Electric vehicle door anti-collision method, device, equipment and storage medium

Abstract

The application discloses an electric vehicle door anti-collision method, device, equipment and storage medium, and the method comprises the following steps: in the opening process of the electric vehicle door, obstacle detection is performed according to the openable range of the electric vehicle door, and first position information of the obstacle is obtained; second position information of the obstacle relative to a preset reference point is determined according to the first position information, the preset reference point being a preset position of a door shaft of the electric vehicle door; a remaining openable angle of the electric vehicle door is determined according to the second position information and a current opening degree of the electric vehicle door; and the electric vehicle door is controlled to continue to open according to the remaining openable angle. Since the application detects the obstacle in the opening process of the electric vehicle door, determines the position information of the obstacle relative to the preset position of the door shaft of the electric vehicle door, determines the remaining openable angle according to the position information and the current opening degree of the electric vehicle door, and controls the electric vehicle door to continue to open, the position of the obstacle can be accurately positioned, and the effectiveness of the anti-collision is improved.

Description

Technical Field

[0001] This invention relates to the field of automotive safety technology, and in particular to a method, device, equipment, and storage medium for preventing collisions with electric vehicle doors. Background Technology

[0002] People have higher demands for the intelligent systems of cars, hoping that cars can provide more intelligent and convenient services. Opening the car door is a high-frequency scenario in daily car use, and the use of electric doors for opening and closing car doors in this scenario is increasingly becoming a focus of car manufacturers and consumers.

[0003] However, electric doors pose a risk of colliding with obstacles during opening. Currently, there are technical problems with electric door collision detection, such as inaccurate obstacle positioning and poor collision avoidance.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide an electric vehicle door anti-collision method, device, equipment, and storage medium, aiming to solve the technical problems of inaccurate obstacle positioning and poor anti-collision effect in the prior art when detecting collisions of electric vehicle doors.

[0006] To achieve the above objectives, the present invention provides a method for preventing collisions with electric vehicle doors, the method comprising the following steps:

[0007] During the opening process of the electric vehicle door, obstacle detection is performed based on the opening range of the electric vehicle door to obtain the first position information of the obstacle;

[0008] The second position information of the obstacle relative to a preset reference point is determined based on the first position information, wherein the preset reference point is a preset position of the door hinge of the electric vehicle door;

[0009] The remaining openable angle of the electric vehicle door is determined based on the second position information and the current opening degree of the electric vehicle door.

[0010] The electric vehicle door is controlled to continue opening based on the remaining openable angle.

[0011] Optionally, controlling the electric vehicle door to continue opening based on the remaining openable angle includes:

[0012] The vertical distance of the obstacle relative to the electric vehicle door is determined based on the second position information and the current opening degree;

[0013] When the vertical distance is less than or equal to the preset danger distance, the electric vehicle door is controlled to stop opening.

[0014] Optionally, the first position information is the position information of the obstacle relative to the detection device, and the first position information includes the straight-line distance, orientation, horizontal angle and speed information of the obstacle relative to the detection device.

[0015] Optionally, determining the second position information of the obstacle relative to a preset reference point based on the first position information includes:

[0016] The position coordinates of the detection device are determined based on a preset reference point;

[0017] The second position information of the obstacle relative to the preset reference point is determined based on the position coordinate information and the first position information, wherein the second position information is the coordinate information of the obstacle relative to the preset reference point.

[0018] Optionally, determining the remaining openable angle of the electric vehicle door based on the second position information and the current opening degree of the electric vehicle door includes:

[0019] The angle between the obstacle and the plane when the electric vehicle door is closed is determined based on the second location information;

[0020] The remaining openable angle of the electric vehicle door is determined based on the included angle and the current opening degree of the electric vehicle door, wherein the remaining openable angle is the difference between the included angle and the current opening degree.

[0021] Optionally, the openable range is defined by the electric vehicle door and a plane extending beyond the electric vehicle door by a preset distance in all directions (up, down, left, and right) as the detection plane, and the range through which the detection plane is opened from the closed position of the door to the original openable angle is defined as the openable angle without considering the influence of obstacles.

[0022] Optionally, controlling the electric vehicle door to continue opening based on the remaining openable angle includes:

[0023] The remaining openable angle is updated based on the opening angular velocity of the electric door, the second position information, and the real-time opening degree of the electric door, and the electric door is controlled to continue opening based on the updated openable angle.

[0024] Furthermore, to achieve the above objectives, the present invention also proposes an electric vehicle door anti-collision device, the electric vehicle door anti-collision device comprising:

[0025] The position detection module is used to detect obstacles based on the openable range of the electric vehicle door during the opening process, and obtain the first position information of the obstacle.

[0026] The information conversion module is used to determine the second position information of the obstacle relative to a preset reference point based on the first position information, wherein the preset reference point is a preset position of the door hinge of the electric door;

[0027] An angle determination module is used to determine the remaining openable angle of the electric vehicle door based on the second position information and the current opening degree of the electric vehicle door.

[0028] The door control module is used to control the electric door to continue opening based on the remaining openable angle.

[0029] Furthermore, to achieve the above objectives, the present invention also proposes an electric vehicle door anti-collision device, the device comprising: a memory, a processor, and an electric vehicle door anti-collision program stored in the memory and executable on the processor, the electric vehicle door anti-collision program being configured to implement the steps of the electric vehicle door anti-collision method described above.

[0030] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing an electric vehicle door anti-collision program, which, when executed by a processor, implements the steps of the electric vehicle door anti-collision method described above.

[0031] This invention, during the opening process of an electric door, detects obstacles based on the door's openable range to obtain first obstacle position information; determines second obstacle position information relative to a preset reference point (the preset position of the door hinge) based on the first position information; determines the remaining openable angle of the electric door based on the second position information and the current opening degree; and controls the electric door to continue opening based on the remaining openable angle. Because this invention detects obstacles during the opening process, determines the obstacle's position relative to the preset position of the door hinge, and determines the remaining openable angle based on the position information and the current opening degree, and then controls the electric door to continue opening, it can accurately locate the obstacle's position and improve the effectiveness of collision avoidance. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of an electric vehicle door anti-collision device in the hardware operating environment involved in the embodiments of the present invention;

[0033] Figure 2 This is a flowchart illustrating the first embodiment of the electric vehicle door anti-collision method of the present invention;

[0034] Figure 3 This is a flowchart illustrating the second embodiment of the electric vehicle door anti-collision method of the present invention;

[0035] Figure 4This is a schematic diagram of establishing a coordinate system in the electric vehicle door anti-collision method of the present invention;

[0036] Figure 5 This is a schematic diagram of the process for determining the alarm trajectory in the electric vehicle door anti-collision method of the present invention;

[0037] Figure 6 This is a flowchart illustrating the third embodiment of the electric vehicle door anti-collision method of the present invention;

[0038] Figure 7 A structural block diagram of the first embodiment of the electric vehicle door anti-collision device of the present invention.

[0039] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0040] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0041] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of an electric vehicle door anti-collision device in the hardware operating environment involved in the embodiments of the present invention.

[0042] like Figure 1 As shown, the electric vehicle door anti-collision device may include: a processor 1001, such as a central processing unit (CPU), a housing module 1002, a power supply and clock module 1003, a communication module 1004, and a memory 1005. The power supply and clock module 1003 is used to connect and start the entire system. The communication module 1004 may include standard wired and wireless interfaces. Wireless interfaces may include Wireless-Fidelity (WI-FI) interfaces. Wired interfaces may include Universal Asynchronous Receiver / Transmitter (UART), Controller Area Network (CAN) interfaces, and LEN interfaces. The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk storage device. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0043] Those skilled in the art will understand that Figure 1The structure shown does not constitute a limitation on the electric vehicle door anti-collision device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0044] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a data storage module, a control logic program, and an electric vehicle door anti-collision program.

[0045] exist Figure 1 In the electric vehicle door anti-collision device shown, the communication module 1004 is mainly used for data communication with the vehicle; the processor 1001 and memory 1005 in the electric vehicle door anti-collision device of the present invention can be set in the electric vehicle door anti-collision device. The electric vehicle door anti-collision device calls the electric vehicle door anti-collision program stored in the memory 1005 through the processor 1001 and executes the electric vehicle door anti-collision method provided in the embodiment of the present invention.

[0046] This invention provides a method for preventing collisions with electric vehicle doors, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the electric vehicle door anti-collision method of the present invention.

[0047] In this embodiment, the electric vehicle door anti-collision method includes the following steps:

[0048] Step S10: During the opening process of the electric vehicle door, obstacle detection is performed based on the opening range of the electric vehicle door to obtain the first position information of the obstacle.

[0049] It should be noted that the executing entity of the method in this embodiment can be an in-vehicle device with object detection, network communication, and program execution functions, such as an electric door anti-collision device; it can also be other automotive electronic control devices with the same or similar functions, or an intelligent vehicle equipped with such automotive electronic control devices. This embodiment and the following embodiments will use an electric door anti-collision device as an example to illustrate the electric door anti-collision method of the present invention.

[0050] Understandably, during the opening process of an electric door, the area centered on the door hinge and with the longer of the upper and lower edges of the door as the radius can be detected as the openable range. Obstacles can include both stationary and moving objects.

[0051] It should be noted that the first position information of the obstacle can be the distance and angle of the obstacle relative to the electric vehicle door, or it can be the distance and angle of the detection point.

[0052] Furthermore, to more accurately detect obstacles prone to collision, a detection range can be preset. Obstacles exceeding this range are not included in subsequent calculations and analyses, which can further improve the efficiency and effectiveness of calculating the opening angle. Therefore, step S10 includes: the opening range is defined by the electric vehicle door and a plane extending beyond the door at preset distances in all directions as the detection plane, and the detection plane is opened from the closed position to the range traversed by the original opening angle, wherein the original opening angle is the opening angle without considering the influence of obstacles.

[0053] It should be understood that the opening range can be measured using the electric door anti-collision system and the planes extending beyond the electric door anti-collision system at preset distances in all directions as the detection plane. For example, to more accurately detect obstacles prone to collision, the preset distances extending beyond the door in all directions can be set to 10cm. The detection plane is then moved from the closed position of the electric door to the range traversed by the original opening angle. The original opening angle of the electric door anti-collision system is the opening angle without considering the influence of obstacles, i.e., the maximum opening angle of the door determined at the factory.

[0054] Step S20: Determine the second position information of the obstacle relative to a preset reference point based on the first position information, wherein the preset reference point is the preset position of the door hinge of the electric vehicle door.

[0055] It's worth noting that the first position information can be relative to the electric door or a detection point. While the detection point's location facilitates obstacle detection, a location relative to the detection point might not be convenient for calculating the door's opening angle and remaining openable angle. Therefore, a reference point can be set to facilitate subsequent calculations of the obstacle's position and remaining openable angle. The highest or lowest point of the electric door's hinge can be used as a preset reference point. Based on this, the first position information can be converted into position information relative to the preset reference point for easier subsequent calculations.

[0056] Step S30: Determine the remaining openable angle of the electric vehicle door based on the second position information and the current opening degree of the electric vehicle door.

[0057] Understandably, the first vertical distance of the obstacle relative to the car door and the second vertical distance relative to the door hinge can be determined based on the second position information. Then, the third vertical distance between the vertical point of the obstacle relative to the car door and the door hinge can be obtained. Finally, the angle between the obstacle and the car door can be calculated from the first vertical distance, the second vertical distance and the third vertical distance to obtain the remaining openable angle.

[0058] Step S40: Control the electric vehicle door to continue opening according to the remaining openable angle.

[0059] Understandably, the door controller installed in the car can receive the remaining open angle and control the motor's operation based on that angle. When the motor's operating angle reaches the same as the remaining open angle, the motor stops, and the door stops, thus preventing the door from colliding with obstacles.

[0060] In this embodiment, during the opening process of the electric door, obstacle detection is performed based on the door's openable range to obtain the first position information of the obstacle. Based on the first position information, a second position information of the obstacle relative to a preset reference point is determined, where the preset reference point is the preset position of the door hinge. Based on the second position information and the current opening degree of the electric door, the remaining openable angle of the electric door is determined. The electric door is then controlled to continue opening based on the remaining openable angle. Because this embodiment detects obstacles during the opening process, determines the obstacle's position relative to the preset position of the door hinge, and determines the remaining openable angle based on the position information and the current opening degree of the electric door, and then controls the electric door to continue opening, it can accurately locate the obstacle's position, improving the effectiveness of collision avoidance.

[0061] refer to Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the electric vehicle door anti-collision method of the present invention.

[0062] Furthermore, to measure the position of obstacles more accurately and conveniently, detection equipment can be installed at a convenient location on the vehicle door. By utilizing the multiple pieces of information detected by the equipment, the accuracy of the obstacle's position and angle can be improved. Therefore, based on the first embodiment described above, in this embodiment, step S10 includes:

[0063] S101: The first position information is the position information of the obstacle relative to the detection device. The first position information includes the straight-line distance, orientation, horizontal angle and speed information of the obstacle relative to the detection device.

[0064] It is understood that the obstacle detection equipment can be radar equipment, such as ultrasonic radar or millimeter-wave radar. This application uses millimeter-wave radar as an example. Because millimeter-wave radar has a large beam, small blind zone, can operate in all weather conditions, has stable distance detection, high detection sensitivity, and low power consumption, and uses MIMO antennas in both pitch and azimuth directions, it has low angular resolution but high accuracy. Therefore, it can accurately measure the distance, azimuth, horizontal angle, and speed of obstacles, and can more accurately calculate the relationship between the obstacle and the door opening angle, effectively improving the effectiveness of door collision avoidance.

[0065] It should be understood that the detection equipment can be installed outside the car door in a location that facilitates the detection of obstacles, such as about 10cm from the bottom edge of the door or about 70cm from the door hinge, so that obstacles can be detected more promptly.

[0066] Furthermore, considering that the detection device may not be installed at a fixed position on the door, making it inconvenient to calculate the remaining openable angle of the electric door based on the position of the obstacle relative to the detection device, the first position information can be converted into second position information relative to a preset reference point. Therefore, step S20 includes: determining the position coordinate information of the detection device based on the preset reference point; determining the second position information of the obstacle relative to the preset reference point based on the position coordinate information and the first position information, wherein the second position information is the coordinate information of the obstacle relative to the preset reference point.

[0067] Understandably, to more accurately mark the positions of detection equipment and obstacles, a coordinate system can be established using a preset reference point as the origin. Here, the lowest point of the door hinge can be selected as the origin to establish the coordinate system, as shown in the reference. Figure 4 , Figure 4 This is a schematic diagram illustrating the coordinate system established in the electric vehicle door anti-collision method of the present invention. The Y-axis can be a direction extending horizontally towards the rear of the vehicle from the origin when the door is closed; the X-axis can be a direction extending outwards from the origin perpendicular to the plane when the door is closed; and the Z-axis can be a direction extending upwards from the origin perpendicular to the XY plane. Therefore, the coordinates of the detection device can be marked as (x1, y1, z1). If the length of the door is Rcm, then the coordinates of the bottom rear of the door are (0, R, 0).

[0068] Understandably, the detection equipment emits electromagnetic waves and processes the received echo signals to obtain primary point information of the obstacle. This information includes the obstacle's distance, orientation, pitch, speed, amplitude, etc. The primary point data is then aggregated and preprocessed. Using the detection equipment as the origin, the coordinates (x`, y`, z`) of the obstacle relative to the detection equipment are obtained, which is the first position information. Then, combined with the coordinates of the detection equipment (x1, y1, z1), the coordinates of the obstacle are converted into coordinates (x, y, z) relative to the coordinate origin, which is the second position information.

[0069] Accordingly, if the door height is H, the openable range can be defined by X and Y values ​​within the range of (0, R+10cm), with the X value within the range of (-5cm, H+10cm). This openable range is used as the alarm trajectory for obstacle detection. Figure 5 , Figure 5 This is a flowchart illustrating the process of determining the alarm trajectory in the electric vehicle door anti-collision method of the present invention. The distance beyond the door is considered a transition zone, and the area beyond the transition zone does not affect the opening of the door; therefore, it can be excluded from the alarm zone, further improving the effectiveness of the anti-collision method.

[0070] Furthermore, determining the remaining openable angle based on the angle between the obstacle and the door hinge can further improve the accuracy of the openable angle and more effectively prevent door collisions. Therefore, step S30 includes: determining the angle between the obstacle and the plane when the electric door is closed based on the second position information; determining the remaining openable angle of the electric door based on the angle and the current opening degree of the electric door, wherein the remaining openable angle is the difference between the angle and the current opening degree.

[0071] It should be understood that the azimuth angle relative to the origin can be determined based on the coordinate information of the obstacle's second position. Since the obstacle may be large and irregularly shaped, the angle of the minimum azimuth angle between the obstacle and the origin can be used as the angle between the obstacle and the plane (i.e., the plane formed by the Y-axis and Z-axis) when the electric door is closed. If this angle is 60° and the current opening degree of the door is 30°, then the remaining openable angle of the electric door is 60° - 30°, i.e., 30°.

[0072] In this embodiment, the first position information is the position information of the obstacle relative to the detection device. The first position information includes the straight-line distance, orientation, horizontal angle and speed information of the obstacle relative to the detection device, so as to more accurately and conveniently measure the position of the obstacle.

[0073] refer to Figure 6 , Figure 6This is a flowchart illustrating the third embodiment of the electric vehicle door anti-collision method of the present invention.

[0074] Furthermore, by updating the remaining openable angle in real time based on the door opening information, and controlling the electric door to continue opening based on the updated openable angle, the problem of door collision can be more effectively prevented. Therefore, based on the first embodiment described above, in this embodiment, step S40 includes:

[0075] S401: Update the remaining openable angle according to the opening angular velocity of the electric door, the second position information and the real-time opening degree of the electric door, and control the electric door to continue opening according to the updated openable angle.

[0076] It should be understood that during the opening of a car door, the current opening angle, the remaining openable angle, and the position of obstacles may change in real time. Therefore, the remaining openable angle can be updated in real time. The system can acquire the current opening angle of the door, the opening angular velocity of the door, and the position information of obstacles in real time, calculate the remaining openable angle of the door, filter the openable door angle, obtain the remaining openable angle after filtering, and send the data to the door domain controller. The door domain controller controls the operation of the motor based on the remaining openable angle. When the motor's rotation angle reaches the same as the remaining openable angle, the motor stops, and the door stops, thus assisting in door opening and preventing collisions.

[0077] Furthermore, considering potential errors in calculating the remaining openable angle, to improve the collision avoidance effect and safety when the door is open, the door can be stopped from opening further when it is within a preset danger distance from the obstacle, thus reducing the error fluctuation of the remaining openable angle. Therefore, before step S40, the method further includes: determining the vertical distance of the obstacle relative to the electric door based on the second position information and the current opening degree; and controlling the electric door to stop opening when the vertical distance is less than or equal to the preset danger distance.

[0078] It is worth noting that, since there may be errors in calculating the remaining openable angle, in order to improve the anti-collision effect when the door is open, the vertical distance of the obstacle relative to the electric door can be determined based on the second position information and the current opening degree. When the vertical distance is less than or equal to the preset danger distance, for example, when the vertical distance is less than or equal to 10cm, the remaining openable angle can be directly set to 0°, and the door domain controller can control the electric door to stop opening.

[0079] In this embodiment, the remaining openable angle is updated based on the opening angular velocity of the electric door, the second position information, and the real-time opening degree of the electric door. The electric door is then controlled to continue opening based on the updated openable angle, thereby more effectively preventing door collisions.

[0080] Furthermore, this embodiment of the invention also proposes a storage medium storing an electric vehicle door anti-collision program, which, when executed by a processor, implements the steps of the electric vehicle door anti-collision method described above.

[0081] Reference Figure 7 , Figure 7 This is a structural block diagram of the first embodiment of the electric vehicle door anti-collision device of the present invention.

[0082] like Figure 7 As shown, the electric vehicle door anti-collision device proposed in this embodiment of the invention includes:

[0083] The position detection module 701 is used to detect obstacles based on the openable range of the electric vehicle door during the opening process of the electric vehicle door, and obtain the first position information of the obstacle.

[0084] The information conversion module 702 is used to determine the second position information of the obstacle relative to a preset reference point based on the first position information, wherein the preset reference point is a preset position of the door hinge of the electric vehicle door;

[0085] Angle determination module 703 is used to determine the remaining openable angle of the electric vehicle door based on the second position information and the current opening degree of the electric vehicle door;

[0086] The door control module 704 is used to control the electric door to continue opening based on the remaining openable angle.

[0087] This embodiment detects obstacles during the opening process of the electric door, based on the door's openable range, to obtain the first position information of the obstacle. Based on the first position information, it determines the second position information of the obstacle relative to a preset reference point, where the preset reference point is the preset position of the door hinge. Based on the second position information and the current opening degree of the electric door, it determines the remaining openable angle of the electric door. Based on the remaining openable angle, it controls the electric door to continue opening. Because this embodiment detects obstacles during the opening process, determines the obstacle's position relative to the preset position of the door hinge, and determines the remaining openable angle based on the position information and the current opening degree of the electric door, and controls the electric door to continue opening, it can accurately locate the obstacle's position, improving the effectiveness of collision avoidance.

[0088] Based on the first embodiment of the electric vehicle door anti-collision device of the present invention, a second embodiment of the electric vehicle door anti-collision device of the present invention is proposed.

[0089] In this embodiment, the position detection module 701 is further configured to determine the vertical distance of the obstacle relative to the electric vehicle door based on the second position information and the current opening degree; and control the electric vehicle door to stop opening when the vertical distance is less than or equal to a preset danger distance.

[0090] In one implementation, the position detection module 701 is further configured to have the first position information be the position information of the obstacle relative to the detection device, wherein the first position information includes the straight-line distance, orientation, horizontal angle and speed information of the obstacle relative to the detection device.

[0091] In one implementation, the information conversion module 702 is further configured to determine the position coordinate information of the detection device based on a preset reference point; and to determine the second position information of the obstacle relative to the preset reference point based on the position coordinate information and the first position information, wherein the second position information is the coordinate information of the obstacle relative to the preset reference point.

[0092] In one implementation, the angle determination module 703 is further configured to determine the angle between the obstacle and the plane when the electric vehicle door is closed based on the second position information; and to determine the remaining openable angle of the electric vehicle door based on the angle and the current opening degree of the electric vehicle door, wherein the remaining openable angle is the difference between the angle and the current opening degree.

[0093] In one implementation, the position detection module 701 is further configured to use the electric vehicle door and a plane extending beyond the electric vehicle door by a preset distance in all directions as the detection plane, and to open the detection plane from the closed position of the door to the range traversed by the original openable angle, wherein the original openable angle is the openable angle without considering the influence of obstacles.

[0094] In one implementation, the door control module 704 is further configured to update the remaining openable angle based on the opening angular velocity of the electric door, the second position information, and the real-time opening degree of the electric door, and control the electric door to continue opening based on the updated openable angle.

[0095] Other embodiments or specific implementations of the electric vehicle door anti-collision device of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0096] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system 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 system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0097] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0098] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0099] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for preventing collisions with electric vehicle doors, characterized in that, The method includes: During the opening process of the electric vehicle door, obstacle detection is performed based on the opening range of the electric vehicle door to obtain the first position information of the obstacle; The second position information of the obstacle relative to a preset reference point is determined based on the first position information, wherein the preset reference point is a preset position of the door hinge of the electric vehicle door; The remaining openable angle of the electric vehicle door is determined based on the second position information and the current opening degree of the electric vehicle door. The electric vehicle door is controlled to continue opening based on the remaining openable angle. Determining the second position information of the obstacle relative to a preset reference point based on the first position information includes: Establish an initial coordinate system with the preset reference point as the origin. The Y-axis is the direction that extends horizontally towards the rear of the vehicle from the origin when the door is closed. The X-axis is the direction that extends outward from the origin perpendicular to the plane when the door is closed. The Z-axis is the direction that extends upward from the origin perpendicular to the XY plane. Determine the position coordinates of the detection device in the initial coordinate system; Establish a temporary coordinate system with the detection device as the origin, and determine the first position information of the obstacle in the temporary coordinate system; Based on the position coordinate information, the first position information of the obstacle is transformed into the initial coordinate system to obtain the second position information of the obstacle relative to the preset reference point. The second position information is the coordinate information of the obstacle relative to the preset reference point in the initial coordinate system. Determining the remaining openable angle of the electric vehicle door based on the second position information and the current opening degree of the electric vehicle door includes: The minimum azimuth angle between the second position information and the origin in the initial coordinate system is taken as the angle between the obstacle and the YZ plane when the electric vehicle door is closed. The remaining openable angle of the electric vehicle door is determined based on the included angle and the current opening degree of the electric vehicle door, and the remaining openable angle is the difference between the included angle and the current opening degree. The step of controlling the electric vehicle door to continue opening based on the remaining openable angle includes: The remaining openable angle is updated based on the opening angular velocity of the electric door, the second position information, and the real-time opening degree of the electric door, and the electric door is controlled to continue opening based on the updated openable angle.

2. The electric vehicle door anti-collision method as described in claim 1, characterized in that, The step of controlling the electric vehicle door to continue opening based on the remaining openable angle includes: The vertical distance of the obstacle relative to the electric vehicle door is determined based on the second position information and the current opening degree; When the vertical distance is less than or equal to the preset danger distance, the electric vehicle door is controlled to stop opening.

3. The electric vehicle door anti-collision method as described in claim 1, characterized in that, The first position information is the position information of the obstacle relative to the detection device, and the first position information includes the straight-line distance, orientation, horizontal angle and speed information of the obstacle relative to the detection device.

4. The electric vehicle door anti-collision method according to any one of claims 1 to 3, characterized in that, The openable range is defined by using the electric vehicle door and a plane extending beyond the electric vehicle door at preset distances in all directions as a detection plane. The detection plane is then moved from the closed position of the door to the range traversed by the original openable angle. The original openable angle is the openable angle without considering the influence of obstacles.

5. An anti-collision device for electric vehicle doors, characterized in that, The electric vehicle door anti-collision device includes: The position detection module is used to detect obstacles based on the openable range of the electric vehicle door during the opening process, and obtain the first position information of the obstacle. The information conversion module is used to determine the second position information of the obstacle relative to a preset reference point based on the first position information, wherein the preset reference point is a preset position of the door hinge of the electric door; An angle determination module is used to determine the remaining openable angle of the electric vehicle door based on the second position information and the current opening degree of the electric vehicle door. The door control module is used to control the electric door to continue opening based on the remaining openable angle; The information conversion module is also used to establish an initial coordinate system with a preset reference point as the origin, wherein the Y-axis direction is the horizontal direction extending from the origin towards the rear of the vehicle when the door is closed, the X-axis direction is the outward direction perpendicular to the plane when the door is closed from the origin, and the Z-axis direction is the upward direction perpendicular to the XY plane from the origin; and the position coordinate information of the detection device in the initial coordinate system is determined; The information conversion module is further configured to establish a temporary coordinate system with the detection device as the origin, determine the first position information of the obstacle in the temporary coordinate system, and convert the first position information of the obstacle to the initial coordinate system according to the position coordinate information to obtain the second position information of the obstacle relative to the preset reference point, wherein the second position information is the coordinate information of the obstacle relative to the preset reference point in the initial coordinate system. The angle determination module is further configured to use the minimum azimuth angle between the second position information and the origin in the initial coordinate system as the angle between the obstacle and the YZ plane when the electric vehicle door is closed; and to determine the remaining openable angle of the electric vehicle door based on the angle and the current opening degree of the electric vehicle door, wherein the remaining openable angle is the difference between the angle and the current opening degree. The door control module is also used to update the remaining openable angle based on the opening angular velocity of the electric door, the second position information and the real-time opening degree of the electric door, and control the electric door to continue opening based on the updated openable angle.

6. An anti-collision device for electric vehicle doors, characterized in that, The device includes: a memory, a processor, and an electric vehicle door anti-collision program stored in the memory and executable on the processor, the electric vehicle door anti-collision program being configured to implement the steps of the electric vehicle door anti-collision method as described in any one of claims 1 to 4.

7. A storage medium, characterized in that, The storage medium stores an electric vehicle door anti-collision program, which, when executed by a processor, implements the steps of the electric vehicle door anti-collision method as described in any one of claims 1 to 4.

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