CN106143299A - A kind of opening door of vehicle early warning aid system - Google Patents
A kind of opening door of vehicle early warning aid system Download PDFInfo
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- CN106143299A CN106143299A CN201610580705.4A CN201610580705A CN106143299A CN 106143299 A CN106143299 A CN 106143299A CN 201610580705 A CN201610580705 A CN 201610580705A CN 106143299 A CN106143299 A CN 106143299A
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- 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
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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Abstract
The invention provides a kind of opening door of vehicle early warning aid system, field of vehicle safety, comprising: rearview camera, for detecting pedestrian information, and this pedestrian information is transferred to processing unit by CAN；Radar probe, is used for detecting information of vehicles, and by CAN, this information of vehicles is transferred to processing unit；Whether processing unit, have risk of collision when carrying out and calculate and judge and open the door to the information of vehicles received, pedestrian information, and issue instructions to car body control module；It is received from car information, it is judged that and send the instruction that described opening door of vehicle early warning aid system activates/closes；Car body control module, receives the instruction of described processing unit, opens/closes described opening door of vehicle early warning aid system or send warning.The opening door of vehicle early warning aid system that the present invention provides, it is possible to various motor vehicles or pedestrian detected accurately and effectively, it is to avoid the risk of collision that driver causes because of absent minded enabling.
Description
Technical field
The present invention relates to field of vehicle safety, particularly relate to a kind of opening door of vehicle early warning aid system.
Background technology
Currently, vehicle safety is increasingly paid attention to by consumers in general, and wherein active safety technologies is in vehicle safety side
The effect that face plays is more and more prominent, not only shows the protection aspect to driver and crew, simultaneously to the people in traffic environment
Also strengthening with the protection aspect of non power driven vehicle.In recent years, car door and rear fast approaching when there is opening door of vehicle repeatedly
Bicycle, motorcycle, the accident of pedestrian collision run, cause bicycle, Motor-cyclist and the pedestrian run
Mortal injury, even dead, its reason does not splash rear vehicle condition, unsegmented precisely due to driver and crew open the door when getting off yet
Open car door, remind rear approaching vehicle to note dodging, but wilful enabling causes car door and back car to collide.Open the door
Caution system is precisely in order to avoid such accident to occur and an active safety technologies developing.Car load configuration at present is opened the door and is warned
The vehicle of system is the most fewer.At home and some undeveloped countries, traffic is poor, and a large amount of bicycles lack strict pipe
Reason, arbitrarily walks on car lane, it is easy to cause the accident that bicycle and the car door opened collide.Effectively to drop
The low vehicle accident probability caused due to door opening, relies on and improves traffic and the custom of specification driver and crew's door opening,
Being difficult in reality obtain effect at short notice, most effective way is to install opening door of vehicle early warning system on vehicle additional, is driving
Take advantage of personnel before opening car door, it effectively to be reminded so that it is to splash rear vehicle condition, and car door is opened in segmentation, thus have
Effect avoids the generation of this type of vehicle accident.
Existing enabling early warning system implementation mainly by the sensor installed on vehicle, detects vehicle rear flank side
Blind area, detects the target existed in blind area, causes the target of danger if existing to open the door driver, then gives driver
Warning even actively locked car door, it is to avoid the risk of collision that driver causes because of absent minded enabling.Its sensor
Implementation currently mainly has three classes, i.e. photographic head, ultrasonic radar, millimetre-wave radar etc., and wherein photographic head is relatively costly, super
Sound radar precision and detecting distance are relatively near, and millimetre-wave radar cost and moderate accuracy, it is the most widely used scheme.Existing
The one having enabling early warning system to be often only able to detect in vehicle or pedestrian, still suffers from higher risk of collision.
Summary of the invention
It is an object of the present invention to provide a kind of opening door of vehicle early warning aid system, it is possible to detect each accurately and effectively
Plant motor vehicles or pedestrian, it is to avoid the risk of collision that driver causes because of absent minded enabling.
Especially, the present invention provides a kind of opening door of vehicle early warning aid system, including:
Rearview camera, for detecting pedestrian information, and is transferred to processing unit by this pedestrian information by CAN；
Radar probe, is used for detecting information of vehicles, and by CAN, this information of vehicles is transferred to processing unit；
Whether processing unit, have risk of collision to the information of vehicles received, pedestrian information when carrying out and calculate and judge and open the door, and
Issue instructions to car body control module；It is received from car information, it is judged that and send described opening door of vehicle early warning aid system activation/pass
The instruction closed；
Car body control module, receives the instruction of described processing unit, opens/close described opening door of vehicle early warning aid system
Or send warning.
Further, a range of image behind described rearview camera shooting car side or car, and this image is carried out
Image procossing is to obtain described pedestrian information.
Further, described radar probe is millimetre-wave radar probe；The information of vehicles bag that described radar probe detects
Include the angle of target vehicle, speed and distance and the relative position from car；Described include from the speed of car, seat from car information
On whether have occupant or driver, seat belt to release state.
Further, described opening door of vehicle early warning aid system activation condition: there is occupant on the seat of car or drive
There is releasing action in the person of sailing and seat belt；Described opening door of vehicle early warning aid system closes condition: do not exist on the seat of car
Occupant or driver and seat belt are in releasing state.
Further, described processing unit receives described pedestrian information and described information of vehicles fusion treatment, it was predicted that mesh
Target track and intention, calculate the pre-impact time, and judge whether enabling risk of collision.
Further, the detection region of rearview camera and described radar probe described in described pedestrian or vehicle derailing,
When entering check frequency, described processing unit enters the speed before blind area according to target, distance state uses target prediction way
Judge the dangerous probability that target and car door collide.
Further, described target prediction way is that hidden Markov model predicts way.
Further, when driver or occupant exist door opening action, described processing unit is according to the described pre-impact time
Carry out classifying alarm；If the described pre-impact time is less than one-level calibration value, then the driver of clamshell doors or occupant and the outer mesh of car
Mark carries out one-level warning；If the described pre-impact time is in less than two grades of calibration values or described opening door of vehicle early warning aid system
One-level persistent period of reporting to the police, then the driver of clamshell doors or occupant and the outer target of car carried out two grades of reports more than the first calibration value
Alert；Continue if the described pre-impact time is in secondary alarm less than three grades of calibration values or described opening door of vehicle early warning aid system
Time is more than the second calibration value, then the driver of clamshell doors or occupant and the outer target of car carry out three grades of warnings.
Further, described car body control module sends warning and includes reporting to the police driver in car or occupant and mesh outer to car
Mark is reported to the police；Described driver in car or occupant are reported to the police include the light warning of one-level, light and the audible alarm of two grades, three grades
The locked car door of certain time and sound, light combine warning；Described target outer to car is reported to the police and is included the light of one-level
Report to the police, two grades report to the police with very brief tucket for light, the audible alarm of the certain time of three grades and light combine warning.
Further, described opening door of vehicle early warning aid system also includes that anti-locking system delays work or for meeting emergency
Time the door open switch by force of enabling demand.
Owing to have employed above scheme, the beneficial effects of the present invention is:
The automobile of the present invention, owing to being additionally arranged car door anti-collision early warning system, uses car door anti-collision method for early warning, through sensing
Device data fusion detection accuracy is high, it is possible to is automatically obtained back car, the monitoring of messenger, is set by rational man-machine interaction
Meter, not only carries out the prompting of enabling early warning, and reminds other traffic participants further, substantially increase driver
The active safety performance of automobile.
The present invention passes through rational work-based logic and strategy, improves the risk profile in the range of sensor blind area, and
Ensure that system has suitable exit strategy, improve utilization rate and the value of existing resource, it is to avoid unnecessary electricity
Amount consumes, and the wasting of resources makes the system less investment of the present invention, low cost.
Accompanying drawing explanation
Describe some specific embodiments of the present invention the most by way of example, and not by way of limitation in detail.
Reference identical in accompanying drawing denotes same or similar parts or part.It should be appreciated by those skilled in the art that these
Accompanying drawing is not necessarily drawn to scale.In accompanying drawing:
Fig. 1 is a system control logic figure of a kind of opening door of vehicle early warning aid system provided according to the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to attached
Figure, the present invention will be described in detail.
The present invention provides a kind of opening door of vehicle early warning aid system, including: rearview camera, radar probe, processing unit,
Car body control module.
Wherein, rearview camera, for detecting pedestrian information, and it is transferred to process by CAN by this pedestrian information
Unit, a range of image behind rearview camera shooting car side or car, and this image is carried out image procossing to obtain institute
State pedestrian information.
Radar probe, including millimetre-wave radar behind left back millimetre-wave radar and the right side, it is used for detecting and various quickly leans on
Near motor vehicle information, and this information of vehicles is transferred to processing unit by CAN, the collection of millimeter wave is main with process
If for determine that vehicle-surroundings or driver blind area internal object vehicle and the relative position from car and speed, millimetre-wave radar are passed through
Launch continuous print variable-frequency electric magnetostatic wave signal, and receive the electromagnetic wave energy that target vehicle is reflected back, calculate relative distance, relatively speed
Degree or other information.By FM Doppler mode of operation, can effectively position the angle of target vehicle, speed and away from
From.Of course, described radar probe can also be detection range and suitable other radars of investigative range.
Whether processing unit, have risk of collision to the information of vehicles received, pedestrian information when carrying out and calculate and judge and open the door, and
Issue instructions to car body control module；It is received from car information, it is judged that and send what opening door of vehicle early warning aid system activated/closes
Instruction, processing unit receives pedestrian information and information of vehicles fusion treatment, it was predicted that the track of target and intention, calculates pre-impact
Time, and judge whether enabling risk of collision, pedestrian or vehicle derailing rearview camera and the detection zone of radar probe
Territory, when entering check frequency, processing unit uses target prediction way to sentence according to the speed before target entrance blind area, distance state
The dangerous probability that disconnected target collides with car door, when driver or occupant exist door opening action, processing unit is according to touching in advance
The time of hitting carries out classifying alarm；If the pre-impact time is less than one-level calibration value, then outside the driver of clamshell doors or occupant and car
Target carries out one-level warning；If the pre-impact time is in one-level report less than two grades of calibration values or opening door of vehicle early warning aid system
The alert persistent period, then the driver of clamshell doors or occupant and the outer target of car carried out secondary alarm more than the first calibration value；If it is pre-
Collision time is in the secondary alarm persistent period more than the second mark less than three grades of calibration values or opening door of vehicle early warning aid system
Definite value, then the driver of clamshell doors or occupant and the outer target of car carry out three grades of warnings.
Car body control module, receives the instruction of described processing unit, opens/close described opening door of vehicle early warning aid system
Or sending warning, car body control module sends warning and includes reporting to the police driver in car or occupant and target warning outer to car；Right
In car, driver or occupant report to the police and include the light warning of one-level, the light of two grades and audible alarm, a lasting timing of three grades
Between locked car door and sound, light combine warning；Target outer to car report to the police include the light warning of one-level, two grades for light with
Very brief tucket is reported to the police, the audible alarm of the certain time of three grades and light combine warning, opening door of vehicle early warning auxiliary system
System also includes the door open switch by force of enabling demand when anti-locking system delays work or is to meet emergency.
Opening door of vehicle early warning aid system activation condition: there is occupant or driver on the seat of car and safety is taken out of
Now release action；Opening door of vehicle early warning aid system closes condition: there is not occupant or driver and peace on the seat of car
Full band is in releasing state.
Fig. 1 is a system control logic figure of a kind of opening door of vehicle early warning aid system provided according to the present invention.As
Control logic chart shown in Fig. 1: when vehicle is in power-up state, and system judges current gear state, when judging at current vehicle
In neutral position state, system start-up, otherwise, system is closed；When, after system start-up, entering self-inspection init state, when detecting be
System fault Times fault, system blocks Times and blocks, and when detecting system is normal, system activates；By two, rear flank side radar and
Rearview camera detection posterior region, when finding no effect target, alarm lamp is closed, buzzer cuts out, and at this moment opens safety hit
Door opening；When finding effective target, system carries out judging that effective target is at opening door of vehicle early warning aid system (DOW) detection zone
Territory stops the moment and whether different brackets TTC (by collision time, Time to Collision) meets requirement, if meeting requirement
Then issue instructions to car body control module (BCM) by radar opened the door danger by sound and light alarm alerting drivers/passenger, if driving
The person of sailing or passenger continue door opening then car door and are automatically locked, and meanwhile system controls corresponding side steering indicating light installed flicker by BCM,
The outer target of vehicle whistle warning car.Reach, to driver/passenger in car and the warning of target outer to car, to play safe stopping with this
Car door opening effect.
Operation principle of the present invention is: the effective target mainly recognized by MMW RADAR SIGNAL USING is analyzed, in advance
Survey track and the intention of target, and determine whether to there is enabling risk of collision.Wherein enabling intention needs by BCM module, really
Recognize whether Current vehicle exists the probability of enabling, when exist on track, rear flank side vehicle close to time, anti-by millimetre-wave radar
The target vehicle of feedback is relative to from the lateral separation of car, fore-and-aft distance, speed, acceleration, by calculating it may happen that collision
Time, the wherein time of the time employing below equation computed range collision of distance collision:
Wherein aRel、vRel、dRel, t respectively relative acceleration, relative velocity, relative distance and required distance touch
Hit the time.When driver or occupant exist door opening action, if the distance collision time that system-computed obtains is less than the first demarcation
Value (such as 20s), then the driver of clamshell doors or occupant and the outer target of car carry out one-level warning；Further, if distance is collided
Between less than the second calibration value (such as 5s), or system is in one-level persistent period of reporting to the police more than calibration value (such as 10s), then clamshell doors
Driver or occupant and the outer target of car carry out secondary alarm；Further, if distance collision time less than the 3rd calibration value (as
2s), or system is in the secondary alarm persistent period more than calibration value (such as 3s), then outside the driver of clamshell doors or occupant and car
Target carries out three grades of warnings；
A kind of opening door of vehicle early warning aid system that the present invention provides, by rational Human-computer Interactive Design, not only to driving
The person of sailing or occupant carry out the prompting of enabling early warning, and remind other traffic participants further, further increase and keep away
Exempt from the risk collided, and can ensure that driver or the occupant complete control to opening/closing door of vehicle.Described opening door of vehicle
Early warning aid system also include clamshell doors driver or the warning of occupant, the warning of target outer to car, to during locked car door by force
The interactive strategy opened the door and system activate four aspects of escape mechanism, specific as follows:
Reporting to the police driver in car or occupant, be divided into three grades according to degree of danger, wherein one-level is only light warning, and two
Level is light and audible alarm, and three grades is that the locked car door of certain time and sound, light combine warning.Implement shape
Formula locks realization automatically by the buzzer and car door being arranged on instrument in blind spot alarm lamp at car light, car.
The warning of target outer to car, is divided into three grades according to degree of danger, and wherein one-level is light warning, and two grades is light
With very brief audible alarm, three grades are the audible alarm of certain time and light combines warning.The form of implementing passes through phase
The side marker light of side, vehicle whistle loudspeaker are answered to realize.
To the enabling strategy by force during locked car door, delay work for anti-locking system or enabling demand during emergency, logical
Cross the following strategy of design to realize opening the door by force, while i.e. pressing glass for vehicle window rising button, can be with opening car door, so that driving
Member or occupant confirm that oneself needs opening door operation really.
A kind of opening door of vehicle early warning aid system that the present invention provides, by rational system work-based logic and strategy, carries
High to the risk profile in the range of sensor blind area, and ensure that system has suitable exit strategy, it is to avoid unnecessary electricity
Amount consumption, the wasting of resources or system are delayed work.Described opening door of vehicle early warning aid system activates escape mechanism, when existing on seat
During occupant and when seat belt releasing action occurs, system stress be lived, when there is not occupant on seat and seat belt is in releasing shape
During state, system should be deactivated；The presence or absence of occupant on seat, the releasing state of seat belt are required to by Body Control mould
Block obtains.
When target separating sensor detects region, during the sensor check frequency protected after entrance rearview mirror to vehicle, according to
Speed, distance state before target entrance blind area use hidden Markov model (HMM) to judge what target and car door collided
Dangerous probability, probability transition matrix is as shown in table 1:
Table 1, hidden Markov model (HMM) judges the probability transition matrix of the dangerous probability that target and car door collide
Wherein, S represents that the probability being continually maintained in current lane is 0.8；N represents the probability transferring to adjacent lane
It is 0.1.
A kind of opening door of vehicle early warning aid system that the present invention provides, higher through Data Fusion of Sensor detection accuracy,
The pedestrian run effectively can be identified；Make full use of the sensor acquisition surrounding enviroment letter of ripe application on current vehicle
Breath, only change control logic and strategy, it is achieved low cost, arrangement on vehicle affect little.
The automobile of the present invention, owing to being additionally arranged car door anti-collision early warning system, uses car door anti-collision method for early warning, through sensing
Device data fusion detection accuracy is high, it is possible to is automatically obtained back car, the monitoring of messenger, is set by rational man-machine interaction
Meter, not only carries out the prompting of enabling early warning, and reminds other traffic participants further, substantially increase driver
The active safety performance of automobile.
The present invention passes through rational work-based logic and strategy, improves the risk profile in the range of sensor blind area, and
Ensure that system has suitable exit strategy, improve utilization rate and the value of existing resource, it is to avoid unnecessary electricity
Amount consumes, and the wasting of resources makes the system less investment of the present invention, low cost.
So far, although those skilled in the art will appreciate that and the most detailed illustrate and describing the exemplary of the present invention
Embodiment, but, without departing from the spirit and scope of the present invention, still directly can determine according to present disclosure
Or derive other variations or modifications of many meeting the principle of the invention.Therefore, the scope of the present invention is it is understood that and regard as
Cover other variations or modifications all these.
Claims (10)
1. an opening door of vehicle early warning aid system, it is characterised in that including:
Rearview camera, for detecting pedestrian information, and is transferred to processing unit by this pedestrian information by CAN；
Radar probe, is used for detecting information of vehicles, and by CAN, this information of vehicles is transferred to processing unit；
Whether processing unit, have risk of collision when carrying out and calculate and judge and open the door to the information of vehicles received, pedestrian information, and send
Instruction is to car body control module；It is received from car information, it is judged that and send what described opening door of vehicle early warning aid system activated/closes
Instruction；
Car body control module, receives the instruction of described processing unit, opens/closes described opening door of vehicle early warning aid system or send out
Go out to report to the police.
Opening door of vehicle early warning aid system the most according to claim 1, it is characterised in that described rearview camera shooting car
A range of image behind side or car, and this image is carried out image procossing to obtain described pedestrian information.
Opening door of vehicle early warning aid system the most according to claim 1, it is characterised in that described radar probe is millimeter wave
Radar probe；The information of vehicles that described radar probe detects includes the angle of target vehicle, speed and distance and the phase from car
To position；Described include whether having occupant or driver, seat belt to release state on the speed of car, seat from car information.
4. according to the opening door of vehicle early warning aid system according to any one of claim 1-3, it is characterised in that described vehicle is opened
Door early warning aid system activation condition: there is occupant or driver on the seat of car and releasing action occurs in seat belt；Institute
State opening door of vehicle early warning aid system and close condition: on the seat of car, there is not occupant or driver and seat belt is in solution
Except state.
Opening door of vehicle early warning aid system the most according to claim 1, it is characterised in that described processing unit receives institute
State pedestrian information and described information of vehicles fusion treatment, it was predicted that the track of target and intention, calculate the pre-impact time, and judgement is
No existence enabling risk of collision.
Opening door of vehicle early warning aid system the most according to claim 1, it is characterised in that described pedestrian or vehicle derailing
The detection region of described rearview camera and described radar probe, when entering check frequency, described processing unit enters according to target
Enter the speed before blind area, distance state uses target prediction way to judge the dangerous probability that target and car door collide.
Opening door of vehicle early warning aid system the most according to claim 6, it is characterised in that described target prediction way is hidden
Markov model prediction way.
8. according to the opening door of vehicle early warning aid system according to any one of claim 5-7, it is characterised in that as driver or
When occupant exists door opening action, described processing unit carries out classifying alarm according to the described pre-impact time；If during described pre-impact
Between less than one-level calibration value, then the driver of clamshell doors or occupant and the outer target of car carry out one-level warning；If described pre-impact
Time is in one-level less than two grades of calibration values or described opening door of vehicle early warning aid system and reports to the police the persistent period more than the first mark
Definite value, then the driver of clamshell doors or occupant and the outer target of car carry out secondary alarm；If the described pre-impact time is less than three grades
Calibration value or described opening door of vehicle early warning aid system are in the secondary alarm persistent period more than the second calibration value, then clamshell doors
Driver or the outer target of occupant and car carry out three grades of warnings.
Opening door of vehicle early warning aid system the most according to claim 8, it is characterised in that described car body control module sends
Warning includes reporting to the police driver in car or occupant and target warning outer to car；Described report to the police driver in car or occupant includes
The light warning of one-level, the light of two grades and audible alarm, the locked car door of the certain time of three grades and sound, light connection
Close and report to the police；Described target outer to car report to the police include the light warning of one-level, two grades report to the police for light and very brief tucket, three grades
Audible alarm and the light of certain time combine warning.
10. according to the opening door of vehicle early warning aid system according to any one of claim 1-9, it is characterised in that described vehicle
Enabling early warning aid system also includes that the enabling by force of enabling demand when anti-locking system delays work or is to meet emergency is opened
Close.
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| CN201610580705.4A CN106143299B (en) | 2016-07-21 | 2016-07-21 | A kind of opening door of vehicle early warning auxiliary system |
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| CN201610580705.4A CN106143299B (en) | 2016-07-21 | 2016-07-21 | A kind of opening door of vehicle early warning auxiliary system |
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| CN109367478A (en) * | 2018-08-24 | 2019-02-22 | 南京理工大学 | A kind of classification of vehicle hazard and early warning system and method |
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Effective date of registration: 20180926 Address after: 550081 26 floor 367, executive office building, Guan Shan Hu District, Guiyang, Guizhou Applicant after: GUIZHOU GEELY NEW ENERGY AUTOMOBILE Co.,Ltd. Applicant after: ZHEJIANG GEELY AUTOMOBILE RESEARCH INSTITUTE Co.,Ltd. Applicant after: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd. Address before: 317000 east gate of Taizhou City, Zhejiang Province Applicant before: ZHEJIANG GEELY AUTOMOBILE RESEARCH INSTITUTE Co.,Ltd. Applicant before: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd. |
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Address after: No. 999, Guanqing Road, guanshanhu District, Guiyang City, Guizhou Province (in Modern Industrial Park) Patentee after: Guizhou Geely Automobile Manufacturing Co.,Ltd. Patentee after: ZHEJIANG GEELY AUTOMOBILE RESEARCH INSTITUTE Co.,Ltd. Patentee after: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd. Address before: No. 999, Guanqing Road, guanshanhu District, Guiyang City, Guizhou Province (in Modern Industrial Park) Patentee before: Guizhou Geely Automobile Parts Co.,Ltd. Patentee before: ZHEJIANG GEELY AUTOMOBILE RESEARCH INSTITUTE Co.,Ltd. Patentee before: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd. |