Non-contact automatic door anti-pinch assembly based on laser radar and vehicle

Abstract

The non-contact automatic door anti-pinch assembly comprises the laser radar, a storage module and a controller, the laser radar is arranged on a vehicle body, the vehicle body comprises a cavity and a hole communicated with the cavity, the laser radar is used for scanning the edge contour of the hole of the vehicle body, and the storage module is used for storing the laser radar; the storage module is used for storing calibration data of the hole edge contour of the vehicle body, the controller is electrically connected to the laser radar and the storage module, and the controller is used for outputting obstacle information according to hole scanning data output by the laser radar and the calibration data stored by the storage module. The controller can compare the opening scanning data scanned by the laser radar with the edge contour calibration data stored by the storage module so as to judge the obstacle information of the automatic closing area of the vehicle, and the vehicle executes the corresponding control process according to the obstacle information, so that the possibility of being clamped is fundamentally avoided, and the driving safety is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of electronic devices, and in particular to a non-contact automatic door anti-pinch assembly based on a laser radar and a vehicle. BACKGROUND

[0002] With the increasing demand for safety, especially the wide application of automatic doors and other devices, anti-pinch technology has become an important part of personnel safety. Current anti-pinch technology is widely used in the following industries:

[0003] Automotive industry: Anti-pinch technology is widely used in electric side doors, electric tailgates, sunroof doors and other components to prevent passengers from being injured during operation.

[0004] Home decoration field: Anti-pinch technology is also applied to smart doors, automatic doors, elevator doors and other home devices to improve the safety of daily life.

[0005] Taking the automotive industry as an example, the current main anti-pinch technology adopts contact anti-pinch technology, including Hall sensor and ripple analysis schemes. Among them, the Hall sensor scheme detects how many switch signals the sensor outputs per unit time to calculate the motor speed. When the motor speed decreases, the ECU determines that there is a foreign object, at which time a reverse voltage is applied to the motor to reverse it, and the automatic door will retreat a certain distance to achieve anti-pinch. The working mechanism of the ripple analysis anti-pinch: mainly relies on the detection and processing of current ripple signals. Due to the change of the contact state between the commutator sheet and the brush, current ripple signals are generated. The frequency and number of these signals can be used to determine the running state and position of the automatic door. By capturing and analyzing these signals, it can be determined whether the automatic door has encountered an obstacle, thereby achieving anti-pinch.

[0006] In actual application, both schemes need to be contacted and generate a certain resistance to achieve anti-pinch. Due to the complex shape of the car door, mechanical structure differences, environmental temperature changes, vehicle bumps, etc., the required resistance is not consistent when the body contacts different positions of the car door, so it cannot completely avoid anti-pinch, and even some cases of personnel injury caused by large anti-pinch force of the car door have occurred. Content of the utility model

[0007] To solve one of the above technical defects, the present disclosure provides a non-contact automatic door anti-pinch assembly based on a laser radar and a vehicle.

[0008] According to a first aspect of the present application, a non-contact automatic door anti-pinch assembly based on a laser radar is provided, comprising:

[0009] a laser radar, the laser radar is arranged on a vehicle body, the vehicle body comprises a cavity and an opening communicating with the cavity, and the laser radar is used for scanning a contour of the opening to obtain opening scanning data;

[0010] a storage module, the storage module is used for storing calibration data of the contour of the opening of the vehicle body;

[0011] a controller, the controller is electrically connected to the laser radar and the storage module respectively, and the controller is used for outputting obstacle information according to the opening scanning data output by the laser radar and the calibration data stored in the storage module.

[0012] Optionally, the non-contact automatic door anti-pinch assembly comprises a main body, and the laser radar, the storage module and the controller are arranged in the main body.

[0013] Alternatively, the storage module is a storage module on the vehicle body, and the controller is a controller on the vehicle body.

[0014] Optionally, the controller is a domain controller or a door controller on the vehicle body.

[0015] According to a second aspect of the present application, a vehicle is provided, comprising:

[0016] a vehicle body, the vehicle body comprises a vehicle shell, a sealing member and a driving mechanism, the vehicle shell comprises a cavity and an opening communicating with the cavity, the sealing member is movably arranged on the vehicle shell, and the driving mechanism cooperates with the sealing member to drive the sealing member to close or open the opening; and

[0017] the non-contact automatic door anti-pinch assembly described above, the non-contact automatic door anti-pinch assembly is arranged on the vehicle body, a controller of the non-contact automatic door anti-pinch assembly is electrically connected to the driving mechanism, and a laser radar of the non-contact automatic door anti-pinch assembly is used for scanning a contour of the opening.

[0018] Optionally, the laser radar is arranged on the vehicle shell.

[0019] Alternatively, the laser radar is arranged on the sealing member.

[0020] Optionally, the opening and the sealing member adopt any one of the following combinations:

[0021] the opening is a vehicle window arranged on the vehicle shell, and the sealing member is a windshield of the vehicle;

[0022] the opening is a side door hole arranged on the vehicle shell, and the sealing member is a side sliding door of the vehicle;

[0023] The hole is a sunroof opening provided on the top of the vehicle body, and the blocking member is a sunroof glass of the vehicle.

[0024] Optionally, the hole is a window opening, the laser radar is arranged on the inner side of the vehicle body and located at the bottom side of the window opening.

[0025] The scanning range of the laser radar covers at least the upper edge of the window opening.

[0026] Optionally, the laser radar is arranged on the vehicle body at the lower edge of the window opening and close to the side of the B pillar.

[0027] The scanning range of the laser radar covers the upper edge of the window opening and at least part of the B pillar.

[0028] Optionally, the hole is a side door opening, and the laser radar is arranged on the side sliding door of the vehicle.

[0029] Optionally, the side sliding door is provided with end edges on both sides along the sliding direction, the laser radar is arranged on the end edge close to the rear side of the vehicle on the side sliding door, and the laser radar is arranged at the middle position of the end edge close to the rear side of the vehicle.

[0030] By adopting the above technical solution, the present application has the following beneficial effects:

[0031] The laser radar of the automatic door anti-pinch assembly of the present application can scan the hole edge contour of the vehicle body, the controller can compare the hole scanning data scanned by the laser radar with the edge contour calibration data stored in the storage module, so as to judge the obstacle information of the automatic closing area of the vehicle, and the vehicle can execute the corresponding control process according to the obstacle information, so as to fundamentally avoid the possibility of being pinched and improve the driving safety.

[0032] The technical solutions of the present disclosure will be further described in detail below with the aid of the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings, which form a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0034] The present disclosure can be more clearly understood with reference to the following detailed description in conjunction with the accompanying drawings, in which:

[0035] Figure 1 A state diagram for detecting an obstacle at a window opening by a non-contact automatic door anti-pinch assembly according to an embodiment of the present application is shown;

[0036] Figure 2 Point cloud acquired by a non-contact automatic door anti-pinch assembly for a window opening without an obstacle;

[0037] Figure 3 Point cloud acquired by the non-contact automatic door anti-pinch assembly when there is an obstacle at the vehicle window opening;

[0038] Figure 4 Another relationship diagram of the non-contact automatic door anti-pinch assembly and other modules of the vehicle.

[0039] Figure 5 A state diagram showing the obstacle at the side door opening of the non-contact automatic door anti-pinch assembly provided by the embodiments of the present application is shown.

[0040] Figure 6 Point cloud acquired by the non-contact automatic door anti-pinch assembly when there is no obstacle at the side door opening;

[0041] Figure 7 Point cloud acquired by the non-contact automatic door anti-pinch assembly when there is an obstacle at the side door opening;

[0042] Figure 8 Another relationship diagram of the non-contact automatic door anti-pinch assembly and other modules of the vehicle.

[0043] In the figure, 1, laser radar; 2, vehicle window opening edge contour; 3, vehicle window opening; 4, obstacle; 5, point cloud corresponding to the vehicle window opening without an obstacle; 6, point cloud corresponding to the vehicle window opening with an obstacle; 7, sliding side door; 8, side door opening; 9, side door opening edge contour; 10, point cloud corresponding to the side door opening without an obstacle; 11, point cloud corresponding to the side door opening with an obstacle; 12, B-pillar.

[0044] It should be noted that these drawings and written descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but not to limit the scope of the present application.

[0046] Referring to Figures 1 to 8As shown, the embodiment of the present application provides a non-contact automatic door anti-pinch assembly based on laser radar, comprising: a laser radar 1, a storage module and a controller. The laser radar 1 is arranged on the vehicle body, and the laser radar 1 can be a single-line laser radar or a multi-line laser radar. The vehicle body includes a cavity and a hole opening communicating with the cavity, the laser radar 1 is used to scan the hole opening edge profile of the vehicle body to obtain hole opening scanning data, the storage module is used to store the calibration data of the hole opening edge profile of the vehicle body, and the controller is electrically connected to the laser radar 1 and the storage module respectively. The controller is used to output obstacle information according to the hole opening scanning data output by the laser radar and the calibration data stored in the storage module. The storage module and the controller can be integrally arranged or separately arranged.

[0047] The laser radar 1 of the automatic door anti-pinch assembly of the present application can scan the hole opening edge profile of the vehicle body, and the controller can compare the hole opening scanning data scanned by the laser radar 1 with the edge profile calibration data stored in the storage module, so as to judge the obstacle information of the automatic closing area of the vehicle. The vehicle executes corresponding control process according to the obstacle information, fundamentally avoids the possibility of being pinched, and improves the driving safety.

[0048] In some possible embodiments, the non-contact automatic door anti-pinch assembly based on laser radar includes a main body, and the laser radar 1, the storage module and the controller are arranged on the main body. The main body can be the shell of the non-contact automatic door anti-pinch assembly, that is, the non-contact automatic door anti-pinch assembly of the present application is provided with the storage module and the controller. The controller can be a microcontroller such as MCU, or other small or microcontroller. By placing corresponding computer software programs, certain specific sensing, calculation, analysis and control functions can be completed.

[0049] Figure 4 The relationship diagram of the non-contact automatic door anti-pinch assembly of the present application and other modules of the vehicle is shown. The storage module can be a storage module on the vehicle body, and the controller can be a controller on the vehicle body, for example, the controller can be a domain controller or a door controller on the vehicle body, and the storage module can be a memory on the vehicle body. By reusing the storage module and the controller on the vehicle as the storage module and the controller of the non-contact automatic door anti-pinch assembly of the present application, the cost is reduced, and the performance of the non-contact automatic door anti-pinch assembly is improved.

[0050] The present application also provides a vehicle, comprising: a vehicle body and the above-mentioned non-contact automatic door anti-pinch assembly. The vehicle body includes a vehicle shell, a blocking piece and a driving mechanism. The vehicle shell includes a cavity and a hole opening communicating with the cavity. The blocking piece is movably arranged on the vehicle shell. The driving mechanism cooperates with the blocking piece to drive the blocking piece to close or open the hole opening. The non-contact automatic door anti-pinch assembly is arranged on the vehicle body. The controller of the non-contact automatic door anti-pinch assembly is electrically connected to the driving mechanism. The laser radar 1 of the non-contact automatic door anti-pinch assembly is used to scan the hole opening edge profile.

[0051] When the controller determines that the opening automatic closing area stores the obstacle 4, an instruction can be sent to the driving mechanism so that the driving mechanism controls the blocking piece to stop closing or retreat a distance, thereby avoiding the occurrence of pinching events. The driving mechanism can be a driving motor.

[0052] The controller is also connected to the user interface of the car system, and if necessary, the operator can be notified of the running state of the blocking piece through audio signals, visual prompts or other forms of warning.

[0053] Compared with the prior art, the non-contact automatic door anti-pinch assembly of the present application uses a laser radar 1 as a detection means, which has the advantages of fast response speed, high accuracy, little environmental influence and low maintenance cost. In addition, the non-contact automatic door anti-pinch assembly is a proactive non-contact detection, which further improves the safety and comfort of personnel and can prevent pinching when there is no contact with the obstacle 4, greatly increasing the safety.

[0054] In some possible embodiments, the laser radar 1 is arranged on the vehicle body, or the laser radar 1 is arranged on the blocking piece.

[0055] The opening and the blocking piece adopt any of the following three combinations:

[0056] The first combination: the opening is a vehicle window opening 3 arranged on the vehicle body, and the blocking piece is the windshield, and at this time the laser radar 1 is arranged on the vehicle body.

[0057] The second combination: the opening is a side door opening 8 arranged on the vehicle body, and the blocking piece is the side sliding door 7 of the vehicle, and at this time the laser radar 1 is arranged on the side sliding door 7.

[0058] The third combination: the opening is a sunroof opening arranged on the top of the vehicle body, and the blocking piece is the sunroof glass of the vehicle, and at this time the laser radar 1 can be arranged on the sunroof glass or on the edge of the sunroof opening on the top of the vehicle body.

[0059] In some possible embodiments, the opening is a vehicle window opening 3, the laser radar 1 is arranged on the inner side of the vehicle body and at the bottom side of the vehicle window opening 3, and the scanning range of the laser radar 1 covers at least the upper edge of the vehicle window opening 3. The laser radar 1 faces the area of the running track of the windshield, and the scanning range thereof can cover the entire sunroof glass lifting area.

[0060] In some possible embodiments, the laser radar 1 is arranged on the vehicle body at the lower edge of the vehicle window opening 3 close to one side of the B-pillar 12, and the scanning range of the laser radar 1 covers the upper edge of the vehicle window opening 3 and at least part of the B-pillar 12. Only the bottom of the B-pillar 12 is a dead angle area, and does not affect the effective work of the non-contact automatic door anti-pinch assembly.

[0061] In the normal state of the non-contact automatic door anti-pinch assembly, as shown in Figure 4 , the laser radar 1 can be in a dormant state by default. When the user presses the glass closing button switch, or closes the windshield through the buttons on the screen of the vehicle machine, voice recognition, etc., the controller will send a working instruction to the laser radar 1, and the laser radar 1 starts to work.

[0062] When there is no obstacle 4 in the window opening 3, the point cloud scanned by the laser radar 1 is the edge profile of the window opening 3, as shown in Figure 2 . When there is a foreign object in the window opening 3, the point cloud scanned by the laser radar 1 is inconsistent with the edge profile calibration data stored in the storage module, and a depression appears at the position of the foreign object, as shown in Figure 3 .

[0063] The non-contact automatic door anti-pinch assembly includes an obstacle recognition algorithm based on point cloud, which can identify whether there is an obstacle 4. When it is identified that there is an obstacle 4, the non-contact automatic door anti-pinch assembly outputs an anti-pinch start signal to the controller, as shown in Figure 4 , the controller controls the driving motor to stop or reverse, and at the same time can remind the user through the vehicle machine screen or voice.

[0064] The non-contact automatic door anti-pinch assembly of the present application realizes non-contact detection of the obstacle 4. The car window and sunroof are anti-pinch and non-inductive, and passive anti-pinch is avoided to avoid bad experience and accidents caused by excessive anti-pinch force.

[0065] In some possible embodiments, referring to Figures 5 to 8 , the opening is a side door opening 8, the laser radar 1 is arranged on the side sliding door 7 of the vehicle, the side sliding door 7 is provided with end edges on both sides along the sliding direction, the laser radar 1 is arranged on the end edge close to the tail side of the vehicle on the side sliding door 7, and the laser radar 1 is arranged at a middle position of the corresponding end edge. The laser radar 1 can be arranged inside the side sliding door 7 of the vehicle, facing the area of the door running track, and its scanning range can cover the entire running area of the side sliding door 7. The laser radar 1 is in a dormant state by default. When the user presses the button switch of the side sliding door, or closes the side sliding door 7 through the buttons on the screen of the vehicle machine, voice recognition, etc., a working instruction will be sent to the non-contact automatic door anti-pinch assembly at the same time, and the laser radar 1 starts to work. When there is no obstacle 4, the point cloud scanned by the laser radar 1 is the edge of the side door opening 8 frame, as shown in Figure 6 , when there is a foreign object, the point cloud scanned by the laser radar 1 is inconsistent with the edge profile calibration data of the side door opening 8 stored in the storage module, and a depression appears at the position of the foreign object, as shown in Figure 7 .

[0066] The point cloud-based non-contact automatic door anti-pinch component includes an obstacle 4 recognition algorithm, which can recognize whether there is an obstacle 4. When the obstacle 4 is recognized, the non-contact automatic door anti-pinch component outputs an anti-pinch start signal to the vehicle, the vehicle controls the driving motor to stop or reverse, and at the same time, the user can be reminded through the vehicle screen or voice.

[0067] In the description of the present application, it should be explained that the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0068] In the description of the present application, it should be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connection" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0069] The above description has been given for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although a plurality of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A non-contact automatic door anti-pinch component based on laser radar, characterized in that: include: A laser radar is disposed on a vehicle body, the vehicle body including a cavity and a hole communicating with the cavity, the laser radar being used to scan an edge contour of the hole to obtain hole scanning data; A storage module, the storage module being used to store calibration data of the edge contour of the hole of the vehicle body; A controller is electrically connected to the laser radar and the storage module, and is used to output obstacle information based on the hole scanning data output by the laser radar and the calibration data stored in the storage module.

2. The non-contact automatic door anti-pinch component based on laser radar according to claim 1 is characterized in that: It comprises a main body, wherein the laser radar, the storage module and the controller are all arranged on the main body; Alternatively, the storage module is a storage module on the vehicle body, and the controller is a controller on the vehicle body.

3. The non-contact automatic door anti-pinch component based on laser radar according to claim 1 or 2, characterized in that: The controller is a domain controller or a door controller on the vehicle body.

4. A vehicle, characterized in that: include: A vehicle body, the vehicle body comprising a vehicle shell, a sealing member, and a driving mechanism, the vehicle shell comprising a cavity and an opening communicating with the cavity, the sealing member being movably disposed on the vehicle shell, the driving mechanism cooperating with the sealing member to drive the sealing member to close or open the opening; and The non-contact automatic door anti-pinch assembly as described in any one of claims 1-3, wherein the non-contact automatic door anti-pinch assembly is arranged on the vehicle body, the controller of the non-contact automatic door anti-pinch assembly is electrically connected to the driving mechanism, and the laser radar of the non-contact automatic door anti-pinch assembly is used to scan the edge contour of the opening.

5. The vehicle according to claim 4, characterized in that The laser radar is arranged on the vehicle shell; Alternatively, the laser radar is arranged on the sealing member.

6. The vehicle according to claim 4, characterized in that The hole and the sealing member are any one of the following combinations: The opening is a window provided on the vehicle shell, and the sealing member is a windshield of the vehicle; The opening is a side door opening provided on the vehicle shell, and the blocking member is a side sliding door of the vehicle; The opening is a skylight window arranged on the top of the vehicle shell, and the sealing member is the skylight glass of the vehicle.

7. The vehicle according to claim 6, characterized in that The opening is a vehicle window, and the laser radar is arranged on the inner side of the vehicle shell and located on the bottom side of the vehicle window; The scanning range of the laser radar at least covers the upper edge of the vehicle window.

8. The vehicle according to claim 7, characterized in that The laser radar is arranged on the vehicle shell at a side of the lower edge of the vehicle window close to the B-pillar; The scanning range of the laser radar covers the upper edge of the vehicle window and at least part of the B-pillar.

9. The vehicle according to claim 6, characterized in that The opening is a side door opening, and the laser radar is arranged on the side sliding door of the vehicle.

10. The vehicle according to claim 9, characterized in that The side sliding door is provided with end edges on both sides along the sliding direction, and the laser radar is arranged on the end edge of the side sliding door close to the rear of the vehicle, and the laser radar is arranged in the middle position of the end edge close to the rear of the vehicle.

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