Automobile door opening early warning system, door opening early warning method and automobile

Abstract

The invention provides an automobile door opening early warning system, an automobile door opening early warning method and an automobile, and relates to the technical field of automobiles, the automobile door opening early warning system comprises a measuring module used for collecting motion state information of a moving obstacle on the rear side of the automobile; the control module is used for generating a predicted track of the moving obstacle based on the motion state information and calculating the transverse distance between the automobile door and the predicted track; when the transverse distance is smaller than a distance threshold value, the transverse opening angle and the vertical rotating angle of each vehicle door are calculated based on the transverse distance, and corresponding door opening control information is generated; and each driving module is used for driving the corresponding vehicle door to be opened to the transverse opening angle based on the door opening control information and then driving the vehicle door to rotate to the vertical rotating angle. Through cooperative work of multiple modules, dynamic obstacle detection, vehicle door opening angle planning and active control are achieved, and the door opening safety is remarkably improved by combining early warning and emergency response mechanisms.

Description

Technical Field

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

[0002] With the rapid development of the intelligent vehicle industry, the emergence of various advanced auxiliary systems not only enhances the safety and convenience of driving, but also improves the riding experience of passengers. However, while enjoying these technological advancements, the problem of how to effectively prevent passengers from colliding with oncoming vehicles (including trucks, cars, vehicles with special shapes, two-wheelers, pedestrians, etc.) when opening the door has become increasingly prominent. After the vehicle stops, since it is difficult for passengers to observe the situation behind the door, especially when the oncoming vehicle is moving at a high speed and the lateral distance is relatively close, collisions are extremely likely to occur when opening the door, resulting in damage to the door or the oncoming vehicle and pedestrians. 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 an automobile door opening warning system, a door opening warning method and an automobile, which are used to solve the technical problem that it is difficult for passengers in the prior art to observe the situation behind the door, and there is a risk of collision with oncoming vehicles when opening the door.

[0004] To achieve the above object and other related objects, the present invention provides an automobile door opening warning system, including:

[0005] A measurement module for collecting the motion state information of moving obstacles on the side and rear of the automobile;

[0006] A control module for generating a predicted trajectory of the moving obstacle based on the motion state information, and calculating the lateral distance between the automobile door and the predicted trajectory; when the lateral distance is less than the distance threshold, calculating the lateral opening angle and the vertical rotation angle of each door based on the lateral distance, and generating corresponding door opening control information;

[0007] A plurality of driving modules, each of which is used to drive the corresponding door to open to the lateral opening angle based on the door opening control information, and then drive the door to rotate to the vertical rotation angle.

[0008] In an embodiment of the present invention, the control module is further used to obtain the current vehicle speed of the automobile;

[0009] The control module is further used to judge the current vehicle speed, and generate a start instruction when the current vehicle speed is less than or equal to the vehicle speed threshold; the measurement module collects the motion state information based on the start instruction.

[0010] In an embodiment of the present invention, the control module is further configured to extract discrete state parameters of the moving obstacle from the motion state information in a time series, and the discrete state parameters include position data, speed data, and acceleration data;

[0011] The control module is further configured to construct a motion model of the moving obstacle based on the discrete state parameters, and generate the predicted trajectory based on the motion model.

[0012] In an embodiment of the present invention, the measurement module includes at least two depth cameras, the two depth cameras are respectively arranged on both sides of the vehicle, and the shooting directions of the depth cameras face the rear of the vehicle, and the depth cameras are used to obtain the motion state information.

[0013] In an embodiment of the present invention, the measurement module includes at least two millimeter-wave radars, each millimeter-wave radar is respectively arranged on both sides of the vehicle tail, and the millimeter-wave radars are used to obtain the motion state information.

[0014] In an embodiment of the present invention, the driving module includes:

[0015] A lateral driving unit, whose output shaft is fixedly connected to the vehicle body;

[0016] A vertical driving unit, fixedly connected to the lateral driving unit, and the output shaft of the vertical driving unit is fixedly connected to the vehicle door;

[0017] Wherein, the lateral driving unit is used to drive the vertical driving unit and the vehicle door to rotate, and the vertical driving unit is used to drive the vehicle door to rotate.

[0018] In an embodiment of the present invention, the vehicle door opening warning system further includes:

[0019] A door detection module, configured to detect the opening state of the vehicle door; when the vehicle door is in the open state, the control module is further configured to judge the lateral distance, and generate an alarm instruction when the lateral distance is less than or equal to a preset safety distance;

[0020] An alarm module, configured to give an alarm based on the alarm instruction.

[0021] In an embodiment of the present invention, the vehicle door opening warning system further includes:

[0022] An image acquisition module, arranged on both sides of the vehicle, and the image acquisition module is used to acquire side rear image data;

[0023] An image display module, configured to display the side rear image data and display the lateral distance.

[0024] The present invention also provides a method for warning of opening a vehicle door, which is characterized by comprising:

[0025] Collecting motion state information of a moving obstacle behind and on the side of the vehicle;

[0026] Generating a predicted trajectory of the moving obstacle based on the motion state information;

[0027] Calculating a lateral distance between the vehicle door and the predicted trajectory, and when the lateral distance is less than a distance threshold, calculating a lateral opening angle and a vertical rotation angle of each door based on the lateral distance, and generating corresponding door opening control information;

[0028] Based on the door opening control information, driving the corresponding door to open to the lateral opening angle, and then driving the door to rotate to the vertical rotation angle.

[0029] The present invention also provides a vehicle, comprising the vehicle door opening warning system according to any one of the above.

[0030] As described above, a vehicle door opening warning system, a door opening warning method and a vehicle of the present invention have the following beneficial effects: through the collaborative work of multiple modules, the present invention realizes dynamic obstacle detection, door opening angle planning and active control, and combines a warning and an emergency response mechanism, significantly improving the safety of opening the door. Description of the Drawings

[0031] Figure 1 Shown is a system schematic diagram of a vehicle door opening warning system provided by an embodiment of the present invention;

[0032] Figure 2 Shown is a structural schematic diagram of a driving module in an embodiment of the present invention;

[0033] Figure 3 Shown is a flowchart of a method for warning of opening a vehicle door provided by an embodiment of the present invention. Detailed Embodiments

[0034] The following uses specific specific examples to illustrate the embodiments of the present invention. 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, and 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.

[0035] It should be noted that the illustrations provided in the following embodiments only schematically illustrate the basic concept of the present invention. 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 proportion of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0036] 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.

[0037] The present invention provides an automobile door opening warning system, a door opening warning method, and an automobile, relating 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 observe the situation behind the car door and there is a risk of collision with oncoming vehicles when opening the door. The present invention significantly improves the safety of opening the door through intelligent perception and door movement control. The following is a detailed description through specific embodiments.

[0038] Please refer to Figure 1 , in an embodiment of the present invention, the automobile door opening warning system may include a measurement module 100, a control module 200, and a driving module 300. Among them, the measurement module 100 can be used to measure in real time the real-time position, speed, direction, etc. of moving obstacles (such as vehicles, pedestrians, bicycles) behind the side of the automobile, and generate corresponding motion state information. The control module 100 can first generate a predicted trajectory of the moving obstacle based on the motion state information. Then calculate the lateral distance between the automobile door and the predicted trajectory, that is, the minimum distance between the door in the current state (such as the closed state) and the obstacle trajectory. Next, the control module 100 can judge the calculated lateral distance. When the lateral distance is greater than a preset distance threshold, it executes the door free opening strategy, that is, the people in the car can freely open the door, and the automobile door opening warning system of the present invention does not limit the opening angle of the door. When the lateral distance is less than or equal to the preset distance threshold, the door segmented opening strategy is executed. The door segmented opening strategy means that the control module 100 calculates the safe opening angle of the door based on the lateral distance and generates corresponding door opening control information. In this embodiment, the door opening control information may include the lateral opening angle and the vertical rotation angle of each door of the automobile. Each driving module 300 can first drive the corresponding door to the lateral opening angle based on the door opening control information, and then drive the door to rotate to the vertical rotation angle. Thus, it can be seen that the present invention prevents collision accidents and improves safety by intelligently controlling the door opening method.

[0039] In an embodiment of the present invention, the control module 200 may also 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 may generate a start instruction, and the measurement module 100 responds to the start instruction to collect the motion state information of the moving obstacle behind the vehicle. For example, the measurement is started when the vehicle speed is less than or equal to 5 km / h to avoid false triggering during high-speed driving. Further, the gear signal (such as shifting into the P gear) or the door unlocking signal may be combined as an auxiliary triggering condition.

[0040] In an embodiment of the present invention, the control module 100 may predict the future trajectory based on the motion state of the moving obstacle (i.e., position, speed, acceleration). In this embodiment, the control module 100 first extracts the discrete state parameters of the moving obstacle from the motion state information in a time series. The discrete state parameters may include position data, speed data, and acceleration data. Among them, the position data, speed data, and acceleration data can all be vectorially decomposed according to the lateral (i.e., Y-axis) and longitudinal (i.e., X-axis) directions of the vehicle. Then, based on the discrete state parameters, a motion model of the moving obstacle is constructed, and the predicted trajectory is generated based on the motion model. Specifically, assuming that the obstacle moves with the current acceleration, a motion model is constructed. And the motion model is iteratively predicted and corrected. For example, first calculate the predicted value at the current moment according to the state vector and transition matrix at the previous moment; then fuse the actual measurement data and dynamically adjust the prediction weight through the Kalman gain. Finally, substitute the finally corrected state vector into the state transition equation to recursively calculate the predicted trajectory of the moving obstacle at a future moment (such as within 3 seconds).

[0041] Further, the control module 100 may also generate the predicted trajectory of the moving obstacle through a deep learning model.

[0042] In an embodiment of the present invention, the measurement module 100 may use a depth camera to obtain the motion state information of the moving obstacle. The depth camera has high resolution and semantic understanding ability, and it can obtain RGB-D (color + depth) data to accurately identify the type of obstacle (such as pedestrians, bicycles, vehicles) and distinguish static and dynamic targets. In this embodiment, the measurement module 100 may include at least two depth cameras, and the two depth cameras may be respectively arranged on different sides of the vehicle, and their shooting directions face the rear of the vehicle. Specifically, the depth cameras may be installed below the rearview mirrors on both sides of the vehicle body or inside the C-pillars, and their shooting directions face the rear side of the vehicle (covering a horizontal field of view of 30° - 60°), taking into account the near-field blind area (0 - 5 meters) and the mid- and far-field (5 - 50 meters) monitoring.

[0043] In an embodiment of the present invention, the measurement module 100 may use a millimeter-wave radar to obtain the motion state information of a moving obstacle. The millimeter-wave radar has extremely high all-weather stability, can penetrate rain, snow, haze, and dust, and its performance is hardly affected by bad weather. The millimeter-wave radar has high-precision speed measurement and distance detection capabilities. It directly measures the radial velocity of the target through the Doppler effect (with an accuracy of ±0.1 km / h), and is suitable for tracking high-speed moving obstacles. In this embodiment, the measurement module 100 may include at least two millimeter-wave radars, and the two millimeter-wave radars may be respectively arranged on one side of the rear of the vehicle. Specifically, the millimeter-wave radar may be installed inside the bumpers on both sides of the vehicle tail or above the rear wheel arches. Its detection direction can horizontally cover an angle of about 120°, and the detection distance can reach 80 meters, focusing on monitoring the vehicles approaching rapidly from the rear.

[0044] Furthermore, the measurement module 100 may use a depth camera and a millimeter-wave radar for fusion detection. Among them, the millimeter-wave radar is responsible for quickly detecting high-speed targets at a long distance, and the depth camera is used for close-range fine classification and trajectory verification. Example: The radar detects a vehicle approaching at 60 km / h 50 meters away, and the camera confirms that the target is a motorcycle and predicts its lane-changing intention. Through the heterogeneous fusion of the millimeter-wave radar and the depth camera, combined with the multi-point layout on the side rear and the vehicle tail, the system robustness can be maximized while meeting the precise perception requirements in complex scenarios.

[0045] Please refer to Figure 2 , in an embodiment of the present invention, one end of the driving module 300 may be fixedly connected to the vehicle body, and the other end may be connected to the vehicle door. The driving module 300 may include at least two rotating shafts to drive the vehicle door to open laterally and rotate vertically.

[0046] Specifically, the driving module 300 may include a lateral driving unit 310 and a vertical driving unit 320. Among them, the output shaft of the lateral driving unit 310 may be fixedly connected to the vehicle body, and this output shaft may be arranged along the Z-axis direction. The vertical driving unit 320 may be fixedly connected to the lateral driving unit 310, and the output shaft of the vertical driving unit 320 may be connected to the vehicle door, and this output shaft is arranged along the Y-axis direction. It can be seen from this that since the output shaft of the lateral driving unit 310 is fixed to the vehicle body, when the lateral driving unit 310 is started, it will drive itself, the vertical driving unit 320, and the vehicle door to rotate synchronously around its output shaft, that is, to realize the horizontal opening of the door in the lateral direction. Also, since the output shaft of the vertical driving unit 320 is fixedly connected to the vehicle door, when the vertical driving unit 320 is started, it can drive the vehicle door to rotate and lift, that is, to realize the vertical rotation of the door. The present invention controls the horizontal expansion amplitude of the door through the lateral driving unit 310 to avoid colliding with moving targets, and further avoids scratching the ground or low obstacles by lifting the door, and can also increase the door opening space, that is, when the door is opened slightly horizontally, passengers can still get on and off the vehicle smoothly.

[0047] Furthermore, the vehicle door may have two opening modes. Among them, the first is the automatic door mode. In this mode, the driving module 300 may first drive the door to open to the corresponding lateral opening angle according to the door opening control information, and then drive the door to rotate to the corresponding vertical rotation angle. The second is the manual door mode. In this mode, the driving module 300 can limit the opening angle of the door not to exceed the lateral opening angle. In this embodiment, the control module 200 may control the driving module 300 to output a corresponding torque according to the door opening control information; when the door rotates to the lateral opening angle, the control door stops rotating around the output shaft of the lateral driving unit 310.

[0048] Please refer to Figure 1 , in an embodiment of the present invention, the door opening warning system may further include a door detection module 400 and an alarm module 500. Among them, the door detection module 400 may be used to detect the opening and closing state of the door. In this embodiment, when the vehicle door is in the open state, the control module 200 may further judge the lateral distance, and when the lateral distance is equal to a preset safety distance, generate an alarm instruction. The alarm module 500 responds to the alarm instruction and gives an alarm. For example, as the lateral distance decreases, the control module 200 may control the alarm module 500 to emit an alarm prompt sound that is louder and louder, or control the alarm module 500 to emit a prompt sound with a higher and higher frequency.

[0049] Please refer to Figure 1, in an embodiment of the present invention, the door opening warning system may further include an image acquisition module 600 and an image display module 700. The image acquisition module 600 may be used to acquire image data of the rear sides of the vehicle. The image display module 700 may be used to display the image data acquired by the image acquisition module 700. Further, the image display module 700 may also be used to display the lateral distance to prompt the driver and passengers to pay attention to avoiding obstacles. In this embodiment, the image acquisition module 600 may be multiple surround cameras, and each surround camera may acquire image data at different angles around the vehicle. The image display module 700 may be multiple display screens, and each display screen may be respectively installed on the A-pillar or B-pillar corresponding to the door to prompt the driver or passenger at the corresponding position to pay attention to avoiding obstacles.

[0050] In an embodiment of the present invention, the control module 200 is further configured to calculate the speed of the moving obstacle according to the motion state information. If the speed of the obstacle exceeds the speed threshold, it is determined that the moving obstacle is approaching rapidly, and a door opening prohibition instruction is directly generated. The driving module 300 responds to the door opening prohibition instruction and forcibly locks the door to restrict the opening of the door.

[0051] Please refer to Figure 3 , the present invention also provides a method for warning of vehicle door opening, which can be applied to the vehicle door opening warning system described in any of the above embodiments, and may specifically include the following steps:

[0052] Step S100, acquiring the motion state information of the moving obstacle on the rear side of the vehicle;

[0053] Step S200, generating a predicted trajectory of the moving obstacle based on the motion state information;

[0054] Step S300, calculating the lateral distance between the vehicle door and the predicted trajectory; when the lateral distance is less than the distance threshold, calculating the lateral opening angle and the vertical rotation angle of each door based on the lateral distance, and generating corresponding door opening control information;

[0055] Step S400, driving the corresponding door to open to the lateral opening angle based on the door opening control information, and then driving the door to rotate to the vertical rotation angle.

[0056] In an embodiment of the present invention, when step S100 is executed, the motion state information of a moving obstacle behind the side of the vehicle is collected. Specifically, first, the control module 200 obtains the current vehicle speed of the vehicle and compares 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 can generate a start command, and the measurement module 100 responds to the start command to measure in real time the real-time position, speed, direction, etc. of the moving obstacle (such as a vehicle, a pedestrian, a bicycle) behind the side of the vehicle, and generate corresponding motion state information.

[0057] In an embodiment of the present invention, when step S200 is executed, that is, based on the motion state information, a predicted trajectory of the moving obstacle is generated. Specifically, the control module 100 predicts the future trajectory based on the motion state of the obstacle (position, speed, acceleration) by using a Kalman filter or a deep learning model.

[0058] In an embodiment of the present invention, when step S300 is executed, that is, the lateral distance between the vehicle door and the predicted trajectory is calculated; when the lateral distance is less than the distance threshold, based on the lateral distance, the lateral opening angle and the vertical rotation angle of each door are calculated, and corresponding door opening control information is generated. Specifically, the control module 100 can calculate the lateral distance between the vehicle door and the predicted trajectory, that is, the minimum distance between the door in the current state (such as the closed state) and the obstacle trajectory. Then, the control module 100 can judge the calculated lateral distance. When the lateral distance is greater than the preset distance threshold, the door free opening strategy is executed, that is, the vehicle occupants can freely open the door, and the vehicle door opening warning system of the present invention does not limit the door opening angle. When the lateral distance is less than or equal to the preset distance threshold, the door segmented opening strategy is executed. The door segmented opening strategy means that the control module 100 calculates the safe opening angle of the door based on the lateral distance and generates corresponding door opening control information. In this embodiment, the door opening control information may include the lateral opening angle and the vertical rotation angle of each vehicle door.

[0059] In an embodiment of the present invention, when step S400 is executed, that is, based on the door opening control information, after driving the corresponding door to the lateral opening angle, the door is driven to rotate to the vertical rotation angle. Specifically, each driving module 300 can, based on the door opening control information, first drive the corresponding door to the lateral opening angle, and then drive the door to rotate to the vertical rotation angle.

[0060] The present invention also provides a vehicle, which may include the vehicle door opening warning system as described in any of the above embodiments.

[0061] In summary, an automobile door opening warning system, a door opening warning method and an automobile disclosed by the present invention relate to the technical field of automobiles. Through the collaborative work of multiple modules, the present invention realizes dynamic obstacle detection, door opening angle planning and active control, and combines a warning and an emergency response mechanism, significantly improving the safety of door opening. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0062] The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended 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 completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A car door opening warning system, characterized in that: include: A measurement module is used to collect the motion state information of the moving obstacles behind the car; A control module, for generating an estimated trajectory of the moving obstacle based on the motion state information, and calculating a lateral distance between the vehicle door and the estimated trajectory; when the lateral distance is less than a distance threshold, calculating a lateral opening angle and a vertical rotation angle of each door based on the lateral distance, and generating corresponding door opening control information; Multiple driving modules, each of which is used to drive the corresponding vehicle door to open to the horizontal opening angle based on the door opening control information, and then drive the vehicle door to rotate to the vertical rotation angle.

2. The automobile door opening warning 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 collects the motion state information based on the start instruction.

3. The automobile door opening warning system according to claim 1, characterized in that: The control module is also used to extract discrete state parameters of the moving obstacle from the motion state information in time series, and the discrete state parameters include position data, speed data and acceleration data; The control module is further used to construct a motion model of the moving obstacle based on the discrete state parameters, and generate the predicted trajectory based on the motion model.

4. The automobile door opening warning system according to claim 1, characterized in that: The measuring module includes at least two depth cameras, which are respectively arranged on both sides of the car, and the shooting direction of the depth cameras is toward the rear of the car. The depth cameras are used to obtain the motion state information.

5. The automobile door opening warning system according to claim 1, characterized in that: The measurement module includes at least two millimeter wave radars, each of which is arranged on both sides of the rear of the car, and the millimeter wave radar is used to obtain the motion state information.

6. The automobile door opening warning system according to claim 1, characterized in that: The driving module comprises: A transverse drive unit, the output shaft of which is fixedly connected to the vehicle body; A vertical drive unit is fixedly connected to the horizontal drive unit, and an output shaft of the vertical drive unit is fixedly connected to a vehicle door; Wherein, the transverse driving unit is used to drive the vertical driving unit and the automobile door to rotate, and the vertical driving unit is used to drive the automobile door to rotate.

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

8. The automobile door opening warning system according to claim 1, characterized in that: The automobile door opening warning system also includes: An image acquisition module is provided on both sides of the vehicle, and is used to acquire side and rear image data; The image display module is used to display the side rear image data and the lateral distance.

9. A car door opening warning method, characterized in that: include: Collect the motion status information of the moving obstacles behind the car; generating a predicted trajectory of the moving obstacle based on the motion state information; Calculating the lateral distance between the vehicle door and the predicted trajectory, and when the lateral distance is less than a distance threshold, calculating the lateral opening angle and the vertical rotation angle of each door based on the lateral distance, and generating corresponding door opening control information; Based on the door opening control information, after driving the corresponding door to open to the lateral opening angle, the door is driven to rotate to the vertical rotation angle.

10. An automobile, characterized in that: It comprises the automobile door opening warning system as described in any one of claims 1-8.

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