Vehicle door buffer protection device, vehicle door buffer protection control method and device

Abstract

The present invention relates to the field of vehicle technology, and provides a vehicle door buffer protection device, a vehicle door buffer protection control method and a device. The vehicle door buffer protection device includes: a laser detection device, a speed detection device and a buffer device; the laser detection device is located at the connection between the vehicle door and the vehicle body, and is used to emit laser and detect the laser information of pedestrians when the vehicle door is opened; the speed detection device is located at the connection between the vehicle door and the vehicle body, and is used to detect the speed information of pedestrians when the vehicle door is opened; the buffer device is located on the inner side of the vehicle door, and is used to buffer and protect pedestrians according to the laser information and speed information. Through the present invention, it is prevented that the vehicle door suddenly opens to cause harm to the surrounding pedestrians.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a vehicle door buffer protection device, a vehicle door buffer protection control method and a device. Background Art

[0002] With the improvement of people's living standards, automobile products have become an indispensable part of people's lives, and the safety and comfort of automobiles have also been greatly improved. However, when a vehicle door opens suddenly without noticing pedestrians around, pedestrians around may be injured or disabled by the door. Therefore, it is particularly necessary to avoid injuries to pedestrians around when the vehicle door opens suddenly. Summary of the invention

[0003] In order to prevent the sudden opening of a vehicle door from causing harm to pedestrians around, the present invention proposes a vehicle door buffer protection device, a vehicle door buffer protection control method and a device.

[0004] In a first aspect, the present invention provides a vehicle door buffer protection device, the device comprising:

[0005] Laser detection device, speed detection device and buffer device;

[0006] The laser detection device is located at the connection between the door and the body, and is used to emit laser and detect laser information of pedestrians when the door is opened;

[0007] The speed detection device is located at the connection between the door and the body, and is used to detect the speed information of the pedestrian when the door is opened;

[0008] The buffer device is located on the inner side of the door and is used to provide buffer protection for pedestrians based on laser information and speed information.

[0009] Through the above-mentioned equipment, at the moment of opening the vehicle door, laser detection and speed detection are performed on the pedestrians around the vehicle through the laser detection device and the speed detection device. The buffer device performs buffer protection on the pedestrians around the vehicle according to the detected data to avoid injuries caused by the sudden opening of the vehicle door and the pedestrians not having time to avoid, thereby protecting the safety of pedestrians around the vehicle.

[0010] In an optional embodiment, the buffer device includes a plurality of gas-like springs, and the buffer device provides buffering protection for pedestrians through the elastic force of the gas-like springs.

[0011] In a second aspect, the present invention provides a door buffer protection control method, which is applied to the door buffer protection device in the first aspect or the embodiment of the first aspect, and the method comprises:

[0012] Acquire the first laser information and first speed information of the pedestrian at the current moment, where the current moment is the moment of opening the door;

[0013] Inputting the first laser information and the first speed information into a pre-built model predictive control model, calculating the first buffer force information of the buffer device in the door at the current moment, the first buffer force information minimizes the objective function value in the model predictive control model, and the objective function value is calculated by the laser information and the speed information of the pedestrian under the action of the first buffer force information;

[0014] According to the first buffering force information, the buffering device in the door buffering protection device is controlled to provide buffering protection for the pedestrian.

[0015] Through the above method, at the moment of opening the vehicle door, the buffer device in the vehicle door buffer protection device buffers and protects pedestrians around the vehicle according to the detected data, avoiding injuries caused by the sudden opening of the vehicle door and the pedestrians not having time to avoid it, thereby protecting the safety of pedestrians around the vehicle.

[0016] In an optional embodiment, the model predictive control model includes a prediction model, inputting the first laser information and the first speed information into a pre-built model predictive control model, and calculating the first buffer force information of the buffer device in the door at the current moment, including:

[0017] According to the first laser information, the first speed information, the plurality of second buffer force information, and the prediction model, the laser information and the speed information of the pedestrian at different times under the action of each second buffer force information are predicted;

[0018] Calculate the objective function value according to the laser information and speed information of the pedestrian at different times under the action of each second buffer force information;

[0019] The second buffer force information corresponding to the minimum value in the objective function value is used as the first buffer force information.

[0020] In an optional implementation, the laser information includes the laser area and the laser length, the buffer force information includes the coverage area, coverage distance and buffer force size of the buffer force, and the objective function is expressed as:

[0021]

[0022] Among them, J is the objective function value; N f is the moment when the pedestrian speed is 0 under the action of buffer force information; Q1, Q2, Q3, and R are weight coefficients; x p (k), x L (k) are the coverage area and coverage distance of the buffer force of the buffer device at time k; x s (k) is the speed of the pedestrian at time k; u(k) is the buffer force at time k; P p (k), L p(k) are the laser area and laser length occupied by the pedestrian at time k.

[0023] In an optional implementation, the model predictive control model further includes constraints, which are expressed as:

[0024]

[0025] L pmin <L p (k)<L pmax

[0026] u min <u(k)<u max

[0027] Δu min <u(k)-u(k-1)<Δu max

[0028] Among them, x s (k) is the speed of the pedestrian at time k, are the minimum and maximum values ​​of pedestrian speed respectively; L p (k) is the laser length occupied by the pedestrian at time k, L pmin , L pmax are the minimum and maximum values ​​of the laser length occupied by pedestrians, respectively; u(k) is the buffer force at time k, u(k-1) is the buffer force at time k-1, and u min is the minimum value of the buffer force, u max is the maximum value of the buffer force, Δu min is the minimum value of the change in the buffer force, Δu max It is the maximum value of the change in buffer force.

[0029] In a third aspect, the present invention provides a door buffer protection control device, which is applied to the door buffer protection device in the first aspect or the embodiment of the first aspect, and the device includes:

[0030] An acquisition module, used to acquire the first laser information and the first speed information of the pedestrian at the current moment, where the current moment is the moment of opening the door;

[0031] a calculation module, used for inputting the first laser information and the first speed information into a pre-built model predictive control model, and calculating the first buffer force information of the buffer device in the vehicle door at the current moment, wherein the first buffer force information minimizes the objective function value in the model predictive control model, and the objective function value is calculated by the laser information and the speed information of the pedestrian under the action of the first buffer force information;

[0032] The protection module is used to control the buffer device in the door buffer protection device to provide buffer protection for pedestrians according to the first buffer force information.

[0033] Through the above device, when the car door is opened, the pedestrians around the vehicle are buffered and protected according to the detected pedestrian data, so as to avoid injuries caused by the sudden opening of the car door and the pedestrians not having time to avoid it, thereby protecting the safety of pedestrians around the vehicle.

[0034] In an optional embodiment, the model predictive control model in the calculation module includes a prediction model, and the calculation module includes:

[0035] A prediction submodule, for predicting the laser information and speed information of the pedestrian at different times under the action of each second buffer force information according to the first laser information, the first speed information, the plurality of second buffer force information, and the prediction model;

[0036] A calculation submodule, used to calculate the objective function value according to the laser information and speed information of the pedestrian at different times under the action of each second buffer force information;

[0037] The determination submodule is used to use the second buffer force information corresponding to the minimum value in the objective function value as the first buffer force information.

[0038] In a fourth aspect, the present invention further provides a computer device, comprising a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the steps of the door buffer protection control method of the second aspect or any embodiment of the second aspect by executing the computer instructions.

[0039] In a fifth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle door buffer protection control method of the second aspect or any embodiment of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 is a structural block diagram of a door buffer protection control device proposed according to an exemplary embodiment;

[0042] Figure 2is a schematic diagram of a laser detection device in a door buffer protection control device emitting laser in an example;

[0043] Figure 3 is a schematic diagram of a pedestrian passing by a laser in one example;

[0044] Figure 4 In one example, the figure shows a schematic diagram of the decomposition of the angle arc of the laser emitted in the laser detection device;

[0045] Figure 5 is a schematic diagram of a gas spring-like buffer in an example;

[0046] Figure 6 is a schematic diagram of the working of a gas spring in an example;

[0047] Figure 7 is a flow chart of a door buffer protection control method proposed according to an exemplary embodiment;

[0048] Figure 8 is a schematic diagram of a door buffer protection control method in an example;

[0049] Fig. 9 It is a structural schematic diagram of a vehicle door buffer protection control device proposed according to an exemplary embodiment;

[0050] Fig.10 It is a schematic diagram of the hardware structure of a computer device proposed according to an exemplary embodiment. DETAILED DESCRIPTION

[0051] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] In order to prevent the sudden opening of a vehicle door from causing harm to pedestrians around, the present invention proposes a vehicle door buffer protection device, a vehicle door buffer protection control method and a device.

[0053] Figure 1 is a structural block diagram of a vehicle door buffer protection device proposed according to an exemplary embodiment. Figure 1 As shown, the device includes: a laser detection device 1, a speed detection device 2 and a buffer device 3.

[0054] In an optional embodiment, the door buffer protection device can be used in any vehicle, for example, a common vehicle or a wind turbine hoisting construction vehicle, without any specific limitation.

[0055] The laser detection device 1 is located at the connection between the vehicle door and the vehicle body, and is used to emit laser and detect laser information of pedestrians when the vehicle door is opened.

[0056] In an optional embodiment, the length and range of the laser emitted by the laser detection device 1 can be set according to actual needs and are not specifically limited here.

[0057] Figure 2 Schematic diagram of laser detection device 1 emitting laser. The laser emitted by laser detection device 1 is an arc centered at the connection between the door and the car. Wherein, Lc is the length of the emitted laser, that is, the radius of the arc, and Pc is the area swept by the emitted laser, that is, the area of ​​the arc. Figure 3 This is a schematic diagram of a pedestrian passing by a laser. Figure 3 In the figure, for ease of understanding, a bar graph is used to represent pedestrians around the vehicle. Among them, Lp is the laser length occupied by the pedestrian, and Pp is the laser area occupied by the pedestrian. Figure 4 This is a schematic diagram of the angular arc decomposition of the emitted laser.

[0058] In an optional embodiment, the laser information includes but is not limited to the laser area and laser length occupied by the pedestrian.

[0059] The speed detection device 2 is located at the connection between the vehicle door and the vehicle body, and is used to detect the speed information of the pedestrian when the vehicle door is opened.

[0060] In an optional embodiment, the speed information includes but is not limited to the pedestrian's speed, the pedestrian's moving direction, etc.

[0061] The buffer device 3 is located on the inner side of the vehicle door and is used to provide buffer protection for pedestrians based on laser information and speed information.

[0062] In an optional embodiment, the buffer device 3 can provide buffering protection for pedestrians through a gas spring-like method, or can provide buffering protection for pedestrians through a safety airbag or the like.

[0063] Through the above-mentioned equipment, at the moment of opening the vehicle door, laser detection and speed detection are performed on the pedestrians around the vehicle through the laser detection device 1 and the speed detection device 2, and the buffer device 3 performs buffer protection on the pedestrians around the vehicle according to the detected data, so as to avoid injuries caused by the sudden opening of the vehicle door and the pedestrians not having time to avoid, thereby protecting the safety of pedestrians around the vehicle.

[0064] In one example, the buffer device 3 includes a plurality of gas-like springs, and the buffer device 3 uses the elastic force of the gas-like springs to provide buffer protection for pedestrians. The gas-like spring includes a pressure cylinder (virtual, or light material), a piston rod, a piston, a sealing guide sleeve, a filler (inert gas or oil-gas mixture), a control element in the cylinder and a control element outside the cylinder (referring to a controllable gas spring) and a joint, etc. The working principle of the gas-like spring is to fill an inert gas or an oil-gas mixture in a closed virtual pressure cylinder, so that the pressure in the cavity is several times or dozens of times higher than the atmospheric pressure, and the pressure difference generated by the cross-sectional area of ​​the piston rod being smaller than the cross-sectional area of ​​the piston is used to realize the movement of the piston rod. Due to the difference in principle, the gas-like spring has significant advantages over ordinary springs: relatively slow speed, small change in dynamic force (generally within 1:1.2), and easy control. This type of gas spring has a good controllable effect, and the buffering force for surrounding pedestrians will be optimized and smoothly processed as the algorithm changes.

[0065] A gas spring is a kind of labor-saving lifting and lowering spring. It can be divided into self-locking gas springs (such as lifting the bottom of a seat, the backrest of a boss chair, etc.) and non-self-locking gas springs (such as the lifting support of a car trunk and closet doors). The structure of a gas spring is mainly composed of a sleeve, a piston and a piston rod. High-pressure air or high-pressure nitrogen is added to the sleeve. Due to the unequal areas at both ends of the piston, a pressure difference is generated, which pushes the piston and the piston rod to move and support people or heavy objects.

[0066] There are four types of joints for compression gas springs: single-piece, single-ear, double-ear and universal ball head. They are single-piece, single-ear, double-ear and universal ball head. You can choose the matching joint type according to the specific conditions of the installation location and the specifications of the gas spring. The universal ball head gas spring can automatically adjust the connection angle during operation, thereby eliminating the lateral force during the operation of the gas spring, and is suitable for occasions with high requirements for installation accuracy. If the installation space is limited, a single-ear gas spring can be used. This type of gas spring has a simple structure and requires a small space for installation, but it cannot eliminate the lateral force caused by different axes during operation. Therefore, it is necessary to design a gas spring pin to connect it. In short, no matter what type of joint is selected, it is necessary to ensure that after the gas spring is installed, the door (cover) opens and closes smoothly without interference or jamming.

[0067] In an optional embodiment, the gas spring-like components in the buffer device 3 may be arranged around the vehicle door, or may be arranged at the angle between the vehicle door and the vehicle body.

[0068] exist Figure 5In the embodiment, the buffer device 3 includes a plurality of gas-like springs, which are arranged around the vehicle door and at the angle between the vehicle door and the vehicle body. When the vehicle door is suddenly opened, the buffer device 3 uses a plurality of gas-like springs to provide buffer protection for pedestrians. The number of gas-like springs can be set according to actual needs. The number of gas-like springs is related to the size of the vehicle body and the size of the door. The larger the vehicle, the larger the size of the gas-like springs and the greater the number of gas-like springs to ensure sufficient buffer protection.

[0069] Figure 6 This is a schematic diagram of the working of a gas spring. The greater the pressure of a gas spring, the greater the elastic force, the greater the protective buffer force for pedestrians around, and the better the protective effect. The pressure of a gas spring is related to the working stroke S. The greater the working stroke S, the greater the pressure. The cylinder D (sleeve) is filled with inert gas or oil-gas mixture.

[0070] Figure 7 1 is a flow chart of a vehicle door buffer protection control method according to an exemplary embodiment. The method is applied to the vehicle door buffer protection device in the above embodiment, and includes the following steps S101 to S103:

[0071] Step S101: Acquire the first laser information and first speed information of the pedestrian at the current moment, where the current moment is the moment of opening the vehicle door.

[0072] In an optional embodiment, the first laser information and the first speed information of the pedestrian are obtained by a laser detection device and a speed detection device in the door buffer protection device.

[0073] In an optional embodiment, the laser information includes but is not limited to the laser area and laser length occupied by the pedestrian.

[0074] In an optional embodiment, the speed information includes but is not limited to the speed magnitude and speed direction of the pedestrian.

[0075] Step S102: Input the first laser information and the first speed information into a pre-built model predictive control model to calculate the first buffer force information of the buffer device in the vehicle door at the current moment. The first buffer force information minimizes the objective function value in the model predictive control model. The objective function value is calculated through the laser information and speed information of the pedestrian under the action of the first buffer force information.

[0076] In an optional embodiment, a model predictive control (MPC) model includes a prediction model, an objective function, and constraints.

[0077] In an optional embodiment, the buffering force information includes but is not limited to the coverage area, coverage distance and buffering force size of the buffering force.

[0078] Step S103: According to the first buffering force information, the buffering device in the door buffering protection device is controlled to provide buffering protection for the pedestrian.

[0079] Through the above method, at the moment of opening the vehicle door, the buffer device 3 in the vehicle door buffer protection device performs buffer protection on pedestrians around the vehicle according to the detected data, avoiding injuries caused by the sudden opening of the vehicle door and the pedestrians not having time to avoid, thereby protecting the safety of pedestrians around the vehicle.

[0080] In one example, the model predictive control model includes a prediction model. In the above step S102, the first buffer force information of the buffer device 3 in the vehicle door at the current moment is calculated by the following steps:

[0081] First, according to the first laser information, the first speed information, the plurality of second buffer force information, and the prediction model, the laser information and the speed information of the pedestrian at different times under the action of each second buffer force information are predicted.

[0082] Then, the objective function value is calculated according to the laser information and speed information of the pedestrian at different times under the action of each second buffer force information.

[0083] Finally, the second buffer force information corresponding to the minimum value in the objective function value is used as the first buffer force information.

[0084] In an optional embodiment, the laser information includes the laser area and the laser length, the buffer force information includes the coverage area, coverage distance and buffer force size of the buffer force, and the objective function is expressed as:

[0085]

[0086] Among them, J is the objective function value; N f is the moment when the pedestrian speed is 0 under the action of buffer force information; Q1, Q2, Q3, and R are weight coefficients; x p (k), x L (k) are the coverage area and coverage distance of the buffer force of the buffer device at time k; x s (k) is the speed of the pedestrian at time k; u(k) is the buffer force at time k; P p (k), L p (k) are the laser area and laser length occupied by the pedestrian at time k. Q1, Q2, Q3, and R can be adjusted according to different levels of importance. R must be greater than or equal to zero, and Q must be greater than zero.

[0087] In the embodiment of the present invention, Q1(x p (k)-P p (k)) 2The difference between the current buffer coverage area and the laser area occupied by pedestrians is minimized, and the coverage area is the widest, that is, the buffer protection is the most complete; Q2(x L (k)-L p (k)) 2 The difference between the current buffering force coverage distance and the laser length occupied by pedestrians is minimized, ensuring that the buffering force can reach bystanders and achieve the maximum protection effect; Q3x s (k) 2 Part of the purpose is to use the buffer force to make the current pedestrian speed as close to zero as possible, so that the pedestrian's acceleration or speed decreases, and finally stops at a certain position to ensure its safety; 2 Part (k) is to complete the buffer protection with the lowest energy consumption possible from the perspectives of economy, power saving, and cost.

[0088] In an optional embodiment, the model predictive control model further includes constraints, which are expressed as:

[0089]

[0090] L pmin <L p (k)<L pmax

[0091] u min <u(k)<u max

[0092] Δu min <u(k)-u(k-1)<Δu max

[0093] Among them, x s (k) is the speed of the pedestrian at time k, are the minimum and maximum values ​​of pedestrian speed respectively; L p (k) is the laser length occupied by the pedestrian at time k, L pmin , L pmax are the minimum and maximum values ​​of the laser length occupied by pedestrians, respectively; u(k) is the buffer force at time k, u(k-1) is the buffer force at time k-1, and u min is the minimum value of the buffer force, u max is the maximum value of the buffer force, Δu min is the minimum value of the change in the buffer force, Δu max It is the maximum value of the change in buffer force.

[0094] In the embodiment of the present invention, the preset speed range is set Within and preset laser length range [L pmin , L pmax] is the buffer protection object. If the pedestrian exceeds the preset speed range or exceeds the preset laser length range, it is considered that the pedestrian does not need buffer protection and the buffer device 3 does not play a protective role. At the same time, the preset buffer force range [u min ,u max ] and the preset buffer force size variation range [Δu min , Δu max ], so that the buffer force is within the preset buffer force range, and the change of the buffer force is within the preset buffer force range, to avoid ineffective protection caused by too small a buffer force, and damage to the human body caused by too large a buffer force, and at the same time, the change of the buffer force is set within the preset buffer force range to reduce the impact of sudden changes in the buffer force on the human body. For example, for a wind turbine hoisting construction vehicle, the preset speed range can be [0, 6km / h], the preset laser length range can be [2, 100m], the preset buffer force range can be set to [0, 100N], and the preset buffer force range can be [0, 20N].

[0095] Figure 8 It is a schematic diagram of the door buffer protection control method. The state variables (speed, position and other information) of the pedestrian are input into the prediction model in the MCP controller (model predictive control model) through state estimation. The prediction model predicts the laser information and speed information of the pedestrian at different times under the action of each second buffer force information based on the state variables. Through the objective function, constraints and predicted laser information and speed information in the MPC controller, the first buffer force information that ultimately acts on the pedestrian is selected from multiple second buffer force information. The first buffer force information is used as a control variable and input into the control vehicle. The buffer device in the vehicle outputs variables (working stroke, etc.) to provide buffer protection for the pedestrian.

[0096] The relationship between the state variables of pedestrians at each moment can be expressed as follows:

[0097] x k+1 =Ax k +Bu k

[0098] Among them, A and B are matrix coefficients, x k is the state variable of the pedestrian at time k.

[0099] The MPC controller can be used to calculate Q1, Q2, Q3, and R in the objective function when the objective function value is minimum. At this time, the buffer force can be determined according to the following formula:

[0100] u(k)=-L(k)x(k)

[0101] Among them, u(k) is the buffer force at time k. L(k) is the control input gain, which is obtained by the following formula:

[0102] L(k)=[R+B T S(k)B -1 ]B T S(k)A

[0103] S(k)=A T [S(k+1)-S(k+1)BR -1 B T S(k+1)]A+Q

[0104] Among them, Q and R are the parameters in the objective function, S(k) is the intermediate variable, S(N f ) is 0, N f is the moment when the pedestrian speed is 0.

[0105] Based on the same inventive concept, the embodiment of the present invention further provides a door buffer protection control device, which is applied to the door buffer protection device in the above embodiment, such as Fig. 9 As shown, the device comprises:

[0106] The acquisition module 901 is used to acquire the first laser information and the first speed information of the pedestrian at the current moment, and the current moment is the moment of opening the door; for details, please refer to the description of step S101 in the above embodiment, which will not be repeated here.

[0107] The calculation module 902 is used to input the first laser information and the first speed information into the pre-built model predictive control model to calculate the first buffer force information of the buffer device in the vehicle door at the current moment. The first buffer force information minimizes the objective function value in the model predictive control model. The objective function value is calculated through the laser information and speed information of the pedestrian under the action of the first buffer force information. For details, please refer to the description of step S102 in the above embodiment, which will not be repeated here.

[0108] The protection module 903 is used to control the buffer device in the door buffer protection device to provide buffer protection for pedestrians according to the first buffer force information. For details, please refer to the description of step S103 in the above embodiment, which will not be repeated here.

[0109] Through the above device, when the door is opened, pedestrians around the vehicle are buffered and protected according to the detected pedestrian data, so as to avoid the door from opening suddenly and causing injuries to pedestrians who have no time to avoid, thereby protecting the safety of pedestrians around the vehicle. For details, please refer to the description in the above embodiment, which will not be repeated here.

[0110] In one example, the model predictive control model in the calculation module 902 includes a prediction model, and the calculation module includes:

[0111] The prediction submodule is used to predict the laser information and speed information of the pedestrian at different times under the action of each second buffer force information based on the first laser information, the first speed information, multiple second buffer force information, and the prediction model; for details, please refer to the description in the above embodiment and will not be repeated here.

[0112] The calculation submodule is used to calculate the objective function value according to the laser information and speed information of the pedestrian at different times under the action of each second buffer force information; the details are described in the above embodiment and will not be repeated here.

[0113] The determination submodule is used to use the second buffer force information corresponding to the minimum value in the objective function value as the first buffer force information. For details, please refer to the description in the above embodiment, which will not be repeated here.

[0114] In one example, the laser information includes the laser area and the laser length, and the buffer force information includes the coverage area, coverage distance and buffer force size of the buffer force. The objective function in the calculation module 902 is expressed as:

[0115]

[0116] Among them, J is the objective function value; N f is the moment when the pedestrian speed is 0 under the action of buffer force information; Q1, Q2, Q3, and R are weight coefficients; x p (k), x L (k) are the coverage area and coverage distance of the buffer force of the buffer device at time k; x s (k) is the speed of the pedestrian at time k; u(k) is the buffer force at time k; P p (k), L p (k) are the laser area and laser length occupied by the pedestrian at time k. For details, please refer to the description in the above embodiment, which will not be repeated here.

[0117] In one example, the model predictive control model in the calculation module 902 also includes constraints, which are expressed as:

[0118]

[0119] L pmin <L p (k)<L pmax

[0120] u min <u(k)<u max

[0121] Δu min <u(k)-u(k-1)<Δu max

[0122] Among them, x s (k) is the speed of the pedestrian at time k, are the minimum and maximum values ​​of pedestrian speed respectively; L p (k) is the laser length occupied by the pedestrian at time k, L pmin , L pmax are the minimum and maximum values ​​of the laser length occupied by pedestrians, respectively; u(k) is the buffer force at time k, u(k-1) is the buffer force at time k-1, and u min is the minimum value of the buffer force, u max is the maximum value of the buffer force, Δu min is the minimum value of the change in the buffer force, Δu max The maximum value of the change in the buffer force is shown in the above description, which will not be repeated here.

[0123] The specific definition and beneficial effects of the above-mentioned device can be found in the definition of the door buffer protection control method above, which will not be repeated here. The above-mentioned modules can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0124] Fig.10 FIG. 1 is a schematic diagram of a hardware structure of a computer device according to an exemplary embodiment. Fig.10 As shown, the device includes one or more processors 1010 and a memory 1020, and the memory 1020 includes a persistent memory, a volatile memory, and a hard disk. Fig.10 A processor 1010 is taken as an example. The device may further include: an input device 1030 and an output device 1040.

[0125] The processor 1010, the memory 1020, the input device 1030 and the output device 1040 may be connected via a bus or other means. Fig.10 The example of connecting through bus is taken in the following.

[0126] The processor 1010 may be a central processing unit (CPU). The processor 1010 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips. A general-purpose processor may be a microprocessor or the processor may be any conventional processor.

[0127] The memory 1020 is a non-transient computer-readable storage medium, including a persistent memory, a volatile memory, and a hard disk, and can be used to store non-transient software programs, non-transient computer executable programs, and modules, such as the program instructions / modules corresponding to the door buffer protection control method in the embodiment of the present application. The processor 1010 executes various functional applications and data processing of the server by running the non-transient software programs, instructions, and modules stored in the memory 1020, that is, to implement any of the above-mentioned door buffer protection control methods.

[0128] The memory 1020 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data required for use, etc. In addition, the memory 1020 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 1020 may optionally include a memory remotely arranged relative to the processor 1010, and these remote memories may be connected to the data processing device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0129] The input device 1030 can receive input digital or character information and generate signal input related to user settings and function control. The output device 1040 can include display devices such as display screens.

[0130] One or more modules are stored in the memory 1020, and when executed by one or more processors 1010, the execution is as follows: Figure 7 The method shown.

[0131] The above-mentioned product can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to Figure 7 Related description of the illustrated embodiment.

[0132] The embodiment of the present invention further provides a non-transitory computer storage medium, which stores computer executable instructions, and the computer executable instructions can execute the control method in any of the above method embodiments. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memory.

[0133] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0134] The above is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features applied herein.

Claims

1. A door buffer protection control method, characterized in that: Applicable to a door buffer protection device, the device comprises: a laser detection device, a speed detection device and a buffer device; the laser detection device is located at the connection between the door and the body, and is used to emit laser and detect the laser information of the pedestrian when the door is opened; the speed detection device is located at the connection between the door and the body, and is used to detect the speed information of the pedestrian when the door is opened; the buffer device is located on the inner side of the door, and is used to buffer the pedestrian according to the laser information and the speed information; the method comprises: Acquire first laser information and first speed information of the pedestrian at a current moment, where the current moment is a moment of opening the door; Inputting the first laser information and the first speed information into a pre-built model predictive control model, calculating first buffer force information of the buffer device in the vehicle door at the current moment, the first buffer force information minimizing the objective function value in the model predictive control model, the objective function value being calculated by the laser information and speed information of the pedestrian under the action of the first buffer force information; According to the first buffering force information, controlling a buffering device in a door buffering protection device to provide buffering protection to the pedestrian; The model predictive control model includes a prediction model, and the first laser information and the first speed information are input into a pre-built model predictive control model to calculate the first buffer force information of the buffer device in the vehicle door at the current moment, including: According to the first laser information, the first speed information, a plurality of second buffer force information, and the prediction model, predict the laser information and speed information of the pedestrian at different times under the action of each of the second buffer force information; Calculating the objective function value according to the laser information and speed information of the pedestrian at different times under the action of each of the second buffer force information; The second buffer force information corresponding to the minimum value of the objective function value is used as the first buffer force information.

2. The method according to claim 1, characterized in that: The laser information includes the laser area and the laser length, and the buffer force information includes the buffer force coverage area, coverage distance and buffer force size. The objective function is expressed as: in, is the objective function value; is the moment when the pedestrian speed is 0 under the action of the buffer force information; is the weight coefficient; The buffer device k The coverage area and distance of the buffer force at all times; is the speed of the pedestrian at time k; is the buffer force at time k; , are the laser area and laser length occupied by the pedestrian at time k respectively.

3. The method according to claim 2, characterized in that The model predictive control model also includes constraints, which are expressed as: in, is the speed of the pedestrian at time k, , are the minimum and maximum values ​​of pedestrian speed respectively; are the laser lengths occupied by the pedestrian at time k, , are respectively the minimum and maximum values ​​of the laser length occupied by the pedestrian; is the buffer force at time k, is the buffer force at time k-1, is the minimum value of the buffer force, is the maximum value of the buffer force, is the minimum value of the change in buffer force, It is the maximum value of the change in buffer force.

4. The method according to claim 1, characterized in that The buffer device includes a plurality of gas-like springs, and the buffer device performs buffering protection on the pedestrian through the elastic force of the gas-like springs.

5. A door buffer protection control device, characterized in that: Applied to a door buffer protection device, the device comprises: a laser detection device, a speed detection device and a buffer device; the laser detection device is located at the connection between the door and the body, and is used to emit laser and detect the laser information of the pedestrian when the door is opened; the speed detection device is located at the connection between the door and the body, and is used to detect the speed information of the pedestrian when the door is opened; the buffer device is located on the inner side of the door, and is used to buffer and protect the pedestrian according to the laser information and the speed information; the device comprises: An acquisition module, used to acquire first laser information and first speed information of a pedestrian at a current moment, where the current moment is a moment of opening a vehicle door; a calculation module, configured to input the first laser information and the first speed information into a pre-built model predictive control model, and calculate first buffer force information of the buffer device in the vehicle door at a current moment, wherein the first buffer force information minimizes an objective function value in the model predictive control model, and the objective function value is calculated by using the laser information and speed information of the pedestrian under the action of the first buffer force information; a protection module, configured to control a buffer device in a door buffer protection device to provide buffer protection to the pedestrian according to the first buffer force information; The model predictive control model in the calculation module includes a prediction model, and the calculation module includes: a prediction submodule, configured to predict the laser information and speed information of the pedestrian at different times under the action of each of the second buffer force information according to the first laser information, the first speed information, a plurality of second buffer force information, and the prediction model; a calculation submodule, configured to calculate the objective function value according to the laser information and speed information of the pedestrian at different times under the action of each of the second buffer force information; The determination submodule is used to use the second buffer force information corresponding to the minimum value in the objective function value as the first buffer force information.

6. A computer device, characterized in that: It comprises a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the steps of the door buffer protection control method according to any one of claims 1 to 4 by executing the computer instructions.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the door buffer protection control method according to any one of claims 1 to 4 are implemented.

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