehicle exterior environment detection unit.

[0065] If the pedestrian's left-side hazard factor D is received pl <1 or pedestrian right-side risk factor D pr <1 or the left-side hazard factor D of non-motorized vehicles nml <1 or the hazard factor D on the right side of a non-motorized vehicle nmr <1 or the left-side hazard factor D of the motor vehicle ml <1 or the hazard factor D on the right side of the motor vehicle mr If the value is less than 1, then opening the car door at this time is considered dangerous, with a danger level of Level 1.

[0066] If the risk factor 1 ≤ D is received on the left side of the pedestrian, then pl ≤3 or pedestrian right-side risk factor 1≤D pr ≤3, Risk factor 1≤D for non-motorized vehicles on the left side nml ≤3 or the hazard factor on the right side of the non-motorized vehicle is 1≤D nmr ≤3, Hazard factor 1 ≤ D on the left side of the motor vehicle ml ≤3 or the hazard factor on the right side of the motor vehicle is 1≤D mr If the value is ≤3, then opening the car door at this time is considered dangerous, with a danger level of level two.

[0067] If the risk factor 1 ≤ D is received on the left side of the pedestrian, then pl ≤3 or pedestrian right-side risk factor 1≤D pr ≤3, Risk factor 1≤D for non-motorized vehicles on the left side nml ≤3 or the hazard factor on the right side of the non-motorized vehicle is 1≤D nmr ≤3, Hazard factor D on the left side of the motor vehicle ml 3. Hazard factor D on the right side of the motor vehicle mr If the value is >3, it is determined that opening the car door at this time is unsafe, and the danger level is level three.

[0068] If the risk factor 1 ≤ D is received on the left side of the pedestrian, then pl ≤3 or pedestrian right-side risk factor 1≤D pr ≤3, Risk factor D on the left side of non-motorized vehicles nml 3. Danger factor D on the right side of non-motorized vehicles nmr 3. Hazard factor D on the left side of the motor vehicle ml 3. Hazard factor D on the right side of the motor vehicle mr If the value is >3, it is determined that opening the car door at this time is relatively safe, and the danger level is level four.

[0069] If simultaneously receive pedestrian left-side hazard factor D pl >3. Pedestrian right-side risk factor D pr 3. Danger factor D on the left side of non-motorized vehicles nml 3. Danger factor D on the right side of non-motorized vehicles nmr 3. Hazard factor D on the left side of the motor vehicle ml 3. Hazard factor D on the right side of the motor vehicle mr If the value is >3, then it is determined that opening the car door at this time is safe, and the danger level is level five.

[0070] The in-vehicle occupant warning unit controls whether the doors are locked and the on / off switches of the light warning device and the sound warning device based on the danger level determined by the external danger level assessment unit.

[0071] If the hazard level is Level 1, the door opening / closing status unit detects which door the occupant intends to open, locks the door, and simultaneously activates the audible and visual warning devices for that door. The external environment detection unit and the external hazard level determination unit then reassess the external environment and hazard level. If the detected hazard level is another level, the door is unlocked. If the hazard level remains Level 1, the external environment detection unit and the external hazard level determination unit reassess the external environment and hazard level until the hazard level drops to another level and the door is unlocked.

[0072] If the danger level is level two or three, activate the audible and visual warning devices for the doors that the occupants are preparing to open.

[0073] If the danger level is level four, activate the warning lights on the doors that the occupants are about to open.

[0074] If the danger level is level five, the light warning device and sound warning device will not be activated.

[0075] If the sound warning device receives a danger level of Level 1, it will announce "Danger, the car door is locked"; if it receives a danger level of Level 2, it will announce "A motor vehicle or non-motor vehicle is approaching, danger, it is not recommended to open the car door"; if it receives a danger level of Level 3, it will announce "A non-motor vehicle is approaching, please be careful when opening the door".

[0076] The light warning device is a door ambient light.

[0077] The external personnel warning module detects the door status based on the door open / close status unit. When it is determined that an occupant has opened the door, the light warning unit is activated.

[0078] The light warning unit is an ambient light strip installed on the A-pillar and C-pillar of the vehicle body. It turns on when the door is detected to be open, and warns pedestrians, non-motorized vehicles and motorized vehicles in front and behind.

[0079] The sound warning unit calculates the pedestrian left-side warning factor V based on data collected by the vehicle external environment detection unit. pl Pedestrian Right-Side Warning Factor V pr Non-motorized vehicle left-side warning factor V nml Non-motorized vehicle right-side warning factor V nmr Left-side warning factor V for motor vehicles ml Motor vehicle right-side warning factor V mr .

[0080] Pedestrian Left-Side Warning Factor V pl The calculation formula is as follows:

[0081]

[0082] Where: θ is the door opening angle;

[0083] Pedestrian Right-Side Warning Factor V pr The calculation formula is as follows:

[0084]

[0085] Non-motorized vehicle left-side warning factor V nml The calculation formula is as follows:

[0086]

[0087] Non-motorized vehicle right-side warning factor V nmr The calculation formula is as follows:

[0088]

[0089] Left-side warning factor V for motor vehicles ml The calculation formula is as follows:

[0090]

[0091] Right-side warning factor V for motor vehicles mr The calculation formula is as follows:

[0092]

[0093] If the pedestrian's left-side warning factor V pl ≥3, Pedestrian Right-Side Warning Factor V pr ≥3, Non-motorized vehicle left-side warning factor V nml ≥3, Non-motorized vehicle right-side warning factor V nmr≥3, Left-side warning factor V for motor vehicles ml ≥3, Right-side warning factor V for motor vehicles mr If ≥3 conditions are met simultaneously, the audible warning device will not be activated.

[0094] If the pedestrian's left-side warning factor is 1.5 <V pl <3 or pedestrian right-side warning factor 1.5 <V pr <3. Warning factor V for non-motorized vehicles on the left side nml ≥3, Non-motorized vehicle right-side warning factor V nmr ≥3, Left-side warning factor V for motor vehicles ml ≥3, Right-side warning factor V for motor vehicles mr If the value is ≥3, the sound warning device will be activated, and the voice message will be "Door is opening".

[0095] If the pedestrian's left-side warning factor is 1.5 <V pl <3 or pedestrian right-side warning factor 1.5 <V pr <3. Warning factor on the left side of non-motorized vehicles: 1.5 <V nml <3 or non-motorized vehicle right-side warning factor 1.5 <V nmr <3. Left-side warning factor V for motor vehicles ml ≥3, Right-side warning factor V for motor vehicles mr If the value is ≥3, the sound warning device will be activated, and the voice message will be "The door is open, please be careful to avoid it".

[0096] If the pedestrian's left-side warning factor is 1.5 <V pl <3 or pedestrian right-side warning factor 1.5 <V pr <3. Warning factor on the left side of non-motorized vehicles: 1.5 <V nml <3 or non-motorized vehicle right-side warning moving object factor 1.5 <V nmr <3. Warning factor on the left side of the vehicle: 1.5 <V ml <3 or right-side warning factor for motor vehicles 1.5 <V mr If the value is less than 3, the sound warning device will be activated, and the voice broadcast will say, "The door is opening. Please be aware of the approach of pedestrians, non-motorized vehicles, and motorized vehicles."

[0097] If the pedestrian's left-side warning factor V pl ≤1.5, Pedestrian right-side warning factor V pr ≤1.5, warning factor V for the left side of non-motorized vehicles nml ≤1.5, warning factor V on the right side of non-motorized vehicles nmr ≤1.5, Left-side warning factor V for motor vehicles ml ≤1.5, Warning Factor V on the Right Side of Motor Vehicles mrIf any one of ≤1.5 is true, the sound warning device will be activated, and the voice broadcast will say: "The door is opening, please be careful to avoid it; pedestrians, non-motorized vehicles, and motorized vehicles are approaching, please be aware of danger."

[0098] This invention provides a collision avoidance warning for sequentially opening vehicle doors. The method includes an in-vehicle occupant warning module and an out-of-vehicle occupant warning module. The in-vehicle occupant warning module includes a door open / close status unit, an external environment detection unit, an external hazard level determination unit, and an in-vehicle occupant warning unit. The out-of-vehicle occupant warning module includes a light warning unit and an audible warning unit. The door open / close status unit detects the door status to determine whether to activate the external environment detection unit. The external environment detection unit collects data on the lateral and longitudinal distances of pedestrians, non-motorized vehicles, and motorized vehicles outside the vehicle, determines whether these objects will affect the opening of the door, calculates a hazard assessment factor, and transmits it to the external hazard level determination unit. The external hazard level determination unit classifies the hazard into five levels based on the hazard assessment factor and transmits this data to the in-vehicle occupant warning unit. The in-vehicle occupant warning unit controls whether the door is locked and the on / off state of the light and audible warning devices according to the different hazard levels. For low hazard levels, the door can be opened. Upon detecting that the door is open, the out-of-vehicle occupant warning module is activated to warn pedestrians, non-motorized vehicles, and motorized vehicles outside the vehicle.

Claims

1. A collision avoidance warning method applicable to sequentially opening vehicle doors, characterized in that, Includes the following steps: Step 1, the method includes an in-vehicle occupant warning module and an out-of-vehicle occupant warning module. The in-vehicle occupant warning module includes a door open / close status unit, an external environment detection unit, an external hazard level determination unit, and an in-vehicle occupant warning unit. The out-of-vehicle occupant warning module includes a light warning unit and an audible warning unit. Step 2: The door switch status unit detects the door status. When it is determined that the occupant has touched the door switch, the external environment detection unit is activated. Step 3: The external environment detection unit collects data on the lateral and longitudinal distances of pedestrians, non-motorized vehicles, and motorized vehicles outside the vehicle, determines whether pedestrians, non-motorized vehicles, and motorized vehicles outside the vehicle will affect the opening of the vehicle door, calculates the danger situation judgment factor, and transmits it to the external danger level judgment unit. The hazardous situation determination factors include pedestrian hazardous situation determination factors, non-motorized vehicle hazardous situation determination factors, and motorized vehicle hazardous situation determination factors. Step 4: The external hazard level determination unit classifies the hazard into five levels based on the hazard situation determination factors and transmits the information to the vehicle occupant warning unit. Step 5: The occupant warning unit controls whether the doors are locked and the on / off switches of the light warning device and the sound warning device according to different danger levels. Step 6: If the risk level is low, the vehicle door can be opened. Once the door is detected to be open, the external personnel warning module will be activated. The vehicle exterior environment detection unit includes a vehicle exterior pedestrian detection unit, a vehicle exterior non-motorized vehicle detection unit, and a vehicle exterior motorized vehicle detection unit. The pedestrian detection unit outside the vehicle collects the left lateral distance L of the pedestrian. pl Horizontal distance L of pedestrians pr Longitudinal distance L in front of pedestrian pf Longitudinal distance L behind pedestrian pb Calculate pedestrian danger assessment factors; The left lateral distance L of the pedestrian pl The distance from the pedestrian on the left side of the vehicle to the Y-plane reference plane; the pedestrian's right lateral distance L. pr The distance from the pedestrian on the right side of the vehicle to the Y-plane reference plane; the longitudinal distance L in front of the pedestrian. pf The distance from the pedestrian in front of the vehicle to the X reference plane; the longitudinal distance L behind the pedestrian. pb The distance from the pedestrian behind the vehicle to the X reference plane; The Y-reference plane is the longitudinal symmetry plane of the vehicle; the X-reference plane is a vertical plane that passes through the opening and closing of the occupant's door and is perpendicular to the Y-reference plane; The pedestrian danger assessment factors include pedestrian left-side danger factor D. pl Pedestrian right-side risk factor D pr ; Pedestrian left risk factor D pl The calculation formula is as follows: Where: L d L is the width of the car door. v This refers to the width of the vehicle body; Pedestrian right risk factor D pl The calculation formula is as follows: The external non-motorized vehicle detection unit collects the left lateral distance L of the non-motorized vehicle. nml Horizontal distance L to the right of non-motorized vehicles nmr Longitudinal distance L in front of non-motorized vehicles nmf Longitudinal distance L behind non-motorized vehicles nmb Calculate the risk assessment factors for non-motorized vehicle hazards; The left lateral distance L of the non-motorized vehicle nml The distance from the left side of the vehicle to the Y-plane reference plane; the right lateral distance L of the non-motorized vehicle. nmr The distance from the right-hand non-motorized vehicle to the Y-plane; the longitudinal distance L in front of the non-motorized vehicle. nmf The distance from the non-motorized vehicle in front of the vehicle to the X reference plane; the longitudinal distance L behind the non-motorized vehicle. nmb The distance between the non-motorized vehicle behind the vehicle and the X reference plane; The non-motorized vehicle hazard assessment factors include the non-motorized vehicle left-side hazard factor D. nml Risk factor D on the right side of non-motorized vehicles nmr ; Risk factor D on the left side of non-motorized vehicles nml The calculation formula is as follows: Risk factor D on the right side of non-motorized vehicles nmr The calculation formula is as follows: The external vehicle detection unit collects the left lateral distance L of the vehicle. ml 1. Right lateral distance of motor vehicle L mr Longitudinal distance L of the vehicle in front mf Longitudinal distance L behind the vehicle mb Calculate the risk assessment factors for motor vehicles; The left lateral distance L of the motor vehicle ml The distance from the left side of the vehicle to the Y-plane reference plane; the right lateral distance L of the vehicle. mr The distance from the right side of the vehicle to the Y-plane; the longitudinal distance L in front of the vehicle. mf The distance from the front of the vehicle to the X-reference plane; the longitudinal distance L behind the vehicle. mb The distance between the vehicle behind the vehicle and the X reference plane; The motor vehicle hazard assessment factors include the left-side hazard factor D. ml Hazard factor D on the right side of the motor vehicle mr ; Risk factor D on the left side of the motor vehicle ml The calculation formula is as follows: Hazard factor D on the right side of the motor vehicle mr The calculation formula is as follows:

2. The anti-collision warning method applicable to sequentially opening vehicle doors according to claim 1, characterized in that: The vehicle exterior hazard level determination unit divides the vehicle exterior hazard level into five levels by receiving pedestrian hazard determination factors, non-motorized vehicle hazard determination factors, and motorized vehicle hazard determination factors transmitted by the vehicle exterior environment detection unit. If the pedestrian's left-side hazard factor D is received pl <1 or pedestrian right-side risk factor D pr <1 or the risk factor D on the left side of a non-motorized vehicle nml <1 or the hazard factor D on the right side of the non-motorized vehicle nmr <1 or the left-side hazard factor D of the motor vehicle ml <1 or the hazard factor D on the right side of the motor vehicle mr If the value is less than 1, then opening the car door at this time is considered dangerous, with a danger level of Level 1. If the risk factor 1 ≤ D is received on the left side of the pedestrian, then pl ≤3 or pedestrian right-side risk factor 1≤D pr ≤3, Risk factor 1≤D for non-motorized vehicles on the left side nml ≤3 or the hazard factor on the right side of the non-motorized vehicle is 1≤D nmr ≤3, Hazard factor 1 ≤ D on the left side of the motor vehicle ml ≤3 or the hazard factor on the right side of the motor vehicle is 1≤D mr If the value is ≤3, then opening the car door at this time is considered dangerous, with a danger level of level two. If the risk factor 1 ≤ D is received on the left side of the pedestrian, then pl ≤3 or pedestrian right-side risk factor 1≤D pr ≤3, Risk factor 1≤D for non-motorized vehicles on the left side nml ≤3 or the hazard factor on the right side of the non-motorized vehicle is 1≤D nmr ≤3, Hazard factor D on the left side of the motor vehicle ml >3. Hazard factor D on the right side of the motor vehicle mr If the value is greater than 3, it is determined that opening the car door at this time is unsafe, and the danger level is level three. If the risk factor 1 ≤ D is received on the left side of the pedestrian, then pl ≤3 or pedestrian right-side risk factor 1≤D pr ≤3, Risk factor D on the left side of non-motorized vehicles nml >3. Risk factor D on the right side of non-motorized vehicles nmr >3. Hazard factor D on the left side of the motor vehicle ml >3. Hazard factor D on the right side of the motor vehicle mr If the value is greater than 3, it is determined that opening the car door at this time is relatively safe, and the danger level is level four. If simultaneously receive pedestrian left-side hazard factor D pl >3. Pedestrian right-side risk factor D pr >3. Danger factor D on the left side of non-motorized vehicles nml >3. Risk factor D on the right side of non-motorized vehicles nmr >3. Hazard factor D on the left side of the motor vehicle ml >3. Hazard factor D on the right side of the motor vehicle mr If the value is greater than 3, then it is determined that opening the car door at this time is safe, and the danger level is level five; The in-vehicle occupant warning unit controls whether the doors are locked and the on / off switches of the light warning device and the sound warning device based on the danger level determined by the external danger level assessment unit. If the danger level is Level 1, the door opening and closing status unit detects which door the occupant is about to open, locks the door the occupant is about to open, and simultaneously activates the sound and light warning devices for the door the occupant is about to open. The external environment detection unit and the external danger level determination unit re-evaluate the external environment and danger level. If the detection level is other than level 1, the door locks will be released; if the detection level is still level 1, the external environment detection unit and the external hazard level determination unit will reassess the external environment and hazard level until the hazard level drops to other levels and the door locks will be released. If the danger level is level two or three, activate the sound and light warning devices for the doors that the occupants are about to open; If the danger level is level four, activate the warning lights on the doors that the occupants are about to open. If the danger level is level five, the light warning device and sound warning device will not be activated; If the sound warning device receives a danger level of Level 1, it will announce "Danger, the car door is locked"; if it receives a danger level of Level 2, it will announce "A motor vehicle or non-motor vehicle is approaching, danger, it is not recommended to open the car door"; if it receives a danger level of Level 3, it will announce "A non-motor vehicle is approaching, please be careful when opening the door". The light warning device is a door ambient light.

3. The anti-collision warning method applicable to sequentially opening vehicle doors according to claim 1, characterized in that: The external occupant warning module detects the door status based on the door open / close status unit. When it determines that an occupant has opened the door, it activates the light warning unit. The light warning unit is an ambient light strip installed on the A-pillar and C-pillar of the vehicle body. It turns on when the door is detected to be open, and warns pedestrians, non-motorized vehicles and motorized vehicles in front and behind. The sound warning unit calculates the pedestrian left-side warning factor V based on data collected by the vehicle external environment detection unit. pl Pedestrian Right-Side Warning Factor V pr Non-motorized vehicle left-side warning factor V nml Non-motorized vehicle right-side warning factor V nmr Left-side warning factor V for motor vehicles ml Motor vehicle right-side warning factor V mr ; Pedestrian Left-Side Warning Factor V pl The calculation formula is as follows: Where: θ is the door opening angle; Pedestrian Right-Side Warning Factor V pr The calculation formula is as follows: Non-motorized vehicle left-side warning factor V nml The calculation formula is as follows: Non-motorized vehicle right-side warning factor V nmr The calculation formula is as follows: Left-side warning factor V for motor vehicles ml The calculation formula is as follows: Right-side warning factor V for motor vehicles mr The calculation formula is as follows: If the pedestrian's left-side warning factor V pl ≥3, Pedestrian Right-Side Warning Factor V pr ≥3, Non-motorized vehicle left-side warning factor V nml ≥3, Non-motorized vehicle right-side warning factor V nmr ≥3, Left-side warning factor V for motor vehicles ml ≥3, Right-side warning factor V for motor vehicles mr If ≥3 conditions are met simultaneously, the audible alarm device will not be activated. If the pedestrian's left-side warning factor is 1.5 < V pl <3 or pedestrian right-side warning factor 1.5 <V pr <3. Warning factor V for the left side of non-motorized vehicles nml ≥3, Non-motorized vehicle right-side warning factor V nmr ≥3, Left-side warning factor V for motor vehicles ml ≥3, Right-side warning factor V for motor vehicles mr If the value is ≥3, the sound warning device will be activated, and the voice message will be "Door is opening"; If the pedestrian's left-side warning factor is 1.5 < V pl <3 or pedestrian right-side warning factor 1.5 <V pr <3. Warning factor on the left side of non-motorized vehicles: 1.5 <V nml <3 or non-motorized vehicle right-side warning factor 1.5 <V nmr <3. Left-side warning factor V for motor vehicles ml ≥3, Right-side warning factor V for motor vehicles mr If the value is ≥3, the sound warning device will be activated, and the voice message will be "The car door is open, please be careful to avoid it"; If the pedestrian's left-side warning factor is 1.5 < V pl <3 or pedestrian right-side warning factor 1.5 <V pr <3. Warning factor on the left side of non-motorized vehicles: 1.5 <V nml <3 or non-motorized vehicle right-side warning moving object factor 1.5 <V nmr <3. Warning factor on the left side of the vehicle: 1.5 <V ml <3 or right-side warning factor for motor vehicles 1.5 <V mr If the value is less than 3, the sound warning device will be activated, and the voice broadcast will say "The door is opening, please be careful; pedestrians, non-motorized vehicles, and motor vehicles are approaching." If the pedestrian's left-side warning factor V pl ≤1.5, Pedestrian right-side warning factor V pr ≤1.5, warning factor V for the left side of non-motorized vehicles nml ≤1.5, warning factor V on the right side of non-motorized vehicles nmr ≤1.5, Left-side warning factor V for motor vehicles ml ≤1.5, Warning Factor V on the Right Side of Motor Vehicles mr If any one of ≤1.5 is true, the sound warning device will be activated, and the voice broadcast will say: "The door is opening, please be careful to avoid it; pedestrians, non-motorized vehicles, and motorized vehicles are approaching, please be aware of danger."

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