A safety door opening method, system and storage medium based on a door side skirt radar

Abstract

The application relates to a safety door opening method and system based on a vehicle door side skirt radar, a storage medium, and the like. After a vehicle is parked and an unlocking signal is received, the safety door opening system outputs a real-time target opening angle of a door corresponding to a door unlocking signal. Then, the real-time target opening angle and an interference angle range of a side skirt radar envelope are compared and analyzed to obtain an analysis result of whether the door opening at the real-time target opening angle will affect the side skirt radar. Moreover, the opening and closing of the side skirt radar are controlled according to the analysis result, and the door is controlled to execute an opening instruction or a closing instruction, so that the radar early warning monitoring effect is not affected by the opening and closing of the door, the radar detection signal is accurate, and the risk of a safety accident in an interference condition is avoided.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of vehicle active early warning, in particular to a safety door opening method and system based on a door side skirt radar and a storage medium. BACKGROUND

[0002] In the process of daily use of a vehicle, the safe opening of a door is always a problem that attracts much attention, and active safety needs to be warned and other safety precautions.

[0003] In some related technologies, a safety door opening system acquires the environment information around a vehicle, captures a photo through a camera, and then performs image processing to display the environment around the vehicle. Meanwhile, the safety door opening system further subdivides the types of obstacles (pedestrians, electric vehicles, cars, etc.) present in the scene. The radar of the safety door opening system synchronously identifies the moving speed, distance, direction, etc. of the obstacles, and sends the information to a central processor. The central processor judges and processes the position of static obstacles and the motion state of dynamic obstacles in the surrounding environment to obtain the premise and basis for safe door opening, and makes different responses to obstacles with different collision risks, such as controlling the door to open at different opening angles within a safe angle for obstacles at different distances from the door.

[0004] In some related technologies, the radar is arranged on the door side skirt considering the limitation of the door shape and the cost of the arrangement scheme, but this causes the safety door opening system to have the following problems.

[0005] Since the radar envelope on the door side skirt has a certain range, when the door opening angle interferes with the radar envelope, the door will be misidentified as an obstacle, resulting in inaccurate detection signals and being unable to make normal judgments.

[0006] Therefore, a safety door opening method and system based on a door side skirt radar and a storage medium are proposed to solve the above problems. SUMMARY

[0007] The embodiments of the application provide a safety door opening method and system based on a door side skirt radar and a storage medium to solve the problem in the related art that when the radar is arranged on the door side skirt, the door opening angle interferes with the radar envelope on the door side skirt, the door is misidentified as an obstacle, resulting in inaccurate detection signals and being unable to make normal judgments.

[0008] In a first aspect, a safety door opening method based on a door side skirt radar is provided, which includes the following steps:

[0009] When receiving a parking signal and a door unlocking signal, acquiring a real-time target opening angle of a door corresponding to the door unlocking signal output by a safety door opening system;

[0010] The real-time target opening angle is used in combination with an interference angle range of the vehicle door and the side skirt radar envelope to control the vehicle door unlocking signal to execute an opening instruction or a closing instruction on the vehicle door.

[0011] In some embodiments, the real-time target opening angle is used in combination with an interference angle range of the vehicle door and the side skirt radar envelope to control the vehicle door unlocking signal to execute an opening instruction or a closing instruction on the vehicle door, including the following steps:

[0012] The real-time target opening angle is used in combination with an interference angle range of the vehicle door and the side skirt radar envelope to obtain a predicted interference condition.

[0013] According to the predicted interference condition, the opening and closing of the side skirt radar corresponding to the vehicle door are controlled, and the vehicle door unlocking signal is controlled to execute an opening instruction or a closing instruction on the vehicle door according to the predicted interference condition and the vehicle door unlocking signal.

[0014] In some embodiments, the real-time target opening angle is used in combination with an interference angle range of the vehicle door and the side skirt radar envelope to obtain a predicted interference condition, including the following steps:

[0015] It is determined whether the real-time target opening angle is within the interference angle range.

[0016] If the real-time target opening angle is outside the interference angle range and less than the minimum value of the interference angle range, the predicted interference condition is no interference.

[0017] If the real-time target opening angle is within the interference angle range, the predicted interference condition is partial interference.

[0018] If the real-time target opening angle is outside the interference angle range and greater than the maximum value of the interference angle range, the predicted interference condition is full interference.

[0019] In some embodiments, according to the predicted interference condition, the opening and closing of the side skirt radar corresponding to the vehicle door are controlled, including the following steps:

[0020] When the predicted interference condition is no interference, all side skirt radars corresponding to the vehicle door are controlled to remain in an open state.

[0021] When the predicted interference condition is partial interference, some side skirt radars are controlled to be closed, and the other side skirt radars are controlled to remain in an open state.

[0022] When the predicted interference condition is full interference, all side skirt radars corresponding to the vehicle door are controlled to be closed.

[0023] In some embodiments, each vehicle door corresponds to a first radar and a second radar on the side skirt of the vehicle door; the first radar is close to the vehicle door hinge.

[0024] controlling the part of the side skirt radar to be closed and the other part of the side skirt radar to be opened, comprising the following steps:

[0025] closing the second radar corresponding to the door and keeping the first radar in an opened state.

[0026] In some embodiments, the door unlocking signal corresponding door is controlled to execute an opening instruction or a closing instruction according to the predicted interference condition and the door unlocking signal:

[0027] when the predicted interference condition is no interference and the door unlocking signal is received, the door unlocking signal corresponding door is controlled to execute an opening instruction;

[0028] when the predicted interference condition is partial interference and the door unlocking signal is received, the door unlocking signal corresponding door is controlled to execute an opening instruction;

[0029] when the predicted interference condition is total interference and the door unlocking signal is received, the door unlocking signal corresponding door is controlled to execute a closing instruction, and after the closing instruction is completed, all side skirt radars corresponding to the door are controlled to be opened.

[0030] In some embodiments, during the execution of the opening instruction, if the side skirt radar in the opened state detects that a moving obstacle approaches the door, the door unlocking signal corresponding door is controlled to execute a closing instruction, and after the closing instruction is completed, all side skirt radars corresponding to the door are controlled to be opened.

[0031] In some embodiments, the interference angle range is 7°-16.5°.

[0032] In a second aspect, a safety door opening system based on a door side skirt radar is provided, and the safety door opening system based on the door side skirt radar comprises:

[0033] a first module configured to acquire a real-time target opening angle of a door corresponding to a door unlocking signal output by the safety door opening system when a parking signal and a door unlocking signal are received;

[0034] a second module configured to control the door corresponding to the door unlocking signal to execute an opening instruction or a closing instruction by using the real-time target opening angle and combining an interference angle range of the door and a side skirt radar envelope.

[0035] In a third aspect, a computer readable storage medium is provided, and the computer readable storage medium stores a safety door opening program based on a door side skirt radar, wherein when the safety door opening program based on the door side skirt radar is executed by a processor, the steps of the safety door opening method based on the door side skirt radar are implemented.

[0036] The technical solutions provided in the present application have the following beneficial effects:

[0037] The embodiment of the application provides a safe door opening method and system based on a vehicle door side skirt radar, a storage medium, and the safe door opening system outputs a real-time target opening angle of a vehicle door corresponding to a door unlocking signal after the vehicle is parked and the unlocking signal is received. Then, the real-time target opening angle and an interference angle range of a side skirt radar envelope are compared and analyzed to determine whether the vehicle door is opened at the real-time target opening angle and whether the analysis result of the side skirt radar is affected, and the opening and closing of the side skirt radar are controlled according to the analysis result, and the vehicle door is controlled to execute an opening instruction or a closing instruction, so that the radar early warning monitoring effect is not affected by the opening and closing of the vehicle door, the radar detection signal is ensured to be accurate, and the risk of a safety accident in the interference condition is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0039] Figure 1 A structural schematic diagram of an AVM system provided in the related art is shown.

[0040] Figure 2 A schematic diagram of a real-time target opening angle and an interference angle range of a side skirt radar envelope provided in the embodiment of the application is shown.

[0041] Figure 3 A schematic diagram of a safe door opening method based on a vehicle door side skirt radar provided in the embodiment of the application is shown. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the application more clear, the technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the application.

[0043] The following understandings should be made for the application:

[0044] The vehicle door side skirt refers to a skirt plate installed on both sides of the vehicle body, which is usually called a side skirt, a lower edge beam or a lower skirt edge.

[0045] In the process of daily use, the safe opening of the door is always a problem that attracts much attention, and needs to be warned and prevented from the aspect of active safety. Therefore, it is particularly important to develop a system that can ensure the safe opening of the door, which will greatly reduce the risk of door damage and ensure the safety of pedestrians.

[0046] The safe door opening system involves the following devices: AVM system, four front and rear corner radars, and eight side door radars. The AVM system includes four ultra-wide-angle fisheye cameras, four ultrasonic probes, and one processor, which are arranged at the front of the vehicle, under the left and right rearview mirrors, and at the rear of the vehicle. The four front and rear corner radars are arranged at the four corners of the vehicle. The side door radars include eight millimeter wave radars, which are evenly arranged on the side skirt plastic parts. These twelve radars are responsible for detecting the distance, direction, and speed of obstacles.

[0047] The architecture of the AVM system is shown in Figure 1 The parking door lock signal, the AVM system image acquisition, and the radar detection signal are all sent to the central processor, which sends the results to the door opening warning unit. The door opening warning unit is designed to prevent the driver from ignoring the signal light and ambient light prompts, and additional voice prompts are added. The AVM system acquires the environmental information around the vehicle, captures photos through four cameras, and processes the images according to the habits of human vision, such as distortion removal, camera joint calibration, projection transformation, and bird's eye view fine-tuning. After fusion and splicing, the environment around the vehicle is displayed. At the same time, the AVM system further classifies the types of obstacles in the scene (pedestrians, electric vehicles, cars, etc.). The front and rear corner radars and the side door radars simultaneously identify the moving speed, distance, and direction of the obstacles and send the information to the central processor. The central processor, as the "brain" of the entire system, is responsible for receiving and integrating all information from the AVM system camera and radar, achieving comprehensive understanding and intelligent evaluation of the surrounding environment, including the position of static obstacles and the motion state of dynamic obstacles. It serves as the premise and basis for judging whether it is safe to open the door and responds differently to obstacles with different collision risks. For example, for obstacles at different distances from the door, the door is opened at different angles within a safe angle.

[0048] The detection radar currently on the market generally adopts a millimeter wave radar installed on a bumper or a hidden ultrasonic wave radar installed on a door outer panel. When installed on the bumper, the radar arrangement has an upward angle requirement, which limits the door styling, and many vehicle models also omit the bumper design, making it difficult to arrange the radar on the side door. When installed on the door outer panel, eight radars and a controller are needed, and a shock absorber plate is also needed to ensure radar detection accuracy, which increases the weight and cost of the door. In addition, only using the side door detection radar cannot accurately determine whether the door can be safely opened, and there are still certain risks for evading electric vehicles traveling at high speed.

[0049] Therefore, considering the limitations on the door styling and the arrangement scheme cost, the radar is arranged on the door side skirt, the vehicle side detection radar is arranged on the plastic side skirt, and the intelligent driving surround view AVM system, front and rear corner radars, etc. are used synchronously to determine whether the door can be normally opened.

[0050] Arranging the radar on the door side skirt, but the safe door opening system has the following problems:

[0051] Since the radar envelope on the door side skirt has a certain range, when the door opening angle interferes with the radar envelope, the door will be misidentified as an obstacle, resulting in inaccurate detection signals, and the radar on the door side skirt cannot make normal judgments. At this time, if an electric vehicle or a pedestrian quickly approaches the door, the radar will not be able to accurately warn or warn, causing certain safety accidents and having great risks.

[0052] The above door is for an electric door, which can be opened to a certain angle by itself and complete the actions of opening and closing the door.

[0053] To solve the above problems, refer to Figure 1 , the first aspect proposes a safe door opening method based on a door side skirt radar, which includes the following steps:

[0054] Step 100, when receiving a parking signal and a door unlocking signal, obtaining a real-time target opening angle of the door corresponding to the door unlocking signal output by the safe door opening system;

[0055] In step 100, it is assumed that the safe door opening system of the vehicle has met the conditions for safe door opening, i.e., the vehicle has been in a parked state and has received a door unlocking signal, and the door will not collide with a stationary obstacle after being opened. The safe opening angle is the real-time target opening angle. The real-time target opening angle is calculated by the safe door opening system. As for how to calculate it, it is not described in detail here, and related disclosures are already available in the prior art.

[0056] Step 200, using the real-time target opening angle, and combining the interference angle range of the vehicle door and the side skirt radar envelope, controlling the vehicle door to execute the opening instruction or the closing instruction corresponding to the vehicle door. The interference angle range is obtained by calculating the early data and the actual calibration, so as to obtain the maximum opening angle when the vehicle door is tangent to the radar envelope.

[0057] Through the above steps, after the vehicle is parked and the unlocking signal is received, the safe door opening system outputs the real-time target opening angle of the vehicle door corresponding to the unlocking signal; then the real-time target opening angle and the interference angle range of the side skirt radar envelope are compared and analyzed to determine whether the vehicle door will affect the analysis result of the side skirt radar if it is opened at the real-time target opening angle, and the opening and closing of the side skirt radar are controlled according to the analysis result, and the vehicle door is controlled to execute the opening instruction or the closing instruction, so as to ensure that the radar early warning monitoring effect is not affected by the opening and closing of the vehicle door, and the radar detection signal is accurate. In addition, controlling the vehicle door to execute the opening instruction or the closing instruction can also avoid the risk of safety accidents in the interference situation.

[0058] The above effects can be understood as follows: when the vehicle door and the side skirt radar envelope range interfere, it is divided into no interference, partial interference and complete interference; when there is no interference, the side skirt radar and the vehicle door do not need to be controlled to close, and the vehicle door can be normally opened to the real-time target opening angle; when there is partial interference, only the interfered radar needs to be closed, leaving the radar that can still detect normally to ensure the accuracy of detection; when there is complete interference, all radars will be affected and lose the detection function, which poses a risk. At this time, the vehicle door is closed and not opened, which can avoid the risk of safety accidents in the interference situation. The above control method ensures that the control scheme is obtained before the vehicle door is opened, ensures the real-time detection of the radar, and avoids safety risks.

[0059] In some preferred embodiments, step 200 is described in detail as follows: using the real-time target opening angle, and combining the interference angle range of the vehicle door and the side skirt radar envelope, controlling the vehicle door to execute the opening instruction or the closing instruction corresponding to the vehicle door, including the following steps:

[0060] Step 200-1, using the real-time target opening angle, and combining the interference angle range of the vehicle door and the side skirt radar envelope, obtaining the predicted interference situation;

[0061] Step 200-2, according to the predicted interference situation, controlling the opening and closing of the side skirt radar corresponding to the vehicle door, and according to the predicted interference situation and the vehicle door unlocking signal, controlling the vehicle door to execute the opening instruction or the closing instruction corresponding to the vehicle door unlocking signal.

[0062] In step 200-1, the real-time target opening angle is used to obtain the predicted interference condition in combination with the interference angle range of the vehicle door and side skirt radar envelope, specifically including the following steps:

[0063] Step 200-11, determine whether the real-time target opening angle is within the interference angle range;

[0064] Step 200-12, if the real-time target opening angle is outside the interference angle range and less than the minimum value of the interference angle range, the predicted interference condition is no interference;

[0065] Step 200-13, if the real-time target opening angle is within the interference angle range, the predicted interference condition is partial interference;

[0066] Step 200-14, if the real-time target opening angle is outside the interference angle range and greater than the maximum value of the interference angle range, the predicted interference condition is full interference. The judgment and comparison principle above is Figure 2 .

[0067] In some preferred embodiments, the interference angle range is 7°-16.5°.

[0068] In step 200-2, according to the predicted interference condition, the opening and closing of the side skirt radar corresponding to the vehicle door is controlled, specifically including the following steps:

[0069] 200-21, when the predicted interference condition is no interference, control all side skirt radars corresponding to the vehicle door to remain in the open state;

[0070] 200-22, when the predicted interference condition is partial interference, control part of the side skirt radars to close and the other part to remain in the open state; each vehicle door corresponds to a first radar and a second radar on the vehicle door side skirt; the first radar is close to the vehicle door hinge; controlling part of the side skirt radars to close and the other part to open includes the following steps: closing the second radar corresponding to the vehicle door and keeping the first radar in the open state.

[0071] 200-23, when the predicted interference condition is full interference, control all side skirt radars corresponding to the vehicle door to close.

[0072] In step 200-2, according to the predicted interference condition and the vehicle door unlocking signal, control the vehicle door unlocking signal to execute the opening instruction or the closing instruction on the corresponding vehicle door:

[0073] Step 200-24, when the predicted interference condition is no interference and the vehicle door unlocking signal is received, control the vehicle door unlocking signal to execute the opening instruction on the corresponding vehicle door;

[0074] Step 200-25, when the predicted interference condition is partial interference, and the vehicle door unlocking signal is received, controlling the vehicle door unlocking signal to execute an opening instruction on the corresponding vehicle door;

[0075] Step 200-26, when the predicted interference condition is total interference, and the vehicle door unlocking signal is received, controlling the vehicle door unlocking signal to execute a closing instruction on the corresponding vehicle door, and after the closing instruction is completed, controlling all side skirt radars corresponding to the vehicle door to be turned on. Step 200-26 is to maximize the use of side skirt radars after the door is closed.

[0076] Step 200-267, during the execution of the opening instruction, if the side skirt radar that remains in the open state detects that a moving obstacle is approaching the vehicle door, controlling the vehicle door unlocking signal to execute a closing instruction on the corresponding vehicle door, and after the closing instruction is completed, controlling all side skirt radars corresponding to the vehicle door to be turned on. Step 200-267 is to ensure that the vehicle door can be closed in time when a moving obstacle suddenly appears near the vehicle door during the opening of the door, to avoid collisions, such as collisions between pedestrians and electric scooters.

[0077] In a second aspect, a vehicle door side skirt radar-based safe opening system is provided, which comprises:

[0078] A first module for, when a parking signal and a vehicle door unlocking signal are received, acquiring a real-time target opening angle of a vehicle door corresponding to a vehicle door unlocking signal output by the safe opening system;

[0079] A second module for, using the real-time target opening angle and combining an interference angle range of the vehicle door and the side skirt radar envelope, controlling the vehicle door unlocking signal to execute an opening instruction or a closing instruction on the corresponding vehicle door.

[0080] The application arranges eight millimeter wave radars on the vehicle door side skirt, arranges one radar at each of the four front and rear corners of the vehicle, and links with the intelligent driving surround view system to input the safe opening state of the vehicle door to the in-vehicle signal light to remind the in-vehicle personnel, thereby realizing the safe opening system. In the scheme, the radars are arranged on the side skirt, which has less restriction on the shape of the vehicle door and has higher freedom degree. In the scheme, the radars are arranged on the side skirt, the maximum opening angle of the vehicle door without interference with the radar envelope is calculated, the efficiency of the side skirt radar is maximized, and the opening safety is higher. In the scheme, the radars are all arranged on the plastic part, the vehicle door sheet metal does not need to be drilled, the shape is coordinated, and the process is simple. In the scheme, all millimeter wave radars are used to realize, compared with ultrasonic radars, the depth and speed information can be effectively extracted, the obstacles can be identified, there is a certain ability to penetrate fog, smoke and dust, the detection accuracy is effectively improved, and the detection blind area is reduced. In the scheme, the AVM system is linked with the radars, the range of detected obstacles is wider and more comprehensive, different states are responded through identification of the types of obstacles, and the collision risk when the vehicle door is opened is effectively reduced.

[0081] The functions of the modules in the safety door opening system based on the door side skirt radar correspond to the steps in the safety door opening method based on the door side skirt radar, and the functions and implementation processes are not repeated here.

[0082] In a third aspect, the embodiments of the present application provide a safety door opening device based on a door side skirt radar. The safety door opening device based on the door side skirt radar can be an ECU, a chip, a computer, a CPU, a server, or other devices with data processing functions.

[0083] In the embodiments of the present application, the safety door opening device based on the door side skirt radar can include a processor, a memory, a communication interface, and a communication bus.

[0084] The communication bus can be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0085] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, and is used to interconnect devices inside the safety door opening device based on the door side skirt radar, and is used to interconnect the safety door opening device based on the door side skirt radar with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber interface, an ATM interface, etc. The user device can be a display (Display), a keyboard (Keyboard), etc.

[0086] The 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 disks, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0087] The processor can be a general processor, which can invoke a vehicle door side skirt radar based safe door opening program stored in the memory and execute the vehicle door side skirt radar based safe door opening method provided in the embodiments of the present application. For example, the general processor can be a central processing unit (CPU). The method executed when the vehicle door side skirt radar based safe door opening program is invoked can refer to the embodiments of the vehicle door side skirt radar based safe door opening method of the present application, which will not be described herein.

[0088] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium.

[0089] The computer readable storage medium of the present application stores a vehicle door side skirt radar based safe door opening program therein, wherein the vehicle door side skirt radar based safe door opening program, when executed by a processor, implements the steps of the vehicle door side skirt radar based safe door opening method as described above.

[0090] The method implemented when the vehicle door side skirt radar based safe door opening program is executed can refer to the embodiments of the vehicle door side skirt radar based safe door opening method of the present application, which will not be described herein.

[0091] It should be noted that the serial numbers of the embodiments of the present application described above are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0092] The terms "comprising" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover not exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to the process, method, product or device. The terms "first", "second" and "third" and the like descriptions are used to distinguish different objects, and do not represent the order or limit the types of "first", "second" and "third".

[0093] In the description of the embodiments of the present application, "exemplary", "for example" or "for instance" is used to mean as an example, illustration or description. Any embodiment or design scheme described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words "exemplary", "for example" or "for instance" are used to present the relevant concept in a specific manner.

[0094] In the description of the embodiments of the present application, unless otherwise specified, " / " means the meaning of or, for example, A / B can mean A or B; the text "and / or" only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, and in addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0095] In some of the processes described in the embodiments of the present application, a plurality of operations or steps are included in a specific order, but it should be understood that these operations or steps can be executed or in parallel without the order in which they appear in the embodiments of the present application, and the serial number of the operation is only used to distinguish different operations, and the serial number itself does not represent any execution order. In addition, these processes can include more or fewer operations, and these operations or steps can be executed in sequence or in parallel, and these operations or steps can be combined.

[0096] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk) as described above, and includes a plurality of instructions for making a terminal device execute the method described in each embodiment of the present application.

[0097] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A safety door opening method based on a door side skirt radar, characterized by, It comprises the following steps: When receiving the parking signal and the door unlocking signal, the real-time target opening angle of the door corresponding to the door unlocking signal output by the safe door opening system is obtained; The real-time target opening angle is used to control the door corresponding to the door unlocking signal to execute the opening instruction or the closing instruction in combination with the interference angle range of the door and the side skirt radar envelope; The real-time target opening angle is used to control the door corresponding to the door unlocking signal to execute the opening instruction or the closing instruction in combination with the interference angle range of the door and the side skirt radar envelope, comprising the following steps: The real-time target opening angle is used to control the door corresponding to the door unlocking signal to execute the opening instruction or the closing instruction in combination with the interference angle range of the door and the side skirt radar envelope, comprising the following steps: The real-time target opening angle is used to control the door corresponding to the door unlocking signal to execute the opening instruction or the closing instruction in combination with the interference angle range of the door and the side skirt radar envelope, comprising the following steps: According to the predicted interference situation, the opening and closing of the side skirt radar corresponding to the door are controlled, and according to the predicted interference situation and the door unlocking signal, the door corresponding to the door unlocking signal is controlled to execute the opening instruction or the closing instruction; this step specifically comprises: when the predicted interference situation is non-interference, all side skirt radars corresponding to the door are controlled to remain in the opening state; when the predicted interference situation is partial interference, part of the side skirt radars are controlled to be closed, and the other part of the side skirt radars remain in the opening state; when the predicted interference situation is full interference, all side skirt radars corresponding to the door are controlled to be closed.

2. The safe door opening method based on the door side skirt radar according to claim 1, wherein: Each door corresponds to a first radar and a second radar on the door side skirt; the first radar is close to the door hinge; The control of part of the side skirt radars to be closed and the other part of the side skirt radars to be opened comprises the following steps:

3. The safety door opening method based on a door side skirt radar according to claim 1, wherein The second radar corresponding to the door is closed, and the first radar remains in the opening state. According to the predicted interference situation and the door unlocking signal, the door corresponding to the door unlocking signal is controlled to execute the opening instruction or the closing instruction: When the predicted interference situation is non-interference and the door unlocking signal is received, the door corresponding to the door unlocking signal is controlled to execute the opening instruction; When the predicted interference situation is partial interference and the door unlocking signal is received, the door corresponding to the door unlocking signal is controlled to execute the opening instruction; When the predicted interference situation is full interference and the door unlocking signal is received, the door corresponding to the door unlocking signal is controlled to execute the closing instruction, and after the closing instruction is completed, all side skirt radars corresponding to the door are controlled to be opened.

4. The safe door opening method based on the door side skirt radar according to claim 3, wherein: During the execution of the opening instruction, if the side skirt radar remaining in the opening state detects that there is a moving obstacle close to the door, the door corresponding to the door unlocking signal is controlled to execute the closing instruction, and after the closing instruction is completed, all side skirt radars corresponding to the door are controlled to be opened.

5. The radar-based safe door opening method according to claim 4, characterized in that: the interference angle range is 7°-16.5°.

6. A safety door opening system based on a door side skirt radar, characterized by, The radar-based safe door opening system comprises: a first module for obtaining a real-time target opening angle of a door corresponding to a door unlocking signal output by the safe door opening system when a parking signal and a door unlocking signal are received; a second module for controlling the door corresponding to the door unlocking signal to execute an opening instruction or a closing instruction by using the real-time target opening angle and in combination with an interference angle range of the door and a side skirt radar envelope; wherein the step of controlling the door corresponding to the door unlocking signal to execute the opening instruction or the closing instruction by using the real-time target opening angle and in combination with the interference angle range of the door and the side skirt radar envelope comprises the following steps: obtaining a predicted interference condition by using the real-time target opening angle and in combination with the interference angle range of the door and the side skirt radar envelope; the step specifically comprises: judging whether the real-time target opening angle is located within the interference angle range; if the real-time target opening angle is located outside the interference angle range and is less than a minimum value of the interference angle range, the predicted interference condition is non-interference; if the real-time target opening angle is located within the interference angle range, the predicted interference condition is partial interference; if the real-time target opening angle is located outside the interference angle range and is greater than a maximum value of the interference angle range, the predicted interference condition is total interference; controlling opening and closing of the side skirt radar corresponding to the door according to the predicted interference condition, and controlling the door corresponding to the door unlocking signal to execute the opening instruction or the closing instruction according to the predicted interference condition and the door unlocking signal; the step specifically comprises: when the predicted interference condition is non-interference, controlling all the side skirt radars corresponding to the door to remain in an opened state; when the predicted interference condition is partial interference, controlling part of the side skirt radars to be closed and the other part of the side skirt radars to remain in the opened state; and when the predicted interference condition is total interference, controlling all the side skirt radars corresponding to the door to be closed.

7. A computer readable storage medium characterized in that, The computer readable storage medium stores a radar-based safe door opening program, wherein the radar-based safe door opening program is executed by a processor to implement the steps of the radar-based safe door opening method according to any one of claims 1-5.

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