Vehicle door opening anti-collision early warning system and method integrating touch sense and vibration

Abstract

The invention discloses a vehicle door opening anti-collision early warning system and method integrating touch sense and vibration, and the system comprises a vehicle state monitoring module which is used for collecting the state data of a vehicle, and the output end of the vehicle state monitoring module is connected to a control module, and an in-vehicle personnel behavior sensing module which is used for collecting the door opening intention information of in-vehicle personnel, and the output end of the in-vehicle personnel behavior sensing module is connected to the control module. The environment sensing module is used for collecting motion information of a target object around a vehicle, and the output end of the environment sensing module is connected to the control module. The control module judges the collision risk based on the vehicle state, the door opening intention information and the motion information of the target object around the vehicle and drives and controls the early warning module to send out early warning information, the early warning module comprises a tactile feedback unit, and the tactile feedback unit is used for sending out a tactile reminding signal to people in the vehicle. According to the scheme, vibration reminding is added on the basis of a traditional reminding mode, and meanwhile, the door opening intention is accurately detected by integrating a touch collection mode.

Description

Technical Field

[0001] The present invention relates to the field of automobile electronic control, and in particular to a vehicle door opening anti-collision warning system and method integrating tactile sensation and vibration. Background Art

[0002] With the surge in the number of cars, the incidence of traffic accidents is also on the rise. In order to reduce collision accidents caused by improper door opening by drivers or passengers after parking, the automotive industry adopts various active safety technologies, including car door opening collision warning systems. Existing technologies generally use sensors, control algorithms and warning devices to monitor and evaluate potential collision risks in the surrounding environment in real time, and take measures to remind or prevent drivers and passengers from opening doors in unsafe situations. Reminders include auditory (alarm sound) and visual (instrument or screen, ambient light), which reduce the risk of door opening collision by reminding passengers or drivers in the car to pay attention.

[0003] The existing car door opening collision avoidance warning system mainly relies on auditory and visual reminders, such as issuing warning sounds or alerting drivers and passengers through dashboards, screens, and ambient lights. However, these warnings do not utilize the human body's tactile perception ability. In a high-noise environment, or when the driver and passengers are distracted, visual and auditory warnings may not be effective and fail to alert the driver or passengers; even many young people like to wear headphones, listen to music, and make phone calls, which may result in the inability to obtain reminder signals in time. In addition, for people with visual or hearing impairments, and elderly people whose vision and hearing gradually deteriorate with age, relying solely on sound and visual warnings may not provide sufficient safety protection. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a vehicle door opening anti-collision warning system and method that integrates tactile and vibration. A vibration reminder is added on the basis of the traditional reminder method, and at the same time, a touch acquisition method is integrated to accurately detect the intention to open the door; at the same time, the warning range is not limited to the inside of the vehicle but also warns the outside of the vehicle, thereby improving the reliability of the warning and reducing the occurrence of door opening collisions.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a vehicle door opening anti-collision warning system integrating tactile and vibration, comprising a vehicle status monitoring module, an occupant behavior perception module, an environment perception module, a control module, and an early warning module. The vehicle status monitoring module is used to collect vehicle status data, and its output end is connected to the control module. The occupant behavior perception module is used to collect occupant door opening intention information, and its output end is connected to the control module. The environment perception module is used to collect motion information of targets around the vehicle, and its output end is connected to the control module; the control module judges the collision risk based on the vehicle status, door opening intention information, and motion information of targets around the vehicle and drives the early warning module to issue early warning information. The early warning module includes a tactile feedback unit, and the tactile feedback unit is used to send a tactile reminder signal to the occupant.

[0006] The tactile feedback unit includes a vibration motor, which is used to send vibration tactile feedback to the person in the vehicle who intends to open the door.

[0007] The tactile feedback unit is integrated into a door handle or a seat in the vehicle.

[0008] The warning module also includes a visual warning module and / or an auditory warning module. The visual warning module is used to send a visual reminder signal through the vehicle-mounted electrical appliances, and the auditory warning module sends an auditory reminder signal through the vehicle-mounted electrical appliances.

[0009] The vehicle occupant behavior perception module includes a touch sensor installed on the inside of the vehicle, which is used to detect touch signals from the driver or passenger's hand touching the door handle. Its output end is connected to a control module, and the control module determines the passenger or driver's intention to open the door based on the touch signal.

[0010] The control module determines the collision risk and classifies the risk level based on the door opening intention information and the movement information of the target objects around the vehicle, and controls the driving reminder signal and / or outputs the prohibition door opening command to the door controller according to the risk level.

[0011] A vehicle door opening anti-collision warning method integrating tactile and vibration determines the door opening collision risk based on vehicle status information, door opening intention information, and motion information of targets around the vehicle, and based on the door opening collision risk, drives a tactile feedback unit, and / or an auditory feedback unit, and a visual feedback unit in a warning module to send tactile reminders and / or auditory reminders, and visual reminders to a person in the vehicle who intends to open the door, so as to remind the person who intends to open the door of the door opening collision risk; wherein the tactile feedback unit is a vibration motor, which is used to send vibration feedback information to the person who intends to open the door.

[0012] A touch sensor is used to collect signals from a vehicle occupant touching a door handle, and based on the signals from the door handle, it is determined whether there is an intention to open the door; when the touch signal is detected by the touch sensor, the door on the side of the door handle corresponding to the touch sensor is determined to be the door intended to be opened.

[0013] Based on the door opening intention information and the movement information of the targets around the vehicle, the collision risk is judged and the risk level is divided. According to the risk level, the driving reminder signal and / or the prohibition of door opening command are controlled to be output to the door controller.

[0014] A reminder signal is issued or the door opening is prohibited according to the risk level; when a reminder signal is issued, a collision warning reminder signal is sent out through tactile, auditory and visual reminder methods respectively, and the current of the motor corresponding to the tactile reminder is controlled according to the collision risk level to achieve reminders with different vibration intensities; when the door is prohibited from opening, an instruction to prohibit the door from unlocking is sent to the door controller, and the door controller executes the unlocking instruction, and gives a reminder signal prohibiting the door opening and the risk of collision through auditory and visual feedback.

[0015] The advantages of the present invention are: adding vibration reminders on the basis of traditional reminder methods, and integrating touch acquisition to accurately detect the intention to open the door; at the same time, the warning range is not limited to the inside of the car, but also warns the outside of the car, improving the reliability of the warning and reducing the occurrence of door opening collisions. The intention to open the door uses a touch sensor to accurately identify the intention to open the door in the car; the risk level is divided, and the risk warning of the people in the car is issued or the door is prohibited from opening according to the risk level, so as to reduce the risk of door opening collision as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following is a brief description of the contents expressed in the drawings of the present invention and the symbols in the drawings:

[0017] Figure 1 It is a schematic diagram of the principle of the automobile door opening anti-collision warning system of the present invention. DETAILED DESCRIPTION

[0018] The specific implementation of the present invention will be further explained in detail below by describing the optimal embodiment with reference to the accompanying drawings.

[0019] This solution aims to solve the defects of the existing door opening anti-collision warning system in that the door opening intention detection is inaccurate, the alarm reminder method has certain loopholes, and it is impossible to effectively remind the occupants in the vehicle and the outsiders. A vehicle door opening anti-collision warning system and method integrating tactile perception and vibration feedback are provided, which are as follows:

[0020] The door anti-collision warning solution of this application involves the following parts:

[0021] Vehicle status monitoring module: real-time monitoring of key vehicle parameters such as door status, ignition switch status, gear position, vehicle speed, acceleration, brake pedal, braking force, throttle / accelerator status, etc., to ensure the system's high perception of the vehicle status.

[0022] Driver and passenger behavior perception module: A touch sensor is installed on the inside of the door. When the driver or passenger touches the touch sensor on the door handle, the sensor can detect the door opening event. That is, the touch sensor is placed on each door handle in the vehicle. When the user touches the door handle, the voltage signal output by the touch sensor represents that the user has touched the door handle. Based on the electrical signal, the intention of the passenger in the vehicle to open the door and the specific location of the door opening can be judged.

[0023] High-level environmental perception module: Use sensors (radar, camera, etc.) to achieve real-time monitoring of the surrounding environment (vehicles, pedestrians, animals, objects, etc.), accurately identify and track the location, movement trajectory and speed of the target object. The environmental perception module is used to perceive the distance, movement speed, relative speed and other information around the vehicle, especially the distance of people and objects behind the vehicle. Based on this perception information, the collision risk can be calculated and evaluated.

[0024] Control module: used for intelligent analysis and risk assessment, calculates and identifies parameters such as the relative distance between the target object and the vehicle, relative speed, collision time TTC, etc., and assesses the collision risk level according to the preset risk threshold. If the first-level warning is triggered, there is a potential collision risk, and the driver and passengers are prompted through tactile feedback (vibration), hearing and vision. If the second-level warning is triggered, there is a collision risk, the system intervenes forcibly, prohibits the door from opening, and prompts the driver and passengers through tactile vibration, hearing and vision.

[0025] The tactile feedback system uses touch sensors (capacitive / resistive / infrared / sound waves, etc.) and tactile feedback (vibration motor) to control the frequency and intensity of vibration by controlling the current. Different vibration frequencies and intensities can be emitted according to different risk levels, thus giving a strong warning signal.

[0026] An automobile door-opening collision avoidance warning system that integrates tactile perception and vibration feedback. The system integrates tactile, visual, and auditory warnings to form a multi-modal warning prompt to ensure the safety of people and vehicles in various environments. Especially in a high-noise environment or when the driver and passengers are distracted, tactile vibration feedback provides a safety prompt that is not interfered with by the outside world, ensuring the high reliability of the system. For people with visual or hearing impairments, and for the elderly whose visual and auditory abilities gradually deteriorate with age, tactile feedback provides a more direct and effective safety guarantee. The use of touch sensors can capture the operating intentions of drivers and passengers more accurately and promptly, thereby achieving rapid response. Improve the safety of vehicles and personnel.

[0027] An adjustment button is provided in the vehicle's human-computer interaction system, allowing the user to set the intensity and mode of tactile feedback according to personal preferences and provide personalized safety tips. The vehicle-mounted human-computer interaction system is connected to the control module to transmit the setting parameters of the intensity and mode of tactile feedback to the control module, and the control module controls the vibration of the vibration motor based on the set parameters.

[0028] like Figure 1 As shown, a vehicle door opening anti-collision warning system integrating tactile and vibration in this embodiment includes a vehicle state monitoring module, an in-vehicle personnel behavior perception module, an environment perception module, a control module, and a warning module;

[0029] The vehicle status monitoring module is used to collect vehicle status data, and its output end is connected to the control module. The vehicle status monitoring module monitors key vehicle parameters such as door status, ignition switch status, gear position, vehicle speed, acceleration, brake pedal, braking force, throttle / accelerator status in real time to ensure that the system has a high perception of the vehicle status. The vehicle status is one of the judgment conditions for the door opening warning. When the vehicle is stationary and parked, the vehicle door opening anti-collision warning system in this embodiment starts working to judge the door opening intention and collision risk in real time, and then enters the risk reminder control strategy.

[0030] The in-car personnel behavior perception module is used to collect the information of the in-car personnel's intention to open the door. Its output end is connected to the control module. An alarm reminder will be issued only after the intention to open the door is detected. If there is no intention to open the door, the conditions for the door opening collision are not met. Therefore, it is necessary to detect the intention of the in-car personnel to open the door. The in-car personnel behavior perception module includes a touch sensor installed on the inside of the car. The touch sensor is used to detect the touch signal of the driver or passenger's hand touching the door handle. Its output end is connected to the control module. The control module judges the intention of the passenger or driver in the car to open the door based on the touch signal. The touch sensor is installed on the inside of the car door. When the driver or passenger's hand touches the touch sensor on the door handle, the sensor can detect the door opening event. Since the output voltage signal of the sensor is different when the human hand touches and does not touch the touch sensor, it is possible to judge whether the passenger has the intention to open the door and which door he intends to open by reading the voltage signal of the touch sensor. Therefore, a touch sensor is set on each door handle in the car, and the intention to open the door and the specific door opening position are judged based on the voltage signal of the touch sensor.

[0031] The environment perception module is used to collect the motion information of the target objects around the vehicle, and its output end is connected to the control module; the environment perception module uses sensors (radar, camera, etc.) to achieve real-time monitoring of the surrounding environment (vehicles, pedestrians, animals, objects, etc.), and accurately identify and track the position, movement trajectory and speed of the target object. Only based on the data perceived by the environment can the collision risk be calculated and analyzed, and the basic judgment data can be provided for the subsequent door opening collision.

[0032] The control module determines the collision risk based on the vehicle status, the door opening intention information, and the movement information of the target objects around the vehicle, and drives the control warning module to issue a warning message. As the core controller of this application, the control module has the functions of data processing, analysis and decision-making. It can determine the collision risk after opening the door based on the acquired data and execute the corresponding reminder and / or control strategy. The control module is used for intelligent analysis and risk assessment; based on the collected relative distance and relative speed between the target objects around the vehicle and the vehicle, the collision time TTC after opening the door can be calculated. This collision time is the estimated collision time. Then the control module determines the collision risk based on this and drives the warning module to issue a warning reminder, thereby reducing the occurrence of collision events.

[0033] The warning signals sent out by the driving warning module include three types of warning signals: tactile, visual and auditory, which respectively include a tactile feedback unit, a visual warning module and / or an auditory warning module, which are used to send warning alarm signals to the occupants who intend to open the door; wherein the tactile feedback unit includes a vibration motor (vibration motor), which is used to send a vibration tactile reminder signal to the occupants in the car. The vibration motor is used to send vibration tactile feedback to the occupants in the car who intend to open the door. The tactile feedback unit is integrated in the door handle or the seat in the car. The occupants who intend to open the door can be reminded through the vibration feedback on the handle or seat; the visual warning module is used to send a visual reminder signal through the vehicle-mounted electrical appliances, and the auditory warning module sends an auditory reminder signal through the vehicle-mounted electrical appliances. The three types of reminders are sent out in combination to avoid the defects of missing warning reminder signals or being unable to be obtained by users. The visual warning can give warning text, animation and other reminders through the vehicle-mounted display screen; the auditory warning can send a voice sound door opening collision reminder signal through the vehicle-mounted warning system, thereby reminding passengers or drivers who are about to get off the car in multiple directions.

[0034] The control module determines the collision risk and divides the risk level based on the door opening intention information and the movement information of the targets around the vehicle. It controls the drive reminder signal and or outputs the prohibition of door opening command to the door controller according to the risk level. When the level is low, only an alarm warning signal needs to be given. When the collision level is high, the door is prohibited from opening to avoid the risk of door opening collision. The risk level is divided into two levels: Level 1 and Level 2. Level 1 is a low risk level, at which a risk warning signal needs to be issued; Risk Level 2 is a high risk level. At this level, the probability of a collision after opening the door is extremely high. Therefore, at this time, it is also necessary to prohibit the door from opening while issuing a warning, that is, the door can be prohibited from unlocking to avoid the safety risk of collision.

[0035] Level 1: Vehicle information conditions: The door is closed or open, the vehicle speed is 0, and the vehicle is in P gear; or the vehicle speed is 0, the vehicle is not in P gear, and the brake pedal is pressed;

[0036] Environmental information: An object is detected behind the vehicle and the calculated collision time TTC between the object and the vehicle is greater than the time threshold;

[0037] Door opening intention: The touch sensor detects a finger touch signal.

[0038] When the above vehicle information conditions, environmental information, and door opening intention are all met, it is judged as risk level 1.

[0039] Risk Level 2: Vehicle Information Conditions: The door is closed or open, the vehicle speed is 0, and the vehicle is in P gear; or the vehicle speed is 0, the vehicle is not in P gear, and the brake pedal is pressed;

[0040] Environmental information: An object is detected behind the vehicle and the calculated collision time TTC between the object and the vehicle is not greater than the time threshold;

[0041] Door opening intention: The touch sensor detects a finger touch signal.

[0042] When the above vehicle information conditions, environmental information, and door opening intention are all met, it is judged as risk level 2.

[0043] The time threshold is set within 10s. This solution sets it to 6s and can be adjusted according to actual needs. The time threshold is mainly set based on the reaction time of the colliding party.

[0044] When the risk level is 1, three warning methods, namely visual, auditory and tactile (vibration), are used to send out warning signals to remind passengers who intend to open the door. At the same time, the current of the tactile vibration motor is adjusted according to the calculated TTC time to send out different vibration intensities and frequencies. When the TTC is smaller, the current of the vibration motor is larger, and the vibration intensity and frequency are stronger. When the risk level is 2, a command is issued to prohibit the door from opening, that is, a command is sent to the body controller to prohibit the door from unlocking and thus prohibiting the door from opening. This method can avoid the risk of collision when opening the door under high risk.

[0045] The classification of risk levels 1 and 2 is as follows:

[0046]

[0047]

[0048] In a preferred embodiment, this solution also sends out a warning signal for collision objects outside the vehicle. In the above embodiment, the reminder object to prevent collision is mainly the passengers in the vehicle who need to open the door, but does not take into account the other party of the collision, such as people and vehicles behind the vehicle. If some early warning warning signals are also sent to the other party of the collision, the occurrence of collision can be greatly reduced, the collision probability can be greatly reduced, and the vehicle traffic safety can be improved. This embodiment is designed as follows:

[0049] The control module is connected to the vehicle's headlight controller, which is an on-board controller such as a body controller. The control module uses the headlights to give a warning signal to prevent door opening collisions. Since the turn signal is required when the vehicle starts, the early warning alarm signal is sent to the inside of the vehicle and the turn signal is sent to the outside of the vehicle through the turn signal. While the control module divides the risk level and sends an alarm signal (tactile, auditory, and visual alarm) to the occupants in the vehicle who intend to open the door, the control module sends a turn signal lighting control instruction to the headlight controller. Through the tactile sensors on the four doors, the control module detects whether the passenger's intention to open the door corresponds to the left or right side of the vehicle. The control module controls the turn signal on the side corresponding to the intention to open the door. In this way, since the signal given by the turn signal is that the vehicle will turn to start, the vehicle or pedestrians behind will pay attention to the vehicle after receiving this signal, and pass the vehicle carefully, thereby reducing the occurrence of collisions from the side. This method uses the vehicle's turn signal to automatically turn on. An angle sensor is set on each door to collect the door opening angle. When the door opening angle is greater than the set angle threshold, the control module determines that the door opening angle is greater than the set threshold based on the angle sensor data, indicating that the door is now open and the turn signal warning function disappears. Therefore, the control module sends a control signal to the headlight controller to turn off the turn signal. At this time, the operation of driving the turn signal by the control module ends.

[0050] In another preferred embodiment of the present application, a text projection lamp is provided on the body of the vehicle on both sides or the rear of the vehicle, and an electronic switch is provided in the power supply circuit of the text projection lamp. The output end of the control module is connected to the electronic switch. The light sensor is used to collect the light intensity signal, and its output end is connected to the control module. The control module determines whether it is daytime or nighttime according to the optical fiber intensity signal. When it is determined that it is currently at nighttime, the control module controls the turn signal on the corresponding side of the door opening intention to light up while driving the text projection lamp to light up, that is, driving the electronic switch to close, and the text projection lamp is powered on. When the text projection lamp is working, it projects light onto the ground and displays a reminder text signal to remind people around the rear of the vehicle to pay attention to opening the door. For example, the text projection lamp can be set at the chassis and close to the edges on the left and right sides. When working, the text projection lamp projects the text content "Pay attention to the vehicle opening the door" on the ground, and reminds nearby people or vehicles to pay attention to the safety of opening the door through the text content. In order to give a better reminder, the text projected by the text projection lamp is projected onto the ground on both sides of the vehicle and then onto the ground behind the vehicle, so that a better reminder signal can be issued.

[0051] In a preferred solution of this embodiment, in rainy, snowy and foggy weather, the reminder effect of the projection lamp and the turn signal is not good, and the line of sight is not clear in many cases. On the basis of the reminder of the above embodiment, the rain and snow sensor and the haze sensor are used to detect the weather state signal, and the output end thereof is connected to the control module. The rain and snow sensor and the haze sensor are arranged on the vehicle to detect the rain, snow and haze conditions of the environment in which the vehicle is located. The control module determines whether the vehicle is in rainy, snowy and foggy weather based on the weather conditions collected by the rain and snow sensor and the haze sensor. If so, the control module drives and controls the vehicle horn to issue a reminder during the collision warning to remind the user to pay attention to the vehicle in front. Generally, in rainy, snowy and foggy weather, if the vehicle is noticed, it will be cautious and slow. Therefore, the horn is used to make the vehicles and pedestrians behind the vehicle pay attention to the vehicle, so that the side can also reduce the occurrence of collision and realize the collision warning. While giving auditory, visual and tactile warnings to the people in the vehicle, multiple alarm methods are also issued to the objects outside the vehicle that may collide. The reliability of opening the door to prevent collision is improved by the double alarm warning reminder method, and the occurrence of collision is avoided.

[0052] The present embodiment also provides a vehicle door opening collision avoidance warning method integrating tactile and vibration, which judges the door opening collision risk based on vehicle status information, door opening intention information, and motion information of targets around the vehicle, and based on the door opening collision risk, drives the tactile feedback unit, and / or auditory feedback unit, and visual feedback unit in the warning module to send tactile reminders and / or auditory reminders, and visual reminders to people in the vehicle who have the intention to open the door, to remind the people who have the intention to open the door of the door opening collision risk; wherein the tactile feedback unit is a vibration motor, which is used to send vibration feedback information to the people who have the intention to open the door.

[0053] A touch sensor is used to collect signals from a vehicle occupant touching a door handle, and based on the signals from the door handle, it is determined whether there is an intention to open the door; when the touch signal is detected by the touch sensor, the door on the side of the door handle corresponding to the touch sensor is determined to be the door intended to be opened.

[0054] Based on the door opening intention information and the movement information of the targets around the vehicle, the collision risk is judged and the risk level is divided. According to the risk level, the driving reminder signal and / or the prohibition of door opening command are controlled to be output to the door controller.

[0055] A reminder signal is issued or the door opening is prohibited according to the risk level; when a reminder signal is issued, a collision warning reminder signal is sent out through tactile, auditory and visual reminder methods respectively, and the current of the motor corresponding to the tactile reminder is controlled according to the collision risk level to achieve reminders with different vibration intensities; when the door is prohibited from opening, an instruction to prohibit the door from unlocking is sent to the door controller, and the door controller executes the unlocking instruction, and gives a reminder signal prohibiting the door opening and the risk of collision through auditory and visual feedback.

[0056] The control module determines the collision risk and divides the risk level based on the door opening intention information and the movement information of the targets around the vehicle. It controls the drive reminder signal and or outputs the prohibition of door opening command to the door controller according to the risk level. When the level is low, only an alarm warning signal needs to be given. When the collision level is high, the door is prohibited from opening to avoid the risk of door opening collision. The risk level is divided into two levels: Level 1 and Level 2. Level 1 is a low risk level, at which a risk warning signal needs to be issued; Risk Level 2 is a high risk level. At this level, the probability of a collision after opening the door is extremely high. Therefore, at this time, it is also necessary to prohibit the door from opening while issuing a warning, that is, the door can be prohibited from unlocking to avoid the safety risk of collision.

[0057] Level 1: Vehicle information conditions: The door is closed or open, the vehicle speed is 0, and the vehicle is in P gear; or the vehicle speed is 0, the vehicle is not in P gear, and the brake pedal is pressed;

[0058] Environmental information: An object is detected behind the vehicle and the calculated collision time TTC between the object and the vehicle is greater than the time threshold;

[0059] Door opening intention: The touch sensor detects a finger touch signal.

[0060] When the above vehicle information conditions, environmental information, and door opening intention are all met, it is judged as risk level 1.

[0061] Risk Level 2: Vehicle Information Conditions: The door is closed or open, the vehicle speed is 0, and the vehicle is in P gear; or the vehicle speed is 0, the vehicle is not in P gear, and the brake pedal is pressed;

[0062] Environmental information: An object is detected behind the vehicle and the calculated collision time TTC between the object and the vehicle is not greater than the time threshold;

[0063] Door opening intention: The touch sensor detects a finger touch signal.

[0064] When the above vehicle information conditions, environmental information, and door opening intention are all met, it is judged as risk level 2.

[0065] The time threshold is set within 10s. This solution sets it to 6s and can be adjusted according to actual needs. The time threshold is mainly set based on the reaction time of the colliding party.

[0066] When the risk level is 1, three warning methods, namely visual, auditory and tactile (vibration), are used to send out warning signals to remind passengers who intend to open the door. At the same time, the current of the tactile vibration motor is adjusted according to the calculated TTC time to send out different vibration intensities and frequencies. When the TTC is smaller, the current of the vibration motor is larger, and the vibration intensity and frequency are stronger. When the risk level is 2, a command is issued to prohibit the door from opening, that is, a command is sent to the body controller to prohibit the door from unlocking and thus prohibiting the door from opening. This method can avoid the risk of collision when opening the door under high risk.

[0067] The classification of risk levels 1 and 2 is as follows:

[0068]

[0069] In a preferred embodiment, this solution also sends out a warning signal for collision objects outside the vehicle. In the above embodiment, the reminder object to prevent collision is mainly the passengers in the vehicle who need to open the door, but does not take into account the other party of the collision, such as people and vehicles behind the vehicle. If some early warning warning signals are also sent to the other party of the collision, the occurrence of collision can be greatly reduced, the collision probability can be greatly reduced, and the vehicle traffic safety can be improved. This embodiment is designed as follows:

[0070] The control module is connected to the vehicle's headlight controller, which is an on-board controller such as a body controller. The control module uses the headlights to give a warning signal to prevent door opening collisions. Since the turn signal is required when the vehicle starts, the early warning alarm signal is sent to the inside of the vehicle and the turn signal is sent to the outside of the vehicle through the turn signal. While the control module divides the risk level and sends an alarm signal (tactile, auditory, and visual alarm) to the occupants in the vehicle who intend to open the door, the control module sends a turn signal lighting control instruction to the headlight controller. Through the tactile sensors on the four doors, the control module detects whether the passenger's intention to open the door corresponds to the left or right side of the vehicle. The control module controls the turn signal on the side corresponding to the intention to open the door. In this way, since the signal given by the turn signal is that the vehicle will turn to start, the vehicle or pedestrians behind will pay attention to the vehicle after receiving this signal, and pass the vehicle carefully, thereby reducing the occurrence of collisions from the side. This method uses the vehicle's turn signal to automatically turn on. An angle sensor is set on each door to collect the door opening angle. When the door opening angle is greater than the set angle threshold, the control module determines that the door opening angle is greater than the set threshold based on the angle sensor data, indicating that the door is now open and the turn signal warning function disappears. Therefore, the control module sends a control signal to the headlight controller to turn off the turn signal. At this time, the operation of driving the turn signal by the control module ends.

[0071] In another preferred embodiment of the present application, a text projection lamp is provided on the body of the vehicle on both sides or the rear of the vehicle, and an electronic switch is provided in the power supply circuit of the text projection lamp. The output end of the control module is connected to the electronic switch. The light sensor is used to collect the light intensity signal, and its output end is connected to the control module. The control module determines whether it is daytime or nighttime according to the optical fiber intensity signal. When it is determined that it is currently at nighttime, the control module controls the turn signal on the corresponding side of the door opening intention to light up while driving the text projection lamp to light up, that is, driving the electronic switch to close, and the text projection lamp is powered on. When the text projection lamp is working, it projects light onto the ground and displays a reminder text signal to remind people around the rear of the vehicle to pay attention to opening the door. For example, the text projection lamp can be set at the chassis and close to the edges on the left and right sides. When working, the text projection lamp projects the text content "Pay attention to the vehicle opening the door" on the ground, and reminds nearby people or vehicles to pay attention to the safety of opening the door through the text content. In order to give a better reminder, the text projected by the text projection lamp is projected onto the ground on both sides of the vehicle and then onto the ground behind the vehicle, so that a better reminder signal can be issued.

[0072] In rainy, snowy and foggy weather, the warning effect of projection lamps and turn signals is not good, and the line of sight is not clear in many cases. On the basis of the reminder in the above embodiment, the weather status signal is detected by rain and snow sensors and haze sensors, and its output end is connected to the control module. The rain and snow sensors and haze sensors are arranged on the vehicle to detect the rain, snow and haze conditions in the environment where the vehicle is located. The control module determines whether the vehicle is in rainy, snowy and haze weather based on the weather conditions collected by the rain and snow sensors and haze sensors. If so, the control module drives and controls the vehicle horn to issue a reminder during the collision warning to remind the user to pay attention to the vehicle in front. Generally, in rainy, snowy and foggy weather, if the vehicle is noticed, it will be cautious and slow. Therefore, the horn is used to make the vehicles and pedestrians behind the vehicle pay attention to the vehicle, so that the side can also reduce the occurrence of collisions and realize collision warning. While giving auditory, visual and tactile warnings to the people in the car, multiple alarm methods are also issued to objects outside the vehicle that may collide. The reliability of opening the door to prevent collisions can be improved by using the double alarm warning reminder method, and the occurrence of collisions can be avoided.

[0073] Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, they are all within the protection scope of the present invention.

Claims

1. A vehicle door opening anti-collision warning system integrating tactile and vibration, comprising a vehicle status monitoring module, an in-vehicle personnel behavior perception module, an environment perception module, a control module, and a warning module, characterized in that: The vehicle status monitoring module is used to collect vehicle status data, and its output end is connected to the control module. The in-vehicle occupant behavior perception module is used to collect in-vehicle occupant door opening intention information, and its output end is connected to the control module. The environment perception module is used to collect motion information of targets around the vehicle, and its output end is connected to the control module. The control module determines the collision risk based on the vehicle status, door opening intention information, and motion information of targets around the vehicle, and drives the early warning module to issue early warning information. The early warning module includes a tactile feedback unit, and the tactile feedback unit is used to issue a tactile reminder signal to the in-vehicle occupant.

2. A vehicle door opening anti-collision warning system integrating tactile sensation and vibration as claimed in claim 1, characterized in that: The tactile feedback unit includes a vibration motor, which is used to send vibration tactile feedback to the person in the vehicle who intends to open the door.

3. A vehicle door opening anti-collision warning system integrating tactile sensation and vibration as claimed in claim 2, characterized in that: The tactile feedback unit is integrated into a door handle or a seat in the vehicle.

4. The vehicle door opening anti-collision warning system integrating tactile sensation and vibration as claimed in claim 1, characterized in that: The warning module also includes a visual warning module and / or an auditory warning module. The visual warning module is used to send a visual reminder signal through the vehicle-mounted electrical appliances, and the auditory warning module sends an auditory reminder signal through the vehicle-mounted electrical appliances.

5. The vehicle door opening anti-collision warning system integrating tactile sensation and vibration as claimed in claim 1, characterized in that: The vehicle occupant behavior perception module includes a touch sensor installed on the inside of the vehicle, which is used to detect touch signals from the driver or passenger's hand touching the door handle. Its output end is connected to a control module, and the control module determines the passenger or driver's intention to open the door based on the touch signal.

6. The vehicle door opening anti-collision warning system integrating tactile sensation and vibration as claimed in claim 1, characterized in that: The control module determines the collision risk and classifies the risk level based on the door opening intention information and the movement information of the target objects around the vehicle, and controls the driving reminder signal and / or outputs the prohibition door opening command to the door controller according to the risk level.

7. A vehicle door opening anti-collision warning method integrating tactile and vibration, characterized in that: Based on the vehicle status information, the door opening intention information, and the motion information of the target objects around the vehicle, the door opening collision risk is judged, and based on the door opening collision risk, the tactile feedback unit, and / or the auditory feedback unit, and the visual feedback unit in the warning module are driven to send tactile reminders and / or auditory reminders, and visual reminders to the person in the vehicle who intends to open the door, so as to remind the person who intends to open the door of the door opening collision risk; The tactile feedback unit is a vibration motor, which is used to send vibration feedback information to the person who intends to open the door.

8. The vehicle door opening anti-collision warning method integrating tactile sensation and vibration as claimed in claim 7, characterized in that: A touch sensor is used to collect signals from passengers touching the door handle, and based on the signals from the passengers touching the door handle, it is determined whether there is an intention to open the door. When a touch signal is detected by the touch sensor, the door on the side corresponding to the door handle where the touch sensor is located is determined to be the door intended to be opened.

9. The vehicle door opening anti-collision warning method integrating tactile sensation and vibration as claimed in claim 7 or 8, characterized in that: Based on the door opening intention information and the movement information of the targets around the vehicle, the collision risk is judged and the risk level is divided. According to the risk level, the driving reminder signal and / or the prohibition of door opening command are controlled to be output to the door controller.

10. The vehicle door opening anti-collision warning method integrating tactile sensation and vibration as claimed in claim 9, characterized in that: A reminder signal is issued or the door opening is prohibited according to the risk level; when a reminder signal is issued, a collision warning reminder signal is sent out through tactile, auditory and visual reminder methods respectively, and the current of the motor corresponding to the tactile reminder is controlled according to the collision risk level to achieve reminders with different vibration intensities; when the door is prohibited from opening, an instruction to prohibit the door from unlocking is sent to the door controller, and the door controller executes the unlocking instruction, and gives a reminder signal prohibiting the door opening and the risk of collision through auditory and visual feedback.

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