Vehicle door opening anti-collision early warning method based on V2X and processing terminal

Abstract

The invention discloses a V2X-based vehicle door opening anti-collision early warning method and a processing terminal, and the method comprises the steps: determining a vehicle with a vehicle door in an unlocking state as a target current vehicle, screening out a behavior body which is intersected and overlapped with the target current vehicle in a physical space in a first time, the first time is the time when the behavior body moves from the current position to the position of the target current vehicle, and the target current vehicle executes a door opening action within the first time, comparing the first time with the second time, and judging whether collision exists during vehicle door opening based on a comparison result so as to decide whether to send out an anti-collision early warning. The second time is the sum of the time consumed from the current opening angle of the vehicle door of the target current vehicle to the maximum opening angle of the vehicle door when the vehicle door is completely opened and the response time of the passengers. Through a dual judgment mechanism, whether the vehicle doors collide or not can be more accurately judged, the early warning accuracy is improved, and the situations of misjudgment and missed judgment are avoided or reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle door opening collision avoidance, and specifically to a vehicle door opening collision avoidance warning method and processing terminal based on V2X. Background Art

[0002] To address the collision risk caused by opening vehicle doors, most traditional approaches use technical solutions based on camera and radar perception to identify the collision risks caused by static obstacles around the vehicle. However, such technical solutions based on cameras and radars have the disadvantage of being difficult to identify whether there is a collision risk for objects that are farther away from the vehicle or moving at a high speed. In particular, traffic participants coming out of a corner are often unable to be identified because they are in the blind spots of the radar and camera, which leads to collision risks.

[0003] To address the issue of camera- and radar-based solutions failing to identify collision risks in certain scenarios, some existing technologies employ V2X-based vehicle door-opening collision warnings. For example, the applicant retrieved a Chinese invention patent application with publication number CN113223311A, which discloses the use of V2X-based vehicle door-opening collision warnings. This approach primarily uses V2X to enable communication between the current vehicle and other traffic participants, thereby obtaining driving parameters of the current vehicle and other traffic participants. Based on these parameters, the system then determines whether there is a potential for collision in space, thereby providing a vehicle door-opening collision warning.

[0004] Existing technologies similar to the Chinese invention patent application do not take into account the passenger's reaction speed and the maximum opening angle and door opening time, which will affect the accuracy of the door opening anti-collision warning, especially for high-speed moving objects. Based on existing technologies such as the Chinese invention patent application, when ignoring the passenger's reaction speed and the door opening angle and door opening time factors, although it is judged that there is no possibility of collision in space, the possibility of collision still exists in reality, and the probability is high. Therefore, there is a shortcoming of low warning accuracy, that is, there are cases of misjudgment or missed judgment. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a V2X-based vehicle door opening anti-collision warning method and processing terminal, which can solve the problems described in the background technology.

[0006] The technical solution for achieving the purpose of the present invention is: a vehicle door opening anti-collision warning method based on V2X, comprising the following steps: Determine the vehicle with its doors unlocked as the target current vehicle, Filter out the actors that have physical space overlap with the target current vehicle within the first time. The first time is the time it takes for the actor to move from its current location to the location of the target current vehicle, and the target current vehicle performs the door opening action within the first time. Compare the first time and the second time, and based on the comparison result, determine whether there is a collision when the vehicle opens the door, so as to decide whether to issue an anti-collision warning. The second time is the current opening angle of the door of the target vehicle The time it takes from the start to the maximum door opening angle when the door is fully opened and the passenger reaction time sum.

[0007] Furthermore, door status information is obtained by detecting the current door status of the vehicle, and whether the door is in an unlocked state is determined based on the door status information.

[0008] Furthermore, the surrounding actors of the target current vehicle are first screened out, and then, among the surrounding actors, actors that have physical spatial overlap with the target current vehicle within the first time are screened out.

[0009] Furthermore, the surrounding actors of the target current vehicle are screened out. The specific implementation process includes the following steps: Step 21: Calculate the angle between the first vector and the second vector, and determine whether the angle is an acute angle. The first vector is the vector formed by the line connecting the center of mass of the action body and the center of mass of the target current vehicle. The direction is that the action body points to the target current vehicle. The second vector is the velocity vector of the action body. If the angle is an acute angle, proceed to step 22; otherwise, exclude the actor from being a surrounding actor; Step 22: Determine whether the actor is in the same lane as the target current vehicle based on the lane width and the position of the lane centerline of the target current vehicle. If so, the actor is a peripheral actor; otherwise, the actor is a non-peripheral actor.

[0010] Furthermore, the specific implementation process of screening out the actors that have physical spatial overlap with the target current vehicle within the first time includes the following steps: The first plane coordinate system is established at the current location of the target current vehicle. The origin O of the first plane coordinate system is the closest position between the center line of the lane where the target current vehicle is located and the center of mass of the target current vehicle. The direction tangent to the origin O is the Y axis, and the direction perpendicular to the Y axis and along the center line of the lane away from the roadside of the target current vehicle is the X axis. A second plane coordinate system is established at the location of the object. The origin O' of the second plane coordinate system is the position of the object closest to the center of mass of the object on the center line of the lane. The direction tangent to the origin O' is the Y axis, and the direction perpendicular to the Y axis and along the center line of the lane away from the roadside of the object is the X axis. Get the maximum opening Lmax of the door of the target current vehicle, the maximum opening L max =L d *sin(θ max ), L d is the door length of the target current vehicle, θ max is the maximum opening angle of the door; Determine whether the relationship between the actor and the target current vehicle meets condition 1. If so, determine whether the actor and the door of the target current vehicle have physical space overlap within the first time. Condition 1: If the door of the target vehicle is currently unlocked on the right side, then equation ① is met. If the door of the target vehicle is currently unlocked on the left side, then equation ② is met:

[0011] ------①

[0012] ------② Where, Indicates the width of the target vehicle. Indicates the width of the actor, Indicates the speed of the actor in the X-axis direction of the second plane coordinate system, represents the speed of the actor in the Y-axis direction of the second plane coordinate system, S represents the path length from the actor to the target current vehicle, Indicates the current opening angle of the door of the target vehicle. Indicates the angular velocity of the door opening of the target vehicle.

[0013] Furthermore, the angular velocity of the door opening Determined by pre-calibration, or setting corresponding values for different passengers or drivers and corresponding doors.

[0014] Furthermore, the comparison of the first time and the second time, and judging whether there is a collision when the vehicle door is opened based on the comparison result, so as to decide whether to issue an anti-collision warning, is specifically implemented by the following steps: Determine whether condition 2 is met. If so, determine whether the behavior has the possibility of collision with the target current vehicle and issue a collision warning. Condition two:

[0015] Where, Indicates the passenger reaction time, For the first time, For the second time.

[0016] Furthermore, after determining that there is a collision when opening the door, it also includes providing different levels of warning of the danger of the door collision. The warning level represents the probability of the door opening collision. The higher the warning level, the greater the probability of the door opening collision and the higher the danger level. Conversely, the lower the probability of the door opening collision and the lower the danger level.

[0017] Furthermore, the warning level adopts the warning level parameter Indicates that the warning level parameter The calculation formula is as follows:

[0018] Wherein, K is a coefficient, which is a preset value.

[0019] A processing terminal, comprising: a memory for storing program instructions; A processor is used to run the program instructions to execute the steps of the V2X-based vehicle door opening anti-collision warning method.

[0020] The present invention's beneficial effects include a first determination of whether the target vehicle and other traffic participants have the potential for a physical door collision within a short period of time. A second determination is only required for traffic participants that meet the first determination criteria. This second determination takes into account the door status, including whether the door is unlocked and the degree of door opening (i.e., the angle), and passenger reaction time. This dual determination mechanism enables more accurate door collision determination, improving early warning accuracy and minimizing false positives and missed detections. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A flow chart of a preferred embodiment; Figure 2 A schematic diagram of the first plane coordinate system, the second plane coordinate system, and the door opening angle established for the target current vehicle and surrounding traffic participants; Figure 3 This is a structural diagram of the processing terminal. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments: like Figure 1-Figure 2 As shown, a V2X-based vehicle door opening anti-collision warning method includes the following steps: Step 1: Detect the door status of the current vehicle to obtain the door status information of the current vehicle. The door status information includes the door opening and closing status. The door opening and closing status information includes whether the door is in an unlocked state. The door status information can determine whether the door is currently in an unlocked state or a locked state.

[0023] It is understandable that the OBU built into the current vehicle can periodically detect the door lock status of the door through the CAN signal, thereby obtaining the door status information.

[0024] If the doors of the current vehicle are in unlocked state, that is, the doors are open, then the current vehicle is used as the target current vehicle; if the doors of the current vehicle are in locked state, that is, the doors are closed, then other traffic participants whose doors are unlocked are used as the target current vehicles.

[0025] It is understood that at the same moment or within a certain time range (e.g., 1 second), multiple vehicles may have their doors unlocked. Each vehicle with its doors unlocked is considered a target current vehicle, meaning there may be only one or multiple target current vehicles. This allows for early warning of any door collisions between the target current vehicle and other traffic participants.

[0026] It is also understandable that when a vehicle is in motion, its doors are generally closed, not unlocked. They are typically unlocked when the vehicle is parked on the roadside and a passenger is about to open the door. Of course, to avoid the potential for unexpected door unlocking situations that could lead to a door-opening collision warning, and to reduce unnecessary calculations, the vehicle's speed can be considered zero. Only vehicles with both a speed of zero and unlocked doors are considered the target current vehicle. Otherwise, even if the vehicle's doors are unlocked, the vehicle is not considered the target current vehicle. Step 2: Obtain the driving parameters of the target current vehicle and the driving parameters of the traffic participants around the target current vehicle. The driving parameters include at least the current lane information, position information, speed, and driving trajectory. When the traffic participant is a motor vehicle, the driving parameters also include door status information.

[0027] It is understood that the traffic participants around the target current vehicle can be divided into a spatial range, and all traffic participants within the spatial range are considered as traffic participants around the target current vehicle. In other words, the surrounding area can be selected according to the actual situation. For example, all traffic participants within a 500-meter radius centered on the target current vehicle are considered as traffic participants around the target current vehicle to filter out traffic participants close to the target current vehicle.

[0028] Traffic participants include one or more of motor vehicles, non-motor vehicles, pedestrians, robots, drones, and so on. Any entity that can affect the movement of the target vehicle and potentially collide with the target vehicle's door opening can be considered a traffic participant. Robots can be humanoid robots, robot dogs, or other types of robots. They can move autonomously (walking, running, driving, etc.) or under human control. Motor vehicles can be traditional human-driven vehicles or unmanned vehicles.

[0029] It is understood that the target vehicle can obtain the driving parameters of other traffic participants through V2X. That is, non-motorized vehicles, pedestrians, robots, or drones among the traffic participants carry V2X transceivers, and motor vehicles are integrated with onboard V2X communication modules, thereby ensuring that the target vehicle can communicate with other traffic participants. In other words, communication is achieved through the communication connection between the V2X transceiver and the onboard V2X communication module. Among them, the RSU in the onboard V2X communication module can broadcast relevant information, including driving parameters, to other traffic participants.

[0030] For example, in order to further narrow down the scope of traffic participants and determine which traffic participants are included in the surrounding area, the following steps may be performed to implement the screening: Step 21: Calculate the angle between the first vector and the second vector, and determine whether the angle is acute. The first vector is the vector formed by the line connecting the center of mass of the traffic participant and the center of mass of the target current vehicle, with the direction from the traffic participant toward the target current vehicle. The second vector is the traffic participant's velocity vector. The traffic participant's velocity vector can be calculated using the vehicle's head direction or the traffic participant's continuous displacement.

[0031] If the judgment result is yes, that is, the angle is an acute angle, then proceed to step 22; otherwise, it is determined that the traffic participant is not a surrounding traffic participant, that is, the traffic participant is excluded, and the excluded traffic participant does not need to participate in subsequent processing.

[0032] Step 22: Determine whether the traffic participant is in the same lane as the target current vehicle based on the lane width and the position of the lane centerline of the target current vehicle. If so, the traffic participant is a surrounding traffic participant. Otherwise, the traffic participant is not a surrounding traffic participant, that is, the traffic participant is excluded. The excluded traffic participant does not need to participate in subsequent processing.

[0033] The above steps can further narrow the scope of other traffic participants and avoid traffic participants that are completely not in the same lane, because it is almost impossible for such traffic participants to collide with the door opening of the target current vehicle.

[0034] Step 3: Filter out traffic participants whose physical space overlaps with the door of the target current vehicle within the first time. The filtered traffic participants are recorded as collidable traffic participants. That is, the filtered traffic participants constitute the collidable traffic participant set. Each collidable traffic participant in the collidable traffic participant set has the conditions to collide with the door of the target current vehicle within the first time.

[0035] If there is no traffic participant whose physical space overlaps with the door of the target current vehicle within the first time, the process ends, or jumps to step 1, or waits for a preset time (for example, 1 second) and then continues to screen whether there is a matching traffic participant.

[0036] If there is a traffic participant whose physical space overlaps with the door of the target current vehicle within the first time, execute step 4.

[0037] It is understandable that traffic participants who do not have the possibility of colliding with the door of the target current vehicle in time and space naturally need to be excluded, because these traffic participants do not have the conditions to collide with the door of the target current vehicle in time and / or space.

[0038] It's also understandable that in situations where the current vehicle is the target current vehicle, for example, if the current vehicle is parked at the roadside and a passenger or driver needs to get off, the door needs to be opened. This requires screening out other traffic participants whose physical space overlaps with the current vehicle within the first instant—that is, screening out traffic participants that meet the conditions for a collision with the current vehicle's door in terms of time and space. If another traffic participant also needs to open their door at the roadside, typically because a passenger or driver is getting off or someone else is getting on, then naturally, since both that traffic participant and the target current vehicle are stopped, they are not eligible for a collision with the target current vehicle's door, meaning there's no possibility of a collision. This means that this traffic participant should be treated as another target current vehicle and warned of potential door-opening collisions with other traffic participants not included in the target current vehicle. Door-opening collision prevention generally doesn't need to be considered between identified target current vehicles, as both vehicles are stopped.

[0039] It's understandable that according to my country's Road Traffic Law and vehicle structure (the driver's seat is on the left side of the vehicle interior, meaning the steering wheel is on the left), passengers generally exit the vehicle from the right side, and drivers from the left side. Therefore, determining whether there is physical overlap is a necessary condition for determining whether there is a potential collision between other traffic participants and the unlocked doors of the target vehicle. For example, if the right door of the vehicle is unlocked, meaning passengers need to exit through the right door, then determining whether there is physical overlap between other traffic participants and the right door of the target vehicle means that the other traffic participants will pass by the right side of the target vehicle, potentially colliding with the right door. Similarly, if passengers need to exit both the left and right doors of the target vehicle, then determining whether there is physical overlap between other traffic participants and the left and / or right doors of the target vehicle means that the other traffic participants may pass by the left or right side of the target vehicle. Physical overlap only requires that there is a potential collision between the other traffic participants and the door of the target vehicle passing from one side.

[0040] The method of screening out traffic participants whose doors have physical space overlap with the target current vehicle within the first time period can be achieved through existing technologies. Existing technologies can be used to determine whether the target current vehicle and another traffic participant have physical space overlap within a specified time period (the first time period), that is, to determine whether a collision condition exists. This can be determined based on factors such as the driving speed. Figure 2 , you can also do the following: Step 31: A first plane coordinate system is established at the current location of the target vehicle. The origin O of the first plane coordinate system is the point where the centerline of the lane where the target vehicle is located is closest to the center of mass of the target vehicle. This point is used as the origin O. The direction tangent to the origin O is the Y-axis, and the direction perpendicular to the Y-axis and along the lane centerline away from the roadside of the target vehicle is the X-axis.

[0041] The lane centerline can be curved or straight. If it is curved, it indicates that the target vehicle is on a curved road. If it is straight, it indicates that the target vehicle is on a straight road (i.e., a straight road). The present invention is applicable to both curved and straight road scenarios.

[0042] Figure 2 The target vehicle is currently traveling on a curve. Figure 2 (X h , Y h ) are the horizontal and vertical coordinates of the center of mass of the target current vehicle in the first plane coordinate system. The target current vehicle is the motor vehicle in the HV schematic diagram in the figure. Figure 2A second plane coordinate system is established at the location of another traffic participant (a motor vehicle) in the lane. The origin O' of the second plane coordinate system is the closest point on the lane centerline to the traffic participant's center of mass. This point serves as the origin O'. Similarly, the direction tangent to the origin O' is the Y-axis, and the direction perpendicular to the Y-axis and along the lane centerline away from the roadside of the traffic participant is the X-axis. Figure 2 In (X r ,Y r ) are the horizontal and vertical coordinates of the center of mass of the traffic participant in the second plane coordinate system. The traffic participant is the motor vehicle indicated by RV in the figure.

[0043] Step 32: After establishing the first plane coordinate system, calculate the distance L between the center of mass of the target current vehicle and the center line of the lane where the target current vehicle is located. h If the center of mass of the target vehicle is on the left side of the lane centerline (the left and right are determined by the direction of the target vehicle's head, that is, the left and right are determined by the forward direction), then X h =-L h ; If the center of mass of the target vehicle is on the right side of the lane centerline, then X h =L h .

[0044] Step 33: Obtain the maximum opening angle Lmax of the door of the target current vehicle, that is, the maximum opening angle L max Refers to the maximum degree to which the door can be opened. At this point, the door is fully opened and cannot be opened further. Maximum opening L max =L d *sin(θ max ), L d is the door length of the target current vehicle, θ max is the maximum opening angle of the door. Maximum opening angle L max It can be built into the vehicle's OBU, which can automatically calculate the door length and maximum opening angle. If it is a non-traditional door and the door length cannot be obtained, the maximum door opening angle L can be pre-configured in the OBU. max , which serves as a fixed parameter.

[0045] Figure 2 The upper right corner shows the maximum door opening L max , Door length L d and the maximum opening angle θ max The three are in a trigonometric relationship, so the maximum opening L can be calculated by the sine function. max .

[0046] Step 34: Determine whether the relationship between the traffic participant and the target current vehicle meets condition 1. If so, determine that there is a physical spatial intersection and overlap between the doors of the traffic participant and the target current vehicle within the first time. Otherwise, determine that there is no physical spatial intersection and overlap.

[0047] Condition 1: If the door of the target vehicle is currently unlocked on the right side, then equation ① is met. If the door of the target vehicle is currently unlocked on the left side, then equation ② is met: ------① ------② Where, Indicates the width of the target vehicle. Indicates the width of a traffic participant (usually a motor vehicle), Indicates the speed of the traffic participant in the X-axis direction of the second plane coordinate system. If it is a motor vehicle, it indicates the component speed of the vehicle on the X-axis. It represents the driving speed of the traffic participant in the Y-axis direction of the second plane coordinate system. If it is a motor vehicle, it represents the component of the vehicle speed on the Y-axis. S represents the path length from the traffic participant to the target current vehicle. This path length also represents the actual distance traveled by the traffic participant to reach the target current vehicle. Figure 2 The curve OO' in the figure represents the path length S, which is the length of the curve from the origin O' to the origin O. Indicates the current opening angle of the door of the target vehicle, that is, the current opening angle of the door. Indicates the angular velocity of the door opening of the target current vehicle. This angular velocity is a calibration parameter and can be obtained through testing. The angular velocity of different models and different doors in the same compartment is The door opening angular velocity may be different. If the target vehicle has a built-in camera, the door opening angular velocity can be determined by taking photos. If not, the vehicle's calibrated angular velocity can be used. In addition, different passengers / drivers may open the same door at different angular velocities. Different door opening models can be created for different passengers / drivers, using different angular velocities to represent the angular velocity, ensuring that the angular velocity matches the actual door opening velocity of the passenger / driver. It is a preset safety distance, which can be adjusted according to actual conditions. It is a preset value. It is a preset value, and is not limited to a single value. It can take different values.

[0048] refer to Figure 2 , taking the right door of the current vehicle as an example, the door in the unlocked state is used as the target, and the left side of the formula ① (i.e. ) represents the sum of half the width of the target vehicle and the distance from the center of mass of the target vehicle to the center line of the lane, which is recorded as the first distance. The middle term of formula ① (i.e. ) represents the second distance, which is the sum of the second sub-distance and the second sub-distance. The first distance is the distance between the center of mass of the traffic participant and the center line of the lane. The second distance is the speed of the traffic participant based on the X-axis direction during the time from the current position of the traffic participant to the position of the target current vehicle (that is, from the origin O' to the origin O). The displacement (i.e. distance) generated is recorded as the first time. The right side of formula ① (i.e. ) represents the third distance, which is the first distance, the third sub-distance, half the width of the traffic participant, and the safety distance The third sub-distance is the opening degree of the door in the first time. That is, the door of the target vehicle is opened from the current angle The opening angle completed within the first time from the start of the door opening timing is added to the dehumidification opening angle to obtain the opening angle when the traffic participant travels from the origin O' to the origin O. At this time, the door opening degree is Multiply by the sine function sin. It represents half the width of a traffic participant. If the traffic participant is a vehicle, it represents half the width of the vehicle.

[0049] Satisfying equation ① means that the traffic participant will pass by the side where the right door of the target current vehicle is located, and when passing by, the opened door of the target current vehicle has the physical space conditions for collision with the passing traffic participant, rather than passing from the side of the opened door without the collision conditions. Therefore, meeting such conditions means that the traffic participant and the door of the target current vehicle have physical space intersection and overlap in the first time.

[0050] Similarly, formula ② is the case when the left door is open, which is the same as the case when the right door is open, so it will not be repeated here.

[0051] Step 4: Determine whether condition 2 is met. If so, determine the possibility of collision between the traffic participant and the target current vehicle and issue a warning.

[0052] Condition two:

[0053] Where, Indicates the passenger reaction time, It represents the time consumed by the traffic participant to travel from the current position to the position of the target current vehicle (that is, from the origin O' to the origin O), that is, the first time. Represents the current opening angle of the door of the target vehicle The time it takes from the start to the maximum door opening angle when the door is fully opened and the passenger reaction time When condition 2 is met, it means that within the total time of fully opening the door and adding the reaction time, the traffic participant will collide with the door of the target current vehicle, thus there is a possibility of door collision, that is, there is a probability of door collision.

[0054] It is understandable that the OBU of the target current vehicle can report a collision warning, and can issue a warning reminder through the vehicle display screen or playing sound or other means to remind passengers and drivers, so as to avoid collision risks in advance.

[0055] For example, in order to provide different levels of danger of door collision based on early warning, early warning levels are also provided. Implementation to further provide different warning levels, warning level parameters The probability of door collision is higher, and the higher the warning level (i.e. the warning level parameter The larger the value of the warning level is, the greater the probability of door collision is and the higher the degree of danger is. On the contrary, the smaller the warning level is (i.e. the warning level parameter The smaller the value is), the smaller the probability of door collision is and the less dangerous it is.

[0056] Warning level parameters The calculation formula is as follows:

[0057] Wherein, K is a coefficient, which is a preset value.

[0058] The warning level parameters calculated by the above formula It can reflect the warning level of the door opening collision. The higher the warning level, the more dangerous it is. On the contrary, it is relatively safer. Different levels of danger can be distinguished, allowing for different warning measures to be taken accordingly. For example, in scenarios where there is a high probability of a door opening collision, automatic horns can be used to alert passengers and surrounding traffic participants.

[0059] The present invention first determines whether the target vehicle and other traffic participants have the potential for a physical door collision within a short period of time. A second determination is only performed for traffic participants that meet the first determination criteria. This second determination takes into account the door status and passenger reaction time. The door status includes whether the door is unlocked and the degree of door opening (i.e., the angle of opening). This dual determination mechanism allows for more accurate door collision determination, improving warning accuracy and minimizing false positives and missed detections.

[0060] The present invention is applicable to the following two scenarios: Scenario 1: The vehicle is parked on the roadside and the passenger or driver is about to open the door.

[0061] Scenario 2: The vehicle is not parked but is driving normally, meaning it is in motion. There are one or more other traffic participants in front of the vehicle (in the direction of travel) who meet the criteria in Scenario 1. Scenario 1: A traffic participant is parked on the roadside and preparing to open a door, including a passenger or driver, or someone boarding the vehicle.

[0062] Scenario 1 and Scenario 2 are essentially the same for door opening collision avoidance. The only requirement is to use the current vehicle or other traffic participant with the door opening as the target vehicle. Other traffic participants don't have to be motor vehicles; they can also include non-motor vehicles, pedestrians, robots, drones, and more. This allows the system to determine whether other traffic participants are likely to collide with the target vehicle's door opening.

[0063] This invention proposes a comprehensive door opening warning algorithm. It uses V2X messaging to obtain the speed and location information of surrounding traffic participants. It then combines the vehicle's dimensions and door opening angle to calculate whether there is a collision risk when the door is opened. This algorithm is applicable to both straight roads and curves of arbitrary curvature, providing timely alerts to passengers and drivers of potential door opening collisions. This solution also considers passenger reaction speed, the maximum door opening angle, and the door opening time, further optimizing the warning algorithm to avoid unnecessary false alarms. Furthermore, this solution broadcasts the door unlock status and door opening angle to surrounding vehicles via V2X messaging, enabling the vehicle to proactively identify collision risks from nearby vehicles opening their doors and take evasive action, significantly improving driving safety and the overall passenger experience.

[0064] like Figure 3 As shown, the present invention further provides a processing terminal 100, which includes: Memory 101, used for storing program instructions; The processor 102 is configured to run the program instructions to execute the steps of the V2X-based vehicle door opening anti-collision warning method.

[0065] The embodiment disclosed in this specification is merely an illustration of one aspect of the present invention. The scope of protection of the present invention is not limited to this embodiment. Any other functionally equivalent embodiments fall within the scope of protection of the present invention. Those skilled in the art can make various other corresponding changes and modifications based on the technical solutions and concepts described above, and all such changes and modifications should fall within the scope of protection of the claims of the present invention.

Claims

1. A vehicle door opening anti-collision warning method based on V2X, characterized in that: The following steps are involved: Determine the vehicle with its doors unlocked as the target current vehicle, Filter out the actors that have physical space overlap with the target current vehicle within the first time. The first time is the time it takes for the actor to move from its current location to the location of the target current vehicle, and the target current vehicle performs the door opening action within the first time. Compare the first time and the second time, and based on the comparison result, determine whether there is a collision when the vehicle opens the door, so as to decide whether to issue an anti-collision warning. The second time is the current opening angle of the door of the target vehicle The time it takes from the start to the maximum door opening angle when the door is fully opened and the passenger reaction time sum.

2. The V2X-based vehicle door opening anti-collision warning method according to claim 1, characterized in that: The door status information is obtained by detecting the current door status of the vehicle, and whether the door is in the unlocked state is determined based on the door status information.

3. The V2X-based vehicle door opening anti-collision warning method according to claim 1, characterized in that: First, the surrounding actors of the target current vehicle are screened out, and then, among the surrounding actors, the actors that have physical spatial overlap with the target current vehicle within the first time are screened out.

4. The V2X-based vehicle door opening anti-collision warning method according to claim 3, characterized in that: The specific implementation process of filtering out the surrounding actors of the target current vehicle includes the following steps: Step 21: Calculate the angle between the first vector and the second vector, and determine whether the angle is an acute angle. The first vector is the vector formed by the line connecting the center of mass of the action body and the center of mass of the target current vehicle. The direction is that the action body points to the target current vehicle. The second vector is the velocity vector of the action body. If the angle is an acute angle, proceed to step 22; otherwise, exclude the actor from being a surrounding actor; Step 22: Determine whether the actor is in the same lane as the target current vehicle based on the lane width and the position of the lane centerline of the target current vehicle. If so, the actor is a peripheral actor; otherwise, the actor is a non-peripheral actor.

5. The V2X-based vehicle door opening anti-collision warning method according to claims 1-4, characterized in that: The specific implementation process of screening out the actors that have physical spatial overlap with the target current vehicle within the first time includes the following steps: The first plane coordinate system is established at the current location of the target current vehicle. The origin O of the first plane coordinate system is the closest position between the center line of the lane where the target current vehicle is located and the center of mass of the target current vehicle. The direction tangent to the origin O is the Y axis, and the direction perpendicular to the Y axis and along the center line of the lane away from the roadside of the target current vehicle is the X axis. A second plane coordinate system is established at the location of the object. The origin O' of the second plane coordinate system is the position of the object closest to the center of mass of the object on the center line of the lane. The direction tangent to the origin O' is the Y axis, and the direction perpendicular to the Y axis and along the center line of the lane away from the roadside of the object is the X axis. Get the maximum opening Lmax of the door of the target current vehicle, the maximum opening L max =L d *sin(θ max ), L d is the door length of the target current vehicle, θ max is the maximum opening angle of the door; Determine whether the relationship between the actor and the target current vehicle meets condition 1. If so, determine whether the actor and the door of the target current vehicle have physical space overlap within the first time. Condition 1: If the door of the target vehicle is currently unlocked on the right side, then equation ① is met. If the door of the target vehicle is currently unlocked on the left side, then equation ② is met: ------① ------② Where, Indicates the width of the target vehicle. Indicates the width of the actor, Indicates the speed of the actor in the X-axis direction of the second plane coordinate system, represents the speed of the actor in the Y-axis direction of the second plane coordinate system, S represents the path length from the actor to the target current vehicle, Indicates the current opening angle of the door of the target vehicle. Indicates the angular velocity of the door opening of the target vehicle.

6. The V2X-based vehicle door opening anti-collision warning method according to claim 5, characterized in that: Angular velocity of door opening Determined by pre-calibration, or setting corresponding values for different passengers or drivers and corresponding doors.

7. The V2X-based vehicle door opening anti-collision warning method according to claim 1, characterized in that: The comparison of the first time and the second time, and judging whether a collision occurs when the vehicle door is opened based on the comparison result, so as to decide whether to issue an anti-collision warning, is specifically implemented by the following steps: Determine whether condition 2 is met. If so, determine whether the behavior has the possibility of collision with the target current vehicle and issue a collision warning. Condition 2: Where, Indicates the passenger reaction time, For the first time, For the second time.

8. The V2X-based vehicle door opening anti-collision warning method according to claim 7, characterized in that: After determining that there is a collision when opening the door, it also includes providing different warning levels of danger of door collision. The warning level represents the probability of door opening collision. The higher the warning level, the greater the probability of door opening collision and the higher the danger level. Conversely, the lower the probability of door opening collision and the lower the danger level.

9. The V2X-based vehicle door opening anti-collision warning method according to claim 8, characterized in that: Warning level parameters are used Indicates that the warning level parameter The calculation formula is as follows: Wherein, K is a coefficient, which is a preset value.

10. A processing terminal, characterized in that: It includes: a memory for storing program instructions; A processor is configured to run the program instructions to execute the steps of the V2X-based vehicle door opening anti-collision warning method as described in any one of claims 1 to 9.

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