A V2X-based method and processing terminal for vehicle door opening collision avoidance warning

Abstract

This invention discloses a V2X-based vehicle door opening collision avoidance warning method and processing terminal. The method includes: identifying vehicles, including those with unlocked doors, as the target current vehicle; filtering out actors that physically overlap with the target current vehicle within a first time period, where the first time period is the time it takes for the actor to move from its current location to the target current vehicle's location, and the target current vehicle performs a door opening action within the first time period; comparing the magnitudes of the first time period and a second time period; and based on the comparison result, determining whether a collision has occurred to decide whether to issue a collision avoidance warning; the second time period is the sum of the time taken from the current door opening angle of the target current vehicle to the maximum door opening angle when the door is fully open, and the passenger's reaction time. This invention, through a dual judgment mechanism, can more accurately determine whether a door collision has occurred, improving the warning accuracy and avoiding or reducing false alarms and missed alarms.

Description

Technical Field

[0001] This invention relates to the field of vehicle door opening collision avoidance technology, specifically a vehicle door opening collision avoidance warning method and processing terminal based on V2X. Background Technology

[0002] To address the collision risk posed by vehicle doors opening, traditional methods mostly rely on camera and radar sensing technologies to identify static obstacles around the vehicle. However, these camera and radar-based solutions are insufficient for identifying objects that are far away or moving at high speeds, especially when it comes to pedestrians coming out from corners, as they are often in the blind spots of radar and cameras, leading to collision risks.

[0003] To address the issue of camera- and radar-based technologies failing to identify collision risks in certain scenarios, some existing technologies employ V2X-based vehicle door opening collision avoidance warnings. For example, the Chinese invention patent application CN113223311A, which the applicant found, discloses a V2X-based vehicle door opening collision avoidance warning system. This system primarily uses V2X to enable communication between the vehicle and other road users, obtaining their driving parameters. Based on these parameters, it determines the likelihood of a collision in space, thus achieving a vehicle door opening collision avoidance warning.

[0004] Existing technologies similar to this Chinese invention patent application do not take into account the passenger's reaction speed, the maximum opening angle of the door, and the opening time. This affects the accuracy of the door opening collision warning, especially for high-speed moving objects. Based on existing technologies such as this Chinese invention patent application, even if the passenger's reaction speed, the door opening angle, and the opening time are ignored, although it is judged that there is no possibility of collision in space, there is still a high probability of collision. Therefore, there is a deficiency in the accuracy of the warning, that is, there are cases of misjudgment or omission. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a V2X-based vehicle door opening collision avoidance warning method and processing terminal, which can solve the problems described in the background art.

[0006] The technical solution to achieve the objective of this invention is: a V2X-based vehicle door opening collision avoidance warning method, comprising the following steps:

[0007] The target vehicle is identified as including vehicles with their doors unlocked.

[0008] Filter out actors whose physical space overlaps with the target vehicle's current location within the first time frame. The first time frame is the time it takes for the actor to move from its current location to the target vehicle's current location, and the target vehicle performs the door opening action within the first time frame.

[0009] By comparing the magnitudes of the first and second time points, and based on the comparison results, it is determined whether a collision occurred when the vehicle door opened, in order to decide whether to issue a collision avoidance warning.

[0010] The second time is the current opening angle of the door of the target vehicle. The time taken from the start of the car door to its maximum opening angle when it is fully open, and the passenger's reaction time. sum.

[0011] Furthermore, door status information is obtained by detecting the current door status of the vehicle, and the door status information is used to determine whether the door is in the unlocked state.

[0012] Furthermore, the surrounding actors of the target vehicle are first screened out, and then actors that physically overlap with the target vehicle in the first time are screened out from the surrounding actors.

[0013] Furthermore, the surrounding actors of the target vehicle are selected. The specific implementation process includes the following steps:

[0014] 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 actor and the center of mass of the target vehicle, with the direction from the actor to the target vehicle. The second vector is the velocity vector of the actor.

[0015] If the included angle is acute, continue to step 22; otherwise, exclude the actor from the surrounding actors.

[0016] Step 22: By measuring the lane width and the position of the lane centerline of the target vehicle's current lane, determine whether the actor is in the same lane as the target vehicle. If so, the actor is a surrounding actor; otherwise, the actor is a non-surrounding actor.

[0017] Furthermore, the specific implementation process of filtering out behaviors that physically overlap with the target vehicle in the first moment includes the following steps:

[0018] A first planar coordinate system is established based on the current location of the target vehicle. The origin O of the first planar coordinate system is the position closest to the centroid of the target vehicle from the center line of the lane where the target vehicle is located. The direction tangent to the origin O is the Y-axis, and the X-axis is perpendicular to the Y-axis and extends along the lane center line away from the target vehicle towards the roadside.

[0019] A second planar coordinate system is established at the location of the actor. The origin O' of the second planar coordinate system is the position of the actor closest to the centroid of the actor on the center line of the lane. The direction tangent to the origin O' is the Y-axis, and the X-axis is perpendicular to the Y-axis and extends along the center line of the lane away from the actor.

[0020] Obtain the maximum possible door opening Lmax of the target vehicle. max =L d *sin(θ) max ), L d Let θ be the length of the current vehicle door. max This is the maximum opening angle of the car door;

[0021] Determine whether the relationship between the actor and the target vehicle meets condition one. If so, determine whether the actor and the target vehicle's door physically overlap in the first time frame.

[0022] Condition 1: If the right door of the target vehicle is currently unlocked, then equation ① is satisfied; if the left door of the target vehicle is currently unlocked, then equation ② is satisfied.

[0023]

[0024] ------①

[0025]

[0026] ------②

[0027] In the formula, This indicates the width of the target vehicle. Indicates the width of the actor. This represents the speed of the actor in the X-axis direction of the second-plane coordinate system. This represents the speed of the actor in the Y-axis direction of the second-plane coordinate system, and S represents the path length from the actor to the target vehicle. This indicates the current door opening angle of the target vehicle. This represents the angular velocity at which the door of the target vehicle is currently opening.

[0028] Furthermore, the angular velocity of the car door opening The values ​​can be determined through pre-calibration or by setting corresponding values ​​for different passengers or drivers and their corresponding doors.

[0029] Furthermore, the comparison of the magnitudes of the first and second time points, and the determination of whether a collision occurs when the vehicle door is opened based on the comparison result, to decide whether to issue a collision avoidance warning, specifically includes the following steps:

[0030] Determine if condition two is met. If so, determine if there is a possibility of collision between the action and the target vehicle, and issue a collision avoidance warning.

[0031] Condition two:

[0032] In the formula, Indicates passenger reaction time. To be the first, This is the second time.

[0033] Furthermore, after determining that a collision is possible when the door is opened, the system also provides different warning levels for the degree of danger of the door collision. The warning level represents the probability of a collision when the door is opened. The higher the warning level, the greater the probability of a collision when the door is opened and the higher the degree of danger. Conversely, the lower the warning level, the lower the probability of a collision when the door is opened and the lower the degree of danger.

[0034] Furthermore, the warning level adopts the warning level parameter. This indicates the warning level parameters. The calculation formula is as follows:

[0035]

[0036] In the formula, K is a coefficient, which is a preset value.

[0037] A processing terminal, comprising:

[0038] Memory, used to store program instructions;

[0039] A processor is configured to run the program instructions to execute the steps of the V2X-based vehicle door opening collision avoidance warning method.

[0040] The beneficial effects of this invention are as follows: First, the invention makes an initial judgment to determine whether the target vehicle has a physical possibility of colliding with other traffic participants' doors within a short period. Only traffic participants meeting the conditions of the initial judgment require a second judgment. This second judgment considers 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 opening angle). This dual-judgment mechanism enables more accurate determination of whether a door collision is imminent, improving warning accuracy and avoiding or reducing false alarms and missed judgments. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating a preferred embodiment;

[0042] Figure 2 A schematic diagram showing the first plane coordinate system, the second plane coordinate system, and the opening angle of the door for the target vehicle and surrounding traffic participants;

[0043] Figure 3 This is a schematic diagram of the processing terminal. Detailed Implementation

[0044] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0045] like Figures 1-2 As shown, a V2X-based vehicle door opening collision avoidance warning method includes the following steps:

[0046] Step 1: Detect the current vehicle door status to obtain the current vehicle door status information, including the door opening and closing status, and whether the door is in the unlocked state. The door status information can determine whether the door is currently in the unlocked or locked state.

[0047] Understandably, the OBU built into the current vehicle can periodically detect the door lock status through the CAN signal to obtain door status information.

[0048] If the current vehicle's door is unlocked, it means the door is open, and the current vehicle is the target vehicle. If the current vehicle's door is locked, that is, the door is closed, then other traffic participants whose doors are unlocked are the target vehicles.

[0049] It is understandable that at the same moment or within a certain time range (e.g., within 1 second), there may be multiple vehicles with their doors unlocked. Each vehicle with its door unlocked is considered the target vehicle. That is, there may be only one target vehicle or there may be multiple target vehicles. This allows for early warning processing to detect whether the target vehicle may collide with the doors of other road users.

[0050] It's understandable that vehicle doors are generally closed while the vehicle is in motion, not unlocked. They typically unlock only when the vehicle is parked on the side of the road and a passenger is about to open the door. However, to avoid triggering a collision warning due to an unlocked door caused by an unforeseen event, and to reduce unnecessary calculations, we can consider whether the vehicle's speed is 0. Only vehicles with 0 speed and unlocked doors are considered as the target vehicle; otherwise, even if the doors are unlocked, the vehicle is not considered as the target vehicle.

[0051] Step 2: Obtain the driving parameters of the target vehicle and the driving parameters of traffic participants around the target vehicle. The driving parameters include at least the current lane information, location information, speed, and driving trajectory. When the traffic participants are motor vehicles, the driving parameters also include the door status information.

[0052] Understandably, traffic participants surrounding the target vehicle can be defined by dividing the space into zones, with all traffic participants within that zone considered as traffic participants surrounding the target vehicle. In other words, the "surrounding area" can be selected based on the actual situation, using a specific distance / spatial range. For example, all traffic participants within a 500-meter radius of the target vehicle can be considered as traffic participants surrounding the target vehicle, thus filtering out those traffic participants approaching the target vehicle.

[0053] Traffic participants include one or more of the following: motor vehicles, non-motor vehicles, pedestrians, robots, drones, etc. Any entity that can influence the movement of a target vehicle, resulting in a collision with the vehicle's door opening, can be considered a traffic participant. Robots can be humanoid robots, robotic dogs, or other types of robots; they can be robots that move autonomously (walking, running, driving, etc.) or robots that move under the control of a natural person. Motor vehicles can be traditional vehicles requiring human drivers or driverless vehicles.

[0054] It is understandable that the target vehicle can obtain the driving parameters of other traffic participants through V2X. This means that non-motorized vehicles, pedestrians, robots, or drones among the traffic participants carry V2X transceivers, while motorized vehicles integrate onboard V2X communication modules. This ensures that the target vehicle can communicate with other traffic participants, specifically through a communication connection established between the V2X transceivers and the onboard V2X communication module. The RSU within the onboard V2X communication module can broadcast relevant information, including driving parameters, to other traffic participants.

[0055] For example, to further narrow down the scope of traffic participants and determine which specific participants are included in the surrounding traffic area, the following steps can be used for filtering:

[0056] 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 vehicle, with the direction from the traffic participant towards the target vehicle. The second vector is the velocity vector of the traffic participant. The velocity vector of the traffic participant can be calculated from the vehicle's heading direction or the continuous displacement of the traffic participant.

[0057] If the judgment result is yes, that is, the included angle is an acute angle, then continue 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 the subsequent processing.

[0058] Step 22: By measuring the lane width and the position of the lane centerline of the target vehicle's current lane, determine whether a traffic participant is in the same lane as the target vehicle. If so, the traffic participant is considered a nearby traffic participant; otherwise, it is not considered a nearby traffic participant and is excluded. Excluded traffic participants do not need to participate in subsequent processing.

[0059] The above steps can further narrow down the range of other traffic participants, avoiding those who are not in the same lane at all, because it is almost impossible for these traffic participants to collide with the door of the target vehicle.

[0060] Step 3: Select traffic participants that physically overlap with the door of the target vehicle in the first time. The selected traffic participants are called collision-capable traffic participants. That is, the selected traffic participants constitute the collision-capable traffic participant set. Each collision-capable traffic participant in the collision-capable traffic participant set has the condition to collide with the door of the target vehicle in the first time.

[0061] If there are no traffic participants whose physical space overlaps with the door of the target vehicle in the first instant, the process ends, or jumps to step 1, or waits for a preset time (e.g., 1 second) before continuing to filter for matching traffic participants.

[0062] If there are traffic participants whose physical space overlaps with the door of the target vehicle at the first moment, then proceed to step 4.

[0063] It is understandable that traffic participants who do not have the possibility of colliding with the door of the target vehicle in time and space should be excluded, because these traffic participants do not have the conditions for colliding with the door of the target vehicle in time and / or space.

[0064] It's also understandable that, in situations where the current vehicle is the target vehicle—for example, if the current vehicle is parked on the side of the road and a passenger or driver needs to get out, the door needs to be opened—it's necessary to filter out other traffic participants whose physical space overlaps with the current vehicle at the first moment. In other words, it's necessary to filter out traffic participants who, in space and time, have the potential to collide with the current vehicle's door. If other traffic participants are also parked on the side of the road and need to open their doors, it's generally because a passenger or driver is getting out or someone needs to get on. Naturally, since both this traffic participant and the target vehicle are stationary, this traffic participant does not have the potential to collide with the target vehicle's door; that is, there is no possibility of a collision. Therefore, this traffic participant should be treated as another target vehicle, and warnings should be issued to other traffic participants not considered for door opening collisions. Generally, there's no need to consider door opening collision prevention between identified target vehicles because both vehicles are stationary.

[0065] Understandably, according to my country's road traffic laws and vehicle structure (the driver's seat is on the left side of the vehicle interior, i.e., the steering wheel is on the left side), passengers generally exit from the right side of the vehicle, while the driver generally exits from the left side. Therefore, determining whether there is physical spatial overlap is one of the necessary conditions for determining the possibility of collision between other road users and the unlocked doors of the target vehicle. For example, if the right-side door of the vehicle is unlocked, meaning passengers need to exit from the right-side door, then determining whether there is physical spatial overlap between other road users and the right-side door of the target vehicle means that other road users will pass by the right side of the target vehicle, thus creating a possibility of collision with the right-side door. Similarly, if both the left and right doors of the target vehicle require exiting, then determining whether there is physical spatial overlap between other road users and the left and / or right doors of the target vehicle means that other road users may pass by the left or right side of the target vehicle; as long as passing by from one side creates a possibility of collision with the target vehicle's door, physical spatial overlap exists.

[0066] The process of filtering out traffic participants whose doors physically overlap with the target vehicle's door within a first timeframe can be achieved using existing technology. Existing technology can determine whether a physical overlap exists between the target vehicle and another traffic participant within a specified time period (the first timeframe), i.e., whether a collision condition exists, by considering factors such as vehicle speed. (Reference) Figure 2 Alternatively, it can be achieved through the following steps:

[0067] Step 31: Establish a first planar coordinate system at the current location of the target vehicle. The origin O of the first planar coordinate system is the position closest to the centroid of the target vehicle from the center line of the lane where the target vehicle is located. The direction tangent to the origin O is the Y-axis, and the direction perpendicular to the Y-axis and along the lane center line towards the roadside away from the target vehicle is the X-axis.

[0068] The lane centerline can be either curved or straight. When it is curved, it indicates that the target vehicle is currently on a curve; when it is straight, it indicates that the target is currently on a straight road (i.e., a straight section). This invention is applicable to curves, and it is also applicable to straight road scenarios.

[0069] Figure 2 The image shows the target vehicle currently traveling on a curve. Figure 2 (X) h Y h () represents the horizontal and vertical coordinates of the centroid of the target vehicle in the first plane coordinate system. The target vehicle is the motor vehicle shown in the HV schematic diagram in the figure. Figure 2 A second planar coordinate system is established at the location of another traffic participant (a motor vehicle). The origin O' of the second planar coordinate system is the position of the traffic participant closest to its centroid along the center line of the lane, which is also 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 center line of the lane towards the roadside away from the traffic participant is the X-axis. Figure 2 In the middle, (X) r ,Y r ) represents the horizontal and vertical coordinates of the centroid of the traffic participant in the second plane coordinate system. This traffic participant is the motor vehicle represented by RV in the figure.

[0070] Step 32: After establishing the first planar coordinate system, calculate the distance L between the centroid of the target vehicle and the center line of the lane where the target vehicle is located. h If the target vehicle's center of gravity is to the left of the lane centerline (left and right are determined by the direction the target vehicle is facing, i.e., by its direction of travel), then X h =-L h If the center of mass of the target vehicle is to the right of the lane centerline, then X h =L h .

[0071] Step 33: Obtain the maximum possible opening angle Lmax of the target vehicle's doors, i.e., the maximum opening angle L. max This refers to the maximum extent to which the car door can be opened; at this point, the door is fully open and cannot be opened any further. Maximum opening degree L max =L d *sin(θ) max ), Ld Let θ be the length of the current vehicle door. max This represents the maximum opening angle of the car door. Maximum opening angle L max It can be integrated 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 It is used as a fixed parameter.

[0072] Figure 2 The upper right corner indicates the maximum opening degree L of the car door. max Door length L d and maximum opening angle θ max The three factors exhibit a trigonometric function relationship; therefore, the maximum opening L can be calculated using the sine function. max .

[0073] Step 34: Determine whether the relationship between the traffic participant and the target vehicle meets condition one. If so, determine that the doors of the traffic participant and the target vehicle have physical spatial overlap in the first time. Otherwise, determine that there is no physical spatial overlap.

[0074] Condition 1: If the right door of the target vehicle is currently unlocked, then equation ① is satisfied; if the left door of the target vehicle is currently unlocked, then equation ② is satisfied.

[0075] ------①

[0076] ------②

[0077] In the formula, This indicates the width of the target vehicle. Indicates the width of traffic participants (usually motor vehicles). This represents the speed of a traffic participant along the X-axis in the second-plane coordinate system. For motor vehicles, it represents the component of the vehicle's speed along the X-axis. This represents the 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 speed component on the Y-axis. S represents the path length from the traffic participant to the target vehicle. This path length also represents the actual distance traveled by the traffic participant to reach the target 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. This indicates the current opening angle of the door of the target vehicle, that is, the current opening angle of the door. This represents the angular velocity of the door of the target vehicle currently being opened. This angular velocity is a calibration parameter and can be obtained through testing. The angular velocities of different vehicle models and different doors in the same vehicle compartment will vary. These could all be different. If the target vehicle has a built-in camera, the angular velocity of the door opening can be determined by taking a picture. If not, the angular velocity calibrated by the vehicle is used. Furthermore, different passengers / drivers may have different angular velocities when opening the same door. This can be addressed by creating different door-opening models for different passengers / drivers, using different angular velocities to represent the opening speed, thus ensuring the angular velocity matches the actual opening speed of the door for that passenger / driver. This is a preset safety distance, which can be adjusted according to actual conditions; it is a preset value. It is a preset value, but it is not limited to having only one value; it can take different values.

[0078] refer to Figure 2 Taking the unlocked door as the target and the right door of the current vehicle as an example, let's explain formula ①. The left-hand term of formula ① (i.e. The sum of half the current width of the target vehicle and the distance from the target vehicle's center of gravity to the lane centerline is denoted as the first distance. The intermediate term of formula ① (i.e....) The first distance is the distance between the centroid of the traffic participant and the center line of the lane. The second distance is the speed of the traffic participant in the X-axis direction during the time it takes to travel from its current position to the current position of the target vehicle (i.e., from the origin O' to the origin O). The resulting displacement (i.e., distance) is recorded at time 1. The term on the right side of formula ① (i.e.,...) The third distance is defined as the first distance, the third sub-distance, half the width of the traffic participant, and the safety distance. The sum of the distances, and the third sub-distance is the opening degree of the car door in the first instant. That is, the target vehicle's door opening angle from the current angle. The opening angle completed within the first time after the door opening timer starts is added to the opening angle for dehumidification. This gives the opening angle when the traffic participant travels from the origin O' to the origin O. At this point, the degree of door opening is... Multiply by the sine function sin. It represents half the width of a traffic participant; when the traffic participant is a vehicle, it is half the width of the vehicle.

[0079] Satisfying equation ① means that a traffic participant will pass by the side where the right door of the target vehicle is located, and when passing by, the open door of the target vehicle has the physical space to collide with the passing traffic participant, rather than passing by the side of the open door without the condition of collision. Therefore, satisfying this condition means that there is a physical space overlap between the traffic participant and the door of the target vehicle in the first moment.

[0080] Similarly, equation ② describes the situation where the left door is open, which is the same as the situation where the right door is open, so it will not be described again here.

[0081] Step 4: Determine if condition 2 is met. If so, determine if there is a possibility of collision between the traffic participant and the target vehicle and issue a warning.

[0082] Condition two:

[0083] In the formula, Indicates passenger reaction time. It represents the time taken for a traffic participant to travel from their current location to the location of the target vehicle (that is, from the origin O' to the origin O), which is also known as the first time. This represents the current opening angle of the door of the target vehicle. The time taken from the start of the car door to its maximum opening angle when it is fully open, and the passenger's reaction time. The sum of the two conditions. When condition two is met, it means that within the total time of a passenger fully opening the car door plus reaction time, traffic participants will collide with the door of the target vehicle within that total time, thus there is a possibility of a door collision, that is, the probability of a door collision.

[0084] Understandably, the OBU of the target vehicle can report a collision warning and issue a warning through the in-vehicle display screen, sound, or other means to remind passengers and the driver, thereby avoiding the risk of collision in advance.

[0085] For example, in order to provide different levels of danger of door collisions in addition to providing early warnings, warning levels are also provided. Warning levels are calculated using warning level parameters. This will enable the provision of different warning levels, including warning level parameters. The higher the probability of a collision between the car doors, the higher the warning level (i.e., the warning level parameter). The higher the value, the greater the probability of a collision between the car doors, and the higher the level of danger; conversely, the lower the warning level (i.e., the lower the warning level parameter). The smaller the value, the lower the probability of a collision between the car doors, and the less dangerous it is.

[0086] Warning level parameters The calculation formula is as follows:

[0087]

[0088] In the formula, K is a coefficient, which is a preset value.

[0089] The warning level parameter calculated using the above formula This reflects the warning level for a collision involving the car door opening. A higher warning level indicates greater danger, while a lower level indicates relative safety. The warning level parameter... It can distinguish different levels of danger, and thus take different warning and reminder measures according to different levels of danger. For example, in scenarios with a high probability of collision when a door opens, automatic horn sounding can be used to remind passengers and other road users in the vicinity.

[0090] This invention first determines whether the target vehicle is likely to collide with other traffic participants in physical space through its doors within a single timeframe. Only traffic participants meeting the conditions of the first determination require a second determination. This second determination considers the door status and passenger reaction time. The door status includes whether the door is unlocked and the degree of opening (i.e., the opening angle). This dual-determination mechanism enables a more accurate assessment of whether a door collision is imminent, improving warning accuracy and avoiding or reducing false alarms and missed detections.

[0091] This invention is applicable to the following two scenarios:

[0092] Scenario 1: The vehicle is currently parked on the side of the road, and the passenger or driver is preparing to open the door.

[0093] Scenario 2: The vehicle is not parked on the side of the road but is being driven normally, i.e., in motion. There are one or more other traffic participants in front of the vehicle (in the direction of travel) that meet the criteria of Scenario 1. Scenario 1: Traffic participants are parked on the side of the road, preparing to open their doors, including passengers or the driver inside the vehicle preparing to open the door, or people getting into the vehicle preparing to open the door.

[0094] Scenario 1 and Scenario 2 are essentially the same in terms of preventing collisions when a car door opens. It's simply a matter of considering the vehicle currently opening the door or other road users as the target vehicle. These other road users don't necessarily have to be motor vehicles; they can include non-motorized vehicles, pedestrians, robots, drones, etc., allowing for a determination of whether a collision exists between other road users and the target vehicle's door opening.

[0095] This invention proposes a complete door opening warning algorithm. It obtains the speed and location information of surrounding traffic participants through V2X messages, and calculates the potential collision risk when the door is opened by combining the vehicle's dimensions and the door opening angle. This algorithm is applicable to both straight roads and curves of any curvature, promptly alerting passengers and drivers to potential door opening collision risks. Furthermore, this solution considers passenger reaction speed, maximum door opening angle, and opening time, further optimizing the warning judgment algorithm and avoiding unnecessary false alarms. In addition, this solution proposes broadcasting the door unlock status and door opening angle to surrounding vehicles via V2X messages, enabling the vehicle to proactively identify and avoid collision risks from distant vehicles opening their doors, significantly improving driving safety and passenger experience.

[0096] like Figure 3 As shown, the present invention also provides a processing terminal 100, which includes:

[0097] Memory 101 is used to store program instructions;

[0098] The processor 102 is configured to run the program instructions to execute the steps of the V2X-based vehicle door opening collision avoidance warning method.

[0099] The embodiments disclosed in this specification are merely illustrative of one aspect of the invention, and the scope of protection of the invention is not limited to these embodiments. Any other functionally equivalent embodiments fall within the scope of protection of the 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 this invention.

Claims

1. A V2X-based vehicle door opening collision avoidance warning method, characterized in that, Includes the following steps: The target vehicle is identified as including vehicles with their doors unlocked. Filter out actors whose physical space overlaps with the target vehicle's current location within the first time frame. The first time frame is the time it takes for the actor to move from its current location to the target vehicle's current location, and the target vehicle performs the door opening action within the first time frame. By comparing the magnitudes of the first and second time points, and based on the comparison results, it is determined whether a collision occurred when the vehicle door opened, in order to decide whether to issue a collision avoidance warning. The second time is the current opening angle of the door of the target vehicle. The time taken from the start of the car door to its maximum opening angle when it is fully open, and the passenger's reaction time. The sum of The specific implementation process of filtering out behaviors that physically overlap with the target vehicle in the first moment includes the following steps: A first planar coordinate system is established based on the current location of the target vehicle. The origin O of the first planar coordinate system is the position closest to the centroid of the target vehicle from the center line of the lane where the target vehicle is located. The direction tangent to the origin O is the Y-axis, and the X-axis is perpendicular to the Y-axis and extends along the lane center line away from the target vehicle towards the roadside. A second planar coordinate system is established at the location of the actor. The origin O' of the second planar coordinate system is the position of the actor closest to the centroid of the actor on the center line of the lane. The direction tangent to the origin O' is the Y-axis, and the X-axis is perpendicular to the Y-axis and extends along the center line of the lane away from the actor. Obtain the maximum possible door opening Lmax of the target vehicle. max =L d *sin(θ) max ), L d Let θ be the length of the current vehicle door. max This is the maximum opening angle of the car door; Determine whether the relationship between the actor and the target vehicle meets condition one. If so, determine whether the actor and the target vehicle's door physically overlap in the first time frame. Condition 1: If the right door of the target vehicle is currently unlocked, then equation ① is satisfied; if the left door of the target vehicle is currently unlocked, then equation ② is satisfied. ------① ------② In the formula, X h Let x be the x-coordinate of the current centroid of the target vehicle in the first plane coordinate system. This indicates the width of the target vehicle. Indicates the width of the actor. This represents the speed of the actor in the X-axis direction of the second-plane coordinate system. This represents the speed of the actor in the Y-axis direction of the second-plane coordinate system, and S represents the path length from the actor to the target vehicle. This indicates the current door opening angle of the target vehicle. This represents the angular velocity at which the door of the target vehicle is currently opening. This is a preset safe distance.

2. The V2X-based vehicle door opening collision avoidance 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 the door status information is used to determine whether the door is unlocked.

3. The V2X-based vehicle door opening collision avoidance warning method according to claim 1, characterized in that, First, filter out the surrounding actors of the target vehicle. Then, filter out the actors that physically overlap with the target vehicle in the first moment from among the surrounding actors.

4. The V2X-based vehicle door opening collision avoidance warning method according to claim 3, characterized in that, The process of filtering out the surrounding actors of the target vehicle includes the following steps: 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 actor and the center of mass of the target vehicle, with the direction from the actor to the target vehicle. The second vector is the velocity vector of the actor. If the included angle is acute, continue to step 22; otherwise, exclude the actor from the surrounding actors. Step 22: By measuring the lane width and the position of the lane centerline of the target vehicle's current lane, determine whether the actor is in the same lane as the target vehicle. If so, the actor is a surrounding actor; otherwise, the actor is a non-surrounding actor.

5. The V2X-based vehicle door opening collision avoidance warning method according to claim 1, characterized in that, angular velocity of the car door opening The values ​​can be determined through pre-calibration or by setting corresponding values ​​for different passengers or drivers and their corresponding doors.

6. The V2X-based vehicle door opening collision avoidance warning method according to claim 1, characterized in that, The comparison of the magnitudes of the first and second time points, and the determination of whether a collision occurs when the vehicle door is opened based on the comparison result, to decide whether to issue a collision avoidance warning, includes the following steps: Determine if condition two is met. If so, determine if there is a possibility of collision between the action and the target vehicle, and issue a collision avoidance warning. Condition two: In the formula, Indicates passenger reaction time. To be the first, This is the second time.

7. The V2X-based vehicle door opening collision avoidance warning method according to claim 6, characterized in that, Once a collision is confirmed when the door is opened, the system also provides different warning levels for the degree of danger of the door collision. The warning level indicates the probability of a door collision. The higher the warning level, the greater the probability of a door collision and the higher the degree of danger. Conversely, the lower the warning level, the lower the probability of a door collision and the lower the degree of danger.

8. The V2X-based vehicle door opening collision avoidance warning method according to claim 7, characterized in that, The warning level adopts the warning level parameter. This indicates the warning level parameters. The calculation formula is as follows: In the formula, K is a coefficient, which is a preset value.

9. A processing terminal, characterized in that, It includes: Memory, used to store program instructions; A processor is configured to run the program instructions to perform the steps of the V2X-based vehicle door opening collision avoidance warning method as described in any one of claims 1-8.

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