Automobile door obstacle avoidance system and method and automobile

Abstract

The invention provides an automobile door obstacle avoidance system and method and an automobile, and relates to the technical field of automobiles, the automobile door obstacle avoidance system comprises a measurement module used for measuring distance data between an automobile door and an obstacle located in the opening direction of the automobile door and height data of the obstacle; the control module is used for generating automobile body height adjusting information based on the height data and generating automobile door opening angle information based on the distance data when the automobile door is in a closed state; the lifting module is used for adjusting the height of the automobile suspension based on the automobile body height adjusting information; and the driving module is used for controlling the opening angle of the vehicle door based on the vehicle door opening angle information. By dynamically adjusting the height of the vehicle body and the opening angle of the vehicle door, the risk that a user collides with an obstacle when opening the vehicle door is avoided. In addition, by reusing existing configuration parts of the vehicle, the system cost is reduced, and the system has the advantage of being convenient to install.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and particularly to a door obstacle avoidance system, an obstacle avoidance method and an automobile for an automobile. Background Art

[0002] With the rapid development of the intelligent vehicle industry, various advanced auxiliary systems have emerged continuously, which not only improve the safety and convenience of driving, but also bring a more comfortable riding experience for passengers. However, while enjoying these technological advancements, an urgent problem to be solved is how passengers can avoid damage caused by door collisions when getting out of the car. Especially after the vehicle stops, due to the blocked line of sight, it is very difficult for passengers to directly observe the obstacles outside the car door. This problem is particularly obvious when encountering low obstacles that are easy to collide with the car door, such as road curbs, fences, pillars, and solid walls. Therefore, there is room for improvement. Summary of the Invention

[0003] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a door obstacle avoidance system, an obstacle avoidance method and an automobile for an automobile, which are used to solve the technical problem that it is difficult for passengers in the prior art to directly observe the obstacles outside the car door and easily cause door collisions.

[0004] To achieve the above purpose and other related purposes, the present invention provides a door obstacle avoidance system for an automobile, including:

[0005] A measurement module, which is used to measure the distance data between the car door and the obstacle located in its opening direction, as well as the height data of the obstacle;

[0006] A control module, which is used to generate body height adjustment information based on the height data and generate door opening angle information based on the distance data when the car door is in the closed state;

[0007] A lifting module, which is used to adjust the height of the car suspension based on the body height adjustment information;

[0008] A driving module, which is used to control the opening angle of the car door based on the door opening angle information.

[0009] In an embodiment of the present invention, the control module is further used to obtain the current vehicle speed of the automobile;

[0010] The control module is further used to judge the current vehicle speed, and generate a start command when the current vehicle speed is less than or equal to the vehicle speed threshold; the measurement module measures the distance data and the height data based on the start command.

[0011] In an embodiment of the present invention, the measurement module includes:

[0012] A plurality of distance measurement units, each of the distance measurement units is respectively arranged at the bottom of a car door and on a side away from the door rotation axis, and the distance measurement unit is used to measure and obtain the distance data;

[0013] A plurality of height measurement units, the height measurement units are located on the side of the car, and the height measurement units are used to measure and obtain the height data.

[0014] In an embodiment of the present invention, the control module is further configured to compare the height data with a preset door limit height; when the height data is less than the door limit height, the control module generates body height adjustment information;

[0015] The lifting module raises the height of the car body based on the body height adjustment information so that the door is higher than the obstacle.

[0016] In an embodiment of the present invention, the obstacle avoidance system further includes:

[0017] A door detection module, which is used to detect the opening state of the car door; when the car door is in the open state, the control module is further configured to judge the distance data, and generate an alarm instruction when the distance data is less than or equal to a preset safety distance;

[0018] An alarm module, which is used to give an alarm based on the alarm instruction.

[0019] In an embodiment of the present invention, the obstacle avoidance system further includes:

[0020] An image acquisition module, which is used to acquire image data on the side of the car;

[0021] An image display module, which is used to display the image data and the distance data.

[0022] In an embodiment of the present invention, the control module is further configured to judge the type of the obstacle based on the image data, and generate a stop instruction and a display instruction when the obstacle is an irregular object;

[0023] The measurement module stops measuring the distance data and the height data based on the stop instruction;

[0024] The image display module displays the image data based on the display instruction.

[0025] In an embodiment of the present invention, the control module is further configured to calculate and judge the real-time opening angle of the door according to the distance data when the car door is in the open state, and generate a stop instruction when the real-time opening angle is equal to the angle corresponding to the door opening angle information;

[0026] The driving module controls the door to stop rotating based on the stop instruction.

[0027] The present invention also provides a method for obstacle avoidance of a car door, including:

[0028] Measuring the distance data between the car door and the obstacle in its opening direction, as well as the height data of the obstacle;

[0029] When the car door is in the closed state, based on the height data, generating body height adjustment information, and based on the distance data, generating car door opening angle information;

[0030] Adjusting the height of the car suspension based on the body height adjustment information;

[0031] Controlling the opening angle of the car door based on the car door opening angle information.

[0032] The present invention also provides a car, including the car door obstacle avoidance system as described in any one of the above.

[0033] As described above, a car door obstacle avoidance system, an obstacle avoidance method and a car of the present invention have the following beneficial effects: By dynamically adjusting the body height and the car door opening angle, the present invention avoids the car door from colliding with obstacles. By reusing the existing configured parts of the vehicle, the present invention reduces the system cost and has the advantage of convenient installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Shown is a system schematic diagram of a car door obstacle avoidance system provided by an embodiment of the present invention;

[0035] Figure 2 Shown is a distribution schematic diagram of a distance measurement unit and a height measurement unit in an embodiment of the present invention;

[0036] Figure 3 Shown is a position schematic diagram of the distance measurement unit in an embodiment of the present invention;

[0037] Figure 4 Shown is a flow schematic diagram of a car door obstacle avoidance method provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0039] It should be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the drawings, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0040] In the following description, a large number of details are explored to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0041] The present invention provides a door obstacle avoidance system, an obstacle avoidance method, and an automobile for an automobile, which relates to the technical field of automobiles and can be specifically applied to solve the technical problem that passengers in the prior art are difficult to directly observe obstacles outside the car door, which is likely to cause the car door to collide. The present invention avoids colliding with obstacles by dynamically adjusting the vehicle body height and the door opening angle. The following will be described in detail through specific embodiments.

[0042] Please refer to Figure 1 , in an embodiment of the present invention, the door obstacle avoidance system of the automobile may include a measurement module 100, a control module 200, a lifting module 300, and a driving module 400. Among them, the measurement module 100 can be used to measure the distance between the car door and the obstacle in its opening direction and record it as distance data, and measure the height of the obstacle in the door opening direction and record it as height data. The control module 200 can be used to, when the car door is in the closed state, first generate vehicle body height adjustment information based on the height data; then generate door opening angle information based on the distance data. Among them, the vehicle body height adjustment information can be used to indicate whether to raise the vehicle body. The door opening angle information can be used to indicate the maximum safe angle for the door to open. The lifting module 300 can be used to adjust the height of the vehicle suspension based on the vehicle body height adjustment information. The driving module 400 can be used to control the opening angle of the door according to the door opening angle information.

[0043] In one embodiment of the present invention, the control module 200 is further configured to obtain the current vehicle speed of the vehicle and compare the current vehicle speed with a preset speed threshold. It can be understood that the applicable scenario of the door obstacle avoidance system of the present invention is when the vehicle is in a stationary state or a low-speed driving state. Therefore, only when the current vehicle speed is less than or equal to the preset speed threshold, the control module 200 will generate a start instruction and send the start instruction to the measurement module 100. The measurement module 100 responds to the start instruction and measures distance data and height data.

[0044] Please refer to Figure 2 、 Figure 3 , in one embodiment of the present invention, the measurement module 100 may adopt a combined sensor to obtain the distance data and height data of the obstacle. In this embodiment, the measurement module 100 may include a plurality of distance measurement units 110 and height measurement units 120. Among them, the distance measurement unit 110 may be an ultrasonic radar, which can be used to measure the distance between the door and the obstacle in its opening direction. The ultrasonic radar is a ranging device based on the principle of sound wave reflection. In the detection range of 0.1m - 3m, its ranging accuracy can reach ±1cm, which is suitable for the door obstacle avoidance scenario of the present invention. The height measurement unit 120 may be a binocular camera or ToF (Time-of-Flight), which can obtain three-dimensional information and can be used to measure the high-speed data of the obstacle. As Figure 2 shown, the number of the distance measurement units 110 may be at least 4. Each distance measurement unit 110 is respectively arranged at the bottom of a door and on the side away from the door rotation axis. Further, more distance measurement units 110 may also be arranged at multiple positions of the front and rear bumpers of the vehicle to achieve a complete detection of the circumferential direction of the vehicle. The height measurement unit 120 may be arranged on the side of the vehicle, such as at the left and right rearview mirrors of the vehicle or on the upper part of the left and right B-pillars, to measure the height data of the obstacles on the side of the vehicle.

[0045] In an embodiment of the present invention, the lifting module 300 is an active suspension system of a vehicle, which can specifically be an air suspension system or a hydraulic suspension system. Among them, the air suspension system uses air springs instead of traditional steel springs and can adjust the vehicle body height by controlling the amount of air entering the air springs. The air suspension system is usually equipped with an electronic control system that can automatically or manually adjust the suspension stiffness and vehicle body height. The hydraulic suspension system uses hydraulic cylinders and hydraulic pumps to adjust the vehicle body height. Compared with the air suspension, the hydraulic suspension can provide more precise height control, but it has higher complexity and maintenance requirements. In this embodiment, the lifting module 300 can actively adjust the height of the vehicle chassis according to a control command. It can be understood that when the lifting module 300 raises the vehicle body height, the height of the car door from the ground will also increase synchronously. When the side obstacle is relatively low, the obstacle can be avoided by increasing the height of the car door from the ground. Additionally, if the control module 200 determines that when the lifting module 300 raises the vehicle body to the highest level and the car door still cannot avoid the obstacle when it is opened, at this time, the lifting module 300 will maintain the current vehicle body height.

[0046] In an embodiment of the present invention, the control module 200 first compares the height data with a preset limit height of the car door. It can be understood that the limit height of the car door represents the height of the bottom of the car door from the ground when the lifting module raises the vehicle body to the highest level. In this embodiment, when the height data is less than or equal to the limit height of the car door, that is, the height of the obstacle is less than the height of the car door after being lifted. At this time, the control module 200 can generate body height adjustment information for raising the corresponding vehicle body. When the height data is greater than the limit height of the car door, that is, when the lifting module is raised to the highest level and the bottom of the car door is still lower than the height of the obstacle, at this time, the control module 200 can generate body height adjustment information corresponding to maintaining the current height of the vehicle suspension.

[0047] Furthermore, if the height data is less than or equal to the limit height of the car door, the obstacle will not affect the opening of the car door. At this time, the door opening angle information generated by the control module 200 is the maximum opening angle. If the height data is greater than the limit height of the car door, the obstacle will affect the opening of the car door. At this time, the control module 200 can calculate the maximum angle at which the car door can be opened on the premise of avoiding collision according to the distance data and generate the corresponding door opening angle information.

[0048] In an embodiment of the present invention, the main body of the driving module 400 can be connected to the vehicle body, and its output shaft can be connected to the rotating shaft of the vehicle door. In the automatic vehicle door mode, the driving module 400 can actively drive the vehicle door to open to the corresponding angle according to the vehicle door opening angle information; in the manual vehicle door mode, the driving module 400 can limit the opening angle of the vehicle door not to exceed the maximum opening angle corresponding to the vehicle door opening angle information. In this embodiment, the control module 200 can control the driving module 400 to output a corresponding torque according to the distance data; when the vehicle door rotates to the maximum opening angle corresponding to the vehicle door opening angle information, the control module 200 controls the vehicle door to stop rotating.

[0049] Please refer to Figure 1 , in an embodiment of the present invention, the vehicle door obstacle avoidance system may further include a vehicle door detection module 500 and an alarm module 600. Among them, the vehicle door detection module 500 can be used to detect the opening and closing state of the vehicle door. In this embodiment, when the vehicle door of the vehicle is in the open state, the control module 200 can further judge the distance data, and generate an alarm instruction when the distance data is less than or equal to a preset safety distance. The alarm module 600 responds to the alarm instruction and gives an alarm. For example, with the real-time distance, the control module 200 can control the alarm module 600 to emit an increasingly loud alarm prompt sound, or control the alarm module 600 to emit a prompt sound with an increasingly high frequency.

[0050] Please refer to Figure 1 , in an embodiment of the present invention, the vehicle door obstacle avoidance system may further include an image acquisition module 700 and an image display module 800. The image acquisition module 700 can be used to acquire image data on the side of the vehicle door. The image display module 800 can be used to display the image data acquired by the image acquisition module 700. Further, the image display module 800 can also be used to display the distance data to prompt the driver and passengers to pay attention to avoiding obstacles. In this embodiment, the image acquisition module 700 can be multiple surround-view cameras, and each surround-view camera can acquire image data at different angles around the vehicle. The image display module 800 can be multiple display screens, and each display screen can be respectively installed on the corresponding A-pillar or B-pillar of the vehicle door to prompt the driver or passengers at the corresponding position to pay attention to avoiding obstacles.

[0051] It can be immediately seen that when the side obstacle is a regular object such as a fence or a curb, the measurement module 100 can accurately output distance data. However, when the side obstacle is an object with irregular reflection distances such as flowers, plants, or tree branches, the measurement module 100 cannot accurately output distance data. In an embodiment of the present invention, the control module 200 also determines the type of the obstacle based on the image data collected by the image acquisition module 700. When the control module 200 determines that the obstacle is an irregular object, a stop instruction and a display instruction can be generated. The measurement module 100 can respond to the stop instruction and stop measuring the distance data and the height data. At the same time, the image display module 800 can display the image data based on the display instruction, that is, the image display module 800 displays an image of the obstacle to assist the driver and passengers in making a judgment.

[0052] In addition, if the control module 200 determines based on the height data and the distance data that the obstacle does not affect the opening of the car door, it can control the lifting module 300, the driving module 400, the image acquisition module 700, the image display module 800, and the alarm module 600 to remain in a silent state, that is, the driver and passengers can freely open the car door.

[0053] Please refer to Figure 4 , the present invention also provides a method for avoiding obstacles of a car door, which can be applied to the car door obstacle avoidance system described in any of the above embodiments, and specifically includes the following steps:

[0054] Step S100: Measure the distance data between the car door and the obstacle in its opening direction, and the height data of the obstacle.

[0055] Step S200: When the car door is in a closed state, generate body height adjustment information based on the height data, and generate door opening angle information based on the distance data.

[0056] Step S300: Adjust the height of the car suspension based on the body height adjustment information.

[0057] Step S400: Control the opening angle of the car door based on the door opening angle information.

[0058] In an embodiment of the present invention, when step S100 is executed, that is, distance data between the vehicle door and an obstacle in its opening direction is measured, as well as height data of the obstacle. Specifically, first, the control module 200 can obtain the current vehicle speed of the vehicle and compare the current vehicle speed with a preset speed threshold. When the current vehicle speed is less than or equal to the preset speed threshold, it is determined that the vehicle is in a low-speed driving or stationary state. Then, the control module 200 generates a start command, and the measurement module 100 responds to the start command to measure the distance between the vehicle door and an obstacle in its opening direction, which is recorded as distance data, and measures the height data of the obstacle in the opening direction of the vehicle door.

[0059] In an embodiment of the present invention, when step S200 is executed, that is, when the vehicle door is in a closed state, based on the height data, body height adjustment information is generated, and based on the distance data, door opening angle information is generated. Specifically, when the vehicle door is in a closed state, the control module 200 first compares the height data with a preset door limit height. It can be understood that the door limit height is the safe height of the bottom of the vehicle door from the ground when the lifting module is lifted to the highest position. In this embodiment, when the height data is less than or equal to the door limit height, that is, the height of the obstacle is less than the lifted vehicle door. At this time, the control module 200 can generate body height adjustment information for lifting the corresponding vehicle body. When the height data is greater than the door limit height, that is, when the lifting module is lifted to the highest position, the bottom of the vehicle door is still lower than the height of the obstacle. At this time, the control module 200 can generate body height adjustment information corresponding to maintaining the current height of the vehicle suspension. Then, if the height data is less than or equal to the door limit height, the obstacle will not affect the opening of the vehicle door. At this time, the door opening angle information generated by the control module 200 is the maximum opening angle. If the height data is greater than the door limit height, the obstacle will affect the opening of the vehicle door. At this time, the control module 200 can calculate the maximum angle at which the vehicle door can be opened on the premise of avoiding collision according to the distance data, and generate corresponding door opening angle information.

[0060] In an embodiment of the present invention, when step S300 is executed, that is, based on the body height adjustment information, the height of the vehicle suspension is adjusted. Specifically, if the height data is less than or equal to the door limit height, the lifting module 300 will lift the vehicle to the corresponding height according to the body height adjustment information. If the height data is greater than the door limit height, the lifting module 300 maintains the current height of the vehicle suspension, that is, does not lift the vehicle height.

[0061] In an embodiment of the present invention, when step S400 is executed, that is, based on the door opening angle information, the opening angle of the door is controlled. Specifically, in the automatic door mode, the driving module 400 can drive the door to open to the corresponding angle according to the door opening angle information; in the manual door mode, the driving module 400 can limit the opening angle of the door not to exceed the maximum opening angle corresponding to the door opening angle information.

[0062] Further, when the vehicle door is in the open state, the control module 200 can also judge the distance data, and generate an alarm instruction when the distance data is less than or equal to a preset safety distance. The alarm module 600 responds to the alarm instruction and gives an alarm.

[0063] The present invention also provides a vehicle, which may include the door obstacle avoidance system of the vehicle as described in any one of the above embodiments.

[0064] In summary, a door obstacle avoidance system, an obstacle avoidance method and a vehicle of the present invention disclosed in the present invention relate to the technical field of vehicles, and avoid the risk of the driver and passengers colliding with obstacles when opening the door by dynamically adjusting the vehicle body height and the door opening angle. In addition, the present invention reduces the system cost by reusing the existing configured components of the vehicle, and has the advantage of convenient installation. Therefore, the present invention effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0065] The above embodiments are only illustrative of the principles and effects of the present invention, and are not used to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A door obstacle avoidance system for a car, characterized in that: include: A measuring module, used to measure the distance data between the vehicle door and the obstacle located in the opening direction thereof, as well as the height data of the obstacle; A control module, used for generating vehicle height adjustment information based on the height data and generating door opening angle information based on the distance data when the vehicle door is in a closed state; A lifting module, used for adjusting the height of the vehicle suspension based on the vehicle height adjustment information; A driving module is used to control the opening angle of the door based on the door opening angle information.

2. The vehicle door obstacle avoidance system according to claim 1, characterized in that: The control module is also used to obtain the current speed of the vehicle; The control module is further used to determine the current vehicle speed and generate a start instruction when the current vehicle speed is less than or equal to a vehicle speed threshold; the measurement module measures the distance data and the height data based on the start instruction.

3. The vehicle door obstacle avoidance system according to claim 1, characterized in that: The measuring module comprises: A plurality of distance measuring units, each of which is disposed at the bottom of a door of the vehicle and is located at a side away from the rotation axis of the door, and is used to measure and obtain the distance data; A plurality of height measuring units are provided, wherein the height measuring units are located on the side of the automobile and are used to measure and obtain the height data.

4. The vehicle door obstacle avoidance system according to claim 1, characterized in that: The control module is also used to compare the height data with a preset door limit height; when the height data is less than the door limit height, the control module generates vehicle height adjustment information; The lifting module raises the height of the vehicle body based on the vehicle body height adjustment information so that the door is higher than the obstacle.

5. The vehicle door obstacle avoidance system according to claim 1, characterized in that: The obstacle avoidance system also includes: A door detection module is used to detect the opening state of the car door; when the car door is in the open state, the control module is also used to judge the distance data and generate an alarm instruction when the distance data is less than or equal to the preset safety distance; The alarm module is used to issue an alarm based on the alarm instruction.

6. The vehicle door obstacle avoidance system according to claim 1, characterized in that: The obstacle avoidance system also includes: An image acquisition module, used to acquire image data of the side of the car; An image display module is used to display the image data and the distance data.

7. The vehicle door obstacle avoidance system according to claim 6, characterized in that: The control module is also used to determine the type of obstacle based on the image data, and generate a stop instruction and a display instruction when the obstacle is an irregular object; The measuring module stops measuring the distance data and the height data based on the stop instruction; The image display module displays the image data based on the display instruction.

8. The vehicle door obstacle avoidance system according to claim 1, characterized in that: The control module is also used to calculate and determine the real-time opening angle of the door according to the distance data when the door of the car is in an open state, and generate a stop instruction when the real-time opening angle is equal to the angle corresponding to the door opening angle information; The driving module controls the vehicle door to stop rotating based on the stop instruction.

9. A method for avoiding obstacles on a vehicle door, characterized in that: include: Measure the distance data between the car door and the obstacle located in the opening direction thereof, as well as the height data of the obstacle; When the vehicle door is in a closed state, vehicle height adjustment information is generated based on the height data, and door opening angle information is generated based on the distance data; Adjusting the height of the vehicle suspension based on the vehicle height adjustment information; Based on the door opening angle information, the door opening angle is controlled.

10. An automobile, characterized in that: A vehicle door obstacle avoidance system comprising the vehicle door obstacle avoidance system as described in any one of claims 1 to 9.

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