Vehicle door anti-collision system and vehicle

Abstract

According to the vehicle door anti-collision system and the vehicle provided by the embodiment of the invention, the laser radar is arranged in the vehicle door, and the laser scanning area corresponding to the laser radar can cover the projection area of the vehicle door on the laser scanning plane; therefore, when the laser radar detects that an obstacle exists in the projection area, the controller controls the vehicle door motor to stop running so as to prevent the vehicle door from colliding with the obstacle, the laser radar is high in angle resolution, small obstacles in the projection area can be effectively detected, and the laser radar can set a large field angle, so that the collision between the vehicle door and the obstacle is avoided. By designing the installation position and the preset field angle of the laser radar on the vehicle door, the laser scanning area can completely cover the projection area of the vehicle door on the laser scanning plane, the radar detection blind area is eliminated, all-directional protection on the vehicle door can be formed, and therefore the collision risk in the automatic opening process of the vehicle door is reduced.

Description

Technical Field

[0001] This disclosure relates to the field of vehicles, and in particular to a door anti-collision system and a vehicle. Background Technology

[0002] More and more vehicles on the market now use electric doors (side doors, tailgates, etc.). When the user triggers the door switch, the electric door will automatically open or close.

[0003] However, during the electric opening and closing of the car doors, there is a possibility of collision with obstacles around the vehicle, such as adjacent vehicles, thin pillars or chains in mechanical parking spaces, suspended cables, roadside flower beds, etc., which may cause some damage to the user. Utility Model Content

[0004] This disclosure provides a door anti-collision system and a vehicle that can provide all-round protection for the door and reduce the risk of collision during the automatic opening and closing of the door.

[0005] One aspect of this disclosure provides a vehicle door anti-collision system, including: a lidar controller, a motor, and at least one lidar, wherein the vehicle door is mounted on a vehicle;

[0006] The motor is used to control the movement of the vehicle door during operation, wherein the vehicle door drives the lidar to move synchronously during the movement.

[0007] The lidar is installed on the vehicle and connected to the controller. The lidar's laser scanning area within a preset field of view covers the projection area of ​​the vehicle door on the laser scanning plane, where the laser scanning plane is the plane containing the laser scanning area. The lidar emits laser signals within the preset field of view, scans and receives reflected laser signals corresponding to the laser signals, determines a distance measurement value based on the reflected laser signals, and sends an alarm signal to the controller when the distance measurement value indicates the presence of an obstacle within the projection area.

[0008] The controller is connected to the motor and is used to control the motor to run or stop running. The controller is used to control the motor to stop running when it receives the alarm signal.

[0009] Optionally, the distance measurement value refers to the distance between the lidar and the signal reflecting surface, where the signal reflecting surface is the surface of the object that reflects the laser signal; the lidar is used to determine the distance measurement value based on the laser flight time and the speed of light, wherein the laser flight time refers to the time required from when the lidar emits the laser signal to when it receives the corresponding reflected laser signal, and the time interval between when the lidar emits the laser signal is greater than the laser flight time.

[0010] Optionally, the lidar is provided with a memory, which stores a first azimuth angle and a second azimuth angle corresponding to the preset field of view. The first azimuth angle is the angle between one side of the preset field of view and the baseline, and the second azimuth angle is the angle between the other side of the preset field of view and the baseline.

[0011] The lidar is used to read the first azimuth angle and the second azimuth angle from the memory, and to scan and emit the laser signal within the angle between the first azimuth angle and the second azimuth angle.

[0012] Optionally, the memory also stores the range of region coordinates corresponding to the projection area in the radar coordinate system of the lidar;

[0013] The lidar is used to generate the alarm signal when the distance measurement value indicates the presence of an obstacle within the coordinate range of the area.

[0014] Optionally, the lidar is disposed at at least one of the following locations on the vehicle door:

[0015] The interior of the rearview mirror on the car door, the outer surface of the door panel at the connecting shaft of the car door, the interior of the door handle, the top beam of the car door, the spoiler on the car door, and the bend of the car door;

[0016] The door is connected to the vehicle body via the connecting shaft and can be opened or closed by rotating around the connecting shaft; the lidar inside the handle is located at one end of the handle near the edge of the door.

[0017] Optionally, the controller is connected to the door opening and closing system;

[0018] The door opening and closing system is used to send an opening signal to the controller when a door opening operation is received, and to send a closing signal to the controller when a door closing operation is received;

[0019] The controller is used to control the activation of the lidar and the motor when it receives the door opening signal or the door closing signal.

[0020] Optionally, the controller is connected to an alarm device, which includes at least one of a vehicle infotainment system and an audio playback device;

[0021] The controller is used to send the alarm signal to the alarm device;

[0022] The alarm device is used to issue a collision avoidance alarm in a preset manner when the alarm signal is received, wherein the vehicle infotainment system is used to display preset alarm information on the display screen when the alarm signal is received, and / or the audio playback device is used to play the preset alarm information when the alarm signal is received.

[0023] Optionally, the controller is used to control the motor and the lidar to stop operating when the door moves to a preset door position or the door is fully closed.

[0024] In another aspect of this disclosure, a vehicle is provided, including at least one door and a door anti-collision system as described above. The door anti-collision system includes a controller, a motor, and at least one lidar. The lidar is disposed in the vehicle. The motor is used to control the movement of the door in operation. The controller is a door controller or a vehicle controller.

[0025] Optionally, the at least one door includes at least one of a side door and a tailgate; wherein:

[0026] A rearview mirror is provided on the side door, and at least one of the aforementioned lidar sensors is installed in the rearview mirror; and / or

[0027] At least one of the connecting shaft of the side door and the handle of the side door is provided with at least one of the aforementioned lidar sensors, wherein the side door is connected to the vehicle body via the connecting shaft and rotates around the connecting shaft to open or close; and / or

[0028] At least one of the lidar sensors is installed at the top beam and spoiler of the tailgate.

[0029] Based on the embodiments of this disclosure, by installing a lidar in the car door, the laser scanning area corresponding to the lidar can cover the projection area of ​​the car door on the laser scanning plane. Thus, when the lidar detects an obstacle in the projection area, the controller stops the car door motor to avoid the car door colliding with the obstacle. Since the lidar has a high angular resolution, it can effectively detect small obstacles in the projection area. Furthermore, the lidar can be set with a large field of view. By designing the installation position of the lidar on the car door and the preset field of view, the laser scanning area can completely cover the projection area of ​​the car door on the laser scanning plane, eliminating the radar detection blind spot and forming all-round protection for the car door, thereby reducing the collision risk during the automatic opening of the car door.

[0030] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0031] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0032] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0033] Figure 1 A schematic diagram of the structure of a door anti-collision system provided in an exemplary embodiment of this disclosure;

[0034] Figure 2 A schematic diagram showing the installation location of a lidar in a front door is provided for an exemplary embodiment of this disclosure;

[0035] Figure 3 A schematic diagram of a preset field of view provided for an exemplary embodiment of this disclosure;

[0036] Figure 4 A schematic diagram of a projection area provided for an exemplary embodiment of this disclosure;

[0037] Figure 5 A schematic diagram of the structure of a door anti-collision system provided as another exemplary embodiment of this disclosure;

[0038] Figure 6 A schematic diagram showing the installation position of a lidar in a rear door, provided as an exemplary embodiment of this disclosure;

[0039] Figure 7 A schematic diagram showing the installation position of a lidar in a rear door, provided as another exemplary embodiment of this disclosure;

[0040] Figure 8 A schematic diagram showing the installation position of a lidar in a tailgate, provided as an exemplary embodiment of this disclosure;

[0041] Figure 9 A schematic diagram showing the installation location of a lidar in a tailgate, provided as another exemplary embodiment of this disclosure.

[0042] The attached figures are labeled as follows:

[0043] LiDAR-1; Controller-2; Motor-3; Vehicle infotainment system-4; Audio playback device-5. Detailed Implementation

[0044] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0045] Those skilled in the art will understand that the terms "first," "second," etc., in the embodiments of this disclosure are only used to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them.

[0046] It should also be understood that in the embodiments disclosed herein, "a plurality of" may refer to two or more, and "at least one" may refer to one, two or more.

[0047] It should also be understood that any component, data or structure mentioned in the embodiments of this disclosure can generally be understood as one or more unless expressly defined or given to the contrary in the context.

[0048] Furthermore, the term "and / or" in this disclosure is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this disclosure generally indicates that the preceding and following related objects have an "or" relationship.

[0049] It should also be understood that the description of the various embodiments in this disclosure emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0050] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0051] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0052] Technologies and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such technologies and equipment should be considered part of the specification.

[0053] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0054] Figure 1 This is a structural block diagram of a vehicle door anti-collision system provided in an exemplary embodiment of this disclosure. Figure 1 As shown, the door anti-collision system includes a controller 2, a motor 3, and at least one lidar 1, with the door mounted on the vehicle.

[0055] Motor 3 is used to control the movement of the vehicle door during operation, wherein the door moves synchronously with the lidar 1. Motor 3 can be a brushless motor, DC motor, stepper motor, or other types of motor. Optionally, the motor 3 is controlled to run or stop by controller 2, and during operation, motor 3 controls the vehicle door to move at a constant speed in a preset direction. For example, it can control the vehicle door to rotate around a pivot in a preset direction to open and close, or control the vehicle door to slide along a slide rail in a preset direction to open and close. This embodiment does not limit the movement method of the vehicle door.

[0056] A lidar 1, mounted on the vehicle and connected to a controller 2, covers the projection area of ​​the vehicle door onto a laser scanning plane within a preset field of view. This laser scanning plane is the plane containing the laser scanning area. The projection area can include the projection of the entire vehicle door onto the laser scanning plane, or it can include the projection of a preset protected area of ​​the door onto the laser scanning plane (e.g., a portion near the door's connecting shaft that moves a small distance during door opening and closing, typically not colliding, and therefore not requiring obstacle detection). The lidar 1 emits laser signals within the preset field of view, scans and receives reflected laser signals, determines distance measurements based on the reflected laser signals, and sends an alarm signal to the controller 2 when the distance measurements indicate the presence of an obstacle within the projection area. For example, the lidar 1 can scan by reciprocating between two sides of the preset field of view; this embodiment does not limit the scanning method of the lidar 1. Indicatively, lidar 1 can be a single-line lidar, which can be set with a large field of view (up to 360°) and high angular resolution (0.1° to 0.6°), and can effectively detect small obstacles within the laser scanning range.

[0057] Optionally, at least one lidar 1 is installed in each door of the vehicle. When the controller 2 receives an opening or closing command for the target door, it controls the lidar 1 in the target door to be activated.

[0058] Optionally, the lidar 1 includes at least a laser and a signal processing chip. The laser can be a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), or similar. The signal processing chip can be an avalanche photodiode detector (APD) chip, a single-photon avalanche diode (SPAD) chip, or similar types. When in operation, the laser emits a laser signal at a preset frequency. The signal processing chip receives the reflected laser signal through a photosensitive surface and generates a distance measurement value based on the emission time of the laser signal and the corresponding reception time of the reflected laser signal.

[0059] In one possible implementation, the lidar 1 stores values ​​for indicating the projection area, which may include a safe distance value in each laser detection direction. If the distance measurement value is greater than the safe distance value, it means that the detected object is far from the car door and a collision will not occur at present. If the lidar 1 measures a distance measurement value in a certain direction that is less than the safe distance value, it determines that there is an obstacle in the current projection area.

[0060] Indicative Figure 2 A schematic diagram of a projection area is shown. For example... Figure 2 As shown, the lidar 1 is installed in the rearview mirror of the front door of the vehicle. Its preset field of view combined with the maximum detection distance forms the effective detection range. For example, lidar 1 can emit a laser signal every 0.5° rotation and obtain the distance measurement value in that direction. The plane containing this effective detection range is the laser scanning plane corresponding to the preset field of view of lidar 1, and the projection area of ​​the door on the laser scanning plane is the projection area. The laser scanning plane is parallel to the plane where the door is located and is spaced by a preset distance (e.g., 20cm), or there is a preset angle between the laser scanning plane and the plane where the door is located so that the edge of the door is spaced by a preset distance from the edge of the projection area. This allows for the detection of obstacles at a preset distance outside the door, detecting obstacles before a collision occurs and controlling the door to stop moving. The preset distance or preset angle can be achieved by adjusting the position and angle of lidar 1.

[0061] Controller 2, connected to motor 3, is used to control the operation or stop of motor 3. Specifically, controller 2 controls motor 3 to stop operation upon receiving an alarm signal. Controller 2 can be a microcontroller unit (MCU), system-on-chip (SOC), microprocessor unit (MPU), or similar device. If controller 2 receives an alarm signal during motor 3 operation, it controls motor 3 to stop, thus halting the door's movement. Optionally, different doors correspond to different door identifiers. The alarm signal includes the door identifier of the door where the LiDAR 1 that generated the alarm signal is located. Controller 2 can control the motor 3 of the corresponding door to stop operation based on the door identifier in the alarm signal.

[0062] Based on the embodiments of this disclosure, by installing a lidar in the car door, the laser scanning area of ​​the lidar can cover the projection area of ​​the car door on the laser scanning plane. Therefore, when the lidar detects an obstacle in the projection area, the controller stops the car door motor to avoid collision. Because the lidar has high angular resolution, it can effectively detect small obstacles in the projection area. Furthermore, the lidar can be set with a large field of view. By designing the installation position and preset field of view of the lidar on the car door, the projection area can completely cover the projection area of ​​the car door on the laser scanning plane, eliminating radar blind spots and providing all-around protection for the car door, thereby reducing the collision risk during automatic door opening. In one possible implementation, the distance measurement value refers to the distance between the lidar 1 and the signal reflecting surface, which is the surface of the object that reflects the laser signal. The lidar 1 is used to determine the distance measurement value based on the laser flight time and the speed of light. The laser flight time refers to the time required from the lidar 1 emitting the laser signal to receiving the corresponding reflected laser signal, i.e., distance measurement value = (time to receive the reflected laser signal - time to emit the laser signal) × speed of light / 2. In addition, the time interval between laser signal transmissions by lidar 1 is longer than the laser flight time, which ensures that the reflected laser signal corresponding to the current laser signal can be received before the next laser signal transmission.

[0063] In one possible implementation, the lidar 1 includes a memory that stores a first azimuth angle and a second azimuth angle corresponding to a preset field of view. The first azimuth angle is the angle between one side of the preset field of view and a reference line, and the second azimuth angle is the angle between the other side of the preset field of view and the reference line. Illustratively, the memory can be a non-volatile memory such as a read-only memory (ROM), a programmable read-only memory (PROM), or an erasable programmable read-only memory (EPROM).

[0064] LiDAR 1 is used to read a first azimuth angle and a second azimuth angle from a memory, and to scan and emit laser signals within the angle between the first azimuth angle and the second azimuth angle. (Illustrative example, as shown) Figure 3 As shown, the first azimuth angle and the second azimuth angle are the angles between the two sides of the preset field of view and the baseline, respectively. The lidar 1 achieves laser scanning ranging within the fan-shaped area formed by the preset field of view by reciprocating within the angle range between the first azimuth angle and the second azimuth angle.

[0065] In one possible implementation, the memory of lidar 1 also stores the range of area coordinates corresponding to the projected area in the lidar 1's radar coordinate system. Lidar 1 is used to generate an alarm signal when an obstacle exists within the range of area coordinates represented by the distance measurement value.

[0066] Indicative, Figure 4 A schematic diagram of a projection area is shown. The laser scanning area of ​​lidar 1 is greater than or equal to the projection area, thus covering the projection area. Figure 4 The laser scanning area of ​​the LiDAR 1 shown is a fan-shaped area with an angle of 270°, and the projection area is a part of this laser scanning area. To avoid misidentifying objects with a certain safe distance from the car door (such as low curbs with a height less than the bottom edge of the car door) as obstacles, and to control the car door to stop moving safely, the projection area can be set based on the shape and size of the car door. The LiDAR 1 stores the area coordinate range of the projection area in its memory, and determines whether there is an obstacle in the projection area based on the distance measurement value and the area coordinate range. The coordinate values ​​of this area coordinate range can be represented using polar coordinates or rectangular coordinates. Taking polar coordinates as an example, a polar coordinate system is constructed with the location of LiDAR 1 as the pole and a baseline of LiDAR 1 as the polar axis. The coordinate range of the projection area includes the distance values ​​corresponding to the projection area at various signal emission angles.

[0067] In one possible implementation, the lidar 1 can be disposed in at least one of the following locations on the vehicle: inside the rearview mirror on the door, on the outer surface of the door panel at the door's connecting shaft, inside the door handle, in the door's top beam, in the door's spoiler, and at the door's bend. The door is connected to the vehicle body via a connecting shaft and rotates around the shaft to open or close. Schematic, the lidar inside the door handle can be disposed at one end of the handle near the door edge. One or more lidars 1 can be disposed at each door.

[0068] In one possible implementation, controller 2 is connected to the door switch system.

[0069] The door opening and closing system sends an open signal to the controller when a door opening operation is received, and sends a close signal to the controller when a door closing operation is received. Controller 2 is used to control the start of the lidar and motor upon receiving the open or close signal.

[0070] The door switch system can be, for example, a switch button installed on the door and electrically connected to the controller. When the user presses the door switch system (door opening operation / door closing operation), the door switch system sends an open signal or a close signal to the controller. Alternatively, the door switch system can be a user's smartphone or other mobile terminal, a door remote control, or other system that connects to the vehicle's infotainment system via a network or Bluetooth. When it receives a door opening operation, the door switch system sends an open signal to the vehicle's infotainment system, which then forwards the open signal to the controller 2.

[0071] In one possible implementation, such as Figure 5 As shown, the controller 2 is connected to an alarm device, which includes at least one of the vehicle infotainment system 4 and an audio playback device 5.

[0072] Controller 2 is used to send alarm signals to the alarm device. The alarm device is used to issue a collision avoidance alarm in a preset manner when the alarm signal is received. The vehicle-mounted unit 4 is used to display preset alarm information on the display screen when the alarm signal is received, and / or the audio playback device 5 is used to play the preset alarm information when the alarm signal is received.

[0073] Optionally, when the alarm device includes the vehicle infotainment system 4, the controller 2 directly sends an alarm signal to the vehicle infotainment system 4, and the vehicle infotainment system 4 displays preset alarm information (text, images, videos, etc.) on the display screen; when the alarm device includes the audio playback device 5, the controller 2 sends an alarm signal to the audio playback device 5 through the vehicle infotainment system 4, or directly sends an alarm signal to the audio playback device 5, and the audio playback device 5 plays preset alarm information (voice).

[0074] Optionally, the alarm device may also include a user's mobile terminal, which is connected to the vehicle's infotainment system 4 via a network or Bluetooth. The controller 2 sends an alarm signal to the mobile terminal through the vehicle's infotainment system 4, so that the mobile terminal can display preset alarm information in a preset format (text, image, audio, video, etc.).

[0075] In one possible implementation, the controller 2 is used to stop the motor 3 and the lidar 1 when the door moves to a preset door position or when the door is closed. That is, when the controller 2 detects that the door is fully open to the preset door position, it controls the motor 3 to stop running to keep the door open, and at the same time controls the lidar 1 to stop running to avoid wasting power resources. When a door closing signal is received, the controller 2 controls the motor 3 and the lidar 1 to run again until the door is fully closed.

[0076] This disclosure also provides a vehicle, which includes at least one door and a door anti-collision system as provided in any of the above embodiments. The door anti-collision system includes a controller 2, a motor 3 and at least one lidar 1. The lidar 1 is installed in the vehicle, the motor 3 is used to control the movement of the door in operation, and the controller 2 is a door controller or a vehicle controller.

[0077] In one possible implementation, the at least one vehicle door includes at least one of a side door and a tailgate; specifically, it may include at least one of a front side door, a rear door, and a tailgate. Wherein:

[0078] A rearview mirror is installed on the side door, and at least one lidar sensor 1 is installed in the rearview mirror. For example... Figure 2 As shown, a lidar 1 is installed in the rearview mirror of the front door. If the door is regarded as a plane, the laser scanning plane of lidar 1 is parallel to the plane of the door and at a preset distance (e.g., 20cm).

[0079] And / or,

[0080] At least one of the connecting shaft and the handle of the side door is equipped with at least one lidar sensor 1. The side door is connected to the vehicle body via the connecting shaft and rotates around the shaft to open or close. Figure 6 As shown, a lidar 1 is installed at the connecting shaft of the rear door. Its preset field of view is approximately 180°. By adjusting the fixed angle of lidar 1, a preset angle can be maintained between the laser scanning plane and the plane where the rear door is located. This creates a preset distance between the edge of the rear door and the edge of the projection area, allowing for the detection of obstacles at a preset distance outside the rear door. The obstacle can be detected before a collision occurs, and the rear door can be stopped from moving. The lidar 1 in the handle is positioned near the edge of the door, as shown... Figure 7As shown, a lidar 1 is installed at one end of the rear door handle near the edge of the rear door. Installing the lidar 1 at the edge of the door allows for a reduction in the preset field of view angle while ensuring its effective scanning range covers the door, thereby shortening the lidar's scanning cycle and improving obstacle detection efficiency and safety. Correspondingly, at least one lidar 1 is also installed at least once on the connecting shaft of the front door and at least once on the front door handle; details will not be elaborated further in this embodiment.

[0081] And / or,

[0082] At least one lidar 1 is installed at least once in the top beam of the tailgate and the spoiler, such as Figure 8 As shown, a lidar 1 is installed on the protrusion of the top beam of the tailgate. The laser scanning plane of lidar 1 is parallel to the plane of the door and at a preset distance.

[0083] Furthermore, if the vehicle's tailgate has a bend, at least one lidar 1 can be installed at at least one bend in the tailgate (e.g., at a bend where the bend angle is greater than a preset angle threshold). Figure 9 As shown, a lidar 1 is installed on the top beam of the tailgate and at one bend of the tailgate. Additionally, at least one lidar 1 can be installed at each bend of the tailgate, so that each bend of the tailgate corresponds to a projection area, i.e., obstacle detection is performed on each bend, thereby improving the safety of the automatic opening and closing of the tailgate.

[0084] It is worth mentioning that the above-mentioned LiDAR setup methods are only examples. When using a single-line LiDAR, since its field of view can reach 360°, LiDAR 1 can be set up at any position on the car door to achieve complete protection of the car door. Technicians can design the number of LiDAR 1, its installation position, and the laser emission angle based on actual needs.

[0085] In addition to single-line lidar, this solution can also use multi-line (two or more lines) lidar or area array lidar, which can form multiple protective zones or three-dimensional protective zones on the outside of the car door. This allows for earlier detection of the position of obstacles relative to the car door and earlier deceleration of the car door, resulting in a better experience when opening the door.

[0086] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0087] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or corresponding parts between embodiments can be referred to interchangeably. The basic principles of this disclosure have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of the various embodiments of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the specific details required for its implementation.

[0088] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0089] The block diagrams of devices, systems, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, systems, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0090] The systems and apparatus of this disclosure may be implemented in many ways. For example, the systems and apparatus of this disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware.

[0091] It should also be noted that in the systems and apparatus of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.

[0092] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0093] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, adjustments, additions, and sub-combinations therein.

Claims

1. A vehicle door anti-collision system, characterized in that, include: The vehicle includes a controller, a motor, and at least one lidar sensor; the door is mounted on the vehicle. The motor is used to control the movement of the vehicle door during operation, wherein the vehicle door drives the lidar to move synchronously during the movement. The lidar is installed on the vehicle and connected to the controller. The lidar's laser scanning area within a preset field of view covers the projection area of ​​the vehicle door on the laser scanning plane, where the laser scanning plane is the plane containing the laser scanning area. The lidar emits laser signals within the preset field of view, scans and receives reflected laser signals corresponding to the laser signals, determines a distance measurement value based on the reflected laser signals, and sends an alarm signal to the controller when the distance measurement value indicates the presence of an obstacle within the projection area. The controller is connected to the motor and is used to control the motor to run or stop running. The controller is used to control the motor to stop running when it receives the alarm signal.

2. The system according to claim 1, characterized in that, The distance measurement value refers to the distance between the lidar and the signal reflecting surface, where the signal reflecting surface is the surface of the object that reflects the laser signal; The lidar is used to determine the distance measurement value based on the laser flight time and the speed of light, wherein the laser flight time refers to the time required from the time the lidar emits the laser signal to the time it receives the corresponding reflected laser signal, and the time interval between the time the lidar emits the laser signal is greater than the laser flight time.

3. The system according to claim 1, characterized in that, The lidar is equipped with a memory, which stores a first azimuth angle and a second azimuth angle corresponding to the preset field of view. The first azimuth angle is the angle between one side of the preset field of view and the baseline, and the second azimuth angle is the angle between the other side of the preset field of view and the baseline. The lidar is used to read the first azimuth angle and the second azimuth angle from the memory, and to scan and emit the laser signal within the angle between the first azimuth angle and the second azimuth angle.

4. The system according to claim 3, characterized in that, The memory also stores the range of region coordinates corresponding to the projection area in the radar coordinate system of the lidar. The lidar is used to generate the alarm signal when the distance measurement value indicates the presence of an obstacle within the coordinate range of the area.

5. The system according to any one of claims 1 to 4, characterized in that, The lidar is disposed in at least one of the following locations on the vehicle: The interior of the rearview mirror on the car door, the outer surface of the door panel at the connecting shaft of the car door, the interior of the door handle, the top beam of the car door, the spoiler on the car door, and the bend of the car door; The door is connected to the vehicle body via the connecting shaft and can be opened or closed by rotating around the connecting shaft.

6. The system according to any one of claims 1 to 4, characterized in that, The controller is connected to the door opening and closing system; The door opening and closing system is used to send an opening signal to the controller when a door opening operation is received, and to send a closing signal to the controller when a door closing operation is received; The controller is used to control the activation of the lidar and the motor when it receives the door opening signal or the door closing signal.

7. The system according to any one of claims 1 to 4, characterized in that, The controller is connected to an alarm device, which includes at least one of a vehicle infotainment system and an audio playback device. The controller is used to send the alarm signal to the alarm device; The alarm device is used to issue a collision avoidance alarm in a preset manner when the alarm signal is received, wherein the vehicle infotainment system is used to display preset alarm information on the display screen when the alarm signal is received, and / or the audio playback device is used to play the preset alarm information when the alarm signal is received.

8. The system according to any one of claims 1 to 4, characterized in that, The controller is used to stop the motor and the lidar when the door moves to a preset door position or the door is fully closed.

9. A vehicle, characterized in that, The vehicle includes at least one door and a door anti-collision system as described in any one of claims 1 to 8, the door anti-collision system including a controller, a motor and at least one lidar, the lidar being mounted on the vehicle, the motor being used to control the movement of the door in operation, and the controller being a door controller or a vehicle controller.

10. The vehicle according to claim 9, characterized in that, The at least one door includes at least one of a side door and a tailgate; wherein: A rearview mirror is provided on the side door, and at least one of the aforementioned lidar sensors is installed in the rearview mirror; and / or At least one of the connecting shaft of the side door and the handle of the side door is provided with at least one of the aforementioned lidar sensors, wherein the side door is connected to the vehicle body via the connecting shaft and rotates around the connecting shaft to open or close; and / or At least one of the lidar sensors is installed at the top beam and spoiler of the tailgate.

Images