Control method, storage medium, device and system for door anti-collision radar

Abstract

The present invention relates to the field of automotive electronics technology, and discloses a control method, storage medium, device, and system for a door collision avoidance radar. The door collision avoidance radar includes a sleep mode, a standby mode, a door opening command detection mode, a door collision avoidance mode, a parking assist mode, and a driving assist mode. The method includes: when in sleep mode and receiving any message, switching to standby mode; if the time for which no message is received continuously is greater than a first threshold, switching to sleep mode; obtaining the key position, driving speed, and door status through messages on the vehicle body bus; if the key is within a first range outside the vehicle, the door is not open, and the vehicle speed is 0, switching to door opening command detection mode; if the door opening button is pressed or a door opening action is detected, switching to door collision avoidance mode; if the vehicle speed is within a second range and the door is closed, switching to parking assist mode; if the vehicle speed is greater than a second threshold and the door is closed, switching to driving assist mode. This method can improve the utilization rate of the door collision avoidance radar.

Description

Technical Field

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

[0002] With the rapid advancement of automotive technology, people are increasingly interested in vehicle comfort features. As a key feature that combines safety and comfort, door collision avoidance radars are increasingly favored by many automakers. Currently, many cars are equipped with door collision avoidance radars, often in conjunction with power doors. When the user issues a door opening command, the motor drives the door to open automatically. During this process, the door collision avoidance radar accurately detects surrounding obstacles in real time. Using advanced algorithms, it quickly calculates the safe door opening angle and transmits this critical information to the door control system. Upon receiving this information, the door control system precisely controls the door opening to the corresponding safe angle, effectively preventing collisions with obstacles during the automatic opening process. This provides users with a more convenient and safe door opening experience, significantly enhancing the overall safety and comfort of the vehicle.

[0003] However, in current applications, door-opening collision avoidance radars are only effective during the brief moments when the door is open, resulting in relatively low utilization. The radars are idle during most of the vehicle's lifecycle, resulting in a minimal percentage of effective operating time. This, in turn, leads to high overall costs, hindering the wider application and promotion of this technology in the automotive industry. Summary of the Invention

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

[0005] To solve the above-mentioned problems, the present invention adopts the following technical solutions: a control method for a door collision avoidance radar, the door collision avoidance radar including a sleep mode, a standby mode, a door opening command detection mode, a door collision avoidance mode, a parking assist mode, and a driving assist mode. The sleep mode disables all functions of the door collision avoidance radar; in the door opening command detection mode, the door collision avoidance radar can only transmit and receive messages with the vehicle body bus; the door opening command detection mode is used to detect whether a person has opened a door and determine which door to open based on the door opening behavior; the door collision avoidance mode is used to monitor whether there is an obstacle outside the door during the door opening process and control the door opening action based on the obstacle situation; the parking assist mode is used to monitor the obstacle situation around the vehicle body during parking and provide feedback to the driver based on the obstacle situation around the vehicle body; the driving assist mode is used to detect obstacles around the vehicle body during driving, predict the collision risk with the obstacle, and provide feedback to the driver on the collision risk with the obstacle; wherein the detection parameters of the door collision avoidance radar are different in each operating mode, and the control method specifically includes the following steps:

[0006] monitoring messages on the vehicle body bus, and if the vehicle is currently in the sleep mode and receives any message, exiting the sleep mode and entering the standby mode; if no message is received for a period of time greater than a first threshold, exiting the current working mode and entering the sleep mode;

[0007] Obtain key position, vehicle speed and door status through messages from the vehicle body bus;

[0008] If the key is within the first range outside the vehicle, the door is not open and the vehicle speed is 0, then the door opening command detection mode is entered; if the key is outside the first range outside the vehicle, the door is open or the key is inside the vehicle, then the door opening command detection mode is exited;

[0009] If the door opening button is pressed or the door opening action is detected, the door anti-collision mode is entered; if the door is already opened, the door anti-collision mode is exited;

[0010] If the vehicle speed is within the second range and the door is closed, the parking assist mode is entered; if the door is open or the vehicle speed is outside the second range, the parking assist mode is exited;

[0011] If the vehicle speed is greater than the second threshold 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 the second threshold, the driving assistance mode is exited.

[0012] Compared with the existing technology, the beneficial effect of the present invention is that: by setting multiple working modes for the door anti-collision radar, the door anti-collision radar can be used not only to prevent the car door from colliding with obstacles when the door is opened, but also to detect door opening instructions, assist parking, and assist driving anti-collision, thereby improving the utilization rate of the door anti-collision radar, reducing the idle time of the door anti-collision radar, and reducing the number of other functional sensors required, thereby reducing the overall cost of the door anti-collision radar.

[0013] The control method of the door anti-collision radar described above, wherein the door opening command detection mode comprises the following steps:

[0014] Switching the detection parameters of the door anti-collision radar to the preset parameters of the door opening command detection mode;

[0015] Obtaining clustering algorithm and track processing algorithm parameters of the door opening command detection mode;

[0016] 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;

[0017] Each gate anti-collision radar performs track processing on all received clustered targets;

[0018] Based on the track processing results of a certain number of frames, determine whether the target is approaching the vehicle from far to near. If so, proceed to the next step;

[0019] Determine whether the target's trajectory stops in the designated door opening area, if so, proceed to the next step;

[0020] Determine whether the key position is consistent with the target's track position. If so, proceed to the next step.

[0021] According to the target's track stop position, the corresponding door opening signal is sent to the vehicle body bus to open the door at the corresponding position.

[0022] The control method of the above-mentioned door anti-collision radar, in the step of sending a corresponding door opening signal to the body bus according to the target's track stop position, opening the door at the corresponding position, if the target's track stop position is near the B1 pillar, then the door opening signal to open the left front door is sent to the body bus; if the target's track stop position is near the B2 pillar, then the door opening signal to open the right front door is sent to the body bus; if the target's track stop position is near the C1 pillar, then the door opening signal to open the left rear door is sent to the body bus; if the target's track stop position is near the C2 pillar, then the door opening signal to open the right rear door is sent to the body bus.

[0023] The control method of the door anti-collision radar mentioned above, wherein the door anti-collision mode comprises the following steps:

[0024] Switching the detection parameters of the door anti-collision radar to the preset parameters of the door anti-collision mode;

[0025] Obtaining clustering algorithm and track processing algorithm parameters of the door collision avoidance mode;

[0026] Clustering and track processing of data received by door collision avoidance radar;

[0027] Based on the track processing results, it is determined whether there is an obstacle within the third range outside the door. If there is an obstacle, a stop door opening signal is sent to the body bus.

[0028] The control method of the door anti-collision radar described above, wherein the parking assistance mode comprises the following steps:

[0029] Switching detection parameters of the door anti-collision radar to preset parameters of the parking assist mode;

[0030] Obtaining clustering algorithm and track processing algorithm parameters of the parking assistance mode;

[0031] Clustering and track processing of data received by door collision avoidance radar;

[0032] Obtain obstacle information based on the track processing result, and send the obstacle information within the fourth range outside the vehicle to the body bus;

[0033] Determine whether there is an obstacle within a third threshold outside the vehicle, and issue a warning signal if there is an obstacle.

[0034] The control method of the door anti-collision radar mentioned above, wherein the driving assistance mode comprises the following steps:

[0035] Switching detection parameters of the door anti-collision radar to preset parameters of the driving assistance mode;

[0036] Obtaining clustering algorithm and track processing algorithm parameters of the driving assistance mode;

[0037] Clustering and track processing of data received by door collision avoidance radar;

[0038] Obtain obstacle information based on the track processing results, and send the obstacle information within the fifth range outside the vehicle to the body bus;

[0039] The expected collision time between each obstacle and the vehicle is calculated based on the driving speed. If there is an obstacle with an expected collision time less than a fourth threshold, a warning signal is issued.

[0040] A computer-readable storage medium stores a computer program, which, when called and executed by a processor, implements the control method of the door anti-collision radar.

[0041] A control device for a door collision avoidance radar comprises a processor and a memory, wherein the memory is electrically connected to the processor, and the processor can implement the control method of the door collision avoidance radar by calling and executing a computer program in the memory.

[0042] A door anti-collision control system comprises the above-mentioned control device and at least two door anti-collision radars, wherein 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.

[0043] In the above-mentioned door anti-collision control system, the door anti-collision radar adopts millimeter wave radar.

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 Flowchart of a door anti-collision radar control method according to an embodiment of the present invention.

[0046] Figure 2 Flowchart of the door opening command detection mode according to an embodiment of the present invention.

[0047] Figure 3 A top view of the vehicle body.

[0048] Figure 4 Flowchart of the door anti-collision mode according to an embodiment of the present invention.

[0049] Figure 5 FIG. 4 is a flowchart of a parking assistance mode according to an embodiment of the present invention.

[0050] Figure 6 Flowchart of a driving assistance mode according to an embodiment of the present invention.

[0051] Figure 7 This is a principle block diagram of a door anti-collision control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0052] The embodiments of the present invention are described in detail below. Figure 1An embodiment of the present invention provides a control method for a door collision avoidance radar installed on the outside of a vehicle door. The door collision avoidance radar includes six operating modes: sleep mode, standby mode, door opening command detection mode, door collision avoidance mode, parking assist mode, and driving assist mode. The door collision avoidance radar performs all functions in sleep mode. In door opening command detection mode, the door collision avoidance radar can only transmit and receive messages with the vehicle body bus, and the detection function is disabled. The door opening command detection mode detects whether a person has opened a door and determines which door to open based on the door opening behavior. The door collision avoidance mode monitors whether there are obstacles outside the door during the door opening process and controls the door opening action based on the presence of obstacles. The parking assist mode monitors obstacles around the vehicle body during parking and provides feedback to the driver based on the obstacle situation. The driving assist mode detects obstacles around the vehicle body during driving, predicts the risk of collision with obstacles, and provides feedback to the driver on the risk of collision with obstacles. Each operating mode has different detection parameters for the door collision avoidance radar, as well as different algorithm parameters for target clustering and track processing. Specifically, in this embodiment, the control method includes the following steps:

[0053] Monitor messages on the vehicle body bus. If the vehicle is currently in sleep mode and receives any message, it exits the sleep mode and enters the standby mode. If no message is received for a period of time greater than a first threshold, it exits the current working mode and enters the sleep mode.

[0054] Obtain key position, vehicle speed and door status through messages from the vehicle body bus;

[0055] If the key is within the first range outside the vehicle, the door is not open and the vehicle speed is 0, the door opening command detection mode is entered; if the key is outside the first range outside the vehicle, the door is open or the key is inside the vehicle, the door opening command detection mode is exited;

[0056] If the door opening button is pressed or the door opening action is detected, the system enters the door collision avoidance mode; if the door is already opened, the system exits the door collision avoidance mode;

[0057] If the vehicle speed is between 1km / h and 10km / h and the door is closed, the parking assist mode is entered; if the door is open or the vehicle speed exceeds 10km / h, the parking assist mode is exited;

[0058] If the vehicle speed is greater than 10km / 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 10km / h, the driving assistance mode is exited.

[0059] This door collision avoidance radar control method reduces its power consumption during parking by switching between standby and sleep modes based on the presence or absence of bus messages. The control method also automatically determines the operating scenario based on information such as the key position, driving speed, and door status obtained via the vehicle body bus, and automatically switches to the corresponding operating mode. This allows the door collision avoidance radar to be used not only for door opening collision avoidance assistance but also for door opening command detection and obstacle detection during parking and driving. This expands the door collision avoidance radar's application scenarios, avoids its use solely for door opening, improves its utilization rate, and reduces its idle time, thereby improving its installation cost-effectiveness and reducing its overall cost. Because the door collision avoidance radar controlled by this method can also be used for door opening command detection, parking, and driving, it reduces the number and quality of sensors required for other functional scenarios, reducing the overall cost of vehicle intelligence.

[0060] It is understandable that when door collision avoidance radar is used in different scenarios, the radar's operating detection parameters, the target identification clustering algorithm, and the parameters of the track processing algorithm should be set according to the detection distance, field of view, speed accuracy, and speed characteristics of the target object required by the different scenarios. For example, when used in door opening command detection mode, the detection distance should be limited to a range of about 1m outside the vehicle door. The field of view needs to be large to capture the trajectory and movement of human footsteps. The radar data update frequency needs to be fast, such as above 50Hz, to capture the detailed movement of footsteps. The track processing algorithm should focus on the trajectory movement within a certain number of consecutive frames. When used in a door collision avoidance system, it should be limited to obstacle detection within a relatively close distance outside the door. The detection distance should be around 20cm outside the door, and the detection sensitivity should be set to around -90dBm to detect targets with low reflectivity, such as bicycles. The detection parameters in parking assist mode can be set in a hierarchical manner, with different parameters set according to the distance to the obstacle. Different field of view angles and resolutions are used for different distances. For example, when the distance to the parking space is far, a narrower field of view angle and a lower resolution are used to capture as many obstacles as possible within a wider range around. After entering the parking space, a larger field of view angle and a higher resolution are used to achieve high-precision feedback on the obstacle position, so as to avoid scratches with surrounding obstacles or vehicles when parking in narrow and dense parking environments. In 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 risk of collision. Targets can be prioritized according to their distance, with higher weights given to targets at closer distances, so that the algorithm pays more attention to the dynamics of nearby obstacles with higher collision risks.

[0061] Specifically, refer to Figure 2In this embodiment, the door opening command detection mode specifically includes the following steps:

[0062] Switching the detection parameters of the door anti-collision radar to the preset parameters of the door opening command detection mode;

[0063] Obtaining clustering algorithm and track processing algorithm parameters of the door opening command detection mode;

[0064] 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;

[0065] Each gate anti-collision radar performs track processing on all received clustered targets;

[0066] Cache 30 frames of track processing data. Based on the track processing results of 30 consecutive frames, determine whether the target is approaching the vehicle from 1 meter away. If so, proceed to the next step.

[0067] Determine whether the target's trajectory stops in the designated door opening area, if so, proceed to the next step;

[0068] Determine whether the key position is consistent with the target's track position. If so, proceed to the next step.

[0069] According to the target's track stop position, the corresponding door opening signal is sent to the vehicle body bus to open the door at the corresponding position.

[0070] Specifically, refer to Figure 2 and Figure 3 Taking a left-hand drive four-door sedan as an example, the B-pillar and C-pillar on the left and right sides of the four-door sedan are used as reference points to determine which door to open. If the track ends near the B1 pillar on the driver's side, the left front door is opened; if the track ends near the C1 pillar on the driver's side, the left rear door is opened; if the track ends near the B2 pillar on the passenger side, the right front door is opened; if the track ends near the C2 pillar on the passenger side, the right rear door is opened. It will be appreciated that in some embodiments, when the car key is not in the vehicle, the location of the car key can be compared with the location where the track ends to avoid opening the door to non-target persons.

[0071] Reference Figure 4 In this embodiment, the door anti-collision mode specifically includes the following steps:

[0072] Switching the detection parameters of the door anti-collision radar to the preset parameters of the door anti-collision mode;

[0073] Obtaining clustering algorithm and track processing algorithm parameters of the door collision avoidance mode;

[0074] Clustering and track processing of data received by door collision avoidance radar;

[0075] Based on the track processing results, it is determined whether there is an obstacle within 20 cm outside the door. If there is an obstacle, a stop door opening signal is sent to the vehicle body bus.

[0076] Reference Figure 5 In this embodiment, the parking assistance mode includes the following steps:

[0077] Switching detection parameters of the door anti-collision radar to preset parameters of the parking assist mode;

[0078] Obtaining clustering algorithm and track processing algorithm parameters of the parking assistance mode;

[0079] Clustering and track processing of data received by door collision avoidance radar;

[0080] Obtain obstacle information based on the track processing results and send obstacle information within 2m outside the vehicle to the vehicle body bus;

[0081] Determine whether there is an obstacle within 20cm outside the vehicle, and issue a warning signal if there is an obstacle.

[0082] Reference Figure 6 In this embodiment, the driving assistance mode includes the following steps:

[0083] Switching detection parameters of the door anti-collision radar to preset parameters of the driving assistance mode;

[0084] Obtaining clustering algorithm and track processing algorithm parameters of the driving assistance mode;

[0085] Clustering and track processing of data received by door collision avoidance radar;

[0086] Obtain obstacle information based on the track processing results and send obstacle information within 35m outside the vehicle to the vehicle body bus;

[0087] The expected collision time between each obstacle and the vehicle is calculated based on the driving speed. If there is an obstacle with an expected collision time of less than 2s, a warning signal will be issued.

[0088] In some embodiments, in the driving assistance mode, after obtaining the obstacle information, the obstacle information detected by the door anti-collision radar can be compared with the obstacle information detected by the vehicle-mounted camera or lidar for consistency, and they can be verified with each other to improve the accuracy of obstacle detection.

[0089] Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the control method of the door anti-collision radar can be implemented.

[0090] In some possible embodiments, various aspects of the control method of the door collision avoidance 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 is run on the device, the program code is used to enable the control device to execute the steps of the control method of the door collision avoidance radar according to various exemplary embodiments of the present application described above in this specification.

[0091] Based on the same inventive concept, an embodiment of the present invention also provides a control device for implementing the above-mentioned door collision avoidance radar control method, including a processor and a memory, the memory is electrically connected to the processor, and the processor is used to execute the computer program stored in the memory to implement the above-mentioned door collision avoidance radar control method.

[0092] In one possible design, the processor may include one or more processing units, and the processor and memory may be implemented on the same chip or separately on separate chips. The processor may 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 device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the control method of the door anti-collision radar disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0093] As a non-volatile computer-readable storage medium, memory can be used to store non-volatile software programs, non-volatile computer executable programs and modules.Memory can include at least one type of storage medium, for example, can include flash memory, hard disk, multimedia card, card-type memory, random access memory (Random Access Memory, RAM), static random access memory (Static Random Access Memory, SRAM), programmable read-only memory (Programmable Read Only Memory, PROM), read-only memory (Read Only Memory, ROM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), magnetic storage, disk, optical disk, etc. Memory is any other medium that can be used to carry or store 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 embodiment of the present application can also be a circuit or other arbitrarily capable of implementing a storage function, for storing program instructions and / or data.

[0094] By designing and programming the processor, the code corresponding to the control method for the door collision avoidance radar described in the aforementioned embodiment can be embedded in the chip, enabling the chip to execute the steps of the control method for the door collision avoidance radar described in the embodiment of the present invention during operation. Designing and programming the processor is well known to those skilled in the art and will not be further described here.

[0095] Reference Figure 7Based on the same inventive concept, an embodiment of the present invention also provides a door anti-collision control system, comprising the above-mentioned 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 the four vehicle doors, or installed on the welcome pedals of the four vehicle doors. The four door anti-collision radars are all electrically connected to the control device and communicate with the vehicle body bus via the CAN bus. It can be understood that the control device can adopt a distributed control architecture, and each door anti-collision radar is provided with an independent control unit, which performs clustering and track processing of the detection data respectively, and then sends the processing results to the main controller via the vehicle body bus. The control device can also adopt a centralized control architecture, and the four door anti-collision radars communicate with a main controller via the CAN bus, send the detection data to the main controller in a unified manner, and the main controller performs clustering and track processing in a unified manner. In this embodiment, the door collision avoidance radar preferably adopts millimeter-wave radar, the signal of which can penetrate adverse weather environments such as rain, water, fog and dust, and can still maintain stable detection in dense fog with insufficient visibility. It does not require ambient light and can continue to reliably detect the surrounding environment in low-light environments. At the same time, the distance resolution, angle resolution and speed accuracy are all high, and it can track multiple targets at the same time, support large-scale coverage, and can simultaneously perform high-precision detection of multiple lanes. In some embodiments, the door collision avoidance control system also 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 parking assist mode and driving assist mode, the control device controls the buzzer on the corresponding side to emit a sound warning signal to remind the driver to pay attention to obstacles on that side.

[0096] It should be noted that in the description of the present invention, "several" means one or more, "more" means two or more, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. If there are descriptions of "first," "second," and so on, these are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0097] The present application is described with reference to the flowcharts and / or block diagrams of the methods, apparatus (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the flowchart and / or block diagram. Figure 1a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0098] These computer program instructions may 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 an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0099] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0100] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0101] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of 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 command detection mode, a door anti-collision mode, a parking assistance mode and a driving assistance mode. In the sleep mode, all functions of the door anti-collision radar are turned off; in the door opening command detection mode, the door anti-collision radar can only send and receive messages with the vehicle body bus; the door opening command detection mode is used to detect whether a person has opened the door, and determine the door to be opened based on the door opening behavior; the door anti-collision mode is used to monitor whether there is an obstacle outside the door during the door opening process, and control the door opening action according to the obstacle situation; the parking assistance mode is used to monitor the obstacle situation around the vehicle body when parking, and feed back 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 obstacle, and feed back the collision risk with the obstacle to the driver; wherein, the detection parameters of the door anti-collision radar are different in each working mode, and the control method specifically includes the following steps: monitoring messages on the vehicle body bus, and if the vehicle is currently in the sleep mode and receives any message, exiting the sleep mode and entering the standby mode; if no message is received for a period of time greater than a first threshold, exiting the current working mode and entering the sleep mode; Obtain key position, vehicle speed and door status through messages from the vehicle body bus; If the key is within the first range outside the vehicle, the door is not open and the vehicle speed is 0, then the door opening command detection mode is entered; if the key is outside the first range outside the vehicle, the door is open or the key is inside the vehicle, then the door opening command detection mode is exited; If the door opening button is pressed or the door opening action is detected, the door anti-collision mode is entered; if the door is already opened, the door anti-collision mode is exited; If the vehicle speed is within the second range and the door is closed, the parking assist mode is entered; if the door is open or the vehicle speed is outside the second range, the parking assist mode is exited; If the vehicle speed is greater than the second threshold 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 the second threshold, the driving assistance mode is exited.

2. The control method of the door anti-collision radar according to claim 1, characterized in that: The door opening command detection mode includes the following steps: Switching the detection parameters of the door anti-collision radar to the preset parameters of the door opening command detection mode; Obtaining 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 gate anti-collision radar performs track processing on all received clustered targets; Based on the track processing results of a certain number of frames, determine whether the target is approaching the vehicle from far to near. If so, proceed to the next step; Determine whether the target's trajectory stops in the designated door opening area, if so, proceed to the next step; Determine whether the key position is consistent with the target's track position. If so, proceed to the next step. According to the target's track stop position, the corresponding door opening signal is sent to the vehicle body bus to open the door at the corresponding position.

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

4. The control method of the door anti-collision radar according to claim 1, characterized in that: The door anti-collision mode includes the following steps: Switching the detection parameters of the door anti-collision radar to the preset parameters of the door anti-collision mode; Obtaining clustering algorithm and track processing algorithm parameters of the door collision avoidance mode; Clustering and track processing of data received by door collision avoidance radar; Based on the track processing results, it is determined whether there is an obstacle within the third range outside the door. If there is an obstacle, a stop door opening signal is sent to the body bus.

5. The control method of the door anti-collision radar according to claim 1, characterized in that: The parking assistance mode includes the following steps: Switching detection parameters of the door anti-collision radar to preset parameters of the parking assist mode; Obtaining clustering algorithm and track processing algorithm parameters of the parking assistance mode; Clustering and track processing of data received by door collision avoidance radar; Obtain obstacle information based on the track processing result, and send the obstacle information within the fourth range outside the vehicle to the body bus; Determine whether there is an obstacle within a third threshold outside the vehicle, and issue a warning signal if there is an obstacle.

6. The control method of the door anti-collision radar according to claim 1, characterized in that: The driving assistance mode includes the following steps: Switching detection parameters of the door anti-collision radar to preset parameters of the driving assistance mode; Obtaining clustering algorithm and track processing algorithm parameters of the driving assistance mode; Clustering and track processing of data received by door collision avoidance radar; Obtain obstacle information based on the track processing results, and send the obstacle information within the fifth range outside the vehicle to the body bus; The expected collision time between each obstacle and the vehicle is calculated based on the driving speed. If there is an obstacle with an expected collision time less than a fourth threshold, a warning signal is issued.

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

8. A control device for a door anti-collision radar, characterized in that: The system comprises a processor and a memory, wherein the memory is electrically connected to the processor, and 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 a computer program in the memory.

9. A door anti-collision control system, characterized in that: It comprises the control device according to claim 8 and at least two door collision avoidance radars, wherein the two door collision avoidance radars are respectively arranged on both sides of the vehicle body, and the door collision avoidance radars are 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 adopts millimeter wave radar.

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