Electric side door radar detection system, design method thereof and vehicle

Abstract

The invention relates to the technical field of electric side doors, and provides an electric side door radar detection system, a design method thereof and a vehicle, the electric side door radar detection system comprises a control unit, an on-door radar responsible for detecting dynamic obstacles and a side skirt matrix radar responsible for detecting obstacles higher than the lower edge of a vehicle door; the side skirt matrix radar comprises a plurality of radars arranged on a side skirt, the radars on the side skirt are located on a straight line or arranged disorderly, an envelope area is formed in a matrix mode, and the position of each radar in the side skirt matrix radar is obtained through optimization with the maximum envelope area and the minimum number of radars as targets; and the control unit is used for generating a control instruction based on the data of the on-door radar and the side skirt matrix radar so as to control the vehicle door to act. All obstacles around the vehicle door can be accurately detected, then the opening angle of the vehicle door is controlled, and safety and convenience are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric side doors, and particularly to an electric side door radar detection system, its design method, and a vehicle. Background Art

[0002] The statements in this part only provide the background art related to the present invention and do not necessarily constitute the prior art.

[0003] With the rapid development of the automotive industry, electric side door systems have gradually become one of the standard configurations of modern vehicles due to their convenience and comfort. An electric side door system generally includes a motor drive unit, a control unit, sensors, and actuators, etc., which can realize the automatic opening and closing function of the door and enhance the user experience.

[0004] Existing electric side door systems usually have the basic automatic opening and closing function and can be triggered by a remote control key, an in-vehicle switch, or an external sensor signal. Users do not need to manually push or pull the door, and can simply operate to open and close the door. Especially when carrying items or having both hands occupied, it provides great convenience. The electric side door systems of some high-end vehicles also integrate an anti-pinch function. When the detected resistance exceeds a certain threshold, the door will automatically stop or move in the reverse direction to protect the safety of passengers.

[0005] Although existing electric side door systems provide many conveniences, the following problems still exist in practical applications:

[0006] Inaccurate detection of low obstacles: For low obstacles above the door, it is difficult for current detection technologies to effectively avoid obstacles while taking into account the experience. That is, it goes to two extremes. Obstacles much lower than the door will also cause the door to stop, or the door will collide with obstacles higher than the door, and it is difficult to balance the two.

[0007] Poor environmental adaptability: Existing systems lack effective obstacle detection and avoidance capabilities in the face of complex environments, such as narrow spaces or situations with many obstacles, and are prone to collisions.

[0008] Limited intelligence level: Most electric side door systems lack intelligent decision-making capabilities, cannot automatically adjust the opening and closing strategies according to environmental changes, and do not consider the usage habits and preferences of users enough.

[0009] Single user experience: Existing systems usually only provide standard opening and closing modes, lack personalized settings, and cannot meet the specific needs of different users.

[0010] Safety risks: In some cases, such as when the door encounters an obstacle during the opening process, existing systems may not be able to react in time, posing a safety hazard. Summary of the Invention

[0011] To solve the deficiencies of the prior art, the present invention provides an electric side door radar detection system, its design method, and a vehicle. Through the fusion of the door radar and the side skirt matrix radar, all obstacles around the door can be accurately detected, and then the opening angle of the door can be controlled to improve safety and convenience.

[0012] To achieve the above object, the present invention adopts the following technical solutions:

[0013] The first aspect of the present invention provides an electric side door radar detection system.

[0014] An electric side door radar detection system includes a control unit, a door radar responsible for detecting dynamic obstacles, and a side skirt matrix radar responsible for detecting obstacles higher than the lower edge of the door;

[0015] The side skirt matrix radar includes a plurality of radars arranged on the side skirt. The plurality of radars on the side skirt are arranged in a straight line or disorderly, and form an envelope area in a matrix manner. The position of each radar in the side skirt matrix radar is optimized with the goal of maximizing the envelope area and minimizing the number of radars;

[0016] The control unit is used to generate a control instruction based on the data of the door radar and the side skirt matrix radar to control the movement of the door.

[0017] Further, the door radar is an ultrasonic radar, a millimeter wave radar, or a camera.

[0018] Further, when the distances received by the door radar and the matrix radar simultaneously meet the full - open condition, the door is controlled to open.

[0019] Further, when one of the distances received by the door radar and the matrix radar does not meet the full - open condition, the door is controlled to open at a set angle.

[0020] The second aspect of the present invention provides a design method of the electric side door radar detection system as described in the first aspect, which is characterized by including the following steps:

[0021] For the position of each radar in the side skirt matrix radar, optimize with the goal of maximizing the envelope area and minimizing the number of radars;

[0022] Connect the door radar and the optimized side skirt matrix radar to the control unit.

[0023] Further, the optimization step of the position of each radar in the side skirt matrix radar includes:

[0024] (1) Initialize the particle swarm. Each particle encodes the positions of all radars in a side skirt, and the number of radars encoded by different particles is different;

[0025] (2) If the encoded radar position exceeds the side skirt edge, correct the radar position;

[0026] (3) Calculate the fitness of each particle, where the fitness is the weighted sum of the envelope area size and the number of radars;

[0027] (4) For each particle, update the individual historical optimal position;

[0028] (5) Compare the current fitness values of all particles and update the global optimal position;

[0029] (6) For each particle, calculate the distance between each encoded radar position and other radar positions. If the distance is less than the overlap range, it is considered that other radars are within the overlap range of this radar. Count the number of radars within the overlap range of each radar, delete the radar with the most radars within the overlap range in the particle, and put it into the temporary storage area;

[0030] (7) For each particle, according to the current number of encoded radars and the data in the temporary storage area, after correcting the individual historical optimal position and the global optimal position, update the velocity of the particle;

[0031] (8) Update the position of the particle according to the updated velocity;

[0032] (9) Determine whether the termination condition is met. If the termination condition is met, output the global optimal position as the optimal solution; otherwise, return to step (2).

[0033] Furthermore, if several radars on the side skirt are on a straight line, each particle only needs to encode the position of the radar in the Y direction;

[0034] If several radars on the side skirt are arranged disorderly, each particle needs to encode the positions of the radar in the Y direction and the Z direction.

[0035] Furthermore, the steps for correcting the individual historical optimal position or the global optimal position are specifically as follows: For particle Xi, the number of encoded radars is Ni. If the number of encoded radars in the individual historical optimal position or the global optimal position is equal to Ni, do not update; if the number of encoded radars in the individual historical optimal position or the global optimal position is less than Ni, randomly select several from the temporary storage area and add them; if the number of encoded radars in the individual historical optimal position or the global optimal position is greater than Ni, randomly delete several.

[0036] Furthermore, the correction of the radar position is: The corrected radar position is the position of the point on the side skirt that is closest to it, and all the radar positions in the particle are sorted in ascending order according to the Y direction.

[0037] The third aspect of the present invention provides a vehicle equipped with an electric side door radar detection system as described in the first aspect.

[0038] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0039] 1. For the electric side door radar detection system described in the present invention, through the fusion of the door radar and the side skirt matrix radar, it can accurately detect all obstacles around the door, and then control the opening angle of the door to improve safety and convenience.

[0040] 2. For the design method of the electric side door radar detection system described in the present invention, it improves the particle swarm algorithm and realizes the optimization of the side skirt matrix radar in the case of an indefinite number of radars, so as to meet the goals of the largest envelope area and the smallest number of radars, that is, expand the detection range and reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings forming a part of this specification are used to provide a further understanding of the present invention. The schematic embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0042] Figure 1 Schematic diagram of the electric side door radar detection system according to Embodiment 1 of the present invention;

[0043] Figure 2 Schematic diagram of the matrix radar arranged in a strip according to Embodiment 1 of the present invention;

[0044] Figure 3 XY envelope diagram of the matrix radar according to Embodiment 1 of the present invention;

[0045] Figure 4 XZ envelope diagram of the matrix radar according to Embodiment 1 of the present invention;

[0046] Figure 5 Schematic diagram of the matrix radar and obstacles according to Embodiment 1 of the present invention

[0047] Figure 6 Data processing and decision flow chart of the radar control unit according to Embodiment 1 of the present invention;

[0048] Figure 7 Schematic diagram of the disordered matrix radar according to Embodiment 1 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0050] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0051] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0052] In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only relational terms determined for the convenience of describing the structural relationship of various components or elements of the present invention and do not specifically refer to any component or element of the present invention and should not be construed as a limitation on the present invention.

[0053] In the present invention, terms such as "fixed connection", "connected", "connected to" should be understood in a broad sense, which may mean a fixed connection, an integral connection or a detachable connection; it may be directly connected or indirectly connected through an intermediate medium. For those related scientific research or technical personnel in the field, the specific meanings of the above terms in the present invention can be determined according to specific circumstances and should not be construed as a limitation on the present invention.

[0054] In the case of no conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0055] Embodiment 1

[0056] Embodiment 1 of the present invention provides an electric side door radar detection system.

[0057] In view of the deficiencies of the existing electric side door system in terms of intelligence, safety and user experience, an electric side door radar detection system provided in this embodiment can accurately detect the environment around the door through the integration of advanced sensor technology and intelligent algorithms, and make intelligent decisions on the opening and closing actions of the door, which can effectively improve the safety, intelligence level and user satisfaction of the electric side door system.

[0058] An electric side door radar detection system provided in this embodiment includes, but is not limited to, the following components:

[0059] Multiple sensor units: including on-door radar and side skirt matrix radar, as Figure 1 shown;

[0060] Control unit: It is used to process sensor data, make decisions, integrate control strategies, calculate collision risks based on sensor data, and generate corresponding control instructions.

[0061] Execution unit: It includes a motor and a transmission mechanism, and is responsible for executing control instructions, realizing the automatic opening and closing of the vehicle door, and performing door actions according to the control instructions of the control unit.

[0062] Among them, the control strategy: Based on the sensor data collected by the sensor unit and preset parameters, through raw data processing, target recognition and tracking, data fusion, environmental analysis, collision risk assessment, decision-making, etc., it intelligently judges whether to stop, decelerate or change the door opening direction, generates control instructions to avoid collisions, as Figure 6 shown.

[0063] Among them, the preset parameters are set through the user interface, and the user interface is used for user interaction, allowing users to set system parameters such as safety distance thresholds and door opening speeds.

[0064] Among them, the door radar refers to a single radar set on each door, mainly covering dynamic obstacles, and the side skirt matrix radar is mainly responsible for detecting all obstacles higher than the lower edge of the door, such as Figure 5 shown.

[0065] Among them, the door radar can be an ultrasonic radar, a millimeter-wave radar or a camera, and is used to detect the distance, speed and angle of obstacles.

[0066] Among them, the side skirt matrix radar refers to a matrix composed of multiple radars set on each side skirt. By forming a matrix, a dense horizontal envelope is formed, and detection signals can be continuously emitted to detect all obstacles higher than the lower edge of the door, with a high detection rate.

[0067] As an implementation method, as Figure 2 shown, the side skirt matrix radar can be designed in a strip style, that is, the centers of all radars are located on a straight line and parallel to the horizontal plane, and its envelope diagram is as Figure 3 and Figure 4 shown.

[0068] As another implementation method, as Figure 4 shown, the envelope area of the strip-style matrix radar in the XZ direction is small, so the matrix radar can be designed to be arranged disorderly in the side skirt area, as Figure 7 shown, to increase the envelope area in the XZ direction as much as possible.

[0069] In this embodiment, the X direction is the vehicle width direction, the Y direction is the vehicle length direction, and the Z direction is the vehicle height direction.

[0070] The positions of each radar in the matrix radar are optimized by the particle swarm optimization algorithm. The specific steps are as follows:

[0071] (1) Initialize the particle swarm. Each particle encodes the positions of all radars in a side skirt. That is, the i-th particle is encoded as xi = {xij}, where xij represents the position of the j-th matrix in the i-th particle, j = 1, 2, …, Ni, and Ni is the number of radars in a side skirt. The number of radars encoded by different particles is different. If a strip pattern is adopted, xij only needs to encode the position in the Y direction. If a disordered arrangement is adopted, xij needs to encode the positions in the Y and Z directions.

[0072] (2) If the encoded radar position xij exceeds the edge of the side skirt, then correct the radar position xij to the position of the point in the side skirt that is closest to it, and sort all the positions in xi in ascending order according to the Y direction.

[0073] (3) Calculate the fitness of each particle. The fitness is the weighted sum of the envelope area size of all radars and the number of radars. The smaller the number of radars, the better, and its weight is negative. The larger the envelope area size of all radars, the better, and its weight is an integer.

[0074] (4) For each particle xi, compare the current fitness value f(xi) with the best fitness value pbest in the history of this particle i , if the current fitness value is better, then update the individual historical best position pbest i = xi;

[0075] (5) Compare the current fitness values of all particles, find the best fitness value among them and its corresponding particle position. If this best fitness value is better than the fitness value corresponding to the global historical best position gbest, then update the global best position gbest.

[0076] (6) Set the overlap range d. For each particle xi, calculate the distance between each radar position xij in xi and other radar positions xik (k ≠ j). If the distance is less than the overlap range d, then it is considered that the other radar xik is within the overlap range of the radar xij. Count the number of radars within the overlap range of each radar, delete the radar with the largest number of radars within the overlap range in the particle xi, and put it into the temporary storage area.

[0077] (7) For each particle xi, according to the current number of encoded radars Ni, correct pbest i and gbest, update pbest i and gbest, and then update the velocity of the particle according to the following formula: v i (t + 1) = ωv i (t) + c 1 r1 (t)[pbest i (t) - x i (t) + c 2 r 2 (t)[gbest(t) - x i (t)], where t represents the current iteration number, r 1 (t) and r 2 (t) are random numbers uniformly distributed in the interval [0, 1], w is the inertia factor, c 1 and c 2 are learning factors;

[0078] The steps to correct pbest i and gbest are as follows: For pbest i or gbest, if the number of radars encoded is equal to Ni, it is not updated; if the number of radars encoded is less than Ni, then randomly select several from the temporary storage area and add them; if the number of radars encoded is greater than Ni, then randomly delete several.

[0079] (8) According to the updated velocity, update the position of the particle according to the following formula: x i (t + 1) = x i (t) + v i (t + 1);

[0080] (9) Check whether t reaches the maximum iteration number T, or whether the fitness value meets the preset accuracy requirement; if the termination condition is met, the algorithm ends and outputs the global optimal position as the optimal solution; otherwise, return to step (2) and continue the iteration.

[0081] An electric side door radar detection system provided in this embodiment has a detection process including:

[0082] In response to the detection signal, the door radar and the matrix radar simultaneously perform distance detection;

[0083] When the distances received by the door radar and the matrix radar simultaneously meet the fully open condition, the vehicle door opens;

[0084] When one of the distances received by the door radar and the matrix radar does not meet the fully open condition, the vehicle door opens at a small angle.

[0085] An electric side door radar detection system provided in this embodiment can accurately detect obstacles around the vehicle door. By fusing the door radar and the side skirt matrix radar, it detects and collects signals, judges the signals through an algorithm to give a door opening and closing signal, and then controls the opening angle of the vehicle door to improve safety and convenience.

[0086] An electric side door radar detection system provided in this embodiment enhances the safety of the electric side door system and effectively prevents collisions caused by obstacles.

[0087] An electric side door radar detection system provided in this embodiment improves the intelligent level through intelligent control, reduces the dependence on user operations, realizes a more user-friendly experience, and improves the convenience of use.

[0088] Embodiment 2

[0089] Embodiment 2 of the present invention provides a design method for an electric side door radar detection system as described in Embodiment 1, including the following steps:

[0090] Optimize the position of each radar in the side skirt matrix radar with the goal of maximizing the envelope area and minimizing the number of radars.

[0091] Connect the door radar and the optimized side skirt matrix radar to the control unit.

[0092] Further, the optimization steps for the position of each radar in the side skirt matrix radar include:

[0093] (1) Initialize the particle swarm. Each particle encodes the positions of all radars in a side skirt, and different particles encode different numbers of radars.

[0094] (2) If the encoded radar position exceeds the side skirt edge, correct the radar position.

[0095] (3) Calculate the fitness of each particle. The fitness is the weighted sum of the envelope area size and the number of radars.

[0096] (4) For each particle, update the individual historical optimal position.

[0097] (5) Compare the current fitness values of all particles and update the global optimal position.

[0098] (6) For each particle, calculate the distance between the position of each encoded radar and the positions of other radars. If the distance is less than the overlap range, it is considered that other radars are within the overlap range of this radar. Count the number of radars within the overlap range of each radar, delete the radar with the most radars within the overlap range in the particle, and put it in the temporary storage area.

[0099] (7) For each particle, according to the current number of encoded radars and the data in the temporary storage area, correct the individual historical optimal position and the global optimal position, and then update the velocity of the particle.

[0100] (8) Update the position of the particle according to the updated velocity.

[0101] (9) Determine whether the termination condition is satisfied. If the termination condition is satisfied, output the globally optimal position as the optimal solution; otherwise, return to step (2).

[0102] Further, if several radars on the side skirt are located on a straight line, each particle only needs to encode the position of the radar in the Y direction;

[0103] If several radars on the side skirt are arranged disorderly, each particle needs to encode the positions of the radar in the Y direction and the Z direction.

[0104] Further, the steps for correcting the individual historical optimal position or the global optimal position are specifically as follows: For particle Xi, the number of radars encoded by it is Ni. If the number of radars encoded by the individual historical optimal position or the global optimal position is equal to Ni, it is not updated; if the number of radars encoded by the individual historical optimal position or the global optimal position is less than Ni, then randomly select several from the temporary storage area and add them; if the number of radars encoded by the individual historical optimal position or the global optimal position is greater than Ni, then randomly delete several of the extra ones.

[0105] Further, the corrected radar position is: The corrected radar position is the position of the point in the side skirt that is closest to it, and all the radar positions in the particle are sorted in ascending order in the Y direction.

[0106] Embodiment 3

[0107] Embodiment 3 of the present invention provides a vehicle equipped with an electric side door radar detection system as in Embodiment 1, which can perform obstacle detection when opening the door and has a high detection rate.

[0108] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An electric side door radar detection system, characterized in that: It includes a control unit, door radars for detecting dynamic obstacles, and side skirt matrix radars for detecting obstacles above the lower edge of the door. The side skirt matrix radar includes a plurality of radars arranged on the side skirts, the plurality of radars on the side skirts are located in a straight line or arranged in disorder, and an envelope area is formed in a matrix manner, and the position of each radar in the side skirt matrix radar is optimized with the goal of maximizing the envelope area and minimizing the number of radars; The control unit is used to generate control instructions based on the data of the door radar and the side skirt matrix radar to control the movement of the vehicle door.

2. The electric side door radar detection system according to claim 1, characterized in that: The door radar is an ultrasonic radar, a millimeter wave radar or a camera.

3. The electric side door radar detection system according to claim 1, characterized in that: When the distances received by the door radar and the matrix radar meet the full-open conditions at the same time, the door is controlled to open.

4. The electric side door radar detection system according to claim 1, characterized in that: When one of the distances received by the door radar and the matrix radar does not meet the full-open condition, the door is controlled to open at the set angle.

5. The design method of an electric side door radar detection system according to any one of claims 1 to 4, characterized in that: The steps include: The position of each radar in the side skirt matrix radar is optimized with the goal of maximizing the envelope area and minimizing the number of radars; Connect the door radar and the optimized side skirt matrix radar to the control unit.

6. The design method of an electric side door radar detection system as claimed in claim 5, characterized in that: The step of optimizing the position of each radar in the side skirt matrix radar includes: (1) Initialize the particle swarm. Each particle encodes the position of all radars in a side skirt. Different particles encode different numbers of radars. (2) If the coded radar position exceeds the edge of the side skirt, correct the radar position; (3) Calculate the fitness of each particle, which is the weighted sum of the envelope size and the number of radars; (4) For each particle, update the individual historical optimal position; (5) Compare the current fitness values ​​of all particles and update the global optimal position; (6) For each particle, calculate the distance between each radar position encoded by it and the positions of other radars. If the distance is less than the overlapping range, it is considered that the other radars are located within the overlapping range of the radar. Count the number of radars within the overlapping range of each radar, delete the radar with the largest number of radars within the overlapping range from the particle, and put it into the temporary storage area. (7) For each particle, according to the number of currently encoded radars and the data in the temporary storage area, the individual historical optimal position and the global optimal position are corrected, and the particle speed is updated; (8) Update the particle position according to the updated velocity; (9) Determine whether the termination condition is met. If the termination condition is met, output the global optimal position as the optimal solution; otherwise, return to step (2).

7. The design method of an electric side door radar detection system as claimed in claim 6, characterized in that: If several radars on the side skirts are located in a straight line, each particle only needs to encode the position of the radar in the Y direction; If several radars on the side skirts are arranged in disorder, each particle needs to encode the position of the radar in the Y and Z directions.

8. The design method of the electric side door radar detection system as claimed in claim 6, characterized in that: The specific steps for correcting the individual historical optimal position or the global optimal position are as follows: for particle Xi, the number of radars encoded is Ni. If the number of radars encoded at the individual historical optimal position or the global optimal position is equal to Ni, it will not be updated; if the number of radars encoded at the individual historical optimal position or the global optimal position is less than Ni, then there are several missing, and a few are randomly selected from the temporary storage area to be added; if the number of radars encoded at the individual historical optimal position or the global optimal position is greater than Ni, then there are several extra, and a few are randomly deleted.

9. The design method of an electric side door radar detection system as claimed in claim 6, characterized in that: The corrected radar position is: the corrected radar position is the position of the point in the side skirt that is closest to it, and all radar positions in the particle are sorted from small to large in the Y direction.

10. A vehicle equipped with an electric side door radar detection system according to any one of claims 1 to 4.

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