An anti-collision system, anti-collision method and vehicle for electrically opening and closing a door

Abstract

The application relates to an anti-collision system and anti-collision method for electrically opening and closing a vehicle door and a vehicle, wherein a first radar is arranged on an outer opening handle of the door; a horizontally spaced second radar and a third radar are arranged on a lower anti-scratching strip of the door; the outer opening handle and the lower anti-scratching strip are plastic injection parts, so that the radars are convenient to arrange; the first radar detects a sharp corner area on the upper part of the door; the first radar and the third radar detect a contour area on the rear edge of the door; the second radar and the third radar detect a lower edge area of the door; the lower edge area of the door is not easy to detect when the electric door is opened; the rear edge area of the door is prevented from being scraped with the head of a passenger when the electric door is opened, so that the safety risk is avoided; in addition, the distance between the first radar, the second radar and the third radar is set and the upward angle is set, so that the low obstacle is further improved, the door is smoothly opened, the higher obstacle is not opened, and the effect of preventing the head of the passenger from being scraped is achieved.

Description

Technical Field

[0001] This application relates to the field of electric vehicle door technology, and in particular to an anti-collision system, anti-collision method and vehicle for an electric opening and closing door. Background Technology

[0002] Currently, electric door sensors use either millimeter-wave or ultrasonic radar. Millimeter-wave radar is not only expensive, but it also cannot penetrate metal, resulting in only one radar per door in electric vehicles, leading to a large blind spot. Some models use ultrasonic radar, but its detection range is smaller than millimeter-wave radar, resulting in an even larger blind spot. Ultrasonic radar also cannot directly penetrate metal. Some models place the ultrasonic radar on the outer door panel of the back of the door by adding a vibration damping plate, but this significantly impacts the door's weight and cost.

[0003] While electric doors increase vehicle convenience, they also bring risks of damage. For example, when opening, the door may collide with obstacles that are difficult to see under the vehicle, such as curbs or concrete blocks. There's even a risk of the rear edge of the door scraping against a passenger's head. Therefore, electric doors need to be equipped with different radar systems to detect potential collisions with surrounding obstacles during opening, thus preventing door damage or personal injury. Summary of the Invention

[0004] This application provides an anti-collision system, anti-collision method, and vehicle for electric opening and closing doors, in order to solve the problem in the related technology that electric doors may collide with obstacles that are not easily visible under the vehicle, such as curbs or concrete blocks, when they are opened, and that passengers' heads may be scraped when the electric doors are opened, resulting in safety risks.

[0005] Firstly, a collision avoidance system for electrically operated vehicle doors is provided, comprising:

[0006] The first radar is installed on the outside door handle;

[0007] A second radar and a third radar are horizontally spaced on the lower anti-scratch strip of the car door; wherein, the first radar is used to detect the upper sharp corner area of ​​the car door, the first radar and the third radar are used to detect the rear edge contour area of ​​the car door; the second radar and the third radar are used to detect the lower edge area of ​​the car door.

[0008] An electric door controller is connected to the first radar, the second radar, and the third radar to control the movement of the door using the detection signals from the first radar, the second radar, and the third radar.

[0009] In some embodiments, the first radar is an ultrasonic radar with an inherent blind zone distance of L0 and a horizontal FOV angle of 2β; in the horizontal direction from the upper corner of the door to the door hinge, the horizontal distance between the first radar and the upper corner of the door is L3, where L3 ≤ L0 * tanβ.

[0010] In some embodiments, the total length of the door is L; the second and third radars are ultrasonic radars; the horizontal distance between the second radar near the door hinge and the side of the door near the door hinge is L1; the horizontal distance between the third radar near the rear edge of the door and the rear edge of the door is L2; ​​the horizontal distance between the second and third radars is L4.

[0011] The L = L1 + L2 + L4.

[0012] In some embodiments, the maximum opening angle of the door is α;

[0013] L1 ≤ L0 / tanα + L0*tanβ; L2 ≤ L0*tanβ; L4 ≤ 2*L0*tanβ.

[0014] In some embodiments, the elevation angle of the second and third radars is γ1, so that the height H between the lower edge of their FOV and the ground is greater than the design height.

[0015] The first radar has an elevation angle of γ2 so that its FOV can cover the height of the upper angle area of ​​the door in the door height direction.

[0016] In some embodiments, γ1 is 10° to 20°, γ2 is 5° to 10°, and H is 195mm to 205mm.

[0017] Secondly, a collision avoidance method for electrically operated vehicle doors is provided, which includes the following steps:

[0018] Before the electric door opens, the second and third radars in the electric door opening and closing collision avoidance system are used to detect the height of road obstacles.

[0019] If the height of the obstacle on the road is greater than the design height, the electric door controller will prevent the electric door from opening; otherwise, it will control the electric door to open, and during the opening process, the first radar in the electric door's anti-collision system will detect whether an obstacle is detected in the upper corner area of ​​the door; if an obstacle is detected, the electric door will pause the opening action; if no obstacle is detected, the electric door will continue to open.

[0020] In some embodiments, during the opening of the electric door, the first radar and the third radar are used to detect the rear edge contour area of ​​the door. When an obstacle is detected, the electric door is controlled to pause the opening action; when no obstacle is detected, the electric door is controlled to continue opening.

[0021] In some embodiments, if an obstacle is detected in at least one of the upper sharp corner area and the rear edge contour area of ​​the electric vehicle door during the opening process, the electric vehicle door is controlled to pause the opening action; otherwise, the electric vehicle door is controlled to continue opening.

[0022] Thirdly, a vehicle is provided, comprising:

[0023] A collision avoidance system for electrically operated doors; each electrically operated door is equipped with a first radar, a second radar, and a third radar.

[0024] The beneficial effects of the technical solution provided in this application include:

[0025] This application provides an anti-collision system, method, and vehicle for an electric door. A first radar is mounted on the outward-opening handle of the door; a second and third radar, horizontally spaced, are mounted on the lower anti-scratch strip of the door. Since the outward-opening handle and the lower anti-scratch strip are made of injection-molded plastic, the radars are easily installed. The first radar detects the upper sharp corner area of ​​the door, while the first and third radars detect the rear edge contour area of ​​the door. The second and third radars detect the lower edge area of ​​the door. This system detects obstacles that are difficult to detect when the electric door is opened, while preventing the rear edge of the door from scraping against the passenger's head, thus avoiding safety risks. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This application provides risk areas and key detection areas during the opening process of an electric vehicle door, as shown in the embodiments of this application.

[0028] Figure 2 The arrangement of three radars in the collision avoidance system of the electric opening and closing vehicle door provided in the embodiment of this application;

[0029] Figure 3 The specific arrangement positions and spacing of the second and third radars provided in the embodiments of this application;

[0030] Figure 4 This is a schematic diagram showing the arrangement of a first radar, a second radar, and a third radar with an upward elevation angle, provided for an embodiment of this application.

[0031] In the diagram: 1. First radar; 2. Second radar; 3. Third radar. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] While electric doors increase vehicle convenience, they also bring risks of damage. For example, when opening, the door may collide with obstacles that are difficult to see under the vehicle, such as curbs or concrete blocks. There's even a risk of the rear edge of the door scraping against a passenger's head. Therefore, electric doors need to be equipped with different radar systems to detect potential collisions with surrounding obstacles during opening, thus preventing door damage or personal injury.

[0034] For details, please refer to... Figure 1 The situation shown is as follows: Figure 1 As shown in the left-hand diagram, during the opening of an electric door, at the same opening angle, the further away the door area is from the hinge axis, the greater the distance it travels, and the greater the risk of encountering obstacles when opening. Figure 1 As shown in the right-hand image, the lower part of the car door presents the most obstacles during the actual opening process, such as curbs, concrete blocks, and traffic cones. Therefore, identifying the key collision avoidance area of ​​the electric door is crucial. Secondly, the sharp corners of the door may scrape a person's head during opening, making these areas also important to identify. In summary, the three key collision avoidance areas for electric doors are: A) the rear edge contour area of ​​the door; B) the lower edge area of ​​the door; and C) the upper sharp corner area of ​​the door.

[0035] Furthermore, considering that millimeter-wave radar is not only expensive but also cannot penetrate metal, and that only one radar is installed on each electric vehicle door, resulting in a large blind zone, the radar installation needs to meet ease of installation requirements.

[0036] Therefore, the solution of this application analyzes the operating conditions of electric doors, analyzes the layout of the ultrasonic radar detection envelope (FOV), and utilizes the material characteristics of the lower anti-scratch strip and the outward opening handle of the door, which are both plastic injection molded parts, to finally provide an anti-collision system for electric doors. The special ultrasonic radar layout structure can improve the detection capability of electric doors.

[0037] The following is a detailed explanation:

[0038] Firstly, reference Figure 2 As shown, a collision avoidance system for electrically operated vehicle doors is provided, comprising:

[0039] The first radar 1 is installed on the door handle outside the vehicle;

[0040] A second radar 2 and a third radar 3 are horizontally spaced on the lower anti-scratch strip of the car door; wherein, the first radar 1 is used to detect the upper sharp corner area of ​​the car door, the first radar 1 and the third radar 3 are used to detect the rear edge contour area of ​​the car door; the second radar 2 and the third radar 3 are used to detect the lower edge area of ​​the car door.

[0041] The electric door controller is connected to the first radar 1, the second radar 2 and the third radar 3 to control the movement of the door through the detection signals of the first radar 1, the second radar 2 and the third radar 3; the first radar 1, the second radar 2 and the third radar 3 are bidirectionally connected to the electric door controller, and the output of the electric door controller is connected to the LIN or CAN network, thereby connecting to the vehicle controller and the on-board chip.

[0042] With the above configuration, since the door handle and the lower door anti-scratch strip are made of plastic injection molding, it is easy to install radar without drilling holes in the door sheet metal, resulting in a more harmonious and perfect appearance. The first radar 1 and the third radar 3 are used to detect the rear edge contour area of ​​the door; the second radar 2 and the third radar 3 are used to detect the lower edge area of ​​the door. This enables the detection of obstacles that are not easily detected at the bottom when the electric door is opened, while avoiding the safety risk of the rear edge area of ​​the door scraping against the passenger's head when the electric door is opened.

[0043] In some preferred embodiments, to enhance the detection capabilities of the lower edge region of the door, the upper sharp corner region of the door, and the rear edge contour region of the door, the arrangement and form of the second radar 2 and the third radar 3 are designed as follows:

[0044] The total length of the car door is L; the second radar 2 and the third radar 3 are ultrasonic radars; the horizontal distance between the second radar 2 and the side of the car door near the door hinge is L1; the horizontal distance between the third radar 3 and the rear edge of the car door is L2; ​​the horizontal distance between the second radar 2 and the third radar 3 is L4.

[0045] L = L1 + L2 + L4. The maximum opening angle of the car door is α; L1 ≤ L0 / tanα + L0*tanβ; L2 ≤ L0*tanβ; L4 ≤ 2*L0*tanβ.

[0046] The first radar 1 is an ultrasonic radar with an inherent blind zone distance of L0 and a horizontal FOV angle of 2β. In the horizontal direction from the upper corner of the door to the door hinge, the horizontal distance between the first radar 1 and the upper corner of the door is L3, where L3 ≤ L0 * tanβ.

[0047] The above can be used as a reference. Figure 3 and Figure 2 As shown, to meet the requirements of key area detection, the second radar 2 and the third radar 3 are positioned such that L1 > L2. L0 is the inherent blind zone distance of the radar. For example, the inherent blind zone L0 of existing ultrasonic radar is 15mm to 30mm. The maximum opening angle of the car door is α, the total length of the car door is L, and the horizontal FOV angle of the ultrasonic radar is 2β, typically with a value of 55° to 65°. The second radar 2 is positioned close to the front of the car door, with L1 ≤ L0 / tanα + L0*tanβ. In practice, L1 can be slightly smaller than the calculated value. The third radar 3 is positioned close to the rear area of ​​the car door, and its distance L2 from the edge of the car door satisfies L2 ≤ L0*tanβ. Similarly, to ensure that the ultrasonic radar can detect the rear edge area of ​​the car door, the first radar 1 is positioned with an X-axis dimension L3 ≤ L0*tanβ. The X-axis is the horizontal direction from the upper corner area of ​​the door to the door hinge; in order to avoid a detection blind spot between the second radar 2 and the third radar 3, the distance L4 between the ultrasonic radar second radar 2 and the third radar 3 is ≤ 2*L0*tanβ.

[0048] With the above setup, the two ultrasonic radars on the lower door anti-scratch strip are combined. Based on the L1, L2, L3, and L4 dimensions of the radar FOV arrangement and combined with the characteristics of the electric rotating door opening, the detection capability of the lower edge area of ​​the door, the upper sharp corner area of ​​the door, and the rear edge contour area of ​​the door can be enhanced, which can ensure the key protection and detection of the rear edge contour area of ​​the door.

[0049] In some preferred embodiments, to effectively enable smooth door opening for low obstacles and door detection stopping for higher obstacles, and to prevent the electric door from scraping passengers' heads when opening, without requiring special design algorithms, the following settings are provided:

[0050] Reference Appendix Figure 4 The elevation angle of the second radar 2 and the third radar 3 is γ1, so that the height H between the lower edge of the FOV and the ground is greater than the design height.

[0051] The first radar 1 has an elevation angle of γ2, so that its FOV can cover the height of the upper angle area of ​​the door in the direction of door height.

[0052] γ1 is 10°~20°, γ2 is 5°~10°; H is 195mm-205mm.

[0053] The ultrasonic radar is positioned at a height H greater than the design height, with the lower edge of its field of view (FOV) above the ground. This is placed on the lower door rub strip. To ensure that the ultrasonic radar has different detection capabilities for different curbs during door opening, the radar is positioned at a height H1, ensuring the height H of the lower edge of the ultrasonic radar's FOV is around 200mm. For example, if the judgment height H0 = 200mm, when the curb is higher than 200mm, the radar needs to detect it and send a signal to prevent the electric door from opening. When the curb is lower than 200mm, the radar does not need to detect it, and the door can open smoothly. Therefore, the radar is positioned at a height H1, with the lower edge of its FOV above the ground greater than the design height. An upward tilt angle γ1 needs to be designed on the radar mounting surface on the lower door rub strip so that the lower edge height H of the ultrasonic radar's FOV is around 200mm. Simultaneously, the first radar 1 is positioned at an upward tilt angle γ2 so that the FOV of the ultrasonic radar 3 and the first radar 1 can cover the upper angled area of ​​the door in the Z-axis direction. Typically, the design value for γ1 is between 10° and 20°, and the design upward angle for γ2 is between 5° and 10°.

[0054] By designing an upward angle γ1 at the mounting surface of the door radar anti-scratch strip, the door can be effectively opened smoothly when encountering low obstacles and detected and stopped when encountering higher obstacles. By designing an upward angle for the first radar 1 at the door's outward opening handle, the upper angle area of ​​the door can be detected, preventing the electric door from scraping the passenger's head when it opens.

[0055] All the above solutions utilize ultrasonic radar, which significantly reduces the cost of door radar compared to millimeter-wave radar. This solution integrates all door radar components onto plastic parts, eliminating the need for drilling holes in the door sheet metal, resulting in a more harmonious and aesthetically pleasing design.

[0056] Secondly, to improve the detection capability of electric doors and enhance the collision avoidance system of electric doors, a special ultrasonic radar arrangement structure can be improved to a certain extent. However, in order to further improve the safety of electric doors, a collision avoidance method for electric doors is also proposed.

[0057] A collision avoidance method for electrically operated vehicle doors, comprising the following steps:

[0058] Step 100: Before the electric door opens, use the second radar 2 and the third radar 3 in the collision avoidance system of the electric door to detect the height of road obstacles.

[0059] Step 101: If the height of the road obstacle is greater than the design height, the electric vehicle door controller will prevent the electric vehicle door from opening.

[0060] Step 102: Otherwise, control the electric door to open, and at the same time, use the first radar 1 of the electric door's anti-collision system to detect whether an obstacle is detected in the upper corner area of ​​the door during the opening process; if an obstacle is detected, control the electric door to pause the opening action; if no obstacle is detected, control the electric door to continue opening.

[0061] The above features enable the electric vehicle door to detect obstacles that are not easily visible under the vehicle, such as curbs and concrete blocks, when it is opened; and can prevent the safety risks caused by the passenger's head being scratched during the opening process.

[0062] Furthermore, step 103 is included, during the opening of the electric door, the first radar 1 and the third radar 3 are used to detect the rear edge contour area of ​​the door. When an obstacle is detected, the electric door is controlled to pause the opening action; when no obstacle is detected, the electric door is controlled to continue opening.

[0063] Furthermore, step 104 is included: if an obstacle is detected in at least one of the upper corner area and the rear edge contour area of ​​the electric vehicle door during the opening process, the electric vehicle door is controlled to pause the opening action; otherwise, the electric vehicle door is controlled to continue opening.

[0064] The above provides a clear explanation of how to control the electric door after detecting obstacles in both the upper sharp corner area and the rear edge contour area of ​​the door.

[0065] Thirdly, a vehicle is provided, comprising:

[0066] The collision avoidance system for electrically operated doors; each electrically operated door is equipped with a first radar 1, a second radar 2, and a third radar 3. The vehicle can be a new energy vehicle or a traditional fuel vehicle, or any vehicle with electrically operated doors.

[0067] Fourthly, this application provides an anti-collision device for an electrically operated vehicle door, which can be a personal computer, PC, laptop, server, or other device with data processing capabilities.

[0068] In this embodiment, the anti-collision device for the electric opening and closing vehicle door may include a processor, a memory, a communication interface, and a communication bus.

[0069] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0070] The communication interface includes input / output, I / O interfaces, physical interfaces, and logical interfaces. These interfaces enable interconnection of components within the anti-collision device for electrically operated doors, and also enable interconnection between the anti-collision device and other devices, such as other computing devices or user equipment. Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0071] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0072] The processor can be a general-purpose processor, which can call the anti-collision program for the electric door opening and closing stored in the memory and execute the anti-collision method for the electric door opening and closing provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the anti-collision program for the electric door opening and closing is called can refer to the various embodiments of the anti-collision method for the electric door opening and closing provided in this application, and will not be described again here.

[0073] Those skilled in the art will understand that the hardware structure shown in the accompanying drawings does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0074] Fifthly, embodiments of this application also provide a computer-readable storage medium.

[0075] The present application provides a computer-readable storage medium storing a collision avoidance program for an electrically operated vehicle door, wherein when the electric door collision avoidance program is executed by a processor, it implements the steps of the electric door collision avoidance method described above.

[0076] The method for implementing the anti-collision procedure of the electric opening and closing vehicle door can be referred to in various embodiments of the anti-collision method of the electric opening and closing vehicle door of this application, and will not be repeated here.

[0077] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0078] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0079] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0080] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0081] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0082] 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 this application, in essence, 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 to execute the methods described in the various embodiments of this application.

[0083] In the description of this application, it should be noted that the orientations or positional relationships indicated by terms such as "upper" and "lower" are based on the accompanying drawings. These orientations or positional relationships are merely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0084] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made based on the description and drawings of this application, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application. The above are merely specific implementations of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily 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 this application. Therefore, this application is not limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An anti-collision system for electrically opening and closing a vehicle door, characterized by, It includes: The first radar (1) is installed on the door handle outside the vehicle door; A second radar (2) and a third radar (3) are horizontally spaced on the anti-friction strip at the bottom of the car door; wherein, the first radar (1) is used to detect the upper sharp corner area of ​​the car door, the first radar (1) and the third radar (3) are used to detect the rear edge contour area of ​​the car door; the second radar (2) and the third radar (3) are used to detect the lower edge area of ​​the car door. An electric door controller is connected to the first radar (1), the second radar (2) and the third radar (3) to control the movement of the door by means of the detection signals of the first radar (1), the second radar (2) and the third radar (3); The first radar (1) is an ultrasonic radar with an inherent blind zone distance of L0 and a horizontal FOV angle of 2β. The horizontal distance between the first radar (1) and the upper corner of the door is L3, where L3 ≤ L0 * tanβ. The total length of the door is L. The second radar (2) and the third radar (3) are ultrasonic radars. The second radar (2) is located near the door hinge and the horizontal distance between it and the side of the door near the door hinge is L1. The third radar (3) is located near the rear edge of the door and the horizontal distance between it and the rear edge of the door is L2. The horizontal distance between the second radar (2) and the third radar (3) is L4. L = L1 + L2 + L4. The maximum opening angle of the door is α. L1 ≤ L0 / tanα + L0 * tanβ. L2 ≤ L0 * tanβ. L4 ≤ 2 * L0 * tanβ.

2. The anti-collision system for electrically operated vehicle doors as described in claim 1, characterized in that: The elevation angle of the second radar (2) and the third radar (3) is γ1, so that the height H between the lower edge of its FOV and the ground is greater than the design height; The first radar (1) has an elevation angle of γ2 so that its FOV can cover the height of the upper angle area of ​​the door in the door height direction.

3. The anti-collision system for electrically operated vehicle doors as described in claim 2, characterized in that: The γ1 is 10°~20°, the γ2 is 5°~10°, and the H is 195mm-205mm.

4. A method of preventing a collision of an electrically operated opening and closing door, characterized by, It includes the following steps: Before the electric vehicle door is opened, the height of road obstacles is detected by the second radar (2) and the third radar (3) in the collision avoidance system of the electric door opening and closing as described in any one of claims 1-3; If the height of the road obstacle is greater than the design height, the electric door controller controls the electric door not to open; otherwise, it controls the electric door to open, and at the same time, during the opening process, the first radar (1) in the anti-collision system of the electric door opening and closing as described in any one of claims 1-3 is used to detect whether an obstacle is detected in the upper corner area of ​​the door; when an obstacle is detected, the electric door is controlled to pause the opening action; when no obstacle is detected, the electric door is controlled to continue to open.

5. The anti-collision method for electrically operated vehicle doors as described in claim 4, characterized in that: During the opening of the electric door, the first radar (1) and the third radar (3) are used to detect the rear edge contour area of ​​the door. When an obstacle is detected, the electric door is controlled to pause the opening action; when no obstacle is detected, the electric door is controlled to continue opening.

6. The anti-collision method for electrically operated vehicle doors as described in claim 5, characterized in that: If an obstacle is detected at least in the upper corner area and the rear edge contour area of ​​the electric vehicle door during the opening process, the electric vehicle door will pause its opening action; otherwise, the electric vehicle door will continue to open.

7. A vehicle characterized by comprising: It includes: The anti-collision system for electric opening and closing doors as described in any one of claims 1-3; each electric door is provided with the first radar (1), the second radar (2) and the third radar (3).

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