Method and device for determining door opening collision risk

Abstract

The invention provides a method for determining the door opening collision risk, and the method is applied to a vehicle, and comprises the following steps: S1, detecting a vehicle door opening signal of the vehicle, the vehicle door opening signal representing that a vehicle door of the vehicle is about to be opened or has been opened; step S2, identifying that the vehicle is in a parking scene with a limited rear sensing view field, wherein the parking scene with the limited rear sensing view field comprises that the vehicle is parked on the roadside and another vehicle is parked next to the rear of the vehicle; and S3, when a vehicle door opening signal is detected and it is recognized that the vehicle is in a parking scene with the limited rear sensing view, the door opening collision risk of the vehicle is determined by conducting wireless communication with traffic participants in the surrounding environment of the vehicle. The invention further provides another method for determining the door opening collision risk and a corresponding device. According to the method and the device, the vehicle door opening risk is accurately evaluated in a rear perception limited scene by utilizing a wireless communication technology, and the personnel safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to a method for determining a door opening collision risk applied to a vehicle, a method for determining a door opening collision risk applied to a traffic participant, and a device for determining a door opening collision risk. Background Art

[0002] With the increasing complexity of the road traffic environment and the continuous increase in the number of vehicles, vehicle safety has become a focus of attention. In recent years, more and more vehicles have been equipped with door-opening warning functions, which are designed to remind passengers to pay attention to other passing vehicles when getting off the vehicle and opening the door, especially two-wheeled vehicles (such as bicycles, electric bicycles) and other vulnerable traffic participants. However, the existing door-opening warning function still has limitations in certain scenarios, making it difficult to fully assess potential dangers.

[0003] For example, when another vehicle is parked directly behind the vehicle and at a relatively close distance, it will block the view of the rear sensor of the vehicle, resulting in an inability to accurately detect traffic participants approaching from the rear. In this case, it may be difficult to effectively trigger the door opening collision warning.

[0004] Therefore, the reliability and effectiveness of the existing door-opening warning function when exiting the vehicle in complex scenarios still need to be further improved. Summary of the invention

[0005] The purpose of the present application is to provide a method for determining the risk of a door opening collision applied to the vehicle, a method for determining the risk of a door opening collision applied to traffic participants, and a device for determining the risk of a door opening collision, so as to at least solve some of the problems in the prior art.

[0006] According to a first aspect of the present application, a method for determining a door opening collision risk is provided, the method being applied to the vehicle, the method comprising the following steps:

[0007] Step S1, detecting a door opening signal of the vehicle, wherein the door opening signal indicates that the door of the vehicle is about to be opened or has been opened;

[0008] Step S2, identifying that the vehicle is in a parking scenario with limited rear perception field of view, wherein the parking scenario with limited rear perception field of view includes: the vehicle is parked on the roadside and another vehicle is parked immediately behind the vehicle; and

[0009] Step S3, when a door opening signal is detected and it is identified that the vehicle is in a parking scenario with limited rear perception field of view, the door opening collision risk of the vehicle is determined by wirelessly communicating with traffic participants in the surrounding environment of the vehicle.

[0010] This application particularly includes the following technical concepts: when it is detected that a vehicle door is about to be opened or has been opened and the rear perception field of the vehicle's parking position is limited, the vehicle can determine the risk of door opening collision through wireless communication interaction with other surrounding traffic participants. This method uses wireless communication technology to make up for the limitations of sensor perception capabilities, making the door opening warning solution applicable to a richer range of scenarios and improving the reliability and effectiveness of the door opening warning function for getting off the vehicle. This provides more reliable safety protection for vehicle occupants and other surrounding traffic participants.

[0011] In an exemplary embodiment, step S3 includes: sending a notification message to a traffic participant approaching the vehicle from behind on the road via wireless communication, wherein the notification message includes door position information related to a door that is about to be opened or has been opened; and receiving a warning message sent by a traffic participant in the surrounding environment of the vehicle via wireless communication, wherein the warning message indicates the existence of a risk of door opening collision.

[0012] In an exemplary embodiment, step S3 includes: requesting and receiving location information and motion information of traffic participants in the surrounding environment of the vehicle through wireless communication; determining the door opening collision risk of the vehicle based on the door position information related to the door that is about to be opened or has been opened, and the received location information and motion information of the traffic participants.

[0013] In an exemplary embodiment, the method further includes: calculating the door position information when the door is opened based on the positioning information, orientation information and geometric information of the vehicle; and / or the door position information includes: the position coordinates of the door, the opening angle of the door and / or the position coordinates of a blocking area formed next to the vehicle body when the door is opened.

[0014] In an exemplary embodiment, the method includes step S4: if it is determined that there is a risk of door opening collision, performing at least one of the following operations: preventing the door from opening, controlling the door that has been opened to close again, and / or issuing a warning to the vehicle user of the door opening danger.

[0015] In an exemplary embodiment, the method further includes the following steps: when a door opening signal is detected and the vehicle is not identified as being in a parking scenario with limited rear perception field of view, determining a door opening collision risk based on the vehicle's own environmental perception data.

[0016] In an exemplary embodiment, in step S2, when it is identified that another vehicle blocks a critical angle range within the rear perception field of view of the vehicle, it is determined that the vehicle is in a parking scenario with limited rear perception field of view, and the critical angle range includes a predetermined angle range extending from directly behind the vehicle toward a side where a road exists.

[0017] In an exemplary embodiment, the parking scenario with limited rear perception field of view also includes: the vehicle is parked on a curved road section, the curvature of which is greater than a preset curvature threshold; and / or the vehicle is parked on a downhill section, the slope of which is greater than a preset slope threshold.

[0018] According to a second aspect of the present application, a method for determining a door opening collision risk is provided, the method being applied to a traffic participant in the surrounding environment of the vehicle, the method comprising the following steps:

[0019] receiving a notification message sent by the vehicle through wireless communication, wherein the notification message includes door position information related to a door that is about to be opened or has been opened;

[0020] The traffic participant determines the risk of collision with the door of the host vehicle that is about to be opened or has been opened based on the traffic participant's own position information and movement information and the door position information; and

[0021] In the case where it is determined that there is a risk of collision, a warning message is sent to the host vehicle through wireless communication, wherein the warning message indicates that there is a risk of door opening collision.

[0022] According to the third aspect of the present application, a device for determining the risk of door opening collision is provided, the device comprising a memory and a processor, the memory storing computer program instructions, when the computer program instructions are executed by the processor, the processor is capable of executing the method described in the first aspect and / or the second aspect of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be described in more detail below with reference to the accompanying drawings, so that the principles, features and advantages of the present invention can be better understood. The accompanying drawings include:

[0024] Figure 1 A block diagram of a vehicle according to an exemplary embodiment of the present application is shown, the vehicle comprising an apparatus for determining a risk of a door opening collision;

[0025] Figure 2 A flow chart of a method for determining a door opening collision risk according to an exemplary embodiment of the present application is shown, wherein the method is applied to the present vehicle;

[0026] Figure 3 A schematic diagram showing a wireless communication process between a vehicle and another vehicle according to an exemplary embodiment of the present application;

[0027] Figure 4 A schematic diagram showing a wireless communication process between a vehicle and another vehicle according to another exemplary embodiment of the present application;

[0028] Figure 5A schematic diagram of a parking scenario with limited rearward perception field of view according to an exemplary embodiment of the present application is shown;

[0029] Figure 6a and Figure 6b A schematic diagram showing door opening position information sent to other surrounding traffic participants through a notification message according to an exemplary embodiment of the present application;

[0030] Figure 7a and Figure 7b A schematic diagram of a parking scenario with limited rearward perception field of view according to another exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0031] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the scope of protection of the present application.

[0032] Figure 1 A block diagram of a host vehicle 1 according to an exemplary embodiment of the present application is shown, the host vehicle 1 comprising an apparatus 10 for determining a door opening collision risk.

[0033] The vehicle 1 can support both partial automatic driving and fully automatic driving, and can also have a manual driving mode. The device 10 for determining the risk of a door opening collision can be implemented as an ECU of a vehicle, for example, and includes a processor 12 and a memory 11, in which computer program instructions are stored, and these instructions can be stored in a computer-readable storage medium such as a hard disk, a memory, a flash memory card, etc. The processor 12 can be a central processing unit (CPU), a microprocessor, a digital signal processor (DSP) or other general-purpose processor. When the processor 12 executes the computer program instructions in the memory 11, a method for determining the risk of a door opening collision can be implemented, which will be further explained in conjunction with the following text and will not be described in detail here.

[0034] The device 10 can be connected to multiple sensors and actuators of the vehicle 1 in a wired or wireless manner through an in-vehicle network (such as CAN bus, FlexRay, MOST, etc.) to achieve accurate assessment of door opening collision risks and corresponding warning functions.

[0035] For example, the device 10 may be connected to a door sensor 21 of the vehicle 1 to obtain a signal indicating that a door is about to be opened or has been opened.

[0036] The device 10 can also be connected to a rear-view sensor (such as a camera 22, a millimeter-wave radar 23 or an ultrasonic sensor 24) to identify the environment behind the vehicle 1 by analyzing ranging information and image information, and determine whether there is a parking scenario with limited rear perception field of view.

[0037] The device 10 may also be connected to a GPS antenna 25 and an orientation sensor 26 (such as an inertial measurement unit IMU or an electronic compass) of the vehicle to determine the precise position and orientation information of the vehicle 1 .

[0038] The device 10 can also be connected to the electronic map module 27 to determine the road conditions around the vehicle 1 and the relative position of the vehicle 1 on the road (such as the distance to the next intersection, the obvious building signs around it, etc.)

[0039] The device 10 can also be connected to the wireless communication module 28 of the vehicle 1 to exchange information with surrounding traffic participants and receive and send information related to the risk of door opening collision. With the help of the wireless communication module 28, the vehicle 1 can communicate with other vehicles in the surrounding area through vehicle-to-vehicle (V2V) communication, which can be achieved through technologies such as WLAN, Bluetooth, cellular networks (such as 4G or 5G), DSRC, etc. At the same time, the vehicle 1 can also communicate with the roadside unit or remote server through the communication network. Vehicle-to-infrastructure (V2I) communication; in addition, the vehicle 1 can also communicate with mobile terminal devices (such as smartphones, smart watches, etc.) carried by pedestrians around.

[0040] The device 10 can also be connected to a door control unit 29 so as to send a control command thereto to prevent the door from opening or control the door to close.

[0041] The device 10 may also be connected to an in-vehicle warning system 30 to send a warning signal to passengers in the vehicle through sound, visual or tactile feedback (such as seat vibration).

[0042] It should be understood that Figure 1 The number and type of various sensors or actuators connected to the device 10 shown in the figure are only examples, and this document is not intended to limit this. In practical applications, different types or numbers of sensors and actuators can be used in the vehicle 1 to meet specific needs and conditions.

[0043] Figure 2 A flow chart of a method for determining a door opening collision risk according to an exemplary embodiment of the present application is shown, and the method is applied to the present vehicle. The method exemplarily includes steps S1, S2 and S3, and optionally includes step S4, and can be used, for example, in a vehicle. Figure 1 The device 10 shown is implemented in the context of.

[0044] In step S1 , a door opening signal of the vehicle is detected, where the door opening signal indicates that the door of the vehicle is about to be opened or has been opened.

[0045] In particular, the door opening signal indicates that the door of the vehicle on the side facing the road (driving lane) is about to be opened or has been opened. This signal can be achieved by detecting the movement, position change, and motion state of the door on the corresponding side, or by detecting the occupant's door opening operation or intention to open the door. For example, the vehicle's door locking system or door switch sensor can be used to monitor whether the door is open or about to be opened. When the door lock position changes or the door switch is triggered, the system can detect the door opening signal. In addition, the image inside the cabin can be captured with the help of the on-board camera, and the movement of the door handle, the movement of the passenger, or the slight opening angle of the door can be detected through image processing technology.

[0046] In step S2, it is identified that the vehicle is in a parking scenario with limited rear perception field of view, where the parking scenario with limited rear perception field of view includes: the vehicle is parked on the roadside and another vehicle is parked immediately behind the vehicle.

[0047] "Parking on the roadside" usually means parking the vehicle along the edge of the road, with one side close to the lane and the other side close to the sidewalk or wall. This parking method is called "parallel parking". In this case, when passengers get off the vehicle and open the door from the side close to the road, they are prone to collision with traffic participants coming from behind, which poses a potential risk.

[0048] "Close parking" means that there is another vehicle parked directly behind the vehicle, with no other vehicles between them and the distance is very close, usually less than the preset distance threshold, or the rear vehicle blocks the key sensing area of ​​the rear sensor of the vehicle. This scenario is common in parking spaces on both sides of the street or temporary parking spaces on the roadside, where vehicles are closely arranged in front and behind.

[0049] In order to identify the above parking scenarios, a variety of sensor technologies can be used. For example, the rear environment can be monitored in real time by a camera installed at the rear of the vehicle, and image processing algorithms (such as object detection and semantic segmentation) can be used to identify whether there are roadside features such as sidewalks, curbs, and railings in the image, and whether there is another vehicle behind, and the proportion of the vehicle in the image exceeds a preset value. In addition, it is also possible to determine whether the parking position of the vehicle is at the edge of the road based on GPS data and map data.

[0050] In addition, radar sensors or ultrasonic sensors can be used to detect obstacles behind the vehicle by analyzing the reflected echoes, thereby determining whether the rear perception field of view is blocked. For example, by analyzing radar signals and ultrasonic signals, the position and shape of the rear obstacle can be accurately determined.

[0051] It is also possible to combine data from cameras, radar sensors, and ultrasonic sensors to improve the recognition accuracy of scenes with limited rear perception field of view through sensor fusion algorithms.

[0052] In one embodiment, when it is identified that another vehicle blocks a critical angle range within the rear perception field of view of the vehicle, it is determined that the vehicle is in a parking scenario with limited rear perception field of view, and the critical angle range includes a predetermined angle range extending from directly behind the vehicle toward the side where the road exists. The size of the critical angle range can be determined by a pre-calibration process, for example, not less than 80 degrees, to ensure that it covers the width of at least one lane and a certain longitudinal distance. If the critical angle range is blocked, it indicates that the vehicle's rearview sensor cannot detect other vehicles or pedestrians approaching from the rear. This will be discussed in conjunction with the following. Figure 5 Further elaboration.

[0053] In order to determine whether the obstacle behind the vehicle blocks the field of view within the critical angle range, it can be achieved by analyzing the relationship between the obstacle and the detection range of the radar, lidar or camera. For example, the radar can be used to transmit and receive electromagnetic wave signals, collect rear point cloud data and perform cluster analysis to identify the position and range of the obstacle. If the angle range occupied by the obstacle overlaps significantly with the preset critical angle range (such as the overlap ratio exceeds the set threshold), it is determined that the rear perception field of view is blocked. For another example, a camera can be used to capture the rear image, and obstacles can be identified with the help of image processing algorithms such as target detection or semantic segmentation. When the image pixel area of ​​the obstacle area exceeds 50%, it is determined that the field of view is limited.

[0054] In another embodiment, the parking scene status update can also be analyzed regularly, for example, to determine whether the obstacle blocks the field of view continuously or only temporarily. If the obstacle is found to be removed (for example, another vehicle parked behind drives away), it is determined that the rear perception field of view of the vehicle is no longer blocked.

[0055] In another embodiment, the parking scenario with limited rear perception field of view also includes: the vehicle is parked on a curved road section, and the curvature of the curved road section is greater than a preset curvature threshold. The vehicle is parked on a downhill section, and the slope of the downhill section is greater than a preset slope threshold. In addition, the situation where the sensor's rear perception field of view is limited due to weather and lighting reasons can also be considered. In these cases, wireless communication technology can also be used to determine the risk of door opening collision. This will be combined with the following Figure 7a and Figure 7b Further elaboration.

[0056] In step S3, when a door opening signal is detected and it is identified that the vehicle is in a parking scenario with limited rear perception field of view, the door opening collision risk of the vehicle is determined by wirelessly communicating with traffic participants in the surrounding environment of the vehicle.

[0057] Door opening collision risk refers to the risk of collision between a vehicle door that is about to or has been opened and a traffic participant.

[0058] Traffic participants include, for example, cars, motorcycles, trucks, pedestrians, and cyclists (bicyclists or electric bicycle riders).

[0059] The wireless communication here includes multiple methods, such as vehicle-to-vehicle communication (V2V), in which vehicles directly exchange information such as position, speed and door status; vehicle-to-pedestrian communication (V2P), in which vehicles interact with devices carried by pedestrians (such as smartphones, smart watches and wearable devices) to obtain the location and movement status of pedestrians; and vehicle-to-infrastructure communication (V2I), in which vehicles obtain real-time traffic information from roadside traffic facilities.

[0060] Determining the risk of a door-opening collision through wireless communication means that the vehicle does not need to rely on its own perception capabilities to detect the approach of potential risk objects. Instead, it can directly receive approach information from surrounding traffic participants, or receive risk warnings sent by other vehicles or devices, thereby accurately judging the risk of a door-opening collision.

[0061] In an embodiment not shown, if a door opening signal is detected and the vehicle is not identified as being in a parking scenario with limited rear perception field of view, the door opening collision risk can be determined based on the vehicle's own environmental perception data.

[0062] Therefore, for example, different methods (wireless communication technology or environmental perception data) can be dynamically selected to determine the risk of door opening collision based on the limited field of view behind the vehicle.

[0063] When the rear view is severely limited or blocked by large obstacles such as vehicles, the vehicle can use wireless communication technology (such as V2X communication) to determine the risk of opening the door by exchanging information with the communication modules of surrounding traffic participants (including other vehicles, pedestrians or non-motor vehicles). In this case, wireless communication technology can make up for the limited field of view of the sensor and ensure that the vehicle obtains comprehensive environmental information.

[0064] When the rear perception field of view is completely unrestricted, the vehicle can prioritize using its own environmental perception data to assess the risk of opening the door. For example, the vehicle can monitor the dynamic environment around the door in real time through devices such as millimeter-wave radar, cameras, or ultrasonic sensors. These sensors can detect pedestrians, non-motor vehicles, or other moving objects behind the door, and combine the vehicle's environmental perception algorithm to determine whether there is a risk of collision.

[0065] When the rear view is only partially restricted and the obstructing object is only a small obstacle, the vehicle can give priority to using its own environmental perception data (such as radar, camera, etc.) to determine the risk of door collision. This is because the perception data can directly reflect the real-time status of the surrounding environment and avoid communication delays. However, the vehicle can also additionally consider using wireless communication technology (such as V2X communication) to obtain traffic participant information or receive collision risk information to enhance the accuracy and reliability of the warning.

[0066] In optional step S4, if it is determined that there is a risk of door opening collision, at least one of the following operations is performed: preventing the door from opening, controlling the door that has been opened to close again, and / or issuing a warning to the user of the vehicle about the danger of door opening.

[0067] For example, if the door has not been opened, the door control unit can be used to prevent the door from opening to prevent the door from colliding with traffic participants approaching from behind. If the door has been opened, the door can be automatically controlled to close again to avoid potential collision risks. In addition, the vehicle user can be warned through an in-vehicle warning system (such as sound, visual prompts, or seat vibrations) to remind the user that there is a danger in opening the door, or to guide the user to take measures to close the door. For example, an alarm can be sounded through the in-vehicle speaker, or a warning message can be displayed on the dashboard, or the driver can be alerted by seat vibration. These operations can be selectively performed according to the specific risk level and vehicle configuration to ensure the safety of vehicle occupants and surrounding traffic participants.

[0068] Figure 3 The schematic diagram shows a wireless communication process between a vehicle 1 and another vehicle 2 according to an exemplary embodiment of the present application. In this embodiment, the evaluation of the door opening collision risk is performed on the side of the traffic participant 2.

[0069] In step S31 , the vehicle 1 sends a notification message to a traffic participant 2 approaching the vehicle 1 from behind on the road through wireless communication, wherein the notification message includes door position information related to a door that is about to be opened or has been opened.

[0070] The vehicle 1 can, for example, calculate the position information when the door is opened based on its own positioning information, orientation information and geometric information. Specifically, the vehicle's positioning information can be determined by a GPS antenna in combination with a high-precision map. The vehicle's orientation information includes direction and angle. The vehicle's geometric information includes, for example, parameters such as vehicle size, door size, door shape, door assembly position relative to the vehicle, maximum opening angle and height.

[0071] The door position information can be expressed in a variety of forms. For example, the door position information can be expressed in absolute coordinate form (such as longitude and latitude), or in relative coordinates in a local coordinate system of the vehicle body, in which case the absolute coordinates of the vehicle must be included in the notification message. In addition, the door position information may also include the opening angle of the door and / or the position coordinates of the blocking area formed next to the vehicle body when the door is opened. The door position can also be described by distance and angle, for example, "the door is located on the left side of the vehicle, 1 meter away from the center point of the vehicle, and the angle is 90 degrees". The door position information can also be transmitted in the form of map annotation data, for example, the dangerous area of ​​the door can be circled with a rectangular frame, so that it can be directly presented on the digital map carried by the traffic participant 2.

[0072] The door position information can be either static (such as the fixed position of the door at the maximum opening angle) or dynamic (such as the real-time position change of the door from closed to fully opened).

[0073] In step S32 , the traffic participant 2 receives the notification message sent by the host vehicle 1 via wireless communication.

[0074] In step S33, the traffic participant 2 determines whether there is a risk of collision with the door of the host vehicle 1 that is about to be opened or has been opened based on its own position information, movement information and the received door position information. If it is determined that there is no risk, the traffic participant 2 continues to perform the collision risk assessment; if it is determined that there is a risk, it proceeds to step S34 and sends a warning message to the host vehicle 1 through wireless communication, indicating that there is a risk of door opening collision.

[0075] For example, traffic participant 2 can predict the movement trajectory in the future based on its own movement information and compare it with the dangerous area of ​​the door (such as the blocking range when the door is opened). If the predicted movement trajectory intersects with the blocking range when the door is opened, traffic participant 2 can further calculate the estimated collision time TTC = d / Δv based on the initial distance (d) between itself and the door and the movement speed (Δv). If the estimated collision time TTC is less than the preset safety time threshold (such as 5 seconds), it is determined that there is a collision risk.

[0076] In addition, traffic participant 2 continuously updates its own position and motion status information during movement, and recalculates the collision risk in real time to ensure the accuracy and timeliness of collision risk assessment, so that potential dangers can be discovered in time even in complex traffic environments.

[0077] When the traffic participant 2 is a motor vehicle, it can send an alarm to the driver in the cabin or automatically trigger a series of braking or steering measures to reduce the risk of collision with the door. When the traffic participant 2 is a pedestrian or non-motor vehicle, it can use the mobile terminal it carries to send an alarm signal by vibration or playing an alarm sound to warn of potential danger.

[0078] In addition, the road participant 2 may also transmit the warning message to other road participants in its vicinity (for example, within a predetermined distance range, such as 1 meter).

[0079] In step S35 , the host vehicle 1 receives the warning message sent by the road user 2 via wireless communication.

[0080] When receiving the warning message, the vehicle 1 can parse the content of the warning message, thereby determining that there is a risk of door opening collision and triggering corresponding safety countermeasures.

[0081] Figure 4 A schematic diagram of a wireless communication process between a host vehicle 1 and another vehicle 2 according to another exemplary embodiment of the present application is shown. In this embodiment, the evaluation of the door opening collision risk is performed on the host vehicle 1 side.

[0082] In step S41, the host vehicle 1 requests the location information and motion information of the traffic participant 2 in the surrounding environment through wireless communication. In steps S42 and S43, the traffic participant 2 receives the request and sends the location information and motion information to the host vehicle 1 in response to the request. In step S44, the host vehicle 1 receives the location information and motion information sent by the traffic participant 2.

[0083] The location information of traffic participant 2 includes its GPS location coordinates, while the motion information includes driving speed, direction of movement, lane change intention, etc. If traffic participant 2 is a vehicle, this information can be obtained, for example, by the vehicle's on-board sensors and transmitted to the vehicle 1 using the on-board communication module. If traffic participant 2 is a pedestrian, the location information and motion information of the pedestrian can be determined by the built-in sensors of the mobile terminal device (such as a smartphone or smart watch) carried by the pedestrian. Then, the mobile terminal device uses wireless communication technologies such as Bluetooth, Wi-Fi or cellular networks to send the pedestrian's location coordinates, travel speed (estimated by an acceleration sensor) and travel direction (determined by a gyroscope or geomagnetic sensor) to the vehicle 1. In addition, the mobile terminal device can also provide pedestrian behavior patterns (such as parking, crossing the road, etc.) when necessary.

[0084] In step S45 , the vehicle 1 determines the door opening collision risk of the vehicle 1 based on the position information of the door that is about to be opened or has been opened, and based on the received position information and movement information of the traffic participant 2 .

[0085] In this embodiment, the assessment of the risk of collision is performed by the host vehicle 1 itself, rather than by the traffic participant 2. Figure 3 Similarly to the risk calculation process described above, the vehicle 1 can predict the movement trajectory of the traffic participant 2 in the future based on the received position, speed and movement direction, and check whether there is a spatiotemporal overlap between the movement trajectory and the door position, and then calculate the collision probability accordingly. For example, if the calculated collision probability is higher than a preset threshold (e.g., greater than 70%), it is determined that there is a door opening collision risk.

[0086] In addition, if the vehicle 1 determines that there is a risk of door-opening collision, but the door has been opened or cannot be closed in time, the vehicle 1 can also send the collision risk in the form of a warning message to all traffic participants 2 within the surrounding predetermined range. This allows all affected traffic participants 2 to be aware of the potential danger in time and take corresponding collision avoidance measures.

[0087] Figure 5 A parking scenario 5 with limited rear perception field of view according to an exemplary embodiment of the present application is shown. In this scenario 5, the vehicle 1 is parked on the side of the road, and another vehicle 3 is parked immediately behind it. The vehicle 1 is equipped with a radar sensor and a camera at the rear, and the original perception field of view 50 of these sensors is marked in the figure. However, due to the obstruction of the rear vehicle 3, a partial area 52 in the original perception field of view 50 cannot be successfully monitored. In this obscured area 52, there happens to be a bicycle 2 coming from the rear. If the vehicle 1 completely relies on environmental perception information to detect the risk of door opening collision, the risk posed by the bicycle 2 cannot be effectively detected.

[0088] For example, it may be provided that if it is identified that another vehicle 3 blocks a critical angle range 51 within a rear perception field of view 50 of the host vehicle 1 , it is determined that the host vehicle 1 is in a parking scene 5 with a limited rear perception field of view. Figure 5 The critical angle range 51 is marked in FIG. 1 , which includes a predetermined angle range (e.g., 80°) extending from the rear of the host vehicle 1 toward the side where the road exists. When the field of view of this predetermined angle range 51 of the host vehicle 1 is completely blocked, it indicates that the host vehicle 1 has difficulty in detecting the vehicle coming from behind, and therefore it can be determined that the host vehicle 1 is in the parking scene 5 with limited rear perception field of view.

[0089] exist Figure 5In the scenario shown, the vehicle 1 sends a notification message to the bicycle 2 coming from behind via wireless communication, and the message contains the position coordinates of the door to be opened. After receiving the notification message, the mobile terminal device of the bicycle user calculates that there is a risk of collision within 5 seconds based on the current position and speed of the bicycle 2. Therefore, a warning message is returned to the vehicle 1 via the mobile terminal device of the bicycle 2. In response to receiving the warning message, the vehicle 1 sends a warning message to the passengers inside the vehicle, prompting "Do not open the door" to prevent the passengers from opening the door, thereby avoiding potential collision risks.

[0090] Figure 6a and Figure 6b A schematic diagram showing door opening position information sent to other surrounding traffic participants via a notification message according to an exemplary embodiment of the present application.

[0091] exist Figure 6a In the present invention, the door opening position information sent by the vehicle 1 to the surrounding traffic participants through the notification message includes the position coordinates P0(x0,y0); P1(x1,y1)...Pn(xn,yn) when the door 100 is in the open state and the door opening angle θ. Such information can be determined based on the vehicle 1's own GPS positioning antenna, vehicle orientation sensor (such as IMU or electronic compass) and geometric parameters of the vehicle 1.

[0092] Exemplarily, the vehicle 1 first uses the GPS antenna to determine its own precise position coordinates, and uses this as a reference point. When the door 100 is closed, the door position coordinates can be calculated by offsetting the center point of the vehicle along the vehicle geometric axis. When the door 100 is open, its outermost position P0 can be determined by the opening angle θ of the door and the length of the door. The orientation angle of the vehicle 1 is used to convert the door position from the local coordinate system of the vehicle to the global coordinate system. Through this series of calculations, the vehicle 1 can accurately determine the position of the door 100 when it is opened, and send the relevant information as a notification message to the surrounding traffic participants. For example, the vehicle 1 calculates the position coordinates of the door when it is opened as P0(x0,y0); P1(x1,y1)...Pn(xn,yn) (each point P1, P1, P2 is a point on the door), and the opening angle can also be calculated as θ degrees. This information is encapsulated in the notification message and sent to other surrounding vehicles, pedestrians and other traffic participants through wireless communication so that they can evaluate the potential collision risk accordingly.

[0093] exist Figure 6bIn the present invention, the door opening position information sent by the vehicle 1 to the surrounding traffic participants through the notification message includes the position coordinates of the blocking area 60 formed beside the vehicle body when the door 100 is opened. First, the vehicle 1 determines the vehicle center position coordinates based on its own GPS positioning antenna, and determines the position coordinates of the door 100 when it is in the closed state in combination with the vehicle's geometric parameters (such as the door position, body size, etc.). Subsequently, the vehicle 1 can calculate the position of the outermost end point P when the door is opened based on the opening angle and length of the door. Then, a straight line passing through the outermost end point P and parallel to the body or road can be drawn. The area formed between this straight line and the body boundary is the potential danger area 60. The range of the rectangular blocking area 60 starts from the outermost end point P of the door and extends to the body boundary. Its width is the distance between the door 100 and the parallel line of the body, and its length, for example, extends to the rear of the vehicle. This rectangular area 60 represents a potential danger area that may affect traffic participants in the horizontal direction behind the vehicle when the door is opened.

[0094] The vehicle 1 can send the boundary coordinates or vertex coordinates of the rectangular area as a notification message to surrounding traffic participants via wireless communication. Then, the receiving party can evaluate the blocking area formed when the door 100 is opened based on these coordinates, so as to determine whether there is a collision risk.

[0095] Figure 7a and Figure 7b A schematic diagram of a parking scenario with limited rearward perception field of view according to another exemplary embodiment of the present application is shown.

[0096] exist Figure 7a In the example, the host vehicle 1 is parked on a curved road section 71, and the curvature of the curved road section 71 is greater than a preset curvature threshold. The rear sensor field of the host vehicle 1 is blocked by the geometric shape of the curve, so that the rear view sensor of the host vehicle 1 cannot directly monitor the traffic participant 2 approaching from the other side of the curve 71. For example, another vehicle 2 is approaching the host vehicle 1 from behind the curve 71, but this situation is not visible to the host vehicle 1 due to the blockage of the curve 71.

[0097] exist Figure 7b In the example, the vehicle 1 is parked at a downhill position on a slope section 72, while the other vehicle 2 is at an uphill position. Due to the slope of the road, the rear sensor field of the vehicle 1 is blocked by the slope, so that the vehicle 1 cannot directly observe the approaching vehicle 2. In this scenario, the rear perception field of the vehicle 1 is limited, which increases the safety hazard when the door is opened.

[0098] Although the specific embodiments of the present application are described in detail herein, they are provided for the purpose of explanation only and should not be considered to limit the scope of the present application. Various substitutions, changes and modifications may be conceived without departing from the spirit and scope of the present application.

Claims

1. A method for determining a door opening collision risk, the method being applied to a vehicle (1), the method comprising the following steps: Step S1, detecting a door opening signal of the vehicle (1), wherein the door opening signal indicates that the door (100) of the vehicle (1) is about to be opened or has been opened; Step S2, identifying that the vehicle (1) is in a parking scene (5) with a limited rear perception field of view, wherein the parking scene (5) with a limited rear perception field of view includes: the vehicle (1) is parked on a roadside and another vehicle (3) is parked immediately behind the vehicle (1); and Step S3, when a door opening signal is detected and it is identified that the vehicle (1) is in a parking scene (5) with limited rear perception field of view, the door opening collision risk of the vehicle (1) is determined by wirelessly communicating with traffic participants (2) in the surrounding environment of the vehicle (1).

2. The method according to claim 1, wherein: The step S3 comprises: Sending a notification message to a traffic participant (2) approaching the vehicle (1) from behind on a road via wireless communication, wherein the notification message includes vehicle door position information related to a vehicle door (100) that is about to be opened or has been opened; A warning message sent by a traffic participant (2) in the surrounding environment of the host vehicle (1) is received through wireless communication, wherein the warning message indicates that there is a risk of door opening collision.

3. The method according to claim 1 or 2, wherein: The step S3 comprises: Requesting and receiving position information and movement information of a traffic participant (2) in the surrounding environment of the vehicle (1) through wireless communication; The door opening collision risk of the vehicle (1) is determined based on the door position information related to the door (100) that is about to be opened or has been opened, and the received position information and movement information of the traffic participant (2).

4. The method according to claim 2 or 3, wherein: The method further comprises: calculating door position information when the door (100) is opened based on the positioning information, orientation information and geometric information of the vehicle (1); and / or The vehicle door position information includes: the position coordinates of the vehicle door (100), the opening angle of the vehicle door (100) and / or the position coordinates of a blocking area (60) formed beside the vehicle body when the vehicle door (100) is opened.

5. The method according to any one of claims 1 to 4, wherein: The method comprises step S4: if it is determined that there is a risk of door opening collision, performing at least one of the following operations: preventing the vehicle door (100) from opening, controlling the already opened vehicle door (100) to close again, and / or issuing a warning to the user of the vehicle (1) about the danger of door opening.

6. The method according to any one of claims 1 to 5, wherein: The method further comprises the following steps: when a door opening signal is detected and it is not recognized that the vehicle (1) is in a parking scene (5) with a limited rear perception field of view, determining a door opening collision risk based on the vehicle (1)'s own environmental perception data.

7. The method according to any one of claims 1 to 6, wherein: In step S2, when it is identified that another vehicle (3) blocks a critical angle range (51) within the rear perception field of view of the vehicle (1), it is determined that the vehicle (1) is in a parking scene (5) with limited rear perception field of view, wherein the critical angle range (51) includes a predetermined angle range extending from directly behind the vehicle (1) toward a side where a road exists.

8. The method according to any one of claims 1 to 7, wherein: Parking scenarios with limited rear-view vision (5) also include: The vehicle (1) is parked on a curved road section (71), and the curvature of the curved road section (71) is greater than a preset curvature threshold; and / or The vehicle (1) is parked on a downhill section (72), the slope of the downhill section (72) being greater than a preset slope threshold.

9. A method for determining a door opening collision risk, the method being applied to a traffic participant (2) in the surroundings of a vehicle (1), the method comprising the following steps: A notification message sent by the vehicle (1) is received via wireless communication, the notification message comprising Door position information related to a door (100) that is about to be opened or has been opened; The traffic participant (2) determines the risk of collision with the door (100) of the vehicle (1) that is about to be opened or has been opened based on its own position information and movement information and the door position information; as well as When it is determined that there is a risk of collision, a warning message is sent to the host vehicle (1) via wireless communication, the warning message indicating that there is a risk of door opening collision.

10. A device (10) for determining the risk of a door opening collision, the device (10) comprising a memory (11) and a processor (12), the memory (11) storing computer program instructions, and when the computer program instructions are executed by the processor (12), the processor (12) is capable of executing the method according to any one of claims 1 to 9.

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