System and method for preventing'door-opening collision 'based on ultrasonic induction expansion device

Abstract

The invention discloses a system and a method for preventing'door opening collision 'based on an ultrasonic induction expansion device, belongs to the technical field of vehicle safety application, and solves the problem that an existing'door opening collision prevention device' cannot accurately monitor obstacles in all directions and is easy to misjudge the obstacles. Comprising a three-dimensional induction area module, a control unit, an early warning module and an execution module, the three-dimensional induction area module is used for sending an induction signal to an obstacle, the obstacle reflects the received induction signal back to the three-dimensional induction area module, meanwhile, the three-dimensional induction area module sends the received induction signal to the control unit, the control unit analyzes and processes the received induction signal, and the control unit sends the analyzed and processed induction signal to the control unit. The analysis processing module is used for analyzing and processing the vehicle door and sending an analysis processing result to the early warning module, the early warning module sends an execution signal to the execution module while correspondingly reminding people in the vehicle based on the analysis processing result, and the execution module executes a corresponding command on the vehicle door based on the execution signal.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle safety applications, and particularly to a system and method for preventing "door-opening collision" based on an ultrasonic induction expansion device. Background Art

[0002] In daily traffic scenarios, "door-opening collision" accidents occur frequently, posing great safety hazards to pedestrians and vehicles. When a vehicle is parked by the roadside and a person inside the vehicle opens the door, if they do not pay attention to oncoming vehicles or pedestrians behind or to the side, it is extremely easy to cause a collision, resulting in casualties and property losses. Therefore, in order to minimize the frequent occurrence of "door-opening collision" accidents, a large number of vehicle door opening warning devices have been developed.

[0003] However, existing vehicle door opening warning devices have the following disadvantages: 1. Insufficient detection of blind spots: Traditional rearview mirrors can only provide limited rear vision, with large blind spots on the side and below. When there are objects or pedestrians close to the door or low-lying passing by, these blind spot objects are extremely easy to be ignored at the moment of opening the door, causing danger. 2. Inaccurate warning system: Common reversing radars have relatively large limitations. They only detect obstacles behind the vehicle, with a small coverage range, short detection distance and narrow angle for the side, and limited warning effect. Moreover, the existing simple door opening warning function has insufficient warning. It only reminds by turning on a warning light, which is very easy to be ignored and difficult to achieve the warning effect. 3. Lack of intelligent interconnection expansion: Most existing vehicle safety devices only focus on in-vehicle warnings and do not make full use of technologies such as the Internet of Vehicles to effectively communicate with pedestrians and other vehicles outside the vehicle. Pedestrians cannot know the vehicle's intention to open the door in advance and can only rely on their own observation and judgment, increasing the safety risks for both parties. For example, when a pedestrian is looking at their mobile phone and approaching a vehicle parked by the roadside, if the vehicle suddenly opens the door, the pedestrian is difficult to avoid in time.

[0004] Existing vehicle safety devices have deficiencies in lateral warning at the moment of opening the door, and there is an urgent need for an accurate and efficient prevention plan. To solve the above technical problems, Chinese Patent CN117485245A discloses an "anti-door-opening collision system, vehicle, method, and storage medium". Through sensors, exterior rearview mirror displays, ambient lights, instrument displays, voice announcements, etc., when a vehicle or pedestrian is detected coming from behind, a warning icon is displayed on the exterior rearview mirror, and the color of the ambient light turns red, reminding the driver to pay attention to the vehicle or pedestrian coming from behind before getting out of the car, thereby reducing the occurrence of door-opening collisions as much as possible. While protecting the personal safety of passing pedestrians, it also protects the life and property safety of the vehicle owner. Thus, the technical problems in the related art, such as the driver not observing the rearview mirror and the situation of surrounding vehicles and pedestrians when opening the door to get out of the car, resulting in the "door-opening collision phenomenon", are solved. However, only monitoring the obstacles near the door through sensors cannot achieve all-round and accurate monitoring of them. The misjudgment of "obstacles" as "non-obstacles" cannot eliminate the personal safety threat to the obstacles, and it is impossible to accurately judge the real obstacles, easily leading to the misjudgment of "non-obstacles" as "obstacles", which greatly wastes the time of the passengers in the car during the process of waiting for the obstacles to be eliminated.

[0005] In summary, the existing "anti-door-opening collision device" cannot accurately monitor obstacles in all directions and is prone to misjudging obstacles. Summary of the Invention

[0006] The present invention solves the problem that the existing "anti-door-opening collision device" cannot accurately monitor obstacles in all directions and is prone to misjudging obstacles.

[0007] The prevention "door-opening collision" system based on the ultrasonic induction expansion device of the present invention includes a three-dimensional sensing area module, a control unit, a warning module, and an execution module;

[0008] The three-dimensional sensing area module is used to emit sensing signals for obstacles. When the obstacles reflect the received sensing signals back to the three-dimensional sensing area module, the three-dimensional sensing area module sends the received sensing signals to the control unit. The control unit analyzes and processes the received sensing signals and sends the analysis and processing results to the warning module. The warning module makes corresponding reminders to the passengers in the car based on the analysis and processing results and sends an execution signal to the execution module at the same time. The execution module executes corresponding commands on the car door based on the execution signal.

[0009] Further, in an embodiment of the present invention, the three-dimensional sensing area module is a three-dimensional sensing area formed by combining a three-dimensional sensing area in the vertical direction and a three-dimensional sensing area in the horizontal direction.

[0010] Further, in an embodiment of the present invention, the three-dimensional induction area in the vertical direction is formed by combining small-sized sensors;

[0011] The three-dimensional induction area in the horizontal direction is formed by combining large-sized sensors;

[0012] The measurement range of the small-sized sensors is 10 cm to 1.5 m, the frequency is 40 kHz, the beam angle is 15° to 30°, and the response time < 50 ms;

[0013] The measurement range of the large-sized sensors is 0.5 m to 10 m, the frequency is 25 kHz, the beam angle is 30° to 60°, and the response time < 100 ms.

[0014] Further, in an embodiment of the present invention, 3 to 4 small-sized sensors are installed on each door, covering the area where the door opens 90° to 120°, tilting downward 10° to 20°, and the distance from the ground is 50 cm to 100 cm;

[0015] 2 to 3 large-sized sensors are installed respectively at the front and rear of the vehicle, and 1 to 2 large-sized sensors are installed respectively on both sides of the vehicle, covering the area of 120° to 180° of the vehicle, tilting downward 5° to 15°, and the distance from the ground is 40 cm to 80 cm.

[0016] Further, in an embodiment of the present invention, 3 small-sized sensors are installed in the vertical direction on each door. In the vertical direction, the 3 small-sized sensors are tilted downward 20°, horizontally, and upward 20° in sequence, and the 3 small-sized sensors cover the area where the door opens 90°;

[0017] 2 large-sized sensors are installed respectively at the front and rear of the vehicle, covering the area of 120° at the front and rear of the vehicle, and 1 large-sized sensor is installed respectively on both sides of the vehicle, covering the area of 180° on both sides of the vehicle, and all the large-sized sensors are tilted downward 10°.

[0018] The method for preventing "door opening collision" based on the ultrasonic induction expansion device of the present invention is implemented by using the system for preventing "door opening collision" based on the ultrasonic induction expansion device according to any of the above methods, and includes the following steps:

[0019] Step S1, when the vehicle is in the parking condition, while the three-dimensional induction area module continuously emits and receives induction signals, the three-dimensional induction area module sends the received induction signals to the control unit;

[0020] Step S2, the control unit analyzes and processes the received induction signals. If the analysis and processing result is that an obstacle is detected, step S3 is executed; otherwise, step S4 is executed;

[0021] In step S3, the control unit sends the analysis and processing result to the warning module. While the warning module makes corresponding reminders to the vehicle occupants based on the analysis and processing result, it also sends an execution signal to the execution module. The execution module executes the command to lock the vehicle doors until the detected obstacle disappears, and then step S4 is executed;

[0022] In step S4, the vehicle occupants open the door and get out of the vehicle.

[0023] Further, in an embodiment of the present invention, in step S2, the control unit analyzes and processes the received induction signal, specifically as follows:

[0024] While the control unit analyzes and processes the distance between the obstacle and the three-dimensional induction area module, it also analyzes the movement speed and direction of the obstacle.

[0025] Further, in an embodiment of the present invention, while the control unit analyzes and processes the distance between the obstacle and the three-dimensional induction area module, it also analyzes the movement speed and direction of the obstacle, specifically as follows:

[0026] The control unit analyzes and processes the distance between the obstacle and the three-dimensional induction area module, and compares it with the distance threshold set by the control unit. When the data fusion result is less than the distance threshold, the analysis result is that an obstacle is detected;

[0027] The control unit performs data fusion on the induction signals received by the three-dimensional induction area module based on the weights of the small-scale sensors and large-scale sensors in the three-dimensional induction area module. Based on the data fusion result, it analyzes the movement speed and direction of the obstacle. If the control unit analyzes that the movement direction of the obstacle is towards the vehicle door, the analysis result is that an obstacle is detected.

[0028] Further, in an embodiment of the present invention, the weight of the small-scale sensors in the three-dimensional induction area module is as follows:

[0029]

[0030] Wherein, W S is the weight of the small-scale sensor, P S is the accuracy of the small-scale sensor, D S is the distance measured by the small-scale sensor, D T is the obstacle distance, D L is the distance measured by the large-scale sensor;

[0031]

[0032] Wherein, W L is the weight of the large-scale sensor, P LFor the accuracy of large-sized sensors.

[0033] Further, in an embodiment of the present invention, in step S3, when the detected obstacle disappears, specifically:

[0034] The stereoscopic sensing area module and the control unit repeatedly execute steps S1 to S2 until the analysis and processing result is that no obstacle is detected.

[0035] The present invention solves the problem that the existing "door opening collision prevention device" cannot accurately monitor obstacles in all directions and is prone to misjudging obstacles. The specific beneficial effects include:

[0036] 1. For the "door opening collision" prevention system based on the ultrasonic induction expansion device of the present invention, the existing "door opening collision prevention device" cannot accurately monitor obstacles in all directions and is prone to misjudging obstacles. Through the mutual cooperation of the stereoscopic sensing area module and the control unit, the present invention can perceive obstacles in all directions and achieve accurate judgment of obstacles;

[0037] 2. For the "door opening collision" prevention method based on the ultrasonic induction expansion device of the present invention, advanced intelligent algorithms are used to analyze multiple groups of continuous signals collected by the stereoscopic sensing area module. By comparing the characteristic changes of signal frequency, amplitude, phase, etc., and combining with a preset interference model, real obstacles and environmental interference factors can be accurately distinguished. At the same time, sensors of different sizes are reasonably arranged to avoid signal cross-interference caused by their own positions and reduce the misjudgment source. The intelligent algorithm uses signal characteristic differences to identify interference, and the layout optimization reduces self-interference. The combination of the two reduces the possibility of misjudgment from the source, ensures accurate and reliable early warning, and avoids causing trouble to the driver. Description of the Drawings

[0038] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0039] Figure 1 It is a schematic diagram of the array distribution of the stereoscopic sensing area module described in Embodiment 3;

[0040] Figure 2 It is a schematic diagram of the operation scenario described in Embodiment 4;

[0041] Figure 3 It is a system diagram of the "door opening collision" prevention system based on the ultrasonic induction expansion device described in Embodiment 1. Specific Embodiments

[0042] The following will clearly and completely describe various embodiments of the present invention in conjunction with the accompanying drawings. The embodiments described by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0043] Embodiment 1. The "door opening collision prevention" system based on an ultrasonic induction expansion device described in this embodiment includes a three-dimensional induction area module, a control unit, a warning module, and an execution module;

[0044] The three-dimensional induction area module is used to emit induction signals for obstacles. While the obstacles reflect the received induction signals back to the three-dimensional induction area module, the three-dimensional induction area module sends the received induction signals to the control unit. The control unit analyzes and processes the received induction signals, and sends the analysis and processing results to the warning module. While the warning module makes corresponding reminders to the vehicle occupants based on the analysis and processing results, it sends an execution signal to the execution module, and the execution module executes corresponding commands on the vehicle door based on the execution signal.

[0045] In the prior art, the "door opening collision prevention device" cannot accurately monitor obstacles in all directions and is prone to misjudging obstacles.

[0046] To solve the above technical problems, as Figure 3 shown, this embodiment designs a "door opening collision prevention" system based on an ultrasonic induction expansion device. The system includes a three-dimensional induction area module, a control unit, a warning module, and an execution module;

[0047] The three-dimensional induction area module forms a three-dimensional induction area, which can effectively emit and receive ultrasonic waves of different frequencies to accurately monitor the space near the vehicle;

[0048] The physical properties of ultrasonic waves themselves determine that their propagation is minimally affected by environmental factors such as light, rain, and snow. In addition, the device is equipped with an adaptive signal gain adjustment function. In complex environments, such as dim light and rainy or snowy weather, it can automatically adjust the gain of ultrasonic signals to enhance the signal strength and ensure that the effective detection distance and accuracy are not affected. Since ultrasonic waves do not rely on light for propagation, they are not affected by the brightness or darkness of light or the obstruction of sight by rain or snow. The adaptive gain adjustment further compensates for the attenuation of the signal by the environment and maintains stable monitoring of the conditions around the vehicle door.

[0049] The control unit is connected to the three-dimensional induction area module and is responsible for receiving the ultrasonic reflection signals sent by the three-dimensional induction area module and performing real-time analysis and processing. It uses a high-performance microprocessor with fast data operation capabilities and can determine whether an object has entered the induction area within milliseconds. The control unit is built-in with preset dangerous distance thresholds and object movement speed judgment algorithms, which are dynamically adjusted according to different road conditions and vehicle states;

[0050] Built-in high-speed response microprocessor, once receiving the obstacle detection signal from the ultrasonic sensor, can complete signal processing and judgment within an extremely short time (usually at the millisecond level). And it is connected with a dedicated sound and light alarm module, which is directly connected to the vehicle power system to ensure stable power supply and be ready to issue an alarm at any time. The fast computing ability of the microprocessor enables the system to quickly detect danger, and the instant response and stable power supply of the sound and light alarm module ensure the timeliness of early warning, allowing the driver to immediately know the risk and abort the door opening action.

[0051] The early warning module is connected to the control unit and is activated when the control unit determines that there is a risk of "door opening collision". It includes a sound and light alarm in the vehicle, which is set at positions where the driver and passengers in the vehicle can easily notice, such as above the dashboard and above the door interior trim panel. The alarm sound uses a sharp and rapid beeping sound, and the light selects a flashing red warning light with an alternating flashing frequency of 3 - 5 times per second to strongly remind the people in the vehicle not to open the door temporarily;

[0052] The three-dimensional sensing area module is directly connected to the vehicle's execution module. When the early warning module issues an alarm, it simultaneously sends a signal to the execution module to temporarily prohibit the door from being opened, preventing the people in the vehicle from accidentally opening the door.

[0053] Therefore, in this embodiment, by setting the three-dimensional sensing area module, while it can accurately monitor obstacles in all directions of the door, the three-dimensional sensing area module sends the ultrasonic reflection signals it receives to the control unit, and the control unit analyzes and processes the received ultrasonic reflection signals. Based on the analysis and processing results, it can accurately monitor the movement direction and speed of the obstacles, thereby determining the real "obstacles" and improving the efficiency of judging "obstacles".

[0054] Embodiment 2: This embodiment further limits the prevention "door opening collision" system based on the ultrasonic induction expansion device described in Embodiment 1. The three-dimensional sensing area module is a three-dimensional sensing area formed by combining a three-dimensional sensing area in the vertical direction and a three-dimensional sensing area in the horizontal direction.

[0055] In this embodiment, the three-dimensional sensing area in the vertical direction is formed by combining small-sized sensors;

[0056] The three-dimensional sensing area in the horizontal direction is formed by combining large-sized sensors;

[0057] The measurement range of the small-sized sensors is 10 cm - 1.5 m, the frequency is 40 kHz, the beam angle is 15° - 30°, and the response time < 50 ms;

[0058] The large-scale sensor has a measurement range of 0.5m to 10m, a frequency of 25kHz, a beam angle of 30° to 60°, and a response time of <100ms.

[0059] In this embodiment, 3 to 4 small-sized sensors are installed on each door, covering the door opening area of 90° to 120°, tilted downward by 10° to 20°, and 50cm to 100cm from the ground;

[0060] The large-scale sensors are installed 2 to 3 at the front and rear of the vehicle, and 1 to 2 on both sides of the vehicle, covering an area of 120° to 180° of the vehicle, tilted downward by 5° to 15°, and 40cm to 80cm from the ground.

[0061] In this embodiment, the stereoscopic sensing area module is a stereoscopic sensing area formed by the combination of a vertical stereoscopic sensing area and a horizontal stereoscopic sensing area. The vertical stereoscopic sensing area is formed by a combination of small-sized sensors, and the horizontal stereoscopic sensing area is formed by a combination of large-sized sensors. This embodiment uses a highly sensitive ultrasonic sensor that can effectively transmit and receive ultrasonic waves of different frequencies to meet the detection needs of objects made of various materials. At the same time, the rationally optimized ultrasonic transmission and reception circuits ensure the strength and stability of the signal, so that even objects with weak reflection signals can be accurately captured. Objects of different materials have significantly different reflection characteristics for ultrasonic waves. The highly sensitive ultrasonic sensor can capture these subtle differences, and the stable circuit ensures that the signal is not distorted, thereby fully sensing obstacles of different materials and shapes and avoiding detection blind spots.

[0062] When installing and using both small and large sensors, you need to set relevant parameters, including frequency. Ultrasonic sensors have different operating frequencies, with 40kHz and 58kHz being common. The choice of frequency affects the sensor's detection range, resolution, and anti-interference capabilities. Generally speaking, lower-frequency sensors have a wider detection range but lower resolution, while higher-frequency sensors have higher resolution but potentially a narrower detection range. Detection range setting: Set the appropriate detection range based on the actual application scenario. This can be achieved using the sensor's adjustment knob or software programming. Sensitivity setting: Adjust the sensor's sensitivity to suit different detection environments and objects. In noisy environments with a lot of interfering sound waves, you may need to reduce the sensitivity appropriately. When detecting smaller or less reflective obstacles, you may need to increase the sensitivity.

[0063] The following are the parameters for sensors of different sizes:

[0064] (1) Small-sized sensors (for detection near the car door):

[0065] The measurement range is 10 cm to 1.5 m, the frequency is 40 kHz, used to achieve short-distance high-precision detection, the beam angle is 15° to 30°, used to reduce interference, the response time < 50 ms, used for short-distance detection, the installation height is 50 cm to 100 cm, used to achieve coverage of pedestrians, bicycles, etc., 3 to 4 are installed on each car door. Horizontally, it covers a 90° to 120° area of the car door opening, that is, each small-sized sensor covers a 30° area of the car door opening. Vertically, it is slightly tilted downward by 10° to 20° to detect obstacles near the ground.

[0066] (2) Large-sized sensors (for detection around the vehicle):

[0067] The measurement range is 0.5 m to 10 m, the frequency is 25 kHz, used for long-distance detection, the beam angle is 30° to 60°, covering a larger area, the response time < 100 ms, used for medium- and long-distance detection, the installation height is 40 cm to 80 cm, used to cover the vehicle, pedestrians, etc. 2 to 3 are installed in the front and rear of the vehicle respectively, and 1 to 2 are installed on each side of the vehicle. Horizontally, it covers a 120° to 180° area around the vehicle. Vertically, it is horizontal or slightly tilted downward by 5° - 15° to detect ground and low-altitude obstacles.

[0068] Embodiment 3: This embodiment further limits the prevention of "door opening collision" system based on the ultrasonic induction expansion device described in Embodiment 2. Three small-sized sensors are installed in the vertical direction of each car door. Vertically, the three small-sized sensors are successively tilted downward by 20°, horizontally, and tilted upward by 20°, and the three small-sized sensors cover a 90° area of the car door opening;

[0069] Two large-sized sensors are installed in the front and rear of the vehicle respectively, covering a 120° area in the front and rear of the vehicle, and one is installed on each side of the vehicle, covering a 180° area on both sides of the vehicle, and all large-sized sensors are tilted downward by 10°.

[0070] Embodiment 2 limits the parameters of the sensors with different sizes in the three-dimensional sensing area module. However, to achieve the function of the three-dimensional sensing area module described in Embodiment 1, it is necessary for the sensors with different sizes to work together. It is not the case that any parameters of the sensors with different sizes can achieve the effect of three-dimensional monitoring of obstacles. Therefore, as Figure 1 shown, based on the function to be achieved by the three-dimensional sensing area module in this embodiment, the layout information of the sensors with different sizes is set in detail, specifically as follows:

[0071] (1) Small-scale sensors (door area):

[0072] Three sensors are installed on each door. The first sensor is installed at the lower part to detect obstacles near the ground, the second sensor is installed in the middle to detect medium-height obstacles, and the third sensor is installed at the upper part to detect higher-position obstacles. Horizontally, each sensor covers 30°, with a total coverage of 90°. Vertically, the first sensor tilts downward by 20°, the second sensor is horizontal, and the third sensor tilts upward by 10°.

[0073] (2) Large-scale sensors (around the vehicle):

[0074] Two sensors are installed in the front and rear of the vehicle respectively, and one sensor is installed on each side of the vehicle. The large-scale sensors in the front cover a 120° area in front of the vehicle. The large-scale sensors in the rear cover a 120° area behind the vehicle. The large-scale sensors on the side cover a 180° area on the side of the vehicle. Horizontally, the large-scale sensors in the front and rear cover 120°, and the large-scale sensors on the side cover 180°. Vertically, all large-scale sensors tilt slightly downward by 10° to detect obstacles near the ground.

[0075] Based on the above settings of the parameters of sensors of different specifications, a three-dimensional sensing area module can be formed to form a three-dimensional sensing area. The specific reasons are as follows:

[0076] (1) Horizontal coverage (plane detection):

[0077] The small-scale sensors form a dense detection area near the door, covering the fan-shaped area when the door is opened.

[0078] Large-scale sensors: Form a large-range detection area in the front, rear and sides of the vehicle, covering moving objects around the vehicle.

[0079] Overlapping area: The detection areas of the small-scale sensors and the large-scale sensors partially overlap to ensure seamless coverage.

[0080] (2) Vertical coverage (height detection):

[0081] Small-scale sensors: Detect obstacles near the ground (such as pedestrians, bicycles) by adjusting the vertical angle.

[0082] Large-scale sensors: Detect higher obstacles such as vehicles and pedestrians by adjusting the vertical angle.

[0083] Multi-layer detection: By arranging sensors at different heights, a multi-layer detection area is formed, covering the range from the ground to the height of the vehicle body.

[0084] (3) Realization of the three-dimensional detection area:

[0085] Door area: Small-sized sensors cover the short-distance area near the door to form a high-precision three-dimensional detection.

[0086] For example, three sensors respectively cover the lower, middle, and upper parts of the door to form a three-dimensional detection in the vertical direction.

[0087] Around the vehicle: Large-sized sensors cover the long-distance area around the vehicle to form a large-range three-dimensional detection.

[0088] For example, the front and rear sensors cover the front and rear areas of the vehicle, and the side sensors cover the side areas of the vehicle to form a three-dimensional detection in the horizontal direction.

[0089] Therefore, in this embodiment, by setting the parameters of sensors with different sizes, a three-dimensional sensing area module is formed, and based on the three-dimensional sensing area module, an all-round and accurate monitoring of obstacles is realized.

[0090] Embodiment 4. The method for preventing "door-opening collision" based on the ultrasonic induction expansion device described in this embodiment is implemented by using the system for preventing "door-opening collision" based on the ultrasonic induction expansion device described in any one of Embodiments 1-3, and includes the following steps:

[0091] Step S1, when the vehicle is in the parking condition, while the three-dimensional sensing area module continuously emits and receives sensing signals, the three-dimensional sensing area module sends the received sensing signals to the control unit;

[0092] Step S2, the control unit analyzes and processes the received sensing signals. If the analysis and processing result is that an obstacle is detected, then step S3 is executed; otherwise, step S4 is executed;

[0093] Step S3, the control unit sends the analysis and processing result to the warning module. While the warning module makes corresponding reminders to the vehicle occupants based on the analysis and processing result, it sends an execution signal to the execution module, and the execution module executes the command to lock the vehicle door until the detected obstacle disappears, then step S4 is executed;

[0094] Step S4, the vehicle occupants open the door and get out of the vehicle.

[0095] In this embodiment, during the vehicle production and manufacturing process, the three-dimensional sensing area module is accurately installed at the designated positions on the door and the vehicle body according to the design layout, ensuring that the sensors are firmly installed and the angles are accurate, so as to guarantee the ultrasonic emission and reception effects. Connect the lines between the control unit and each sensor, warning module, and execution module, and conduct strict electrical performance tests and signal calibrations. Before the vehicle rolls off the production line, simulate different traffic scenarios, such as a pedestrian approaching from the side when the vehicle is stationary, or a bicycle passing through when the vehicle is driving at a low speed, etc., to comprehensively debug the system and ensure the accuracy and timeliness of warning and door locking.

[0096] To ensure the efficient operation of the autonomous valet parking function, a drop-off area and a pick-up area should be set up at places convenient for the driver and passengers to get on and off the vehicle, such as outside the entrance and exit of the ground parking lot or at the elevator entrances in the underground parking lot. This location should also take into account the convenience of the driver and passengers to reach their destinations.

[0097] When the vehicle stops and the engine is turned off (or the vehicle speed is lower than a set threshold, such as 10 km / h, at this time the vehicle is likely to be in a parked or about-to-park state, and the risk of opening the door is high), the three-dimensional sensing area module automatically starts, continuously emits ultrasonic waves, and receives the reflected signals. The control unit calculates the distance between the sensor and the surrounding objects based on the propagation time and speed of the ultrasonic waves. If a certain sensor detects a sudden decrease in the distance, and the decrease amplitude exceeds the preset safety range (such as approaching rapidly within 50 cm), the warning mechanism is immediately triggered, and it is determined that there may be a risk of door-opening collision.

[0098] During the slow driving process of the vehicle (the vehicle speed is lower than 30 km / h, in this working condition, the vehicle may also have the need to open the door temporarily for parking, but the surrounding environment is relatively complex), the three-dimensional sensing area module is also in a working state. At this time, the control unit not only pays attention to the distance between the object and the sensor, but also combines the feedback data of multiple sensors, and uses algorithms such as triangulation and weighted average to analyze the movement direction and speed of the object. If it is detected that an object is approaching from the side rear at a relatively high speed (such as more than 1 meter per second), and is about to enter the dangerous area where the door is to be opened, a warning signal is sent in advance to remind the driver to pay attention and open the door carefully. Even if the vehicle has not come to a complete stop, but is already in a high-risk period for opening the door, the system can still play a role and effectively prevent accidents caused by opening the door too early.

[0099] As Figure 2 shown, in order to better illustrate the method for preventing "door-opening collision" based on the ultrasonic induction expansion device described in this embodiment, it is described in detail through the following embodiments:

[0100] Urban roadside parking: A vehicle pulls into a roadside parking space, the driver turns off the engine, and passengers prepare to exit. The ultrasonic sensing system activates. A pedestrian approaches quickly from the side and rear of the vehicle, attempting to cross the road. When the pedestrian enters the dangerous door opening zone, approximately 1.5 meters away, an audible and visual alarm sounds inside the vehicle, locking the door. The driver, aware of the danger, temporarily holds the door closed. Once the pedestrian passes, the alarm clears and the door can be opened normally.

[0101] Therefore, the "door opening collision" prevention method based on the three-dimensional sensing area module can effectively remind the occupants of the risk of opening the door, maximize the safety of opening the door, and play a good role in preventing "door opening collision".

[0102] Embodiment 5: This embodiment further limits the method for preventing "door opening collision" based on the ultrasonic sensing expansion device described in Embodiment 4. In step S2, the control unit analyzes and processes the received sensing signal, specifically:

[0103] The control unit analyzes the distance between the obstacle and the three-dimensional sensing area module while analyzing the movement speed and direction of the obstacle.

[0104] In this embodiment, the control unit analyzes the distance between the obstacle and the 3D sensing area module while analyzing the speed and direction of the obstacle. Specifically,

[0105] The control unit analyzes the distance between the obstacle and the 3D sensing area module and compares it with the distance threshold set by the control unit. When the data fusion result is less than the distance threshold, the analysis result is that the obstacle is detected;

[0106] The control unit performs data fusion on the sensing signals received by the stereoscopic sensing area module based on the weights of the small-scale sensors and the large-scale sensors in the stereoscopic sensing area module, and analyzes the movement speed and direction of the obstacle based on the data fusion results. If the control unit analyzes that the obstacle is moving toward the vehicle door, the analysis result is that an obstacle is detected.

[0107] In this embodiment, the control unit processes the sensing signal sent by the 3D sensing area module, specifically including:

[0108] 1) Filtering: Filtering techniques are often used to remove environmental noise. For example, a bandpass filter can be used to filter out noise signals whose frequencies are outside the sensor's operating frequency range. If the sensor's operating frequency is 40kHz, the bandpass filter can be set to only allow signals between 25 and 42kHz to pass, thereby improving the signal-to-noise ratio of the received signal.

[0109] 2) Time difference calculation: Calculate the distance to the obstacle based on the time difference between the ultrasonic signal emission and reception. The propagation speed of ultrasonic waves in air is approximately 343 m / s (under standard atmospheric pressure and at 15 °C). According to the formula:

[0110] d = v × t / 2;

[0111] where d is the distance, v is the propagation speed of ultrasonic waves, and t is the time difference. The distance to the obstacle can be calculated. For example, if the time difference is 0.002 s, then the distance between the obstacle and the sensor is approximately 343 × 0.002 / 2 = 0.343 m.

[0112] 3) Set a distance threshold: Set a distance threshold according to the application requirements. When the detected distance to the obstacle is less than this threshold, it is determined that there is an obstacle. In this embodiment, according to the speed of pedestrians or vehicles, the safety distance threshold may be set to 10 meters. When the three-dimensional sensing area module detects that the distance to the obstacle is less than this threshold, it is preliminarily determined as a potential dangerous target. The calculation formula is: d < d threshold , where d is the detected distance to the obstacle, and d threshold is the distance threshold.

[0113] And the control unit, based on the weights of the small-sized sensors and large-sized sensors in the three-dimensional sensing area module, performs data fusion on the sensing signals received by the three-dimensional sensing area module, analyzes the movement speed and direction of the obstacle based on the data fusion result. If the control unit analyzes that the movement direction of the obstacle is towards the car door, the analysis result is that an obstacle is detected.

[0114] Therefore, the control unit has a preset dangerous distance threshold and an object movement speed judgment algorithm built-in, which can accurately monitor the real "obstacle" while preventing the occurrence of the "door opening collision" phenomenon.

[0115] Embodiment Six: This embodiment further limits the method for preventing "door opening collision" based on the ultrasonic induction expansion device described in Embodiment Five. The weight of the small-sized sensors in the three-dimensional sensing area module is:

[0116]

[0117] where W S is the weight of the small-sized sensors, P S is the accuracy of the small-sized sensors, D S is the distance measured by the small-sized sensors, D T is the distance to the obstacle, and D L is the distance measured by the large-sized sensors;

[0118]

[0119] Among them, W L is the weight of the large-sized sensor, and P L is the accuracy of the large-sized sensor.

[0120] In order to achieve the precise monitoring of the movement direction and speed of the obstacle by the control unit described in Embodiment 5, it is necessary to perform fusion processing on the data of each sensor. Methods such as weighted average and Kalman filtering can be used. First, it is necessary to set the weights of sensors of different sizes. The weighted average method is adopted. The reasons are as follows:

[0121] 1) The data of ultrasonic sensors are usually distance measurement values, with simple data forms, which are suitable for the weighted average method.

[0122] 2) The weighted average method is simple to calculate and has strong real-time performance, which is suitable for embedded systems or real-time applications.

[0123] 3) The performance and reliability of sensors of different specifications can be flexibly reflected through weight adjustment.

[0124] For the weighted average method, the most important thing is to determine the weight distribution problem of sensors of different sizes. The weight setting method of this embodiment is as follows:

[0125] The weight of the small-sized sensor in the stereoscopic sensing area module described is:

[0126]

[0127] Among them, W S is the weight of the small-sized sensor, P S is the accuracy of the small-sized sensor, D S is the distance measured by the small-sized sensor, D T is the obstacle distance, D L is the distance measured by the large-sized sensor;

[0128]

[0129] Among them, W L is the weight of the large-sized sensor, P L is the accuracy of the large-sized sensor.

[0130] In this embodiment, when setting the weights of sensors of different sizes, various factors such as the accuracy, measurement distance, and environmental adaptability of sensors of different sizes need to be considered. Based on this weight, the effective fusion of sensors of different sizes is achieved.

[0131] Embodiment 7. This embodiment further limits the method for preventing "door opening collision" based on the ultrasonic induction expansion device described in Embodiment 4. In step S3, the disappearance of the detected obstacle specifically means:

[0132] The three-dimensional induction area module and the control unit repeatedly execute steps S1 to S2 until the analysis and processing result is that no obstacle is detected.

[0133] In this embodiment, until the control unit determines that the danger is lifted, that is, it detects that the lateral object has moved away from the danger area and maintains a safe distance (such as more than 1 meter) for 3 to 5 seconds, the restriction on the door lock is lifted to allow normal door opening operation.

[0134] The above has introduced in detail the system and method for preventing "door opening collision" based on the ultrasonic induction expansion device proposed by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A prevention "door opening collision" system based on an ultrasonic induction expansion device, characterized in that It includes a three-dimensional sensing area module, a control unit, a warning module, and an execution module; The three-dimensional sensing area module is used to emit sensing signals for obstacles. While the obstacles reflect the received sensing signals back to the three-dimensional sensing area module, the three-dimensional sensing area module sends the received sensing signals to the control unit. The control unit analyzes and processes the received sensing signals, and sends the analysis and processing results to the warning module. While the warning module makes corresponding reminders to the vehicle occupants based on the analysis and processing results, it sends an execution signal to the execution module, and the execution module executes corresponding commands on the vehicle door based on the execution signal.

2. The anti-"door collision" system based on the ultrasonic induction expansion device according to claim 1, wherein The three-dimensional sensing area module mentioned above is a three-dimensional sensing area formed by combining a three-dimensional sensing area in the vertical direction and a three-dimensional sensing area in the horizontal direction.

3. The anti-"door collision" system based on the ultrasonic induction expansion device according to claim 2, wherein The three-dimensional sensing area in the vertical direction is formed by combining small-sized sensors; The three-dimensional sensing area in the horizontal direction is formed by combining large-sized sensors; The measurement range of the small-sized sensors is 10 cm to 1.5 m, the frequency is 40 kHz, the beam angle is 15° to 30°, and the response time < 50 ms; The measurement range of the large-sized sensors is 0.5 m to 10 m, the frequency is 25 kHz, the beam angle is 30° to 60°, and the response time < 100 ms.

4. The anti-"door collision" system based on the ultrasonic induction expansion device according to claim 3, characterized in that, 3 to 4 small-sized sensors are installed on each vehicle door, covering the area where the vehicle door opens 90° to 120°, tilting downward 10° to 20°, and at a distance of 50 cm to 100 cm from the ground; 2 to 3 large-sized sensors are installed respectively in the front and rear of the vehicle, and 1 to 2 large-sized sensors are installed respectively on both sides of the vehicle, covering the area of the vehicle 120° to 180°, tilting downward 5° to 15°, and at a distance of 40 cm to 80 cm from the ground.

5. The anti-"door collision" system based on the ultrasonic induction expansion device according to claim 4, characterized in that, 3 small-sized sensors are installed in the vertical direction on each vehicle door. In the vertical direction, the 3 small-sized sensors tilt downward 20°, horizontally, and upward 20° in sequence, and the 3 small-sized sensors cover the area where the vehicle door opens 90°; 2 large-sized sensors are installed respectively in the front and rear of the vehicle, covering the area of 120° in the front and rear of the vehicle, and 1 large-sized sensor is installed respectively on both sides of the vehicle, covering the area of 180° on both sides of the vehicle, and all the large-sized sensors tilt downward 10°.

6. The method for preventing "door opening collision" based on an ultrasonic induction expansion device, which is implemented by using the system for preventing "door opening collision" based on an ultrasonic induction expansion device according to any one of claims 1-5, is characterized in that, It includes the following steps: Step S1, when the vehicle is in the parking condition, while the three-dimensional sensing area module continuously emits and receives sensing signals, the three-dimensional sensing area module sends the received sensing signals to the control unit; Step S2, the control unit analyzes and processes the received sensing signals. If the analysis and processing result is that an obstacle is detected, then step S3 is executed; otherwise, step S4 is executed; Step S3, the control unit sends the analysis and processing result to the warning module. While the warning module makes corresponding reminders to the vehicle occupants based on the analysis and processing result, it sends an execution signal to the execution module, and the execution module executes the command to lock the vehicle door until the detected obstacle disappears, then step S4 is executed; Step S4, the vehicle occupants open the door and get out of the vehicle.

7. The method for preventing "door opening collision" based on the ultrasonic induction expansion device according to claim 6, characterized in that, In step S2 mentioned above, when the control unit analyzes and processes the received sensing signals, specifically: While analyzing and processing the distance between the obstacle and the three-dimensional sensing area module, the control unit analyzes the moving speed and direction of the obstacle.

8. The method for preventing "door opening collision" based on the ultrasonic induction expansion device according to claim 7, characterized in that, While analyzing and processing the distance between the obstacle and the three-dimensional sensing area module, the control unit analyzes the moving speed and direction of the obstacle, specifically: The control unit analyzes and processes the distance between the obstacle and the three-dimensional sensing area module, and compares it with the distance threshold set by the control unit. When the data fusion result is less than the distance threshold, the analysis result is that an obstacle is detected. Based on the weights of the small-scale sensors and large-scale sensors in the three-dimensional sensing area module, the control unit performs data fusion on the sensing signals received by the three-dimensional sensing area module, and analyzes the moving speed and direction of the obstacle based on the data fusion result. If the control unit analyzes that the moving direction of the obstacle is towards the car door, the analysis result is that an obstacle is detected.

9. The method for preventing "door opening collision" based on the ultrasonic induction expansion device according to claim 8, wherein, The weight of the small-scale sensors in the three-dimensional sensing area module is: Among them, W S is the weight of the small-sized sensor, P S is the accuracy of the small-sized sensor, D S is the distance measured by the small-sized sensor, D T is the obstacle distance, D L is the distance measured by the large-sized sensor; Among them, W L is the weight of the large-sized sensor, and P L is the accuracy of the large-sized sensor.

10. The method for preventing "door opening collision" based on the ultrasonic induction expansion device according to claim 6, characterized in that In step S3, the disappearance of the detected obstacle specifically means: The three-dimensional sensing area module and the control unit repeatedly execute steps S1 to S2 until the analysis and processing result is that no obstacle is detected.

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