Bumper skin telescoping device, bumper active obstacle avoidance system and vehicle

Abstract

The present disclosure relates to the technical field of vehicles, in particular to a bumper skin telescopic device, a bumper active obstacle avoidance system and a vehicle. The bumper skin telescopic device provided by the present disclosure comprises a bumper skin, a driving mechanism and an obstacle avoidance controller. The driving mechanism is arranged on the vehicle body and connected with the end region of the bumper skin in the extension direction of the bumper skin, and is used for driving the bumper skin. The obstacle avoidance controller is connected with the driving mechanism and is used for controlling the driving mechanism to move the bumper skin towards the direction close to or away from the vehicle body. When the vehicle is driving on a narrow road section or has other obstacle scratching risks, the obstacle avoidance controller controls the bumper skin on the side of the bumper close to the obstacle to be driven by the driving mechanism, so as to achieve the effect of inward contraction. In this state, the minimum turning radius of the vehicle body is reduced, the passing capacity of the vehicle is enhanced, and the occurrence of scratching accidents can be effectively reduced.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, specifically to a bumper skin telescopic device, a bumper active obstacle avoidance system, and a vehicle. Background Technology

[0002] More and more consumers are now inclined to buy passenger vehicles with large interior space and large size, which are convenient for family and business trips with multiple people. However, the larger the size of the car, the larger its minimum turning radius, which makes it difficult to turn in narrow spaces such as garages and narrow roads. This makes it very easy for the bumper to scrape against garage walls, building pillars, and surrounding vehicles, resulting in consequences such as paint peeling, deformation, and cracking of the bumper.

[0003] Some high-end models from luxury brands are equipped with rear-wheel active steering, which can effectively reduce the vehicle's minimum turning radius at low speeds and decrease the occurrence of bumper scraping accidents. However, rear-wheel active steering requires a significant increase in chassis mechanical structure, making it expensive and unsuitable for ordinary models.

[0004] Currently, car bumper covers are generally fixed in place, secured to the front and sides of the vehicle body using clips and screws to a central bracket and side brackets, which in turn are fixed to the vehicle body with screws. Although bumper covers are made of a relatively elastic material, because the front and side edges of the bumper cover are completely constrained, the bumper cover can deform inwards towards the vehicle body during scratches, resulting in surface damage.

[0005] In conclusion, turning on narrow roads with obstacles can easily lead to scratches on the outer area of ​​the bumper cover. Such accidents occur frequently, resulting in an unsightly appearance, complicated repairs, and significantly impacting the travel experience for drivers and passengers. Summary of the Invention

[0006] To address the aforementioned technical problems, this disclosure provides a bumper skin telescopic device, a bumper active obstacle avoidance system, and a vehicle.

[0007] This disclosure provides a bumper skin telescopic device, a bumper active obstacle avoidance system, and a vehicle.

[0008] In a first aspect, this disclosure provides a bumper skin telescopic device, comprising:

[0009] Bumper skin;

[0010] A drive mechanism is disposed on the vehicle body and is connected to the end region of the bumper skin in the extension direction for driving the bumper skin;

[0011] An obstacle avoidance controller, connected to the drive mechanism, is used to control the drive mechanism to move the bumper skin toward or away from the vehicle body (2).

[0012] Furthermore, the driving mechanism includes: a driving component and a moving component;

[0013] The driving component is disposed on the vehicle body, and the moving component is connected to the end area of ​​the bumper skin in the extension direction;

[0014] The driving component is connected to the moving component and is used to drive the moving component to move.

[0015] Furthermore, one of the moving part and the bumper skin is provided with a snap-fit ​​part, and the other of the moving part and the bumper skin is provided with a mating part, wherein the snap-fit ​​part and the mating part snap-fit ​​together.

[0016] Furthermore, the snap-fit ​​portion includes a snap-fit ​​hole, and the mating portion includes a snap-fit ​​block;

[0017] The snap-fit ​​block includes a cantilever connected to the bumper skin, the cantilever having a protrusion that passes through the snap-fit ​​hole and snaps into the snap-fit ​​part.

[0018] Furthermore, the driving component is configured as two, and the two driving components are spaced apart along the height direction Z, and both driving components are connected to the bumper skin.

[0019] Furthermore, there are two drive mechanisms, each driving one end of the bumper skin extension direction, and both drive mechanisms are connected to the obstacle avoidance controller.

[0020] Secondly, this disclosure provides a bumper active obstacle avoidance system, including:

[0021] Vehicle controller;

[0022] Millimeter-wave radar is used to detect obstacles, surrounding environment information, and vehicle information when the vehicle is traveling below a set speed, and transmits the detected information to the vehicle controller.

[0023] Ultrasonic radar is used to detect obstacles, surrounding environment information, and vehicle information when the vehicle is traveling below a set speed, and transmits the detected information to the vehicle controller.

[0024] LiDAR detects obstacles in front of and to the sides of the vehicle, as well as road edge information on both sides of the vehicle, and transmits the detected information to the vehicle controller.

[0025] The vehicle-mounted camera is used to detect obstacles and road edge information on both sides in front of the vehicle, and transmits the detected information to the vehicle controller.

[0026] Bumper skin telescopic device;

[0027] The obstacle avoidance controller is connected to the vehicle controller and is used to control the drive mechanism to drive the bumper skin to move toward the direction closer to the wheel when the vehicle controller determines that the distance between the vehicle and the obstacle is less than a set value.

[0028] Furthermore, the bumper active obstacle avoidance system also includes;

[0029] The obstacle avoidance controller establishes a surrounding environment model and a vehicle motion model based on the information received by the vehicle controller.

[0030] The obstacle avoidance controller controls the drive mechanism based on the surrounding environment model and the vehicle motion model.

[0031] Furthermore, the bumper active obstacle avoidance system also includes;

[0032] The obstacle avoidance controller calculates the avoidance distance based on the information sent by the vehicle controller, and drives the drive mechanism to avoid the obstacle based on the avoidance distance.

[0033] Thirdly, this disclosure provides a vehicle that includes the bumper skin telescopic device described in the first aspect, or the bumper active obstacle avoidance system described in the second aspect.

[0034] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0035] The bumper skin telescopic device provided in this embodiment includes a bumper skin, a drive mechanism, and an obstacle avoidance controller. The drive mechanism is disposed on the vehicle body and connected to the end region of the bumper skin in the extension direction, for driving the bumper skin. The obstacle avoidance controller is connected to the drive mechanism and is used to control the drive mechanism to move the bumper skin in a direction closer to or further away from the vehicle body. When the vehicle is turning on a narrow road or there is a risk of scraping against other obstacles, the obstacle avoidance controller controls the bumper skin on the side closer to the obstacle to be driven by the drive mechanism, achieving an inward retraction effect. In this state, the minimum turning radius of the vehicle body is reduced, the vehicle's passability is enhanced, and the occurrence of scraping accidents can be effectively reduced. When the vehicle has finished turning or left the obstacle environment, the obstacle avoidance controller can control the drive mechanism to drive the bumper skin back to its original position. Attached Figure Description

[0036] Figure 1 This is a flowchart of the bumper active obstacle avoidance system described in the embodiments of this disclosure;

[0037] Figure 2 This is another flowchart of the bumper active obstacle avoidance system described in this disclosure embodiment;

[0038] Figure 3 This is a schematic diagram of the bumper skin telescopic device in use according to an embodiment of this disclosure;

[0039] Figure 4 This is a schematic diagram of the installation structure of the central area of ​​the bumper skin disclosed in this publication;

[0040] Figure 5 This is a schematic diagram of the obstacle avoidance and retraction device of the bumper skin telescopic device according to an embodiment of this disclosure;

[0041] Figure 6 This is a schematic diagram showing the installation position of the bumper skin telescopic device according to an embodiment of this disclosure;

[0042] Figure 7 This is a schematic diagram of the structure of the bumper skin telescopic device according to an embodiment of this disclosure;

[0043] Figure 8 This is a schematic diagram showing the original position of the bumper skin according to an embodiment of this disclosure;

[0044] Figure 9 This is a schematic diagram of the retracted position of the bumper skin according to an embodiment of this disclosure;

[0045] Figure 10 This is a side view of the original position of the bumper skin according to an embodiment of this disclosure;

[0046] Figure 11 This is a side view of the retracted position of the bumper skin according to an embodiment of this disclosure;

[0047] Figure 12 This is a schematic diagram of the drive mechanism in the bumper skin telescopic device described in this embodiment of the present disclosure;

[0048] Figure 13 A schematic diagram of the connection structure between the movable component and the bumper skin;

[0049] Figure 14 A schematic diagram showing the gap between the bumper cover and the headlight;

[0050] Figure 15 A schematic diagram showing the fixing relationship between the side bracket and the moving parts of the bumper skin;

[0051] Figure 16 This is a schematic diagram showing the fixing relationship between the bumper skin and the side bracket of the bumper skin.

[0052] Reference numerals: 1. Bumper skin; 11. Moving end; 12. Restrained end; 2. Body; 31. Bolt; 32. Nut; 41. Original state; 42. Retracted state; 43. Track circle; 44. Obstacle; 45. Turning radius; 51. Drive component; 52. Moving component; 53. Telescopic rod; 54. Skin side bracket; 55. Mounting bracket; 6. Engine hood; 7. Headlight; 8. Buckle. Detailed Implementation

[0053] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0054] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0055] Minimum steering radius of wheel 45: When the steering wheel is turned to its limit and the car is turning at the lowest stable speed, the radius of the circle 43 traced by the center plane of the outer steering wheel on the support plane.

[0056] Minimum turning radius 45 of vehicle body 2: When the steering wheel is turned to its limit and the car is turning at its lowest stable speed, the radius of the maximum trajectory circle 43 formed by the outer contour of vehicle body 2 on the supporting plane. With the minimum turning radius 45 of the wheels fixed, the smaller the protrusion of the outer area of ​​the bumper skin 1, the smaller the minimum turning radius 45 of vehicle body 2. The minimum turning radius 45 of vehicle body 2 characterizes the vehicle's ability to pass through narrow, winding areas.

[0057] The outer area of ​​bumper cover 1: The central area of ​​the front of bumper cover 1 is approximately perpendicular to the longitudinal plane of symmetry of the vehicle. The area outside the central area of ​​the front, extending to the edge of the bumper near the tires on both sides, is called the outer area of ​​bumper cover 1. The outer area of ​​bumper cover 1 generally has a large curvature variation, and its shape is similar to a protruding corner located between the front and side of the vehicle body 2.

[0058] Currently, the bumper cover 1 of a car is generally fixed in place. It is secured to the center bracket and side brackets on the front and sides of the car body 2 using clips 8 and screws. The center bracket and side brackets are then fixed to the car body 2 with screws. Although the bumper cover 1 is made of a relatively elastic material, because the front and side edges of the bumper cover 1 are completely constrained, it will deform and indent inwards into the car body 2 during scratches, resulting in surface damage.

[0059] To address the issue of frequent scratches on vehicle bumpers, a system for active obstacle avoidance 44 and an active retraction device for the bumper skin 1 are proposed. During vehicle steering, this system constructs a 3D model of the vehicle and its surrounding environment using visual and distance sensors, identifies obstacles 44, calculates the distance the bumper needs to avoid, and drives the active retraction device of the bumper skin 1 to extend the outer moving end 11 of the bumper skin 1. This retracts the protruding features on the outer side of the skin by a certain size, thus preventing scratches on the bumper skin 1.

[0060] The bumper cover telescopic device is typically symmetrically distributed on both sides of the bumper, allowing for single-sided or simultaneous pulling of the bumper cover 1 from both sides. This device is generally located on the front bumper, but can also be located on the rear bumper.

[0061] Combination Figures 3 to 14 As shown in the embodiment of this disclosure, the bumper skin telescopic device includes a bumper skin 1, a drive mechanism, and an obstacle avoidance controller. The drive mechanism is disposed on the vehicle body 2 and connected to the end region of the bumper skin 1 in the extension direction, for driving the bumper skin 1. The obstacle avoidance controller is connected to the drive mechanism and is used to control the drive mechanism to move the bumper skin 1 toward or away from the vehicle body 2. When the vehicle is turning on a narrow road or there is a risk of scraping against other obstacles 44, the obstacle avoidance controller controls the bumper skin 1 on the side of the bumper closest to the obstacle 44 to be driven by the drive mechanism, achieving an inward retraction effect, reducing the protrusion of the outer region of the bumper skin 1. In this state, the minimum turning radius 45 of the vehicle body 2 becomes smaller, increasing the distance between the vehicle and the obstacle 44 during turning, enhancing the vehicle's passability, and effectively reducing the occurrence of scraping accidents. When the vehicle has finished turning or left the obstacle 44 environment, the obstacle avoidance controller controls the drive mechanism to drive the bumper skin 1 back to its original position.

[0062] Optionally, the driving direction of the drive mechanism is the length direction X, that is, the front-to-back direction of the vehicle.

[0063] The retraction and expansion of the bumper skin 1 are driven by a drive mechanism. The motion logic of the drive mechanism is controlled by the vehicle's obstacle avoidance controller.

[0064] In some specific implementations, the central region of the bumper skin 1 in its extending direction is fixedly connected to the vehicle body 2. For example... Figure 3 As shown, the bumper skin 1 has a 600mm to 800mm wide constrained end 12 in the front area. The bumper skin 1 has a movable end 11 in the side area.

[0065] like Figure 4As shown, the bumper skin 1 at the constraint end 12 is fixedly connected to the vehicle. Optionally, screws can be used to fix the upper part of the bumper skin 1 to the vehicle body bracket 2.

[0066] like Figure 5 As shown, the active telescopic device of the bumper skin 1 of the mobile end 11 can reduce the probability of the bumper skin 1 being scratched by the obstacle 44. Its principle is mainly to reduce the amount of protrusion in the outer area of ​​the skin, thereby reducing the minimum turning radius 45 of the vehicle body 2, so that the distance between the vehicle and the obstacle 44 increases during the turning process.

[0067] like Figure 6 As shown, the drive mechanism is located inside the vehicle body 2 and is covered by the bumper skin 1.

[0068] like Figure 7 As shown, the drive mechanism includes a drive member 51 and a moving member; the drive member 51 is disposed on the vehicle body 2, and the moving member is connected to the end region of the bumper skin 1 in the extending direction; the drive member 51 is connected to the moving member and is used to drive the moving member to move along the length direction X. Optionally, the drive member 51 can be a motor, and optionally, the moving member can be a skin side bracket 54 connected to the bumper skin 1.

[0069] Optionally, a motor is connected to a lead screw, which in turn engages with a nut 32. The nut 32 is connected to a moving part. The motor can drive the nut 32 to move toward or away from the wheel. The moving part is connected to the bumper cover 1, which can move the bumper cover 1.

[0070] Optionally, the drive unit 51 can be an electric telescopic pole 53.

[0071] like Figure 12 As shown, the drive mechanism includes a drive member 51, a moving member, and a telescopic rod 53. The telescopic rod 53 is connected to the drive member 51 and the moving member respectively. When the telescopic rod 53 extends or retracts, it can drive the moving member to move closer to or further away from the drive member 51.

[0072] Combination Figure 8 and Figure 9 As shown, when there are no obstacles around the vehicle and there is no risk of scratching, the bumper cover 1 is in its original normal position.

[0073] When the vehicle is turning on a narrow road or when there is a risk of scraping against other obstacles 44, the side bracket 54 of the bumper skin closest to the obstacle 44 is pushed out a certain distance in the X direction (defined as the negative X direction) by the upper and lower drive components 51, approximately 30mm to 80mm depending on the vehicle model. The bumper skin 1 fixed to the side bracket is correspondingly pulled, thus making the convex shape of the outer area of ​​the bumper skin 1 relatively flat, achieving an inward contraction of approximately 25mm to 75mm. In this state, the minimum turning radius 45 of the vehicle body 2 decreases, enhancing the vehicle's passability and effectively reducing the occurrence of scraping accidents. Figure 9 As shown, when the skin is pulled 30mm in the X direction, the protruding feature on the outer side of the bumper skin 1 can shrink by a maximum of 30mm. Since the fixed point at the front constraint end 12 of the bumper skin 1 remains stationary, the shrinkage of the bumper skin 1 gradually decreases to 0 when it approaches the front area.

[0074] When the vehicle is moving forward, the distance between the bumper boundary area and the tire is small; when the vehicle turns, the wheels are driven by the steering system to deviate from the forward driving position, so the distance between the outer bumper boundary area and the tire increases, thus providing sufficient space for the skin boundary to be pulled.

[0075] When the vehicle completes a turn or leaves the obstacle 44 environment, the drive component 51 drives the moving component and bumper skin 1 back to their original positions. The side views of the bumper skin 1 in its original state 41 and retracted state 42 are compared below. Figure 10 and Figure 11 As shown.

[0076] In some specific embodiments, there are two drive mechanisms, each connected to one end of the extension direction of the bumper skin 1, and both drive mechanisms are connected to the obstacle avoidance controller. Optionally, the drive components 51 are located on the left and right sides of the bumper. Preferably, there are two drive components 51 on each side of the bumper, one upper and one lower. The drive components 51 are mounted on the vehicle body 2 via mounting brackets 55. Optionally, multiple drive components 51 can be provided, and all multiple drive components 51 are mounted on the vehicle body 2 via mounting brackets 55. The mounting brackets 55 can be made of metal, plastic, or high-strength engineering plastics such as POM (polyoxymethylene) or PA (nylon) with a certain proportion of glass fiber. The mounting brackets 55 themselves can be fixed to the structural components of the vehicle body 2 by bolts 31 or welding. The upper and lower mounting brackets 55 can be designed with different shapes according to the characteristics of the vehicle body 2 structure. The corresponding drive component 51 is fixed to the other side of the mounting bracket 55 by bolts 31.

[0077] like Figure 12As shown, the drive component 51 is an electromechanical assembly, consisting of the drive component 51 body and the telescopic rod 53. The drive component 51 is fixed to the vehicle body 2 via an electric mounting bracket 55 and is a non-movable component. The telescopic rod 53 is a movable component, and its end away from the drive component 51 is designed with a connection structure, which is connected and fixed to the skin side bracket 54 using three threaded holes.

[0078] Preferably, the direction of movement of the drive component 51 is X-axis, and the driving direction of the vehicle is defined as negative X-axis.

[0079] The movement of the telescopic rod 53 or the moving part can be precisely controlled by the control system. Its travel distance is designed according to the corresponding vehicle body 2 dimensions, generally ranging from 30mm to 80mm. During the movement of the telescopic rod 53 or the moving part, it should be ensured that the skin side bracket 54 fixed to the moving part and the bumper skin 1 will not hit the tires or other parts, and a certain safety clearance should be maintained.

[0080] There is one side bracket 54 on each side of the bumper, and they are generally made of high-strength engineering plastics such as POM (polyoxymethylene) or PP (polypropylene) with a certain proportion of glass fiber. The material thickness of the side bracket 54 is generally about 2mm to 3mm, and reinforcing ribs are arranged on the large surface to form a cavity structure to enhance the overall rigidity and strength of the side bracket. The overall outline of the side bracket 54 is along the joint between the bumper skin 1 and the fender and on the side near the tire, used to fix the side area of ​​the bumper skin 1.

[0081] In some specific embodiments, two drive members 51 are provided, spaced apart along the height direction Z, and both drive members 51 are connected to the bumper skin 1. For example... Figure 15 As shown, the skin side bracket 54 is fixed to two moving parts at the upper and lower positions respectively. The upper and lower driving parts 51 that drive the same side bracket maintain a synchronized motion state under the signal of the control system.

[0082] When the side bracket 54 of the bumper skin is fixed to the moving part, the moving part is in the initial minimum extension position, and the side bracket 54 of the bumper skin is positioned to the vehicle body 2 by tooling equipment to ensure the installation accuracy of the bumper skin 1.

[0083] The bumper skin 1 is generally made of PP+EPDM polypropylene and EPDM rubber, with about 10%-20% mineral powder added. The skin thickness is generally about 2mm to 3mm, and it has a certain degree of elasticity, allowing it to deform to a certain extent without damage. A certain number of clips 8 are arranged on the inner surface of the bumper skin 1 at the joint with the fender and on the edge near the tire. Corresponding holes are arranged at the corresponding positions of the side bracket 54 of the skin for fixing the clips 8 on the inner surface of the skin. Figure 16As shown, one of the moving part and the bumper skin 1 is provided with a snap-fit ​​part, and the other of the moving part and the bumper skin 1 is provided with a mating part. The snap-fit ​​part and the mating part snap-fit ​​together, making installation convenient.

[0084] In some specific embodiments, the snap-fit ​​part includes a snap-fit ​​hole, and the mating part includes a snap-fit ​​block; the snap-fit ​​block includes a cantilever connected to the bumper skin 1, the cantilever is provided with a protrusion, the protrusion passes through the snap-fit ​​hole and snaps with the snap-fit ​​part, which can improve the stability of the connection between the bumper skin 1 and the moving part.

[0085] like Figure 15 As shown, the bumper skin 1 has a flange that bends inward toward the body 2 on the side near the tire. A certain number of bolt holes 31 are arranged on the flange, and the skin can be fixed to the corresponding position of the skin side bracket 54 by bolts 31.

[0086] Small decorative elements, such as fog light trim, chrome trim, painted trim, or leather trim, are permitted to be installed on the outer area of ​​the bumper skin 1. Wheel arch trim is also permitted on the outer area of ​​the bumper skin 1, but it must be installed independently within the bumper and not integrated with the wheel arch trim on the fender or side panel. Small-sized sensors, such as millimeter-wave radar, ultrasonic radar, cameras, and temperature sensors, and their brackets are permitted to be installed on the outer area of ​​the bumper skin 1. Small-sized optical elements, such as fog lights, daytime running lights, and reflectors, and their brackets are permitted to be installed on the outer area of ​​the bumper skin 1. Wiring harnesses for conducting signals and current, and their brackets, are permitted to be installed on the outer area of ​​the bumper skin 1. The aforementioned devices or parts fixed to the outer or inner surface of the outer area of ​​the bumper skin 1 should not impede a certain degree of elastic deformation of the outer area of ​​the bumper skin 1, and these fixed components should not be damaged during the deformation of the bumper skin 1, maintaining their normal function.

[0087] like Figure 14 As shown, the matching gaps between the bumper skin 1 and surrounding body parts 2 such as the fender and headlights 7 should be generally horizontal and straight, so that the edge of the bumper will not be obstructed by surrounding parts when the bumper skin 1 moves towards the tire side. A certain gap is left between the bumper skin 1 and the parts covered by it, so that the protruding parts on the outer side of the bumper skin 1 will not be obstructed or interfered with when they retract inward. Preferably, the distance between the bumper skin 1 and the parts covered by it is 30mm to 80mm. The distance between the bumper skin 1 and the top parts is 1mm to 2mm.

[0088] In summary, the bumper skin telescopic device provided in this embodiment utilizes the relatively flexible properties of the bumper skin 1 material. A drive mechanism pulls the bumper skin 1, causing it to elastically deform, thereby achieving the purpose of inward contraction in a specific area. The bumper skin 1 achieves a movement function; in environments requiring obstacle avoidance 44, the protruding features of the skin can be retracted, reducing the minimum turning radius 45 of the vehicle body 2. The degree of retraction of the bumper skin 1 can be adjusted by the amount of movement of the moving parts. After retraction, the bumper skin 1 can be pulled back to its original state 41 by the reverse pull of the drive mechanism. The bumper skin 1 adopts an innovative fixing scheme, which fixes it to a movable component via the side bracket 54, rather than directly to the stationary body structure 2. The movement of the movable component is controlled to avoid damage to the bumper parts and surrounding parts. The drive component 51 drives the movable component to maintain high rigidity at all stages of extension and retraction, without large elastic deformation. The power supply of the drive component 51 is the vehicle's low-voltage power supply, which has a safe power management system. There is no risk of protruding sharp objects injuring pedestrians during the extension and retraction of the bumper skin 1, which complies with the GB11566 regulations on external protrusions of passenger cars.

[0089] Combination Figure 1 and Figure 2 As shown, the bumper active obstacle avoidance system 44 provided in this embodiment includes: a vehicle controller, millimeter-wave radar, ultrasonic radar, lidar, an onboard camera, and a bumper skin telescopic device. The millimeter-wave radar detects obstacles 44, surrounding environment information, and vehicle information when the vehicle is traveling below a set speed, and transmits the detected information to the vehicle controller. The ultrasonic radar detects obstacles 44 and surrounding environment information and vehicle information when the vehicle is traveling below a set speed, and transmits the detected information to the vehicle controller. The lidar detects obstacles 44 in front of the vehicle and on both sides of the vehicle, as well as road edge information on both sides of the vehicle, and transmits the detected information to the vehicle controller. The onboard camera detects obstacles 44 and road edge information on both sides of the vehicle, and transmits the detected information to the vehicle controller. The obstacle avoidance controller is connected to the vehicle controller and, when the vehicle controller detects that the distance between the vehicle and the obstacle 44 is less than a set value, controls the drive mechanism to move the bumper skin 1 towards the direction closer to the wheels.

[0090] The vehicle controller, millimeter-wave radar, ultrasonic radar, lidar and vehicle camera are signal input devices, the obstacle avoidance controller is the core control mechanism, and the active telescopic device of the bumper skin 1 is the actuator.

[0091] like Figure 2As shown, the main working principle of the bumper active obstacle avoidance system 44 is to obtain the vehicle's own and surrounding state through the signal input device, and to construct a three-dimensional model of the vehicle and the surrounding environment through the obstacle avoidance controller. The interference path between the vehicle and the obstacle 44 is calculated and the distance to be avoided is determined. Finally, the bumper skin 1 is retracted through the bumper skin telescopic device to avoid the occurrence of scratch accidents.

[0092] Vehicle-mounted cameras can acquire two-dimensional information about the surrounding environment, which is used by the obstacle avoidance controller to construct a preliminary two-dimensional surrounding environment;

[0093] LiDAR can acquire 3D information of objects at a distance of more than 3 meters from the vehicle, which is used by the obstacle avoidance controller to construct 3D information of the surrounding environment and obstacles.

[0094] Millimeter-wave radar can acquire the distance to objects more than 1 meter away from the vehicle, which can be used to assist the obstacle avoidance controller in updating the three-dimensional surrounding environment and obstacle information.

[0095] Ultrasonic radar can acquire the distance to objects within 1 meter of a vehicle, and is used to calibrate the bumper avoidance distance in real time when the vehicle approaches an obstacle.

[0096] The vehicle controller can output vehicle size information, driving speed, and steering angle information to construct a moving 3D model of the vehicle approaching an obstacle.

[0097] This embodiment of the disclosure makes full use of the hardware resources of intelligent driving vehicles, which can construct a three-dimensional motion scene and identify obstacles 44, and then avoid them;

[0098] In some specific implementations, the obstacle avoidance controller establishes a surrounding environment model and a vehicle motion model based on the information received by the vehicle controller; the obstacle avoidance controller controls the drive mechanism based on the surrounding environment model and the vehicle motion model.

[0099] In some specific implementations, the obstacle avoidance controller calculates the avoidance distance based on the information sent by the vehicle controller, and drives the drive mechanism to avoid the obstacle 44 based on the avoidance distance. That is, the obstacle avoidance controller calculates the avoidance distance based on the information sent by the vehicle controller, and drives the drive mechanism to avoid the obstacle or return to the original state 41 based on the avoidance distance.

[0100] Specifically, millimeter-wave radar and ultrasonic radar can detect the distance between the vehicle body 2 and obstacles 44 or other surrounding environments. These distance values ​​can be transmitted to the obstacle avoidance controller via the vehicle controller. The information from the millimeter-wave radar and ultrasonic radar can construct a 3D environment model. Based on the model, the obstacle avoidance controller can drive the drive mechanism to perform an avoidance maneuver. In this embodiment, the signals from the vehicle's existing sensor equipment are processed anew by the obstacle avoidance controller to perform avoidance. When the vehicle is turning in a narrow section of road or there is a risk of scraping against other obstacles 44, the bumper skin 1 on the side of the bumper closest to the obstacle 44 is driven by the drive mechanism to achieve an inward contraction effect, reducing the protrusion of the outer area of ​​the bumper skin 1. In this state, the minimum turning radius 45 of the vehicle body 2 becomes smaller, increasing the distance between the vehicle and the obstacle 44 during turning, enhancing the vehicle's passability, and effectively reducing the occurrence of scraping accidents. When the vehicle has finished turning or left the environment of the obstacle 44, the drive mechanism drives the bumper skin 1 back to its original position.

[0101] Vehicle-mounted cameras can acquire two-dimensional information about the surrounding environment, which is used by the obstacle avoidance controller to construct a preliminary two-dimensional environment. LiDAR can acquire three-dimensional information about objects, which is used by the obstacle avoidance controller to construct a three-dimensional environment and obstacle information. By combining two-dimensional and three-dimensional information, the environmental information is corrected and revised, making the constructed environmental information faster and more accurate.

[0102] Information from millimeter-wave radar, ultrasonic radar, lidar, and onboard cameras is transmitted to the obstacle avoidance controller. The vehicle's driving status, including speed, steering angle, orientation, and vehicle dimensions, is stored in the onboard controller. Based on this information, a vehicle movement model can be created. By combining this model with the surrounding environment model, the obstacle avoidance controller can control the drive mechanism to perform corresponding actions.

[0103] The vehicle provided in this disclosure includes the bumper skin telescopic device or the bumper active obstacle avoidance system 44 provided in this disclosure. Since the vehicle provided in this disclosure has the same advantages as the bumper skin telescopic device or the bumper active obstacle avoidance system 44 provided in this disclosure, further details will not be provided here.

[0104] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

Claims

1. A bumper skin telescopic device, characterized in that, include: Bumper skin; A drive mechanism is disposed on the vehicle body and is connected to the end region of the bumper skin in the extension direction for driving the bumper skin; An obstacle avoidance controller, connected to the drive mechanism, is used to control the drive mechanism to move the bumper skin toward or away from the vehicle body; The driving mechanism includes: a driving component and a moving component; The driving component is disposed on the vehicle body, and the moving component is connected to the end area of ​​the bumper skin in the extension direction; The driving component is connected to the moving component and is used to drive the moving component to move; The driving component is configured as two, and the two driving components are spaced apart along the height direction Z. Both driving components are connected to the bumper skin. When the vehicle is at risk of being scratched, the drive member is used to drive the moving member on the side of the bumper closest to the obstacle to move in the X direction, making the convex shape of the outer area of ​​the bumper skin relatively flat.

2. The bumper skin telescopic device as described in claim 1, characterized in that, One of the moving part and the bumper skin is provided with a snap-fit ​​part, and the other of the moving part and the bumper skin is provided with a mating part, wherein the snap-fit ​​part and the mating part snap-fit ​​together.

3. The bumper skin telescopic device as described in claim 2, characterized in that, The snap-fit ​​portion includes a snap-fit ​​hole, and the mating portion includes a snap-fit ​​block; The snap-fit ​​block includes a cantilever connected to the bumper skin, the cantilever having a protrusion that passes through the snap-fit ​​hole and snaps into the snap-fit ​​part.

4. The bumper skin telescopic device as described in any one of claims 1 to 3, characterized in that, There are two drive mechanisms, which drive the two ends of the bumper skin extension direction respectively, and both drive mechanisms are connected to the obstacle avoidance controller.

5. A bumper active obstacle avoidance system, characterized in that, include: Vehicle controller; Millimeter-wave radar is used to detect obstacles, surrounding environment information, and vehicle information when the vehicle is traveling below a set speed, and transmits the detected information to the vehicle controller. Ultrasonic radar is used to detect obstacles, surrounding environment information, and vehicle information when the vehicle is traveling below a set speed, and transmits the detected information to the vehicle controller. LiDAR detects obstacles in front of and to the sides of the vehicle, as well as road edge information on both sides of the vehicle, and transmits the detected information to the vehicle controller. The vehicle-mounted camera is used to detect obstacles and road edge information on both sides in front of the vehicle, and transmits the detected information to the vehicle controller. The bumper skin telescopic device is the bumper skin telescopic device according to any one of claims 1-4; The obstacle avoidance controller is connected to the vehicle controller and is used to control the drive mechanism to drive the bumper skin to move toward the direction closer to the wheel when the vehicle controller determines that the distance between the vehicle and the obstacle is less than a set value.

6. The active obstacle avoidance system for bumpers as described in claim 5, characterized in that, Also includes; The obstacle avoidance controller establishes a surrounding environment model and a vehicle motion model based on the information received by the vehicle controller. The obstacle avoidance controller controls the drive mechanism based on the surrounding environment model and the vehicle motion model.

7. The active obstacle avoidance system for bumpers as described in claim 5, characterized in that, Also includes; The obstacle avoidance controller calculates the avoidance distance based on the information sent by the vehicle controller, and drives the drive mechanism to avoid the obstacle based on the avoidance distance.

8. A vehicle, characterized in that, It includes the bumper skin telescopic device as described in any one of claims 1 to 4, or the bumper active obstacle avoidance system as described in any one of claims 5 to 7.

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