Door anti-collision radar control method, device and system, and storage medium

Abstract

The invention relates to the technical field of automotive electronics, and discloses a door anti-collision radar control method, device and system, and a storage medium. Wherein the door anti-collision radar comprises a sleep mode, a standby mode, a door opening instruction detection mode, a door anti-collision mode, a parking auxiliary mode and a driving auxiliary mode. The method comprises the following steps: switching to a standby mode when being in a sleep mode and receiving any message; if the time when the messages are not continuously received is greater than a first threshold value, switching to a sleep mode; obtaining a key position, a driving speed and a vehicle door state through a message of a vehicle body bus; if the key is within the first range outside the vehicle, the door is not opened, and the vehicle speed is 0, a door opening instruction detection mode is switched; if the door opening button is pressed down or the door opening action is detected, a door anti-collision mode is switched; if the vehicle speed is within the second range and the vehicle door is closed, a parking auxiliary mode is switched; if the vehicle speed is larger than the second threshold value and the vehicle door is closed, the driving auxiliary mode is switched. The method can improve the utilization rate of the door anti-collision radar.

Description

Technical Field

[0001] The present invention relates to the field of automotive electronics, and particularly to a control method, storage medium, device and system for a door anti-collision radar. Background Art

[0002] With the rapid development of automotive technology, people's attention to automotive comfort configurations has been increasing day by day. As an important configuration that combines safety and comfort, the door anti-collision radar for cars has been increasingly favored by many car manufacturers. Currently, many cars are equipped with door anti-collision radars, and they are usually used in conjunction with electric doors. When a user issues an instruction to open the door, the motor drives the door to open automatically. During this process, the door anti-collision radar will accurately detect the information of surrounding obstacles in real time, quickly calculate the angle at which the door can be safely opened through advanced algorithms, and then send this key information to the door control system. After receiving this information, the door control system will accurately control the door to open to the corresponding safe angle, thus effectively preventing the door from colliding with obstacles during the automatic opening process, providing a more convenient and safe door-opening experience for users, and greatly improving the overall safety and comfort of the car.

[0003] However, in the current application environment, the door anti-collision radar can only function during the short period of opening the door, and its utilization rate is relatively low. This radar is in an idle state during vehicle driving and most other times, resulting in a very small proportion of the effective working duration in the entire vehicle usage cycle, and thus leading to a relatively high comprehensive cost, which to a certain extent affects the wider application and popularization of this technology in the automotive field. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a control method for a door anti-collision radar, which can improve the utilization rate of the door anti-collision radar, reduce the idle time of the door anti-collision radar, and thus reduce the comprehensive cost of the door anti-collision radar.

[0005] To solve the above problems, the technical solution adopted by the present invention is as follows: A control method for a door anti-collision radar. The door anti-collision radar includes a sleep mode, a standby mode, an opening command detection mode, a door anti-collision mode, a parking assistance mode, and a driving assistance mode. All functions of the door anti-collision radar are turned off in the sleep mode; in the opening command detection mode, the door anti-collision radar can only perform message sending and receiving with the vehicle body bus; the opening command detection mode is used to detect whether a person has an opening action and determine the door to be opened according to the opening action; the door anti-collision mode is used to monitor whether there are obstacles outside the vehicle door during the opening of the vehicle door and control the opening action of the vehicle door according to the obstacle situation; the parking assistance mode is used to monitor the obstacle situation around the vehicle body during parking and feedback it to the driver according to the obstacle situation around the vehicle body; the driving assistance mode is used to detect obstacles around the vehicle body during driving, predict the collision risk with the obstacles, and feedback the collision risk with the obstacles to the driver; among them, the detection parameters of the door anti-collision radar are different in each working mode, and the control method specifically includes the following steps: Monitor the messages of the vehicle body bus. If the current is in the sleep mode and any message is received, exit the sleep mode and enter the standby mode; if the time of continuously not receiving messages is greater than the first threshold, exit the current working mode and enter the sleep mode; Obtain the key position, driving speed, and door status through the messages of the vehicle body bus; If the key is within the first range outside the vehicle, the door is not opened, and the vehicle speed is 0, enter the opening command detection mode; if the key is outside the first range outside the vehicle, the door is already open, or the key is inside the vehicle body, exit the opening command detection mode; If the opening button is pressed or an opening action is detected, enter the door anti-collision mode; if the vehicle door has been opened, exit the door anti-collision mode; If the vehicle speed is within the second range and the vehicle door is closed, enter the parking assistance mode; if the vehicle door is opened or the vehicle speed is outside the second range, exit the parking assistance mode; If the vehicle speed is greater than the second threshold and the vehicle door is closed, enter the driving assistance mode; if the vehicle door is opened or the vehicle speed is less than or equal to the second threshold, exit the driving assistance mode.

[0006] Compared with the prior art, the beneficial effects of the present invention are as follows: By setting multiple working modes for the door anti-collision radar, the door anti-collision radar can be used not only to prevent the vehicle door from colliding with obstacles when opening the door, but also to detect opening commands, assist in parking, and assist in driving anti-collision, etc. This improves the utilization rate of the door anti-collision radar, reduces the idle time of the door anti-collision radar, reduces the required quantity of other functional sensors, and thus reduces the comprehensive cost of the door anti-collision radar.

[0007] The above control method for door anti-collision radar, the door opening command detection mode includes the following steps: Switch the detection parameters of the door anti-collision radar to the preset parameters of the door opening command detection mode; Obtain the clustering algorithm and track processing algorithm parameters of the door opening command detection mode; Cluster the detection data of each door anti-collision radar, and send the clustered targets to other door anti-collision radars through the vehicle body bus; Each door anti-collision radar performs track processing on all the received clustered targets; Judge whether the target approaches the vehicle from far to near according to the track processing results of a certain number of frames. If so, proceed to the next step; Judge whether the track of the target stops in the specified door opening area. If so, proceed to the next step; Judge whether the key position is consistent with the track stop position of the target. If so, proceed to the next step; Send a corresponding door opening signal to the vehicle body bus according to the track stop position of the target, and open the door at the corresponding position.

[0008] In the above control method for door anti-collision radar, in the step of sending a corresponding door opening signal to the vehicle body bus according to the track stop position of the target and opening the door at the corresponding position, if the track stop position of the target is near the B1 pillar, send a door opening signal to open the left front door to the vehicle body bus; if the track stop position of the target is near the B2 pillar, send a door opening signal to open the right front door to the vehicle body bus; if the track stop position of the target is near the C1 pillar, send a door opening signal to open the left rear door to the vehicle body bus; if the track stop position of the target is near the C2 pillar, send a door opening signal to open the right rear door to the vehicle body bus.

[0009] The above control method for door anti-collision radar, the door anti-collision mode includes the following steps: Switch the detection parameters of the door anti-collision radar to the preset parameters of the door anti-collision mode; Obtain the clustering algorithm and track processing algorithm parameters of the door anti-collision mode; Cluster and perform track processing on the data received by the door anti-collision radar; Judge whether there are obstacles within the third range outside the door according to the track processing results. If there are obstacles, send a stop door opening signal to the vehicle body bus.

[0010] The above control method for door anti-collision radar, the parking assistance mode includes the following steps: Switch the detection parameters of the door anti-collision radar to the preset parameters of the parking assistance mode; Obtain the clustering algorithm and track processing algorithm parameters of the parking assistance mode; Cluster and process the data received by the door anti-collision radar; Obtain obstacle information based on the result of track processing, and send the obstacle information within the fourth range outside the vehicle to the vehicle body bus; Determine whether there is an obstacle within the third threshold outside the vehicle. If there is an obstacle, issue a warning signal.

[0011] For the above control method of the door anti-collision radar, the driving assistance mode includes the following steps: Switch the detection parameters of the door anti-collision radar to the preset parameters of the driving assistance mode; Obtain the clustering algorithm and track processing algorithm parameters of the driving assistance mode; Cluster and process the data received by the door anti-collision radar; Obtain obstacle information based on the result of track processing, and send the obstacle information within the fifth range outside the vehicle to the vehicle body bus; Calculate the expected collision time of each obstacle colliding with the vehicle according to the driving speed. If there is an obstacle with an expected collision time less than the fourth threshold, issue a warning signal.

[0012] A computer-readable storage medium stores a computer program. When the computer program is called and executed by a processor, the above control method of the door anti-collision radar is implemented.

[0013] A control device for a door anti-collision radar includes a processor and a memory. The memory is electrically connected to the processor, and the processor can implement the above control method of the door anti-collision radar by calling and executing the computer program in the memory.

[0014] A door anti-collision control system includes the above control device and at least two door anti-collision radars. The two door anti-collision radars are respectively arranged on both sides of the vehicle body, and the door anti-collision radars are electrically connected to the control device.

[0015] For the above door anti-collision control system, the door anti-collision radar uses a millimeter-wave radar.

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flowchart of the door anti-collision radar control method according to an embodiment of the present invention.

[0018] Figure 2 It is a flowchart of the door opening instruction detection mode according to an embodiment of the present invention.

[0019] Figure 3 It is a top view of the vehicle body.

[0020] Figure 4 Flow chart of the door anti-collision mode according to an embodiment of the present invention.

[0021] Figure 5 Flow chart of the parking assistance mode according to an embodiment of the present invention.

[0022] Figure 6 Flow chart of the driving assistance mode according to an embodiment of the present invention.

[0023] Figure 7 Principle block diagram of the door anti-collision control system according to an embodiment of the present invention. Detailed implementation manners

[0024] The embodiments of the present invention will be described in detail below. Referring to Figure 1 , the embodiments of the present invention provide a control method for a door anti-collision radar, which is used for controlling a door anti-collision radar installed outside a vehicle door. The door anti-collision radar includes six working modes: a sleep mode, a standby mode, an opening instruction detection mode, a door anti-collision mode, a parking assistance mode, and a driving assistance mode. Among them, all functions of the door anti-collision radar in the sleep mode; in the opening instruction detection mode, the door anti-collision radar can only perform message transceiver with the vehicle body bus, and the detection function is not enabled; the opening instruction detection mode is used to detect whether a person has an opening behavior and determine the door to be opened according to the opening behavior; the door anti-collision mode is used to monitor whether there are obstacles outside the vehicle door during the door opening process and control the opening action of the door according to the obstacle situation; the parking assistance mode is used to monitor the obstacle situation around the vehicle body during parking and feedback it to the driver according to the obstacle situation around the vehicle body; the driving assistance mode is used to detect the obstacles around the vehicle body during driving, predict the collision risk with the obstacles, and feedback the collision risk with the obstacles to the driver. The detection parameters of the door anti-collision radar are different in each working mode, and the algorithm parameters of target clustering and track processing are also different. Specifically, in this embodiment, the control method includes the following steps: Monitor the messages of the vehicle body bus. If the current is in the sleep mode and any message is received, exit the sleep mode and enter the standby mode; if the time of continuously not receiving messages is greater than the first threshold, exit the current working mode and enter the sleep mode; Obtain the key position, driving speed, and door state through the messages of the vehicle body bus; If the key is within the first range outside the vehicle, the door is not opened, and the vehicle speed is 0, enter the opening instruction detection mode; if the key is outside the first range outside the vehicle, the door is already opened, or the key is inside the vehicle body, exit the opening instruction detection mode; If the opening button is pressed or an opening action is detected, enter the door anti-collision mode; if the door is already opened, exit the door anti-collision mode; If the vehicle speed is between 1 km / h and 10 km / h and the door is closed, the parking assistance mode is entered; if the door is open or the vehicle speed exceeds 10 km / h, the parking assistance mode is exited. If the vehicle speed is greater than 10 km / h and the door is closed, the driving assistance mode is entered; if the door is open or the vehicle speed is less than or equal to 10 km / h, the driving assistance mode is exited.

[0025] The control method of the door anti-collision radar switches between the standby mode and the sleep mode according to the presence or absence of the bus message, reducing the power consumption of the door anti-collision radar during parking. The control method can also automatically determine which working scenario it is in based on information such as the position of the car key, driving speed, and door status obtained through the vehicle body bus, and automatically switch to the corresponding working mode, so that in addition to being used for door opening anti-collision assistance, the door anti-collision radar can also be used for door opening command detection, and obstacle detection scenarios during parking and driving. This expands the application scenarios of the door anti-collision radar, avoids the period when the door anti-collision radar is only used for door opening, improves the utilization rate of the door anti-collision radar, reduces the idle time of the door anti-collision radar, thereby improving the installation cost performance of the door anti-collision radar and reducing the comprehensive cost of the door anti-collision radar. Since the door anti-collision radar controlled by this method can also be used for door opening command detection, parking, and driving, the quantity and quality of sensors required for other functional scenarios are reduced, and the comprehensive cost of vehicle intelligence is reduced.

[0026] It can be understood that when the door anti-collision radar is applied to different scenarios, the working detection parameters of the radar, the clustering algorithm for identifying targets, and the parameters of the track processing algorithm should be set according to characteristics such as the detection distance, field of view angle, speed accuracy, and speed characteristics of the target object required by different scenarios. For example, when applied to the door opening command detection mode, the detection distance should be limited to a range of about 1m outside the vehicle door. A larger field of view angle is required to capture the trajectory and movement of a person's footsteps. The update frequency of the radar data needs to be relatively fast, such as above 50Hz, to capture the detailed movements of the footsteps. The track processing algorithm should focus on the track movements within a certain number of consecutive frames. When applied to the door anti-collision system, it should be limited to detecting obstacles within a relatively short distance outside the door. The detection distance should be about 20cm outside the door, and the detection sensitivity should be set at about -90dBm to detect targets with low reflectivity, such as bicycles. The detection parameters in the parking assist mode can be set in levels, and different parameters are set according to the distance of the obstacle. Different fields of view and resolutions are used at different distances. For example, when the distance from the parking space is relatively far, a narrower field of view and lower resolution are used to capture all obstacles within a relatively wide surrounding range as much as possible. When entering the parking space, a larger field of view and higher resolution are used to achieve high-precision feedback on the position of the obstacle, so as to avoid scratching with surrounding obstacles or vehicles when parking in a narrow and dense parking environment. In the driving assist mode, a larger detection range is required, such as detecting obstacles within about 35 meters outside the vehicle, and a higher detection accuracy of the target's speed is required to more accurately judge the collision risk. The targets can be weighted according to their priorities based on the distance of different targets, and higher weights are added to closer targets, so that the algorithm pays more attention to the dynamics of nearby obstacles with higher collision risks.

[0027] Specifically, referring to Figure 2 , in this embodiment, the door opening command detection mode specifically includes the following steps: Switch the detection parameters of the door anti-collision radar to the preset parameters of the door opening command detection mode; Obtain the clustering algorithm and track processing algorithm parameters of the door opening command detection mode; Cluster the detection data of each door anti-collision radar, and send the clustered targets to other door anti-collision radars through the vehicle body bus; Each door anti-collision radar performs track processing on all the clustered targets received; Cache 30 frames of track processing data, and judge whether the target approaches the vehicle from far to near from outside 1m according to the track processing results of 30 consecutive frames. If so, proceed to the next step; Judge whether the track of the target stops in the specified door opening area. If so, proceed to the next step; Judge whether the position of the key and the position where the track of the target stays are the same. If so, proceed to the next step; Send the corresponding door opening signal to the vehicle body bus according to the track staying position of the target, and open the door at the corresponding position.

[0028] Specifically, referring to Figure 2 and Figure 3 , taking a four-door sedan with a left steering wheel as an example, use the B-pillars and C-pillars on both the left and right sides of the four-door sedan as references to determine which specific door needs to be opened. If the track end stays near the B1 pillar on the driver's side, open the left front door; if the track end stays near the C1 pillar on the driver's side, open the left rear door; if the track end stays near the B2 pillar on the passenger side, open the right front door; if the track end stays near the C2 pillar on the passenger side, open the right rear door. It can be understood that in some embodiments, when the car key is not in the vehicle, it is also possible to avoid opening the door to non-target personnel by comparing whether the position of the car key is the same as the position where the track end stays.

[0029] Referring to Figure 4 , in this embodiment, the door anti-collision mode specifically includes the following steps: Switch the detection parameters of the door anti-collision radar to the preset parameters of the door anti-collision mode; Obtain the clustering algorithm and track processing algorithm parameters of the door anti-collision mode; Perform clustering and track processing on the data received by the door anti-collision radar; Judge whether there are obstacles within 20 cm outside the door according to the track processing result. If there are obstacles, send a stop door opening signal to the vehicle body bus.

[0030] Referring to Figure 5 , in this embodiment, the parking assistance mode includes the following steps: Switch the detection parameters of the door anti-collision radar to the preset parameters of the parking assistance mode; Obtain the clustering algorithm and track processing algorithm parameters of the parking assistance mode; Perform clustering and track processing on the data received by the door anti-collision radar; Obtain obstacle information according to the track processing result, and send the obstacle information within 2 m outside the vehicle to the vehicle body bus; Judge whether there are obstacles within 20 cm outside the vehicle. If there are obstacles, issue a warning signal.

[0031] Referring to Figure 6 , in this embodiment, the driving assistance mode includes the following steps: Switch the detection parameters of the door anti-collision radar to the preset parameters of the driving assistance mode; Obtain the clustering algorithm and track processing algorithm parameters of the driving assistance mode; Perform clustering and track processing on the data received by the door anti-collision radar; Obtain obstacle information based on the track processing result, and send the obstacle information within 35m outside the vehicle to the vehicle body bus; Calculate the expected collision time of each obstacle colliding with the vehicle according to the driving speed. If there is an obstacle with an expected collision time less than 2s, a warning signal is issued.

[0032] In some embodiments, in the driving assistance mode, after obtaining the obstacle information, the obstacle information detected by the door anti-collision radar can also be compared with the obstacle information detected by the vehicle-mounted camera or lidar for consistency verification to mutually confirm and improve the accuracy of obstacle detection.

[0033] Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium storing a computer program, which when executed by a processor can implement the above control method of the door anti-collision radar.

[0034] In some possible implementation manners, each aspect of the control method of the door anti-collision radar provided by the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a device, the program code is used to cause the control device to execute the steps in the control method of the door anti-collision radar according to various exemplary embodiments of the present application described above in this specification.

[0035] Based on the same inventive concept, an embodiment of the present invention further provides a control device for implementing the above control method of the door anti-collision radar, including a processor and a memory. The memory is electrically connected to the processor. When the processor executes the computer program stored on the memory, the above control method of the door anti-collision radar is implemented.

[0036] In a possible design, the processor may include one or more processing units. The processor and the memory can be implemented on the same chip or separately on independent chips. The processor can be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the control method of the door anti-collision radar disclosed in combination with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

[0037] As a non-volatile computer-readable storage medium, the memory can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory may include at least one type of storage medium, for example, it may include flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memory, magnetic disk, optical disk, and so on. The memory is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in the embodiments of the present application may also be a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data.

[0038] By designing and programming the processor, the code corresponding to the control method of the door anti-collision radar introduced in the foregoing embodiments can be solidified into the chip, so that the chip can execute the steps of the control method of the door anti-collision radar of the embodiments shown in the present invention when running. How to design and program the processor is a well-known technology to those skilled in the art and will not be elaborated here.

[0039] Refer to Figure 7, Based on the same inventive concept, an embodiment of the present invention further provides a door anti-collision control system, including the above control device and at least two door anti-collision radars. In this embodiment, the door anti-collision control system includes four door anti-collision radars, which are respectively installed on four doors or on the welcome pedals of four doors. The four door anti-collision radars are electrically connected to the control device and communicate with the vehicle body bus through the CAN bus. It can be understood that the control device can adopt a distributed control architecture, that is, each door anti-collision radar is provided with an independent control unit. After clustering and track processing of the detection data respectively, the processing results are sent to the main controller through the vehicle body bus. The control device can also adopt a centralized control architecture. The four door anti-collision radars communicate with a main controller through the CAN bus, and send the detection data to the main controller uniformly, and the main controller performs clustering and track processing uniformly. In this embodiment, the door anti-collision radar preferably adopts a millimeter-wave radar. The signal can penetrate bad weather environments such as rain, water, fog, and dust, and can still maintain stable detection in thick fog with insufficient visibility, and does not require environmental illumination, and can still continuously and reliably detect the surrounding environment in a low-light environment. At the same time, it has high range resolution, angular resolution, and speed accuracy, can track multiple targets simultaneously, supports large-range coverage, and can detect multiple lanes with high precision. In some embodiments, the door anti-collision control system further includes at least two buzzers, which are respectively arranged at the left and right ends of the center console. The buzzers are electrically connected to the control device. When in the parking assistance mode and the driving assistance mode, the control device controls the corresponding side buzzer to emit a sound warning signal to remind the driver to pay attention to the obstacles on that side.

[0040] It should be noted that in the description of the present invention, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including the present number, above, below, within, etc. are understood as including the present number. If there is a description of the first or the second, etc., it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0041] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate for implementation in the process Figure 1one or more processes and / or blocks Figure 1 means for the functions specified in one or more blocks

[0042] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured article including an instruction means, and the instruction means implements the process Figure 1 one or more processes and / or blocks Figure 1 the functions specified in one or more blocks

[0043] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the process Figure 1 one or more processes and / or blocks Figure 1 the functions specified in one or more blocks

[0044] In the description of the present invention, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution

[0045] The above embodiments are only the preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantive changes and substitutions made by those skilled in the art based on the present invention fall within the scope of protection required by the present invention

Claims

1. A control method for a door anti-collision radar, characterized in that, The door anti-collision radar includes a sleep mode, a standby mode, a door opening instruction detection mode, a door anti-collision mode, a parking assistance mode, and a driving assistance mode. All functions of the door anti-collision radar are turned off in the sleep mode; in the door opening instruction detection mode, the door anti-collision radar can only perform message sending and receiving with the vehicle body bus; the door opening instruction detection mode is used to detect whether a person has a door opening behavior and determine the door to be opened according to the door opening behavior; the door anti-collision mode is used to monitor whether there are obstacles outside the vehicle during the door opening process and control the door opening action of the door according to the obstacle situation; the parking assistance mode is used to monitor the obstacle situation around the vehicle body during parking and feedback the obstacle situation around the vehicle body to the driver; the driving assistance mode is used to detect obstacles around the vehicle body during driving, predict the collision risk with the obstacles, and feedback the collision risk with the obstacles to the driver; among them, the detection parameters of the door anti-collision radar are different in each working mode, and the control method specifically includes the following steps: Monitor the messages of the vehicle body bus. If the current is in the sleep mode and any message is received, exit the sleep mode and enter the standby mode; if the time of continuously not receiving messages is greater than the first threshold, exit the current working mode and enter the sleep mode; Obtain the key position, driving speed, and door status through the messages of the vehicle body bus; If the key is within the first range outside the vehicle, the door is not opened, and the vehicle speed is 0, enter the door opening instruction detection mode; if the key is outside the first range outside the vehicle, the door is already opened, or the key is inside the vehicle body, exit the door opening instruction detection mode; If the door opening button is pressed or a door opening action is detected, enter the door anti-collision mode; if the door is already opened, exit the door anti-collision mode; If the vehicle speed is within the second range and the door is closed, enter the parking assistance mode; if the door is opened or the vehicle speed is outside the second range, exit the parking assistance mode; If the vehicle speed is greater than the second threshold and the door is closed, enter the driving assistance mode; if the door is opened or the vehicle speed is less than or equal to the second threshold, exit the driving assistance mode.

2. The control method of the door anti-collision radar according to claim 1, characterized in that The door opening instruction detection mode includes the following steps: Switch the detection parameters of the door anti-collision radar to the preset parameters of the door opening instruction detection mode; Obtain the clustering algorithm and track processing algorithm parameters of the door opening instruction detection mode; Cluster the detection data of each door anti-collision radar and send the clustered targets to other door anti-collision radars through the vehicle body bus; Each door anti-collision radar performs track processing on all the received clustered targets; Judge whether the target approaches the vehicle from far to near according to the track processing results of a certain number of frames. If so, proceed to the next step; Judge whether the track of the target stops in the specified door opening area. If so, proceed to the next step; Judge whether the key position is consistent with the track stop position of the target. If so, proceed to the next step; Send a corresponding door opening signal to the vehicle body bus according to the track stop position of the target to open the door at the corresponding position.

3. The control method of the door anti-collision radar according to claim 2, wherein, In the step of sending a corresponding door opening signal to the vehicle body bus according to the track stop position of the target and opening the door at the corresponding position, if the track stop position of the target is near the B1 pillar, a door opening signal for opening the left front door is sent to the vehicle body bus; if the track stop position of the target is near the B2 pillar, a door opening signal for opening the right front door is sent to the vehicle body bus; if the track stop position of the target is near the C1 pillar, a door opening signal for opening the left rear door is sent to the vehicle bus; if the track stop position of the target is near the C2 pillar, a door opening signal for opening the right rear door is sent to the vehicle bus.

4. The control method of the door anti-collision radar according to claim 1, wherein The door anti-collision mode includes the following steps: Switch the detection parameters of the door anti-collision radar to the preset parameters of the door anti-collision mode; Obtain the clustering algorithm and track processing algorithm parameters of the door anti-collision mode; Perform clustering and track processing on the data received by the door anti-collision radar; Judge whether there are obstacles within the third range outside the door according to the track processing result. If there are obstacles, send a stop door opening signal to the vehicle body bus.

5. The control method of the door anti-collision radar according to claim 1, wherein The parking assistance mode includes the following steps: Switch the detection parameters of the door anti-collision radar to the preset parameters of the parking assistance mode; Obtain the clustering algorithm and track processing algorithm parameters of the parking assistance mode; Perform clustering and track processing on the data received by the door anti-collision radar; Obtain obstacle information according to the track processing result and send the obstacle information within the fourth range outside the vehicle to the vehicle body bus; Judge whether there are obstacles within the third threshold outside the vehicle. If there are obstacles, issue a warning signal.

6. The control method of the door anti-collision radar according to claim 1, wherein The driving assistance mode includes the following steps: Switch the detection parameters of the door anti-collision radar to the preset parameters of the driving assistance mode; Obtain the clustering algorithm and track processing algorithm parameters of the driving assistance mode; Perform clustering and track processing on the data received by the door anti-collision radar; Obtain obstacle information according to the track processing result and send the obstacle information within the fifth range outside the vehicle to the vehicle body bus; Calculate the expected collision time of each obstacle colliding with the vehicle according to the driving speed. If there is an obstacle with an expected collision time less than the fourth threshold, issue a warning signal.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is called and executed by the processor, it implements the control method of the door anti-collision radar according to any one of claims 1 to 6.

8. A control device for a door anti-collision radar, characterized in that, It includes a processor and a memory. The memory is electrically connected to the processor. The processor can implement the control method of the door anti-collision radar according to any one of claims 1 to 6 by calling and executing the computer program in the memory.

9. A door anti-collision control system, characterized in that, It includes the control device according to claim 8 and at least two door anti-collision radars. The two door anti-collision radars are respectively arranged on both sides of the vehicle body, and the door anti-collision radar is electrically connected to the control device.

10. The door anti-collision control system according to claim 9, characterized in that, The door anti-collision radar uses a millimeter wave radar.

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