Vehicle door anti-collision system and vehicle

Abstract

The invention discloses a vehicle door anti-collision system and a vehicle, and belongs to the technical field of vehicles. The vehicle door anti-collision system comprises a vehicle control unit, an air suspension controller and an air suspension. The vehicle control unit is used for determining the position relation between the top face of an obstacle and the bottom face of the vehicle door based on the obstacle data in the preset range of the left side of the vehicle and / or the preset range of the right side of the vehicle and generating an adjusting instruction when the position relation does not meet the door opening condition. And the air suspension controller is used for controlling the air suspension to adjust the vehicle body to the preset height in response to the received adjustment instruction sent by the vehicle control unit. By the adoption of the technical scheme, damage to the vehicle door can be reduced when the vehicle door is opened, and the vehicle and personal safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a vehicle door anti-collision system and a vehicle. Background Art

[0002] Door-opening accidents are a common type of traffic accident in recent years. They typically occur when a passenger in a vehicle fails to observe obstacles on the side of the vehicle. This can lead to collisions between the door and surrounding obstacles when exiting the vehicle. These collisions can not only damage the vehicle and cause a series of chain reactions, including traffic congestion, but can also result in casualties.

[0003] Currently, drivers can only rely on their eyes to observe the surrounding conditions to determine whether to open the door while driving. However, this reliance on manual observation of the surrounding vehicle conditions is not accurate enough, especially when some low obstacles are difficult to detect. This makes it easy for the door to be opened accidentally, resulting in damage to the door and endangering personal safety. Summary of the Invention

[0004] In view of this, an embodiment of the present application provides a vehicle door anti-collision system and a vehicle, which can reduce damage to the vehicle door when opening the vehicle door and improve vehicle and personal safety.

[0005] On the one hand, an embodiment of the present application provides a vehicle door anti-collision system, the vehicle door anti-collision system including a vehicle controller, an air suspension controller and an air suspension;

[0006] The vehicle controller is configured to determine a positional relationship between a top surface of the obstacle and a bottom surface of the door based on obstacle data within a preset range on the left side of the vehicle and / or within a preset range on the right side of the vehicle, and generate an adjustment instruction when the positional relationship does not meet the door opening condition;

[0007] The air suspension controller is used to control the air suspension to adjust the vehicle body to a preset height in response to receiving the adjustment instruction sent by the vehicle controller.

[0008] Optionally, the obstacle data includes an obstacle image and an obstacle height;

[0009] The door opening condition is that the top surface of the obstacle is lower than the bottom surface of the vehicle door, and the height difference between the top surface of the obstacle and the bottom surface of the vehicle door is not less than a preset height difference.

[0010] Optionally, the vehicle door anti-collision system further includes an image acquisition device, wherein the image acquisition device is used to acquire images of obstacles within a preset range on the left side of the vehicle and / or within a preset range on the right side of the vehicle;

[0011] The vehicle controller is further configured to acquire the obstacle image from the image acquisition device in response to a current vehicle speed being less than a preset vehicle speed or a transmission gear being in gear P.

[0012] Optionally, the image acquisition device includes a first surround-view camera and a second surround-view camera, the first surround-view camera is used to acquire images of obstacles within a preset range on the left side of the vehicle, and the second surround-view camera is used to acquire images of obstacles within a preset range on the right side of the vehicle.

[0013] Optionally, the image acquisition device also includes a first millimeter-wave radar and a second millimeter-wave radar, the first millimeter-wave radar is used to collect the height of obstacles within a preset range on the left side of the vehicle, and the second millimeter-wave radar is used to collect the height of obstacles within a preset range on the right side of the vehicle.

[0014] Optionally, the door anti-collision system further includes a cockpit controller and a display screen;

[0015] The vehicle controller is further configured to generate a first prompt instruction when the position relationship does not meet the door opening condition, and send the first prompt instruction to the cockpit controller;

[0016] The cockpit controller is configured to control the display screen to display first prompt information corresponding to the first prompt instruction in response to receiving the first prompt instruction.

[0017] Optionally, the door anti-collision system further includes a voice module;

[0018] The cockpit controller is further configured to control the voice module to play a first prompt voice corresponding to the first prompt instruction in response to receiving the first prompt instruction.

[0019] Optionally, the vehicle controller is further configured to, when the vehicle body is at the preset height and the positional relationship between the top surface of the obstacle and the bottom surface of the door still does not meet the door opening condition, obtain a horizontal distance between the obstacle and the door on the side corresponding to the obstacle, and determine, based on the preset distance, an allowable opening angle of the door on the side corresponding to the obstacle;

[0020] The cockpit controller is also used to control the display screen to display a third prompt message based on the allowable opening angle being greater than a first preset angle and less than a second preset angle, wherein the third prompt message is used to remind the occupant that the door will not collide with an obstacle on the corresponding side of the door within the allowable opening angle range.

[0021] Optionally, the cockpit controller is further configured to open the vehicle door to the allowed opening angle in response to receiving the allowed opening angle.

[0022] On the other hand, an embodiment of the present application further provides a vehicle, comprising the door anti-collision system described in any one of the above items.

[0023] The vehicle door collision avoidance system provided in the embodiments of the present application combines the acquired obstacle data with the door opening conditions using the vehicle controller to accurately determine the positional relationship between the top surface of the obstacle and the bottom surface of the door. If this positional relationship does not meet the door opening conditions, an adjustment instruction can be promptly sent to the air suspension controller. Based on the adjustment instruction, the air suspension controller can promptly raise the vehicle body to a preset height. In other words, the vehicle door collision avoidance system provided in the embodiments of the present application can promptly identify low obstacles and adjust the vehicle body height in a timely manner based on the obstacle data to reduce collisions between the door and the obstacle when it is opened, thereby reducing damage to the door and improving vehicle and personal safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 This is a schematic diagram of a door anti-collision system according to an embodiment of the present application;

[0026] Figure 2 Schematic diagram of a vehicle and an obstacle provided in an embodiment of the present application.

[0027] Reference numerals:

[0028] 1. Vehicle;

[0029] 100. Vehicle controller;

[0030] 200, air suspension controller;

[0031] 300, air suspension;

[0032] 400, obstacle; 410, top surface of obstacle;

[0033] 500, vehicle door; 510, vehicle door bottom;

[0034] 600, image acquisition device; 610, first surround-view camera; 620, second surround-view camera; 630, first millimeter-wave radar; 640, second millimeter-wave radar; 650, third millimeter-wave radar; 660, fourth millimeter-wave radar; 670, fifth millimeter-wave radar; 680, sixth millimeter-wave radar;

[0035] 700, cockpit controller;

[0036] 800, display screen;

[0037] 900. Voice module.

[0038] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0040] Unless otherwise defined, all technical terms used in the embodiments of the present application have the same meanings as commonly understood by those skilled in the art.

[0041] In order to make the technical solutions and advantages of the present application clearer, the implementation methods of the present application will be described in further detail below with reference to the accompanying drawings.

[0042] On the one hand, combined with Figure 1 and Figure 2 As shown, an embodiment of the present application provides a vehicle door 500 anti-collision system, which includes a vehicle controller 100, an air suspension controller 200 and an air suspension 300.

[0043] The vehicle controller 100 is used to determine the positional relationship between the top surface 410 of the obstacle and the bottom surface 510 of the vehicle door based on the data of the obstacle 400 within the preset range on the left side of the vehicle 1 and / or the preset range on the right side of the vehicle 1, and generate an adjustment instruction when the positional relationship does not meet the door opening conditions.

[0044] The air suspension controller 200 is configured to control the air suspension 300 to adjust the vehicle body to a preset height in response to adjustment commands received from the vehicle controller 100. It should be noted that the air suspension 300 is mounted on the underside of the vehicle body and is used to raise or lower the vehicle body, thereby adjusting the vehicle body height. Consequently, the doors 500 located on the vehicle body also rise or lower synchronously with the vehicle body. The preset height in this embodiment of the application refers to the maximum height to which the vehicle body can be lifted by the air suspension 300.

[0045] Using the vehicle door collision avoidance system provided in the embodiment of the present application, the vehicle controller 100 combines the acquired obstacle 400 data with the door opening conditions to accurately determine the positional relationship between the obstacle top surface 410 and the door bottom surface 510. When this positional relationship does not meet the door opening conditions, an adjustment instruction can be promptly sent to the air suspension controller 200. Based on the adjustment instruction, the air suspension controller 200 can promptly raise the vehicle body to a preset height. In other words, the vehicle door collision avoidance system provided in the embodiment of the present application can promptly identify low obstacles 400 and promptly adjust the vehicle body height based on the obstacle 400 data to reduce the collision between the door 500 and the obstacle 400 when it is opened, thereby reducing damage to the door 500 and improving the safety of the vehicle 1 and the personal safety.

[0046] The following is combined with Figures 1 to 2 The various components and functions of the vehicle door anti-collision system provided in the embodiment of the present application are described in more detail.

[0047] In some embodiments, the obstacle 400 data includes an image of the obstacle 400 and the height of the obstacle 400. The door opening condition is that the obstacle top surface 410 is lower than the door bottom surface 510, and the height difference between the obstacle top surface 410 and the door bottom surface 510 is no less than a preset height difference. It should be noted that because the positional relationship between the obstacle top surface 410 and the door bottom surface 510 is determined based on both the obstacle 400 image and the obstacle 400 height, the accuracy of the positional relationship is improved, thereby more accurately determining whether the current door 500 position meets the door opening condition, thereby improving the accuracy and effectiveness of vehicle height adjustment.

[0048] In some embodiments, the door collision avoidance system further includes an image acquisition device 600, which is used to acquire images of obstacles 400 within a preset range on the left side of the vehicle 1 and / or within a preset range on the right side of the vehicle 1. The vehicle controller 100 is also used to obtain images of obstacles 400 from the image acquisition device 600 in response to the current vehicle speed being less than a preset speed or the transmission gear being in the P gear. It should be noted that when the current vehicle speed is less than the preset speed, the vehicle 1 can be considered to be in a parked state. The preset speed can be, for example, 3 km / h, and the preset speed can be adjusted as needed. When the transmission gear of the vehicle 1 is in the P gear, the vehicle 1 is in a parked state. It is understandable that when the vehicle 1 is in the parked state, it indicates that the occupants have a need to get out of the vehicle and open the door 500. That is to say, with the door collision avoidance system provided in the embodiment of the present application, since the vehicle controller 100 obtains images from the image acquisition device 600 only when the vehicle 1 is in the parking state, and then determines the positional relationship between the top surface 410 of the obstacle and the bottom surface 510 of the door, so as to determine whether it is necessary to use the air suspension 300 to adjust the vehicle body height, it can ensure that the obstacle 400 data is obtained only when the occupants need to park and open the door, thereby avoiding obtaining the obstacle 400 information when the occupants do not need to get out of the vehicle to open the door, thereby improving the effectiveness of data acquisition and transmission.

[0049] In some embodiments, the vehicle controller 100 is configured to generate an acquisition instruction in response to the current vehicle speed being less than a preset speed or the transmission being in P gear for a first preset duration, and transmit the acquisition instruction to the image acquisition device 600. In response to receiving the acquisition instruction, the image acquisition device 600 transmits an image of the obstacle 400 to the vehicle controller 100. This configuration avoids acquiring images of the obstacle 400 in scenarios where passengers temporarily stop and do not need to open a door to exit the vehicle, further improving the efficiency of data acquisition and transmission and conserving data processing resources.

[0050] In some embodiments, the image acquisition device 600 includes a first surround-view camera 610 and a second surround-view camera 620. The first surround-view camera 610 is used to capture images of obstacles 400 within a preset range on the left side of the vehicle 1, and the second surround-view camera 620 is used to capture images of obstacles 400 within a preset range on the right side of the vehicle 1. It should be understood that the preset range on the left side of the vehicle 1 can be a semicircular area or a sector-shaped area with the left door 500 as a radius, and the preset range on the right side of the vehicle 1 can be a semicircular area or a sector-shaped area with the right door 500 as a radius. The preset ranges can be adjusted as needed. In some embodiments, the preset range on the left side of the vehicle 1 is the area swept by the outer edge of the bottom surface 510 of the left door 500 of the vehicle 1 when the left door 500 of the vehicle 1 is opened from a closed state to its maximum opening angle. The preset range on the right side of the vehicle 1 is the area swept by the outer edge of the bottom surface 510 of the right door 500 of the vehicle 1 when the right door 500 of the vehicle 1 is opened from a closed state to its maximum opening angle. In this way, the image acquisition device 600 can be used to perform targeted detection and data collection on obstacles 400 that may collide with the vehicle door 500 during the process of the vehicle door 500 being opened normally from the closed state to the maximum opening angle. This can improve the accuracy of whether the vehicle door 500 has collided with the obstacle 400. It should be noted that the first surround-view camera 610 and the second surround-view camera 620 can capture more comprehensive and clear images of obstacles 400 on both sides of the vehicle 1, so that the vehicle controller 100 can more accurately determine the positional relationship between the obstacle top surface 410 and the vehicle door bottom surface 510 based on the obstacle 400 images.

[0051] In some embodiments, the image acquisition device 600 further includes a first millimeter-wave radar 630 and a second millimeter-wave radar 640. The first millimeter-wave radar 630 is used to collect the height of obstacles 400 within a preset range on the left side of the vehicle 1, while the second millimeter-wave radar 640 is used to collect the height of obstacles 400 within a preset range on the right side of the vehicle 1. It should be noted that the first millimeter-wave radar 630 can be installed near the bottom of the left door 500, and the second millimeter-wave radar 640 can be installed near the bottom of the right door 500. The first millimeter-wave radar 630 can correspond one-to-one with each left door 500, and the second millimeter-wave radar 640 can correspond one-to-one with each right door 500. For example, if the vehicle 1 has two doors 500 on the left side, a first millimeter-wave radar 630 can be installed for each left door 500. This allows for more accurate determination of obstacles 400 to the side of each door 500.

[0052] In some embodiments, the door collision avoidance system further includes a third millimeter-wave radar 650, a fourth millimeter-wave radar 660, a fifth millimeter-wave radar 670, and a sixth millimeter-wave radar 680. The third millimeter-wave radar 650 is mounted at the left front corner of the vehicle 1 and is used to collect the height of an obstacle 400 within the left front corner of the vehicle 1. The fourth millimeter-wave radar 660 is mounted at the right front corner of the vehicle 1 and is used to collect the height of an obstacle 400 within the right front corner of the vehicle 1. The fifth millimeter-wave radar 670 is mounted at the left rear corner of the vehicle 1 and is used to collect the height of an obstacle 400 within the left rear corner of the vehicle 1. The sixth millimeter-wave radar 680 is mounted at the right rear corner of the vehicle 1 and is used to collect the height of an obstacle 400 within the right rear corner of the vehicle 1. The vehicle controller 100 is further configured to obtain the height of the obstacle 400 from the third millimeter-wave radar 650, the fourth millimeter-wave radar 660, the fifth millimeter-wave radar 670, and the sixth millimeter-wave radar 680 in response to the current vehicle speed being less than a preset speed or the transmission being in P gear. In this way, the vehicle controller 100 can determine the position of the obstacle 400 based on more accurate and comprehensive information about the obstacle 400, thereby more accurately adjusting the position of the air suspension 300 using the air suspension controller 200. It should be understood that the first millimeter-wave radar 630 and the second millimeter-wave radar 640 in the embodiment of the present application are both capable of detecting data such as the distance between the obstacle 400 on the side of the vehicle door 500 and the vehicle door 500, the speed of the obstacle 400, and the height of the obstacle 400, while the third millimeter-wave radar 650, the fourth millimeter-wave radar 660, the fifth millimeter-wave radar 670, and the sixth millimeter-wave radar 680 are each capable of detecting data such as the distance between the obstacle 400 and the vehicle door 500, the speed of the obstacle 400, and the height of the obstacle 400 within their respective areas.

[0053] In some embodiments, the door anti-collision system further includes a cockpit controller 700 and a display screen 800. The vehicle controller 100 is further configured to generate a first prompt instruction when the positional relationship does not meet the door opening conditions, and to send the first prompt instruction to the cockpit controller 700. The cockpit controller 700 is configured to control the display screen 800 to display a first prompt message corresponding to the first prompt instruction in response to receiving the first prompt instruction. With such a configuration, the occupant can promptly know, based on the first prompt message displayed on the display screen 800, that if the door 500 is opened at this time, a door 500 collision will occur, thereby preventing the occupant from blindly opening the door 500 and causing damage to the door 500 or other safety hazards, thereby improving the safety of the vehicle 1 and the occupants. The first prompt message can, for example, be the text "Do not open the door on the left" and / or a preset pattern mark, such as a red dot.

[0054] In some embodiments, the door collision avoidance system further includes a voice module 900. The cockpit controller 700 is further configured to, in response to receiving a first prompt command, control the voice module 900 to play a first voice prompt corresponding to the first prompt command. This configuration allows passengers to promptly be informed by the first voice prompt that opening the door at this time would cause a collision with the vehicle door 500. This prevents passengers from blindly opening the vehicle door 500, potentially damaging it or creating other safety hazards, thereby improving the safety of the vehicle 1 and its passengers. For example, the first voice prompt may read, "Please note, there is an obstacle 400 near the vehicle door 500. Please open the door with caution."

[0055] In some embodiments, the vehicle controller 100 is further configured to generate a second prompt command and transmit the second prompt command to the cabin controller 700 when the vehicle body has reached a preset height and the positional relationship between the obstacle top surface 410 and the door bottom surface 510 meets the door opening conditions. In response to receiving the second prompt command, the cabin controller 700 controls the display screen 800 to display a second prompt message corresponding to the second prompt message, wherein the second prompt message prompts the occupant to open the door 500 to its maximum angle. This configuration allows the occupant to promptly acknowledge the second prompt message displayed on the display screen 800 that it is safe to open the door, ensuring that the door 500 will not collide with the low obstacle 400 when opening, thus ensuring safety during door opening. The second prompt message may, for example, include the text "Door adjusted, safe to open" and / or a preset graphic symbol, such as a green dot.

[0056] In some embodiments, the cabin controller 700 is further configured to, in response to receiving the second prompt command, control the voice module 900 to play a second voice prompt corresponding to the second prompt command. This configuration allows the occupant to promptly acknowledge that it is safe to open the door based on the second voice prompt. The second voice prompt may, for example, include "Door 500 has been adjusted and is safe to open."

[0057] In some embodiments, the vehicle controller 100 is also used to obtain the horizontal distance between the obstacle 400 and the door 500 on the corresponding side of the obstacle 400 when the vehicle body is at a preset height and the positional relationship between the top surface 410 of the obstacle and the bottom surface 510 of the door still does not meet the door opening conditions, and based on the preset distance, determine the allowable opening angle of the door 500 on the corresponding side of the obstacle 400, and send the allowable opening angle to the cabin controller 700.

[0058] The cabin controller 700 is further configured to control the display screen 800 to display a third prompt message based on the permitted opening angle being greater than the first preset angle and less than the second preset angle. The third prompt message serves to remind passengers that the door 500 will not collide with the obstacle 400 within the permitted opening angle range. This configuration allows passengers to decide whether to open the door 500 based on whether the permitted opening angle satisfies their needs for exiting the vehicle. It should be noted that in this embodiment of the present application, the second preset angle is the maximum opening angle of the door 500, while the first preset angle is the angle that allows smaller objects to pass through. The first preset angle can be set as needed, for example, to 5 degrees, 10 degrees, etc.

[0059] In some embodiments, the cabin controller 700 is further configured to, in response to receiving the permitted opening angle, open the vehicle door 500 to the permitted opening angle. In this manner, although the vehicle door 500 cannot be fully opened to the maximum opening angle, it can be automatically opened to the permitted opening angle. Thus, after the vehicle door 500 is opened to the permitted opening angle, the passenger can decide whether to exit the vehicle. This not only meets the passenger's needs but also eliminates the need for the passenger to manually open the door, simplifying the passenger's operation.

[0060] In some embodiments, the vehicle controller 100 is further configured to generate a fourth prompt command when an obstacle 400 on the corresponding side of the door 500 moves out of a preset range within a second preset time period, and transmit the fourth prompt command to the cabin controller 700. The cabin controller 700 is further configured to control the display screen 800 to display a fourth prompt message corresponding to the fourth prompt command based on the fourth prompt command. The fourth prompt message serves to notify passengers that the obstacle 400 is no longer present on the side of the door 500. It should be noted that the obstacle 400 on the side of the door 500 can be either fixed or movable. When the obstacle 400 has moved out of the preset range, the passenger will not be impacted even if the door 500 is opened to its maximum angle. This provides a timely reminder to passengers when they need to exit the vehicle that the obstacle 400 has been removed and the door 500 can be opened normally to its maximum angle. The fourth prompt information may be, for example, the text "Obstacle 400 has been removed, the door can be opened safely" and / or a preset pattern logo, such as a green dot.

[0061] In some embodiments, the cabin controller 700 is further configured to control the voice module 900 to play a fourth voice prompt corresponding to the fourth prompt command based on the fourth prompt command. This configuration allows the occupant to technically understand, based on the fourth voice prompt, that the obstacle 400 has been removed and that it is safe to open the door. For example, the fourth voice prompt may include "Obstacle 400 has been removed. It is safe to open the door."

[0062] It should be noted that the vehicle controller 100 in the embodiment of the present application is electrically connected to the cockpit controller 700, the image acquisition device 600, and the air suspension controller 200, respectively. The cockpit controller 700 is electrically connected to the display screen 800 and the voice module 900. It should be understood that two electrically connected devices can transmit signals or commands to each other.

[0063] In summary, the vehicle door collision avoidance system provided in the embodiments of the present application utilizes the vehicle controller 100 in conjunction with obstacle 400 data collected by the first surround-view camera 610, the second surround-view camera 620, and multiple millimeter-wave radars in the image acquisition device 600 to accurately determine whether a low obstacle 400 to the side of the vehicle door 500 would affect safe door opening. Furthermore, if a collision between the vehicle door 500 and the side obstacle 400 is likely, the air suspension 300 is promptly used to adjust the vehicle body height, thereby adjusting the height of the vehicle door 500 synchronously with the vehicle body. This reduces the risk of collision between the vehicle door 500 and the low obstacle 400 when opening, reduces damage to the vehicle door 500, and improves the safety of the vehicle door 500, the vehicle 1, and its occupants.

[0064] In another embodiment, the present application further provides a vehicle 1 including the door collision avoidance system described in any of the aforementioned embodiments. It should be noted that the door collision avoidance system in the vehicle 1 provided in the present embodiment has the same composition and function as the door collision avoidance system described in any of the aforementioned embodiments, and therefore will not be further described here. The installation of the door collision avoidance system in the vehicle 1 prevents damage to the door 500 when it is opened, thereby improving the safety of the vehicle 1 and its occupants.

[0065] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "plurality" refers to two or more than two, unless expressly limited otherwise.

[0066] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the present invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only.

[0067] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle door anti-collision system, characterized in that: The vehicle door anti-collision system comprises a vehicle controller (100), an air suspension controller (200) and an air suspension (300); The vehicle controller (100) is used to determine the positional relationship between the top surface (410) of the obstacle and the bottom surface (510) of the door based on data of the obstacle (400) within a preset range on the left side of the vehicle and / or within a preset range on the right side of the vehicle, and to generate an adjustment instruction when the positional relationship does not meet the door opening condition; The air suspension controller (200) is used to control the air suspension (300) to lift the vehicle body to a preset height in response to receiving the adjustment instruction sent by the vehicle controller (100).

2. The vehicle door anti-collision system according to claim 1, characterized in that: The obstacle (400) data includes an image of the obstacle (400) and a height of the obstacle (400); The door opening condition is that the top surface (410) of the obstacle is lower than the bottom surface (510) of the vehicle door, and the height difference between the top surface (410) of the obstacle and the bottom surface (510) of the vehicle door is not less than a preset height difference.

3. The vehicle door anti-collision system according to claim 2, characterized in that: The vehicle door anti-collision system further comprises an image acquisition device (600), wherein the image acquisition device (600) is used to acquire an image of the obstacle (400) within a preset range on the left side of the vehicle and / or within a preset range on the right side of the vehicle; The vehicle controller (100) is further configured to acquire the image of the obstacle (400) from the image acquisition device (600) in response to the current vehicle speed being less than a preset vehicle speed or the transmission gear being in gear P.

4. The vehicle door anti-collision system according to claim 3, characterized in that: The image acquisition device (600) comprises a first surround-view camera (610) and a second surround-view camera (620), wherein the first surround-view camera (610) is used to acquire images of obstacles (400) within a preset range on the left side of the vehicle, and the second surround-view camera (620) is used to acquire images of obstacles (400) within a preset range on the right side of the vehicle.

5. The vehicle door anti-collision system according to claim 3, characterized in that: The image acquisition device (600) further includes a first millimeter-wave radar (630) and a second millimeter-wave radar (640), wherein the first millimeter-wave radar (630) is used to acquire the height of an obstacle (400) within a preset range on the left side of the vehicle, and the second millimeter-wave radar (640) is used to acquire the height of an obstacle (400) within a preset range on the right side of the vehicle.

6. The vehicle door anti-collision system according to claim 1, characterized in that: The vehicle door anti-collision system further includes a cockpit controller (700) and a display screen (800); The vehicle controller (100) is further configured to generate a first prompt instruction when the position relationship does not meet the door opening condition, and send the first prompt instruction to the cabin controller (700); The cockpit controller (700) is used to control the display screen (800) to display first prompt information corresponding to the first prompt instruction in response to receiving the first prompt instruction.

7. The vehicle door anti-collision system according to claim 6, characterized in that: The vehicle door anti-collision system further includes a voice module (900); The cockpit controller (700) is further configured to control the voice module (900) to play a first prompt voice corresponding to the first prompt instruction in response to receiving the first prompt instruction.

8. The vehicle door anti-collision system according to claim 6, characterized in that: The vehicle controller (100) is further configured to obtain a horizontal distance between the obstacle (400) and the door (500) on the side corresponding to the obstacle (400), and determine an allowable opening angle of the door (500) on the side corresponding to the obstacle (400) based on the preset distance, when the vehicle body is at the preset height and the positional relationship between the top surface of the obstacle (410) and the bottom surface of the door (510) still does not meet the door opening condition; The cockpit controller (700) is further configured to control the display screen (800) to display a third prompt message based on the fact that the allowed opening angle is greater than a first preset angle and less than a second preset angle, wherein the third prompt message is configured to prompt the occupant that the vehicle door (500) will not collide with an obstacle (400) on the corresponding side of the vehicle door (500) within the allowed opening angle range.

9. The vehicle door anti-collision system according to claim 6, characterized in that: The cockpit controller (700) is further configured to open the vehicle door (500) to the allowed opening angle in response to receiving the allowed opening angle.

10. A vehicle, characterized in that: The vehicle includes the door anti-collision system according to any one of claims 1 to 9.

Images