CN105196953B - A kind of car door moves intervention formula anticollision control method - Google Patents
A kind of car door moves intervention formula anticollision control method Download PDFInfo
- Publication number
- CN105196953B CN105196953B CN201510648058.1A CN201510648058A CN105196953B CN 105196953 B CN105196953 B CN 105196953B CN 201510648058 A CN201510648058 A CN 201510648058A CN 105196953 B CN105196953 B CN 105196953B
- Authority
- CN
- China
- Prior art keywords
- car door
- door
- spacing
- moving object
- car
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/32—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating vehicle sides, e.g. clearance lights
- B60Q1/323—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating vehicle sides, e.g. clearance lights on or for doors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
A kind of car door motion intervention formula anticollision control method has been designed and developed the invention discloses the present invention, moving object by the small beam angle ultrasonic radar installed in rearview mirror position to automobile rear is detected, according to car body rear moving object motion conditions, locked control is carried out to car door, the barrier of vehicle body both sides is detected using laser triangulation principle, and the open position of car door is limited according to the Obstacle Position of both sides, car door collides with barrier during avoiding opening the door, solve parking this problem of opening the door and depend on the disadvantage of people unduly, and safe evading is completed using automatic mechanism, therefore realize depending merely on the information exchange that people is difficult to complete.
Description
Technical field
The present invention relates to arrangements for automotive doors protection technology field, and in particular to a kind of car door intervenes the controlling party of formula CAS
Method.
Background technology
As automobile industry is developed rapidly, the recoverable amount and utilization rate of automobile are increasingly raised, and are ground for automobile safety system
Study carefully and also increasingly paid attention to by people.Think that the automobile in transport condition is only possible to satisfy the need artificial into wound always in people's consciousness
Evil, but the in fact vehicle of stagnation of movement, if in inappropriate place, inappropriate time, car door is opened in inappropriate mode,
Also there can be very big lethality.Because the accident caused by the out of season unlatching of car door is of common occurrence, including main
Two class accidents：The first, due to car door opening, non-motor vehicle is moved due to being too late to dodge in rear, hits the people caused by car door
Member's casualty accident；Second, because driver and crew do not note car side fixed obstacle, and the car door for causing is scraped.Both
The property loss that causes, casualties should cause enough attention, for this based on above-mentioned by the incorrect opening institute of car door
The accident for causing, exploitation is reminded and avoids the incorrect automatically controlled spacing safety assisting system of car door for opening car door of driver, occupant
It is highly desirable to.
The big front vehicle signal for being all based on detecting of door opening safety monitoring system developed at present enters to car door
The locked control of row, reminds driver and crew rear to have to sail vehicle, and control strategy is relatively simple, do not consider comprehensively car door side and after
The actual road conditions of side.Compared with the present invention is carried out, the environmental factor that is considered of the present invention more fully, both comprising fixed obstacle
Thing, also comprising the object of motion, hence it is evident that better than existing procucts, and is incorporated into car door limit because the present invention plans electromagnetism spacer pin
In the research of position device, therefore the car door opening control of different angles can also be carried out according to the distance of barrier.This set is based on single
The automatically controlled motion intervention formula safety aid of piece machine exploitation design vehicle car door, with extraneous barrier when effectively preventing opening car door
And rear collides sailing vehicle, the security performance of automobile is preferably improved, reduce casualties and economic loss.
The content of the invention
It is an object of the invention to drive small beam angle ultrasonic radar using stepper motor head, can be to car body rear
Moving object motion conditions, locked control is carried out to car door.
A further object of the invention is, using laser triangulation method, car body side barrier to be detected, and
Obstacle Position according to both sides limits the open position of car door, and car door collides with barrier during avoiding opening the door.
In order to realize these purposes of the invention and further advantage, there is provided a kind of car door motion intervention formula anticollision system
System control method, comprises the following steps：
Step one：Small beam angle ultrasonic radar is installed below rearview mirror, vehicle rear side motion is detected when rotating forward
Object, and the moving object of vehicle body rear is recorded with small beam angle ultrasonic radar apart from S1With intervention formula CAS run time
t1, rotating backward and detect again the moving object, moving object is with small beam angle ultrasonic radar apart from S2With intervention formula anticollision
System operation time t2, and the gait of march ν of moving object is calculated according to following formula,
Wherein, ω is the velocity of rotation of the small beam angle ultrasonic radar, is the maximum of small beam angle ultrasonic radar described in θ
Corner；
Step 2：The gait of march ν of moving object is compared with the walking speed ν ' of the mankind,
As ν≤ν ', step 3 is performed, further judge distance；
As ν ＞ ν ', step 4 is performed, illustrate present speed and have the danger of collision car door apart from object, need to be according to public affairs
Formula calculates whether object has enough time to evade；
Step 3：By the distance between moving object and automotive C column LcWith according to selected by the different coefficients of friction of dry and wet ground
The safe distance S for takingsIt is compared,
Work as Lc≥SsWhen, illustrating that object object is in larger distance with automobile, opening car door does not bump against rear traveling object
It is dangerous；
Work as Lc＜ SsWhen, illustrating that object is in small distance with automobile, enabling is possible to collide object, now in-car outgoing
Go out prompt message, vehicle door spacing warning light is lighted；
Step 4：By the distance between moving object and automotive C column LcWith to be calculated according to moving object gait of march
Braking distance SrIt is compared,
Work as Lc≥SrWhen, in-car is outer to send prompt message, and vehicle door spacing warning light is lighted；
Work as Lc＜ SrWhen, now object have greatly may no enough time evade door opening action and collide car door, control limit
Position system locking front and back door is locked, and warning lamp is lighted.
Preferably, also including horizontal detection part,
Step one：Using laser triangulation method, car door side barrier is measured with vehicle body apart from Dσ,
Wherein, ε1Time used, ω are received by reflection detector from being issued to for laserpIt is the velocity of rotation of level crossing, ε2
For laser time used, γ are received from measured detector is issued to0It is laser and the distance at level crossing center, β is laser
The angle of device and horizontal direction, δ2It is reflection detector and the angle of measurement detector, D1For between left front door and side barrier
Away from D2It is left back door and side obstacle spacing, D3Right front door and side obstacle spacing, D4It is right-rear-door and side barrier
Spacing；
Step 2：Judge car door side barrier with vehicle body apart from DσWith the length F of car doorbIt is compared,
Work as Dσ＞ FbWhen, opening car door will not bump against side barrier, EP (end of program)；
Work as Dσ≤FbWhen, car door is held to maximum position and can bump against side barrier, now need to carry out it is spacing,
Step 3：, judge DσIn-scope and then determination restraining position；
WhenWhen, car door opening is bound to bump against side barrier, and control caging system locking car door is gone forward side by side
The locked warning of row；
WhenWhen, magnet coil is powered, and spacer pin is stuck in spacing k-th groove of tooth form pull bar
It is interior, while corresponding vehicle door spacing warning light is lighted, wherein, n is the number of recesses of spacing tooth form pull bar, and k≤n and k are just whole
Number；
Step 4, when passenger closed door, magnet coil power-off, corresponding vehicle door spacing warning light extinguishes.
Preferably, also including the photoelectric sensor at door handle, when passenger is opened the door, photoelectric transfer
Sensor detects light and blocks, and triggers the car door motion intervention formula CAS and is operated.
Preferably, described small beam angle ultrasonic radar uniform rotation under the drive of stepper motor.
Preferably, the detection range of described small beam angle ultrasonic radar is 500m~1000m.
Preferably, the detection angle of described small beam angle ultrasonic radar is 30 °~60 °.
Preferably, described laser is infrared band semiconductor laser.
Preferably, described laser and the angle of horizontal direction are 50 °~58 °.
Preferably, the anglec of rotation of described level crossing is 20 °~55 °.
Preferably, also including system X button, after system X button is pressed, system stalls, Cheng Keke
With free switch car door.
The beneficial effect that prior art of the present invention is compared
1st, arrangements for automotive doors of the present invention moves intervention formula anticollision control method in opening car door, by controlling car door
Locked or car door opening position, effectively prevents from car door from knocking rear to sail non power driven vehicle and side barrier, it is to avoid personnel
Injures and deaths and automobile lose.
2nd, the environmental factor that is considered of the present invention more fully, both comprising fixed barrier, also comprising the object of motion,
Solve parking this problem of opening the door and depend on the disadvantage of people unduly, and safety is completed using automatic mechanism and evade, therefore realize
Depend merely on the information exchange that people is difficult to complete.
3rd, the control strategy of arrangements for automotive doors motion intervention formula anticollision control method of the present invention is simply effective, can be effective
The potential safety hazard for avoiding radar side parking enabling brought.
4th, stopping means of the present invention is by the improvement to pulling rod type position limiting device structure, realize when opening the door according to
Periphery barrier situation limitation car door opening position, and in the function of not influenceing closing of the door to act at closing time.
5th, arrangements for automotive doors motion intervention formula anticollision control method of the present invention is carried by setting instrument on instrument board
Show the outer warning lamp of lamp and car, remind driver and crew and Che is external sails vehicle, it is to avoid due to the danger caused by door opening.Simultaneously
It is also convenient for driver and understands system job information, it is to avoid fascination.
6th, arrangements for automotive doors of the present invention motion intervention formula anticollision control method simple structure, easy for installation, cost compared with
It is low.Can be used for various arrangements for automotive doors, model parameter can be adjusted flexibly for different situations in the system, widen model
Applicable surface, with stronger marketing.
Brief description of the drawings
Fig. 1 is the structured flowchart that arrangements for automotive doors of the present invention moves intervention formula CAS.
Fig. 2 is the body exterior schematic view of the mounting position that arrangements for automotive doors of the present invention moves intervention formula CAS.
Fig. 3 is the interior of body schematic view of the mounting position that arrangements for automotive doors of the present invention moves intervention formula CAS.
Fig. 4 is that the front vehicle warning module assembling of arrangements for automotive doors motion intervention formula CAS of the present invention is illustrated
Figure.
Fig. 5 is spacing executing agency's schematic view of the mounting position of the present invention.
Fig. 6 is that arrangements for automotive doors of the present invention moves intervention formula CAS operating diagram；
Fig. 7 is Fig. 6 axial directions decomposition chart；
Fig. 8 faces structure chart for Fig. 6 sections；
Fig. 9 is semiconductor laser range unit fundamental diagram of the present invention.
Figure 10 is that the detection of arrangements for automotive doors motion intervention formula CAS front vehicle warning module of the present invention is former
Reason schematic diagram；
Figure 11 is front vehicle warning module measuring principle schematic diagram；
Figure 12 is the instrument warning light design sketch that arrangements for automotive doors of the present invention moves intervention formula CAS.
Figure 13 is the control method flow chart that arrangements for automotive doors of the present invention moves intervention formula CAS.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
As shown in figure 1, the arrangements for automotive doors motion intervention formula CAS that the present invention is provided, including：Front vehicle early warning mould
Block 100, lateral barrier anticollision module 200, vehicle door spacing performing module 300, single chip control module 400 and control button and
Indicating module 500.
As shown in Fig. 2 front vehicle warning module 100, by two or more small beam angle ultrasonic radars 110 and step
Stepper motor head 120 is constituted, installed in vehicle sided mirror unit position, by knowing rear car to carrying out supersonic sounding outside car
And pedestrian movement's information, the investigative range of small beam angle ultrasonic radar is 500 meters~1000 meters, detection angle is 30 °~
60 °, it is illustrated in figure 4 the assembling schematic diagram of stepper motor head 120 and small beam angle ultrasonic radar 110, small beam angle ultrasonic wave
Radar 110 is made up of tuftlet ripple radar probe 111 and probe bracket 112, and it is small that stepping head 120 rotates drive with certain speed
Beam angle ultrasonic radar carries out ultrasonic listening in detection angle, when ultrasonic listening has moving object to rear, record
The distance of small beam angle ultrasonic radar 110 and moving object and by signal transmission to single chip control module 400.
Lateral barrier anticollision module 200, its threshold Board position for being arranged on four car doors of vehicle, as four semiconductors
Laser range unit, as shown in figure 9, each semiconductor laser range unit includes semiconductor laser 210, level crossing
220th, reflection detector 230 and measurement detector 240, its course of work is, semiconductor laser 210 with horizontal direction angle
When for 50 ° -58 ° laser for sending are irradiated to level crossing 220, being received by reflection detector 230 after reflection, and recording light propagation
Between, level crossing 220 rotates around mirror center certain speed, and the anglec of rotation is 20 ° -55 °, after light reflects through level crossing 220
Shooting angle is continually changing, when the reflection light of level crossing reaches car door side barrier, measured detector 240 after reflection
Receive, and record the light propagation time, according to the time difference for recording twice, can calculate car door side barrier and car door away from
From, and by signal transmission to single chip control module 400.
As shown in figure 5, vehicle door spacing performing module 300 is by 320 groups of vehicle door spacing executing agency 310 and spacing tooth form pull bar
Into the open position for controlling car door, wherein vehicle door spacing executing agency 310 are arranged on the car door internal hilar plate at body hinge
In cavity between 611 and external door panel 612, spacing tooth form pull bar 320 is vertical with vehicle body by being passed through at inner side door panel opening 620
It is column articulated；
As shown in fig. 6, car door limiting mechanism 310 is by spacer pin 311, the spacing pin boss body 313 of magnet coil 312, electromagnetism, electricity
Magnetic spacer pin housing end plug 314, return spring 315, buffer spring 316 and ring flange 317 are constituted, and spacer pin 311 is by circular top
Portion and rectangular shaft bottom constitute, and material is irony.The rectangular shaft lower end of spacer pin 311 is vertical plane away from vehicle body side, is close to
Vehicle body side is cambered surface, to ensure that reality can be coordinated with spacing tooth form pull bar 320 when car door opening is to close to maximum angle
It is now reliable spacing, and without hindrance can be exited in closing of the door；Spacer pin 311 is embedded in the spacing pin boss body 313 of electromagnetism, spacer pin
Gap is left between 311 circular tops and the spacing inwall of pin boss body 313 of electromagnetism, it is ensured that spacer pin 311 can be in magnet coil 312
Straight reciprocating motion is done under effect in the axial direction；The spacing pin boss body 313 of electromagnetism by the big cylinder in top, middle part small cylinder and
Bottom class rectangle ring flange 317 is constituted, and its top and middle part have cylindrical cavity, there is a rectangle in the middle of lower flange disk 317
Through hole；Return spring 315 is placed in the spacing middle part cylindrical cavity of pin boss body 313 of electromagnetism, and the external diameter of return spring 315 is less than limit
The position top circular segment outer radius of pin 311；Spacer pin 311 passed through from the middle of return spring 315 after from the spacing pin boss body 313 of electromagnetism
Portion is put into inside the spacing pin boss body 313 of electromagnetism, and is passed from the spacing bottom rectangle hole of pin boss body 313 of electromagnetism, return spring, 315
Be fixed between the spacing intracavity bottom of pin boss body 313 of electromagnetism and the circular top lower surface of spacer pin 311, its upper end with it is spacing
The circular baffle plate lower surface contact of pin 311, the lower end of return spring 315 uses metal-to-metal adhesive and the spacing bottom of pin boss body 313 of electromagnetism
Surface bonds together, and is allowed to separate, it is to avoid vibration occur.Buffer spring 316 is placed on electromagnetism spacer pin housing end plug 314
Between the circular upper upper surface of spacer pin 311, and its upper end uses metal-to-metal adhesive and the bottom of electromagnetism spacer pin housing end plug 314
Circular groove inner surface is mutually bonded；Buffer spring 316 is the larger spring of rigidity, for reducing rushing when spacer pin 311 resets
Hit.The space size left during the nature of electromagnetism spacer pin housing end plug 314 and the upper end of spacer pin 311 can avoid spacing
There is shock with electromagnetism spacer pin housing end plug 314 during 311 return of pin and noise occur.Magnet coil 312 is uniformly wrapped in
The spacing middle part small cylinder outside of pin boss body 313 of electromagnetism, when inflow current, magnet coil 312 will produce electromagnetic attraction, attract
Spacer pin 311 is moved downward along axis.Magnet coil 312 scribbles insulating cement, plays a part of waterproof and insulate.
As shown in Figure 7, Figure 8, electromagnetism spacer pin housing end plug 314 passes through screw thread with the upper end of the spacing pin boss body 313 of electromagnetism
Connection.Respectively there is a through hole at the surrounding lug center of ring flange 317 of the spacing bottom surrounding of pin boss body 313 of electromagnetism with lug, uses
It is fixedly connected with support floor 630 with by screw, wherein, the spacing pin boss body 313 of electromagnetism is made up of casting aluminium material.
Spacing tooth form pull bar 320 is used cooperatively with spacing executing agency 310, and it is provided with multiple non-equidistant rectangles
Groove, it is ensured that pull bar often moves a spacing car door distalmost end for groove to the change of automobile side apart from identical, n-th groove
With tooth form pull bar end spacing,Wherein, L is the length of tooth form pull bar, and unit is rice；M is
The number of recesses that tooth form pull bar is set.
In another embodiment, car door handle position is provided with photoelectric sensor 330, when passenger or driver are by hand
Door handle is placed in, when preparing to open the door, photoelectric sensor 330 is triggered, and single chip control module 400 is connected to interrupt signal, immediately
Control signal is sent to stepper motor head 120 and small beam angle ultrasonic radar 110, stepper motor head 120 drives small beam angle
Ultrasonic radar 110 is scanned operation and result of detection is passed into single chip control module 400.
Control button and indicating module 500, locked X button 511 press locked X button, locked executing agency
It is stopped, system X button 512 is located at automobile center console left side, when driver needs artificially to close car door motion intervention
During formula CAS, this button can be pressed and close system, realized artificial controllable.
As shown in figure 12, instrument warning light by four similar car doors on automobile instrument panel rectangle vehicle door spacing
Warning light 521,522,523,524 and locked warning lamp 530 are constituted.When either door is limited, with locked warning lamp 530 and
The corresponding vehicle door spacing warning light of this is powered and lights, for the door position for pointing out driver to be limited and spacing number.
Four vehicle door spacing warning lights are controlled by the Light-Emitting Diode being embedded in instrument；And locked warning lamp 530 be
Emptied on instrument board and place light emitting diode under the black plastic panel of " vehicle door spacing, take care " printed words and realize；Four
Vehicle door spacing warning light and locked warning lamp 530 all control it to light by single chip control module 400.
Single chip control module 400, it is arranged on inside automobile center console, for recording front vehicle warning module 100
The electric signal transmitted with lateral barrier anticollision module 200, while the electric signal according to transmission controls vehicle door spacing performing module
300 work.If Figure 13 is the controller electrical schematic diagram that arrangements for automotive doors moves intervention formula CAS, described control module is
Car door moves the nucleus module of intervention formula CAS, and the control module is powered by vehicle-mounted 12V power supplys, and reads six ultrasonic waves
The signal of radar, photoelectric sensor 330 and locked X button 511 and system X button 512, according to monolithic in controller
The control program stored in machine internal memory controls four vehicle door spacing performing module work, and is carried by lighting corresponding vehicle door spacing
Show that lamp and locked warning lamp 530 are reminded driver and crew.
Single chip control module 400 includes single-chip microcomputer, power module, stepper motor driver, and four groups of identical electricity
Magnetic coil drive amplification circuit.
A kind of car door moves the control method of intervention formula CAS, and the method is comprised the following steps：
S210：Initialization program, and give variable ν, Si、tiInitial value 0 is assigned, wherein, i=1,2......；
S220：When passenger is opened the door, photoelectric sensor 330 detects light and blocks, triggering car door motion intervention formula
CAS is operated, and small beam angle ultrasonic radar 110 is at the uniform velocity turned under the drive of stepper motor head 120 with angular velocity omega
Dynamic, unit is rad/s, and to after maximum rotation angle θ, unit is radian, and small beam angle ultrasonic radar 110 is rotated backward, positive
Vehicle rear side moving object is detected during rotation, and records moving object with small beam angle ultrasonic radar 110 apart from S1, unit
It is m；And intervene formula CAS run time t1, unit is s；Rotate backward and detect again the moving object, moving object
Body is with small beam angle ultrasonic radar 110 apart from S2, unit is m；With intervention formula CAS run time t2, unit is s, and
The gait of march ν of moving object is calculated according to following formula, unit is m/s,
S230:The gait of march ν of moving object is compared with the walking speed ν ' of the mankind,
S231：As ν≤ν ', S240 is performed, further judge distance；
S232：As ν ＞ ν ', S250 is performed, illustrate present speed and have the danger of collision car door apart from object, need basis
Formula calculates whether object has enough time to evade；
S240：Calculate the distance between moving object and automotive C column Lc, unit is m；
Lc=S2- L, wherein L are the distance between rearview mirror and C posts, and unit is m；And by itself and SsIt is compared, wherein,
SsIt is the safe distance according to selected by the different coefficients of friction of dry and wet ground.
S241：Work as Lc≥SsWhen, S270 is performed, into horizontal detection；
S242：Work as Lc＜ SsWhen, illustrating that object is in small distance with automobile, enabling is possible to collide object, now in-car
Prompt message is sent, vehicle door spacing warning light is lighted.
S250:Calculate the distance between moving object and automotive C column Lc, and by itself and SrIt is compared, wherein SrAccording to
The braking distance that moving object gait of march is calculated, table 1 be the present invention according to magnificent people's republic's national standard motorcycles and
Trail bike braking ability test method brake force (GB 20073-2006) Beijing China Standards Press .2006, and
National Standard of the People's Republic of China bicycle safes requirement (GB 2565-2005) Beijing China Standards Press .2005 institutes
Experiment derives the model formation form set up out, and gives calculated example, and braking distance is approximately equal to braking distance plus anti-
Should distance；
Table 1
S251：Work as Lc≥SrWhen, in-car is outer to send prompt message, and vehicle door spacing warning light is lighted；
S252：Work as Lc＜ SrWhen, now object have greatly may no enough time evade door opening action and collide car door,
Control caging system locking front and back door 3~5 seconds, locked warning lamp 530 is lighted carries out locked warning.
S260：When passenger presses locked X button 511, system allows to carry out door opening action.
In another embodiment, the control method of car door motion intervention formula CAS also includes horizontal detection part, should
Method is comprised the following steps：
S210：Initialization program, and give variable ν, Si、tiInitial value 0 is assigned, wherein, i=1,2......；
S220：When passenger is opened the door, photoelectric sensor 330 detects light and blocks, triggering car door motion intervention formula
CAS is operated, and small beam angle ultrasonic radar 110 is at the uniform velocity turned under the drive of stepper motor head 120 with angular velocity omega
Dynamic, unit is rad/s, and to after maximum rotation angle θ, unit is radian, and small beam angle ultrasonic radar 110 is rotated backward, positive
Vehicle rear side moving object is detected during rotation, and records moving object with small beam angle ultrasonic radar 110 apart from S1, unit
It is m；And intervene formula CAS run time t1, unit is s；Rotate backward and detect again the moving object, moving object
Body is with small beam angle ultrasonic radar 110 apart from S2, unit is m；With intervention formula CAS run time t2, unit is s, and
The gait of march ν of moving object is calculated according to following formula, unit is m/s,
S230:The gait of march ν of moving object is compared with the walking speed ν ' of the mankind,
S231：As ν≤ν ', S240 is performed, further judge distance；
S232：As ν ＞ ν ', S250 is performed, illustrate present speed and have the danger of collision car door apart from object, need basis
Formula calculates whether object has enough time to evade；
S240：Calculate the distance between moving object and automotive C column Lc, unit is m；
Lc=S2- L, wherein L are the distance between rearview mirror and C posts, and unit is m；And by itself and SsIt is compared, wherein,
SsIt is the safe distance according to selected by the different coefficients of friction of dry and wet ground.
S241：Work as Lc≥SsWhen, S270 is performed, into horizontal detection；
S242：Work as Lc＜ SsWhen, illustrating that object is in small distance with automobile, enabling is possible to collide object, now car
Prompt message is inside sent, vehicle door spacing warning light is lighted.
S250:Calculate the distance between moving object and automotive C column Lc, and by itself and SrIt is compared,
S251：Work as Lc≥SrWhen, in-car is outer to send prompt message, and vehicle door spacing warning light is lighted；
S252：Work as Lc＜ SrWhen, now object have greatly may no enough time evade door opening action and collide car door,
Control caging system locking front and back door 3~5 seconds, locked warning lamp 530 is lighted carries out locked warning.
S260：When passenger presses locked X button 511, system allows to carry out door opening action.
S270：Into horizontal detection part, program initialization, and to variables Dσ、εiInitial value 0 is assigned, wherein, i=1,
2......, σ=1,2,3,4；
S280:The laser that semiconductor laser 210 sends reaches level crossing 220, is connect by reflection detector 230 after reflection
Receive, elapsed-time standards is ε1, unit is s；Level crossing with itself midpoint as the center of circle, angular velocity omegap, unit is rad/s, uniform rotation,
The reflection light of level crossing reaches car door side barrier, and measured detector 240 is received after reflection, lasts ε2, unit is
S, measures car door side barrier with vehicle body apart from Dσ, unit is m,
Wherein, γ0It is laser and the distance at level crossing center, unit is s, and β is semiconductor laser and horizontal direction
Angle, δ2It is reflection detector and the angle of measurement detector, D1It is left front door and side obstacle spacing, unit is m；It is single
Position is D2It is left back door and side obstacle spacing, unit is m, D3Right front door and side obstacle spacing, unit is m, D4It is the right side
Back door and side obstacle spacing, unit is m；
S290：Judge car door side barrier with vehicle body apart from Dσ, unit is m, the length F with car doorb, unit is m,
It is compared,
S291：Work as Dσ＞ FbWhen, opening car door will not bump against side barrier, perform S320, EP (end of program)；
S292：Work as Dσ≤FbWhen, car door is held to maximum position and can bump against side barrier, now need to carry out it is spacing,
S300：Judge DσIn-scope and then determination restraining position；
S301：WhenWhen, car door opening is bound to bump against side barrier, and control caging system locks car door,
Locked warning lamp 530 is lighted carries out locked warning；
S302：WhenWhen, magnet coil is powered, and spacer pin is stuck in spacing tooth form pull bar k-th
In groove, while corresponding vehicle door spacing warning light is lighted, wherein, n is the number of recesses of spacing tooth form pull bar, k≤n and k is
Positive integer；
S310：When passenger closed door, magnet coil power-off, corresponding vehicle door spacing warning light extinguishes；
S320：Spacing release.
Although embodiment of the present invention is disclosed as above, it is not restricted to listed in specification and implementation method
With, it can be applied to various suitable the field of the invention completely, for those skilled in the art, can be easily
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is not limited
In specific details and shown here as the legend with description.
Claims (9)
1. a kind of car door moves intervention formula CAS control method, it is characterised in that comprise the following steps：
Step one：Small beam angle ultrasonic radar is installed below rearview mirror, vehicle rear side moving object is detected when rotating forward,
And the moving object of vehicle body rear is recorded with small beam angle ultrasonic radar apart from S1With intervention formula CAS run time t1, instead
The moving object is detected again to rotating, and moving object is with small beam angle ultrasonic radar apart from S2With intervention formula CAS
Run time t2, and the gait of march ν of moving object is calculated according to following formula,
Wherein, ω is the velocity of rotation of the small beam angle ultrasonic radar, is that the maximum of small beam angle ultrasonic radar turns described in θ
Angle；
Step 2：The gait of march ν of moving object is compared with the walking speed ν ' of the mankind,
As ν≤ν ', step 3 is performed, further judge distance；
As ν ＞ ν ', step 4 is performed, illustrate present speed and have the danger of collision car door apart from object, need to be according to formula meter
Calculate whether object has enough time to evade；
Step 3：By the distance between moving object and automotive C column LcWith the peace according to selected by the different coefficients of friction of dry and wet ground
Full distance SsIt is compared,
Work as Lc≥SsWhen, illustrating that object object is in larger distance with automobile, opening car door does not bump against the danger of rear traveling object
Danger；
Work as Lc＜ SsWhen, illustrating that object is in small distance with automobile, enabling is possible to collide object, and now in-car outer sending carries
Show information, vehicle door spacing warning light is lighted；
Step 4：By the distance between moving object and automotive C column LcBe the brake calculated according to moving object gait of march
Apart from SrIt is compared,
Work as Lc≥SrWhen, in-car is outer to send prompt message, and vehicle door spacing warning light is lighted；
Work as Lc＜ SrWhen, now object have greatly may no enough time evade door opening action and collide car door, control spacing system
System locking front and back door is locked, and warning lamp is lighted；
Also include horizontal detection part,
Step one：Using laser triangulation method, car door side barrier is measured with vehicle body apart from Dσ,
Wherein, ε1Time used, ω are received by reflection detector from being issued to for laserpIt is the velocity of rotation of level crossing, ε2It is sharp
Light receives time used, γ from measured detector is issued to0Be the distance at laser and level crossing center, β be laser with
The angle of horizontal direction, δ2It is reflection detector and the angle of measurement detector, D1It is left front door and side obstacle spacing, D2
It is left back door and side obstacle spacing, D3Right front door and side obstacle spacing, D4It is right-rear-door and side obstacle spacing；
Step 2：Judge car door side barrier with vehicle body apart from DσWith the length F of car doorbIt is compared,
Work as Dσ＞ FbWhen, opening car door will not bump against side barrier, EP (end of program)；
Work as Dσ≤FbWhen, car door is held to maximum position and can bump against side barrier, now need to carry out it is spacing,
Step 3：, judge DσIn-scope and then determination restraining position；
WhenWhen, car door opening is bound to bump against side barrier, control caging system locking car door, and carries out locked
Warning；
WhenWhen, magnet coil is powered, and spacer pin is stuck in spacing k-th groove of tooth form pull bar, together
When corresponding vehicle door spacing warning light light, wherein, n is the number of recesses of spacing tooth form pull bar, k≤n and k is positive integer；
Step 4, when passenger closed door, magnet coil power-off, corresponding vehicle door spacing warning light extinguishes.
2. a kind of car door according to claim 1 moves intervention formula CAS control method, it is characterised in that also include
Photoelectric sensor at door handle, when passenger is opened the door, photoelectric sensor detects light and blocks, and triggers institute
Car door motion intervention formula CAS is stated to be operated.
3. a kind of car door according to claim 1 moves intervention formula CAS control method, it is characterised in that described
Small beam angle ultrasonic radar uniform rotation under the drive of stepper motor.
4. a kind of car door according to claim 1 or 3 moves intervention formula CAS control method, it is characterised in that institute
The detection range of the small beam angle ultrasonic radar stated is 500m-1000m.
5. a kind of car door according to claim 1 or 3 moves intervention formula CAS control method, it is characterised in that institute
The detection angle of the small beam angle ultrasonic radar stated is 30 ° -60 °.
6. a kind of car door according to claim 1 moves intervention formula CAS control method, it is characterised in that described
Laser is infrared band semiconductor laser.
7. a kind of car door according to claim 1 or 6 moves intervention formula CAS control method, it is characterised in that institute
The laser stated is 50 ° -58 ° with the angle of horizontal direction.
8. a kind of car door according to claim 1 moves intervention formula CAS control method, it is characterised in that described
The anglec of rotation of level crossing is 20 ° -55 °.
9. a kind of car door according to claim 1,6 and 8 any one moves intervention formula CAS control method, its feature
It is that, also including system X button, after system X button is pressed, system stalls, passenger can be with free switch car
Door.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510648058.1A CN105196953B (en) | 2015-10-09 | 2015-10-09 | A kind of car door moves intervention formula anticollision control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510648058.1A CN105196953B (en) | 2015-10-09 | 2015-10-09 | A kind of car door moves intervention formula anticollision control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105196953A CN105196953A (en) | 2015-12-30 |
| CN105196953B true CN105196953B (en) | 2017-06-27 |
Family
ID=54945044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510648058.1A Active CN105196953B (en) | 2015-10-09 | 2015-10-09 | A kind of car door moves intervention formula anticollision control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105196953B (en) |
Families Citing this family (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835765A (en) * | 2016-01-26 | 2016-08-10 | 乐卡汽车智能科技（北京）有限公司 | Vehicle collision avoiding system and method and vehicle |
| US10060170B2 (en) | 2016-08-15 | 2018-08-28 | Ford Global Technologies, Llc | Vehicle with active door zone |
| CN106627463A (en) * | 2016-12-22 | 2017-05-10 | 深圳市招科智控科技有限公司 | Unmanned bus visual perception system and work method for same |
| US10183640B2 (en) * | 2017-02-17 | 2019-01-22 | Ford Global Technologies, Llc | Systems and methods for door collision avoidance |
| CN106976383A (en) * | 2017-03-31 | 2017-07-25 | 广东工业大学 | A kind of Safety vehicle door |
| CN108930461B (en) * | 2017-05-26 | 2021-04-06 | 长城汽车股份有限公司 | Motor control method and system of vehicle door lock and vehicle |
| CN107472159B (en) * | 2017-08-17 | 2023-07-11 | 郑友志 | Door opening control system for laser speed measurement |
| CN107503623A (en) * | 2017-08-31 | 2017-12-22 | 北京汽车股份有限公司 | Control method, control system and the vehicle of car door |
| CN108608939A (en) * | 2018-04-08 | 2018-10-02 | 江苏理工学院 | A kind of vehicle door anti-collision system and method for energy-saving safe |
| CN109367478B (en) * | 2018-08-24 | 2020-06-26 | 南京理工大学 | Automobile danger grading and early warning system and method |
| CN111038374A (en) * | 2018-10-11 | 2020-04-21 | 安波福电子(苏州)有限公司 | Vehicle safety system |
| CN109484337A (en) * | 2018-11-27 | 2019-03-19 | 深圳技术大学（筹） | Car door anti-collision method for early warning and its anti-collision early warning system based on infrared acquisition and Image Acquisition |
| CN110450747A (en) * | 2019-08-14 | 2019-11-15 | 合肥科维特电气科技有限公司 | A kind of Vehicular door safe opening alarm method |
| CN112428795B (en) * | 2020-11-30 | 2022-03-08 | 四川交通职业技术学院 | Device for preventing door opening accident of automobile |
| CN112721801B (en) * | 2021-01-19 | 2022-06-03 | 东风汽车集团股份有限公司 | Vehicle parking anti-collision method and vehicle parking anti-collision system |
| CN113043994A (en) * | 2021-03-18 | 2021-06-29 | 浙江警察学院 | Automobile door opening anti-collision system |
| CN113077656B (en) * | 2021-03-23 | 2022-02-11 | 吉林大学 | Parking road section anti-collision early warning method based on vehicle-to-vehicle RFID communication |
| CN115122910A (en) * | 2021-03-29 | 2022-09-30 | 本田技研工业株式会社 | Display device for vehicle |
| CN113202156A (en) * | 2021-05-07 | 2021-08-03 | 徐州徐工筑路机械有限公司 | Anti-collision control system for land leveler working device |
| CN116220483A (en) * | 2023-05-08 | 2023-06-06 | 北京木牛领航科技有限公司 | Door opening early warning method, device, vehicle, medium, equipment and program product |
| CN116520339B (en) * | 2023-06-25 | 2023-10-24 | 四川护邑科技有限公司 | Laser ranging anti-collision protection device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006088798A (en) * | 2004-09-22 | 2006-04-06 | Mazda Motor Corp | Pusher device for vehicle |
| WO2008157554A1 (en) * | 2007-06-18 | 2008-12-24 | Tk Holdings Inc. | Sensor system and air coil |
| CN102745162A (en) * | 2012-02-10 | 2012-10-24 | 浙江吉利汽车研究院有限公司 | Car door security system assembly and control method thereof |
| CN102555966B (en) * | 2012-02-29 | 2013-12-04 | 浙江吉利汽车研究院有限公司 | Automobile door anti-collision device and automobile door anti-collision method |
| CN103448611A (en) * | 2013-08-04 | 2013-12-18 | 郭金虎 | Automobile opening-door anti-collision control system |
| CN104442664A (en) * | 2014-11-04 | 2015-03-25 | 李志飞 | Vehicle door opening safety pre-warning assisting system and control method thereof |
-
2015
- 2015-10-09 CN CN201510648058.1A patent/CN105196953B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105196953A (en) | 2015-12-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105196953B (en) | A kind of car door moves intervention formula anticollision control method | |
| CN202448833U (en) | Fatigue driving early warning device | |
| CN103921889B (en) | A kind of electric bicycle auxiliary drives system and control method | |
| CN108515934A (en) | A kind of vehicle anti-collision early warning method and system based on more radars | |
| CN107599970A (en) | A kind of automobile side-door opens active anti-corrosion and warning system and method | |
| CN101890947A (en) | Automobile driving assisting system | |
| CN108515905A (en) | A kind of automobile door opening bump-proof system based on millimetre-wave radar | |
| CN201665184U (en) | Safety warning system when opening door of vehicle | |
| CN108327629A (en) | Car door opening protective device and vehicle | |
| CN104029679B (en) | A kind of automobile side angle active defense method | |
| CN203165215U (en) | Expressway safe driving monitoring system | |
| JP2004058991A (en) | Electrically controllable trailer coupler | |
| CN208085588U (en) | A kind of cargo vehicle right-hand bend vision dead zone caution system | |
| CN109532670A (en) | A kind of on-vehicle safety Distance Judgment device extremely software uses principle | |
| CN105752014A (en) | Rate-limiting power supply dual-mode radar collision avoidance active safety driving assistance system | |
| CN204472885U (en) | Discretionary security control system under automobile turning operating mode | |
| CN201745529U (en) | Automobile driving assisting system | |
| CN201506319U (en) | System for ensuring safe opening of automobile door | |
| CN207120721U (en) | A kind of automobile anti-rear end collision and side-collision-prevention device | |
| CN205890815U (en) | Door collision avoidance system and car | |
| CN108556781B (en) | The device of intelligent closed door after a kind of vehicle start | |
| CN100406307C (en) | Passive type car tail-bite pre-alarm collision-prevention method and device | |
| CN207028887U (en) | A kind of electrokinetic cell bag collision protection system | |
| CN207523546U (en) | Car doubling auxiliary device and car | |
| WO2018023385A1 (en) | Vecicle lane-change alarm method and alarm system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |