Automobile door opening obstacle avoidance system, door opening obstacle avoidance method and automobile

Abstract

The invention provides an automobile door opening obstacle avoidance system, an automobile door opening obstacle avoidance method and an automobile, and the system comprises a sensing module which is used for collecting image data around the automobile; the control module is used for calculating first distance data between the automobile and the obstacles on the two sides and position data and length data of the obstacles on the two sides based on the image data; the control module is further used for responding to the first door opening instruction, calculating a first door opening angle based on the first distance data, and determining an automobile door opening angle based on the first door opening angle and a preset door opening limiting angle, so that the automobile door is opened according to the automobile door opening angle; and the control module is further used for responding to the second door opening instruction and calculating a second door opening angle and a moving distance based on the position data and the length data of the obstacles on the two sides, so that the automobile travels by the moving distance, and the automobile door is opened according to the second door opening angle. The opening angle of the automobile door is intelligently controlled in a staged mode, and the automobile door is prevented from colliding with nearby automobiles or other obstacles.

Description

Technical Field

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

[0002] With the rapid development of the automobile industry, the safety performance of automobiles has become one of the important considerations for consumers when purchasing cars. In urban environments, parking spaces are becoming increasingly scarce, and drivers face many challenges during the parking process, such as too small a safety distance between cars, obstacles in the opening paths of openable components such as car doors and trunks, etc. These problems not only make it difficult to normally open and close the car doors and trunks, but may also lead to collision accidents, causing damage to the car doors and adjacent cars. In particular, when the driver or passenger gets out of the car, due to limited space, the car door is likely to collide with nearby cars or other obstacles, resulting in unnecessary damage. 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 obstacle avoidance system, a door opening obstacle avoidance method and an automobile, which are used to solve the technical problem that the car door in the prior art is likely to collide with nearby cars or other obstacles.

[0004] To achieve the above purpose and other related purposes, the present invention provides an automobile door opening obstacle avoidance system, including a sensing module and a control module;

[0005] The sensing module is used to collect image data around the car;

[0006] The control module is used to calculate the first distance data between the car and the obstacles on both sides, as well as the position data and length data of the obstacles on both sides based on the image data;

[0007] The control module is further used to receive and respond to a first door opening instruction, calculate a first door opening angle based on the first distance data, and determine a car door opening angle based on the first door opening angle and a preset door opening limit angle, so that the car door opens according to the car door opening angle;

[0008] The control module is further used to receive and respond to a second door opening instruction, calculate a second door opening angle and a moving distance based on the position data and length data of the obstacles on both sides, so that the car travels the moving distance and the car door opens according to the second door opening angle, wherein the second door opening angle is greater than the first door opening angle.

[0009] In an embodiment of the present invention, the control module is further used to compare the first door opening angle and the door opening limit angle:

[0010] When the first door opening angle is greater than the door opening limit angle, set the door opening limit angle to the door opening angle of the vehicle door;

[0011] Otherwise, set the first door opening angle to the door opening angle of the vehicle door.

[0012] In an embodiment of the present invention, the control module is further configured to calculate second distance data between the vehicle and an obstacle ahead based on the image data;

[0013] The control module is further configured to compare the second distance data with the moving distance:

[0014] When the second distance data is greater than the moving distance, control the vehicle to travel the moving distance;

[0015] Otherwise, generate an alarm message.

[0016] In an embodiment of the present invention, the control module is further configured to generate driving planning information based on the moving distance, and control the driving and braking of the vehicle according to the driving planning information.

[0017] In an embodiment of the present invention, the vehicle door opening obstacle avoidance system further includes an alarm module, and the alarm module is configured to give an alarm according to the alarm message.

[0018] In an embodiment of the present invention, the sensing module includes:

[0019] A front view camera, disposed on the front side of the vehicle, for collecting image data in front of the vehicle;

[0020] At least two side view cameras, respectively disposed on one side of the vehicle, for respectively collecting image data on one side of the vehicle;

[0021] A rear view camera, disposed on the rear side of the vehicle, for collecting image data behind the vehicle.

[0022] In an embodiment of the present invention, the control module is further configured to receive and respond to a tailgate opening instruction, and calculate third distance data between the vehicle and an obstacle behind based on the image data;

[0023] The control module is further configured to calculate a tailgate opening angle according to the third distance data, so that the vehicle tailgate opens according to the tailgate opening angle.

[0024] In an embodiment of the present invention, the sensing module further includes a tailgate camera, and the tailgate camera is disposed on the vehicle tailgate for following and collecting real-time image data in a preset direction of the vehicle tailgate;

[0025] The control module is further configured to calculate fourth distance data between the vehicle tailgate and an obstacle in its opening direction based on the real-time image data;

[0026] The control module is further configured to compare the fourth distance data with a preset safety distance threshold, and control the vehicle tailgate to stop rotating when the fourth distance data is less than or equal to the safety distance threshold.

[0027] The present invention further provides a method for avoiding obstacles when opening a vehicle door, including:

[0028] Collecting image data around the vehicle;

[0029] Based on the image data, calculating first distance data between the vehicle and obstacles on both sides, as well as position data and length data of the obstacles on both sides;

[0030] Receiving and responding to a first door opening instruction, calculating a first door opening angle based on the first distance data, and determining a vehicle door opening angle based on the first door opening angle and a preset door opening limit angle, so that the vehicle door is opened according to the vehicle door opening angle;

[0031] Receiving and responding to a second door opening instruction, calculating a second door opening angle and a moving distance based on the position data and length data of the obstacles on both sides, so that the vehicle travels the moving distance and the vehicle door is opened to the second door opening angle, where the second door opening angle is greater than the first door opening angle.

[0032] The present invention further provides a vehicle, including the vehicle door obstacle avoidance system according to any one of the above.

[0033] As described above, a vehicle door obstacle avoidance system, an obstacle avoidance method and a vehicle of the present invention have the following beneficial effects: The present invention realizes phased intelligent control of the vehicle door opening angle, avoiding the vehicle door from colliding with nearby vehicles or other obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0035] Figure 2 Shown is a flowchart of a vehicle door obstacle avoidance method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following specific examples 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. 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.

[0037] It should be noted that the diagrams 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 diagrams, 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.

[0038] 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.

[0039] The present invention provides an automobile door opening obstacle avoidance system, a door opening obstacle avoidance method, and an automobile, which relate to the technical field of automobiles and can be specifically applied to solve the technical problem in the prior art that when a driver or a passenger gets out of the car, due to limited space, the car door is likely to collide with nearby cars or other obstacles, resulting in unnecessary damage. Through an innovative collaborative mechanism of environmental perception and vehicle control, the present invention breaks through the static limitations of traditional door opening protection systems and has important application value in the field of intelligent travel safety. The following is a detailed description through specific embodiments.

[0040] Please refer to Figure 1, in an embodiment of the present invention, the vehicle door opening obstacle avoidance system may include a sensing module 100 and a control module 200. Among them, the sensing module 100 may be used to collect image data around the vehicle; the control module 200 may be used to calculate the first distance data between the vehicle and the obstacles on both sides based on the image data, as well as the position data and length data of the obstacles on both sides. The control module 200 may also be used to receive and respond to a first door opening instruction, calculate a first door opening angle based on the first distance data, and determine the vehicle door opening angle based on the first door opening angle and a preset door opening limit angle, so that the vehicle door opens according to the vehicle door opening angle. The control module 200 may also be used to receive and respond to a second door opening instruction, calculate a second door opening angle and a moving distance based on the position data and length data of the obstacles on both sides, so that the vehicle travels the moving distance and the vehicle door opens according to the second door opening angle, where the second door opening angle is greater than the first door opening angle.

[0041] In this embodiment, the sensing module 100 may include a plurality of sensors distributed around the vehicle body, which may be used to collect image data around the vehicle. The control module 200 may be used to calculate the first distance data between the vehicle and the obstacles on both sides based on the image data, as well as the position data and length data of the obstacles on both sides. The control module 200 is also used to receive and respond to a first door opening instruction input by the driver or passenger, calculate and judge the generated first door opening angle based on the first distance data, and determine the vehicle door opening angle based on the first door opening angle and a preset door opening limit angle, so that the vehicle door opens according to the vehicle door opening angle.

[0042] In an embodiment of the present invention, the vehicle door opening obstacle avoidance system may further include a door driving module 300. The control module 200 is also used to compare the first door opening angle with the door opening limit angle. When the first door opening angle is greater than the door opening limit angle, the door opening limit angle is set as the vehicle door opening angle; otherwise, the first door opening angle is set as the vehicle door opening angle. Specifically, when the first door opening angle is greater than or equal to the preset door opening limit angle, the control module 200 controls the door driving module 300 to drive the vehicle door to open to the door opening limit angle. When the first door opening angle is less than the preset door opening limit angle, the control module 200 may control the door driving module 300 to drive the vehicle door to open to the first door opening angle.

[0043] Furthermore, in an embodiment of the present invention, the vehicle door opening obstacle avoidance system may further include a vehicle driving module 400. The control module 200 may also receive and respond to a second door opening instruction, calculate a moving distance and a second door opening angle based on the position data and length data of the obstacles on both sides, so as to control the vehicle driving module 400 to make the vehicle travel the moving distance, and control the door driving module 300 to make the vehicle door open according to the second door opening angle. Wherein, the second door opening angle is greater than the first door opening angle.

[0044] As described above, when the vehicle is parked in a spacious parking space and the obstacle does not affect the opening of the vehicle door, the door driving module 300 directly opens the vehicle door to the opening limit angle to facilitate passengers getting on and off. When the vehicle is parked in a narrow parking space, the system first opens the door at a small angle. If the passenger needs more space, such as moving things, the system will automatically adjust the position of the vehicle and then increase the opening angle of the door, realizing the phased intelligent control of the opening angle of the vehicle door and avoiding the vehicle door from colliding with nearby vehicles or other obstacles.

[0045] In an embodiment of the present invention, the sensing module 100 may include a front-view camera, side-view cameras, and a rear-view camera. Among them, the front-view camera may be disposed on the front side of the vehicle, for example, inside the front windshield of the vehicle or at the front air intake grille, and it can be used to collect image data in front of the vehicle. The number of side-view cameras is at least two, and they can be respectively disposed on one side of the vehicle, for example, on the vehicle's rearview mirror or on the vehicle's B-pillar, and they can be used to collect image data on the side of the vehicle. The rear-view camera may be disposed on the rear side of the vehicle, for example, on the vehicle's rear bumper or above the license plate frame of the vehicle's tailgate, and it can be used to collect image data behind the vehicle. Thus, through the 360° perception network composed of the front-view camera, side-view cameras, and rear-view camera, combined with image stitching and stereo vision algorithms, a dead-angle-free environment monitoring is achieved. Compared with traditional ultrasonic radars, the sensing module 100 uses a vision system, which can identify the types of obstacles (such as vehicles, pedestrians, walls), and provide more accurate distance and size data.

[0046] In an embodiment of the present invention, when the vehicle stops and the passenger needs to open the door to get off, the passenger can issue an opening command to the vehicle through the voice interaction system or an in-vehicle button. Specifically, the passenger gives a voice command "Open the door for me", or the passenger presses the vehicle door opening button for the first time. The control module 200 analyzes the user's voice command or operation and identifies it as a first opening command. In this embodiment, the control module 200 can respond to the first opening command and judge the obstacles on the side of the vehicle based on the above-obtained image data.

[0047] Specifically, the control module 200 can first process the image data collected by the sensing module 100 using the binocular stereo vision algorithm, calculate the distance between the obstacle and the vehicle door through the parallax of the left and right side-view cameras, and record it as the first distance data. For example, if the left camera detects an obstacle at pixel coordinate x 1 , and the corresponding pixel coordinate of the right camera is x 2 , then the parallax d = x 1 - x 2 , and the distance Z between the obstacle and the vehicle door satisfies the following formula:

[0048]

[0049] Among them, f represents the focal lengths of the left camera and the right camera, and B represents the distance between the left camera and the right camera.

[0050] Furthermore, the control module 200 can judge the calculated distance Z between the obstacle and the car door (i.e., the first distance data): If the first distance data is greater than the distance required when the car door is opened to the maximum angle. For example, the distance from the obstacle to the car door is 1 m, and the distance required when the car door is opened to the maximum angle is 0.7 m, it indicates that the obstacle does not affect the opening and closing of the car door at all. At this time, the control module 200 can control the car door driving module 300 to open the car door to the maximum angle, that is, the opening limit angle. If the first distance data is less than or equal to the distance required when the car door is opened to the maximum angle. For example, the distance from the obstacle to the car door is 0.5 m, and this distance is less than the distance of 0.7 m required when the car door is opened to the maximum angle. Therefore, the obstacle will affect the opening and closing of the car door. At this time, it is necessary to calculate the maximum allowable opening angle of the car door according to the first distance data, and record this maximum allowable opening angle as the first opening angle.

[0051] In this embodiment, according to the length L of the car door door and the first distance data, the first opening angle of the opening can be calculated. For example, when the length L of the car door door = 1 m and the first distance data is 0.6 m, the first opening angle is approximately equal to 36°. Considering the safety distance, the first opening angle can be limited to 30°, that is, the first opening angle corresponding to the first opening angle command is 30°, to prevent excessive opening.

[0052] When the car door driving module 300 receives the first opening angle, it drives the car door hinge by using a high-precision servo motor. The high-precision servo motor is built-in with an encoder that can feedback the angle in real time, and adjusts the output torque through a PID controller to ensure smooth movement.

[0053] In an embodiment of the present invention, if the first opening angle cannot meet the requirements, the user will request a larger opening angle. For example, the passenger gives a voice command "increase the opening angle of the car door", or the passenger presses the car door opening button again. The control module 200 continues to analyze the voice command or operation of the user and identifies it as a second opening command. In this embodiment, the control module 200 can respond to this second opening command, and further calculate the position and length of the obstacles on the side of the car based on the above-obtained image data of the obstacles on both sides. For example, when the obstacles on both sides are obstacles such as cars and trees, the vehicle can move forward / backward to avoid them to meet the requirement of a larger opening angle.

[0054] Specifically, the control module 200 can first identify the obstacle contours (such as adjacent cars, trees) based on semantic segmentation, project the pixel coordinates into the three-dimensional space, and analyze its extension range by combining consecutive multi-frame images. For example, if the lateral obstacle occupies 200 pixels in width in the image, the length data of the obstacle is converted to 3 meters through calibration parameters. Then, the control module 200 can calculate the moving distance of the vehicle forward based on the position data and length data of the obstacles on both sides, and this moving distance can ensure that the car door can avoid the obstacles. It can be understood that when the obstacles on both sides are walls, fences, etc., the control module 200 will judge the obstacles and generate an alarm message when the length exceeds a certain limit, to prompt the user that moving obstacle avoidance cannot be performed.

[0055] Further, after the vehicle movement is completed, the sensing module 100 re-collects the image data around the vehicle to verify the new distance between the vehicle and the obstacles. The control module 200 calculates the second door opening angle based on the new position of the vehicle, combined with the initial angle and displacement increment, so as to control the door driving module 300 to drive the car door to the second door opening angle again.

[0056] In an embodiment of the present invention, before moving, the control module 200 also needs to calculate the distance between the vehicle and the obstacle in front, and compare the front distance with the moving distance for avoiding the obstacles on both sides. If the front distance is long enough, the vehicle is allowed to move forward and the door can be opened at a larger angle. At this time, the control module 200 can generate driving planning information through the vehicle dynamics model according to the calculated moving distance, and control the driving and braking of the vehicle according to the driving planning information. Otherwise, an alarm message is generated. It can be seen that the present invention not only considers both sides, but also considers whether the front space is sufficient for the vehicle to move, so as to more safely increase the door opening angle.

[0057] In an embodiment of the present invention, the control module 200 controls the movement and braking of the vehicle through the vehicle driving module 400. The vehicle driving module 400 can include a driving sub-module and a braking sub-module. In this embodiment, after receiving the driving planning information, the vehicle driving module 400 first activates the electronic parking brake system (EPB) by the braking sub-module to release the brake, and then the driving sub-module outputs precise torque through the motor controller to drive the vehicle to move forward slowly. During the movement, the displacement is real-time fed back through the wheel speed sensor, and the control module 400 checks whether the target position is reached. When approaching the target position, braking is performed by the braking sub-module and parking is carried out.

[0058] Further, it is also possible to calculate the distance between the vehicle and the obstacle behind, and avoid the obstacle by moving the vehicle backward. The specific implementation method is similar to the above forward movement and will not be elaborated here.

[0059] Please refer to Figure 1, in an embodiment of the present invention, the vehicle door opening obstacle avoidance system may include an alarm module 500. The alarm module 500 may give an alarm according to the alarm information generated by the control module 200 to prompt the user of the collision risk.

[0060] Please refer to Figure 1 , in an embodiment of the present invention, the vehicle door opening obstacle avoidance system may further include a tailgate drive module 600. The tailgate drive module 600 may drive the vehicle tailgate to perform opening and closing operations based on the control of the control module 200.

[0061] In this embodiment, when the user needs to open the vehicle tailgate, they can issue an opening command to the vehicle through the voice interaction system or the in-vehicle button. Specifically, the passenger gives a voice command "Open the trunk for me", or the passenger presses the tailgate opening button. The control module 200 analyzes the user's voice command or operation and identifies it as a tailgate opening command. In this embodiment, the control module 200 may respond to the tailgate opening command and judge the rear obstacles of the vehicle based on the above-obtained image data.

[0062] Specifically, the control module 200 adopts a binocular stereo vision algorithm to process the image data collected by the sensing module 100, calculates the distance between the rear obstacle and the vehicle tail through the parallax of the rear-view camera, and records it as the third distance data. Further, the control module 200 may judge the calculated third distance data: if the third distance data is greater than the distance required when the tailgate is opened to the maximum angle. For example, the distance between the obstacle and the vehicle tail is 1m, and the distance required when the tailgate is opened to the maximum angle is 0.8m, it indicates that the obstacle does not affect the opening and closing of the tailgate at all. Then, the control module 200 may control the tailgate drive module 600 to open the tailgate to the maximum angle. If the third distance data is less than or equal to the distance required when the tailgate is opened to the maximum angle. For example, the distance between the obstacle and the vehicle tail is 0.5m, and this distance is less than the distance of 0.8m required when the tailgate is opened to the maximum angle. Therefore, the obstacle will affect the opening and closing of the tailgate. At this time, the control module 200 will calculate the safe angle at which the tailgate can be opened according to the third distance data and record this safe angle as the tailgate opening angle. Then, the control module 200 may control the tailgate drive module 600 to open the tailgate to the tailgate opening angle to avoid the tailgate colliding with the rear obstacle.

[0063] Furthermore, when the tailgate is opened, attention should also be paid to obstacles in the height direction. In this embodiment, the sensing module 100 further includes a tailgate camera. The tailgate camera can be disposed on the vehicle tailgate and is used to collect real-time image data in a preset direction of the vehicle tailgate in a follow-up manner. The control module 200 can also calculate the distance between the vehicle tailgate and the obstacles in its opening direction based on the real-time image data, and record it as the fourth distance data. When the fourth distance data is less than or equal to the safety distance threshold, the vehicle tailgate is immediately controlled to stop rotating through the tailgate drive module 600. It can be seen that the present invention adds a tailgate camera to monitor the obstacles on the tailgate opening path in real time. If it detects that the distance of the obstacle is too close, it will stop the tailgate movement to prevent collision. The tailgate camera can rotate synchronously with the tailgate, and its lens direction faces a specific position on the tailgate. Compared with the rearview camera, the image data it collects has higher accuracy.

[0064] Please refer to Figure 2 , the present invention also provides a method for avoiding obstacles when opening a vehicle door, which can be applied to the vehicle door obstacle avoidance system in any of the above embodiments, and specifically includes the following steps:

[0065] Step S100, collect the image data around the vehicle;

[0066] Step S200, based on the image data, calculate the first distance data between the vehicle and the obstacles on both sides, and the position data and length data of the obstacles on both sides;

[0067] Step S300, receive and respond to the first door opening instruction, calculate the first door opening angle based on the first distance data, and determine the vehicle door opening angle based on the first door opening angle and the preset door opening limit angle, so that the vehicle door opens according to the vehicle door opening angle;

[0068] Step S400, receive and respond to the second door opening instruction, calculate the second door opening angle and the moving distance based on the position data and length data of the obstacles on both sides, so that the vehicle travels the moving distance and the vehicle door opens to the second door opening angle, where the second door opening angle is greater than the first door opening angle.

[0069] The present invention also provides a vehicle, and the vehicle may include the vehicle door obstacle avoidance system as described in any of the above embodiments.

[0070] In summary, an automobile door opening obstacle avoidance system, an opening obstacle avoidance method and an automobile disclosed by the present invention relate to the technical field of automobiles. Through the "perception - decision - execution" closed loop, the present invention realizes intelligent obstacle avoidance from environment recognition, safety calculation to vehicle collaborative control, realizes intelligent control of the opening angle of the car door in stages, avoids the car door from colliding with nearby cars or other obstacles, and ensures the safe opening of the car door in complex scenarios. Therefore, the present invention effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0071] The above embodiments are only illustrative of the principles and effects of the present invention, rather than limiting 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 idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A car door opening obstacle avoidance system, characterized in that: Includes a sensor module and a control module; The sensor module is used to collect image data around the car; The control module is used to calculate the first distance data between the vehicle and the obstacles on both sides, as well as the position data and length data of the obstacles on both sides based on the image data; The control module is further configured to receive and respond to a first door opening instruction, calculate a first door opening angle based on the first distance data, and determine a door opening angle based on the first door opening angle and a preset door opening limit angle, so that the vehicle door is opened according to the door opening angle; The control module is also used to receive and respond to a second door opening instruction, and calculate a second door opening angle and a moving distance based on the position data and length data of obstacles on both sides, so that the car travels the moving distance and the car door opens at the second door opening angle, wherein the second door opening angle is greater than the first door opening angle.

2. The vehicle door opening obstacle avoidance system according to claim 1, characterized in that: The control module is further configured to compare the first door opening angle with the door opening limit angle: When the first door opening angle is greater than the door opening limit angle, setting the door opening limit angle to the vehicle door opening angle; Otherwise, the first door opening angle is set as the vehicle door opening angle.

3. The vehicle door opening obstacle avoidance system according to claim 1, characterized in that: The control module is also used to calculate the second distance data between the vehicle and the obstacle in front based on the image data; The control module is further configured to compare the second distance data with the moving distance: When the second distance data is greater than the moving distance, controlling the vehicle to travel the moving distance; Otherwise, a warning message is generated.

4. The vehicle door opening obstacle avoidance system according to claim 3, characterized in that: The control module is also used to generate driving planning information based on the moving distance, and control the driving and braking of the vehicle according to the driving planning information.

5. The vehicle door opening obstacle avoidance system according to claim 3, characterized in that: The automobile door opening obstacle avoidance system also includes an alarm module, and the alarm module is used to issue an alarm according to the alarm information.

6. The vehicle door opening obstacle avoidance system according to claim 1, characterized in that: The sensor module comprises: A front-view camera is arranged at the front side of the vehicle and is used to collect image data in front of the vehicle; At least two side-view cameras, each disposed on one side of the vehicle, for respectively collecting image data of one side of the vehicle; The rear-view camera is installed at the rear of the car and is used to collect image data from the rear of the car.

7. The vehicle door opening obstacle avoidance system according to claim 1, characterized in that: The control module is also used to receive and respond to the tailgate opening instruction, and calculate the third distance data between the vehicle and the rear obstacle based on the image data; The control module is further used to calculate a tailgate opening angle according to the third distance data, so that the tailgate of the vehicle is opened according to the tailgate opening angle.

8. The vehicle door opening obstacle avoidance system according to claim 6, characterized in that: The sensor module further includes a tailgate camera, which is disposed on the tailgate of the vehicle and is used to dynamically collect real-time image data in a preset direction of the tailgate of the vehicle; The control module is further used to calculate fourth distance data between the tailgate of the vehicle and obstacles in its opening direction based on the real-time image data; The control module is further used to compare the fourth distance data with a preset safety distance threshold, and control the tailgate of the vehicle to stop rotating when the fourth distance data is less than or equal to the safety distance threshold.

9. A method for avoiding obstacles when opening a car door, characterized in that: include: Collect image data around the car; Based on the image data, first distance data between the vehicle and obstacles on both sides, as well as position data and length data of the obstacles on both sides are calculated; receiving and responding to a first door opening instruction, calculating a first door opening angle based on the first distance data, and determining a door opening angle based on the first door opening angle and a preset door opening limit angle, so that the vehicle door opens according to the door opening angle; Receive and respond to a second door opening instruction, calculate a second door opening angle and a moving distance based on the position data and length data of obstacles on both sides, so that the car travels the moving distance and opens the car door to the second door opening angle, wherein the second door opening angle is greater than the first door opening angle.

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

Images