CN112721801B - Vehicle parking anti-collision method and vehicle parking anti-collision system - Google Patents
Vehicle parking anti-collision method and vehicle parking anti-collision system Download PDFInfo
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- CN112721801B CN112721801B CN202110068461.2A CN202110068461A CN112721801B CN 112721801 B CN112721801 B CN 112721801B CN 202110068461 A CN202110068461 A CN 202110068461A CN 112721801 B CN112721801 B CN 112721801B
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000008569 process Effects 0.000 claims abstract description 14
- 230000004888 barrier function Effects 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
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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
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
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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
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/007—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle providing information about the distance to an obstacle, e.g. varying sound
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05C—BOLTS OR FASTENING DEVICES FOR WINGS, SPECIALLY FOR DOORS OR WINDOWS
- E05C17/00—Devices for holding wings open; Devices for limiting opening of wings or for holding wings open by a movable member extending between frame and wing; Braking devices, stops or buffers, combined therewith
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Abstract
The invention relates to a vehicle parking anti-collision method and a vehicle parking anti-collision system, which comprise the following steps: collecting images of a parking space behind a vehicle; recognizing the parking width S between the obstacles on the two sides of the parking space according to the image, and judging whether to replace the parking space or not and guiding in the parking process according to the parking width S; detecting the distance d between a vehicle door and an obstacle after the vehicle enters a parking space; calculating a maximum allowable door opening angle beta according to the distance d between the vehicle door and the barrier; and controlling the door opening angle of the vehicle door according to the maximum allowable door opening angle beta. The vehicle parking anti-collision method and the vehicle parking anti-collision system have low requirements on the driving skill of a driver and can reduce the collision risk.
Description
Technical Field
The invention relates to the technical field of automotive electronics, in particular to a vehicle parking anti-collision method and a vehicle parking anti-collision system.
Background
As various automobiles are popularized to common households, the quantity of the automobiles kept is increased day by day, and the demand for parking lots is more urgent. In modern cities, land resources are in short supply, parking lots such as districts and shopping malls are generally narrow in width, the distance between a vehicle and the vehicle or a barrier after parking is small, the vehicle cannot get off due to insufficient width when a door is opened, or the risk that a vehicle door collides with the adjacent vehicle, a wall and other barriers when the door is opened at a large angle exists, and inconvenience is brought to users or property damage is caused.
In the related art, when a vehicle is parked, the driver generally experiences the experience, and the vehicle is parked in a way of keeping a sufficient distance from obstacles such as adjacent vehicles, walls and the like as far as possible so as to avoid collision with the adjacent vehicles or the obstacles during and after parking, but the method has higher requirements on the driving skill of the driver; the other type is that the anti-collision rubber strip is additionally arranged at the edge of the car door, but the collision degree can be relieved to a certain extent, and the loss is reduced.
Therefore, it is necessary to design a vehicle parking collision avoidance method and a vehicle parking collision avoidance system to overcome the above problems.
Disclosure of Invention
The embodiment of the invention provides a vehicle parking anti-collision method and a vehicle parking anti-collision system, which aim to solve the problems that the requirements on the driving skill of a driver during parking are high in the related art, and the collision degree can only be relieved to a certain extent by additionally arranging an anti-collision rubber strip on the edge of a vehicle door.
In a first aspect, a vehicle parking collision avoidance method is provided, which includes the steps of: collecting images of a parking space behind a vehicle; recognizing the parking width S between the obstacles on the two sides of the parking space according to the image, and judging whether to replace the parking space or not and guiding in the parking process according to the parking width S; detecting the distance d between a vehicle door and an obstacle after the vehicle enters a parking space; calculating a maximum allowable door opening angle beta according to the distance d between the vehicle door and the barrier; and controlling the door opening angle of the vehicle door according to the maximum allowable door opening angle beta.
In some embodiments, the capturing the image of the parking space behind the vehicle includes: before backing, a backing camera arranged at the tail of the vehicle is used for shooting a parking space behind the vehicle.
In some embodiments, the determining whether to replace a parking space and guiding during parking according to the parking width S includes: comparing the parking width S with the width l of the vehicle; when S is less than l + a, prompting a driver to replace a parking space; when l + a is less than or equal to S and less than l +2a, further judging whether to replace the parking space and guide parking according to the conditions of the obstacles on the two sides of the parking space; and when the S is more than or equal to l +2a, prompting the driver to park in the middle.
In some embodiments, when l + a is less than or equal to S < l +2a, the further determining whether to replace the parking space and guiding parking according to the condition of the obstacles on the two sides of the parking space includes: when the obstacles on the two sides of the parking space are all objects, prompting a driver to reserve the width of the left side of the vehicle when backing the vehicle and prompting a secondary driver to get off the vehicle in advance; and when the obstacle on at least one side of the parking space is other vehicles, prompting the driver that the collision risk exists.
In some embodiments, detecting the distance d between the door and the obstacle after the vehicle enters the parking space includes: the distance d between the door and its nearest obstacle is automatically detected using a distance sensor mounted on the door.
In some embodiments, the setting of the minimum opening angle of the vehicle door as α and the maximum opening angle as γ includes: comparing the maximum allowable door opening angle beta with the minimum door opening angle alpha and the maximum door opening angle gamma of the vehicle door; when the beta is less than the alpha, the driver and the passengers are prompted that the side car door is difficult to get off, and the collision risk exists; when alpha is less than or equal to beta and less than gamma, prompting a driver and passengers to get off the vehicle normally, and controlling the door opening angle of the vehicle door to be beta; when the beta is larger than or equal to the gamma, prompting the driver to get off the vehicle normally, and controlling the door opening angle of the vehicle door to be gamma.
In a second aspect, a vehicle park collision avoidance system is provided, comprising: the acquisition module is used for acquiring images of parking spaces behind the vehicles; the judging module is used for identifying the parking width S between the obstacles on two sides of the parking space according to the image, judging whether to replace the parking space according to the parking width S and guiding in the parking process; the detection module is used for detecting the distance d between the vehicle door and the obstacle; the calculation module is used for calculating the maximum allowable door opening angle beta according to the distance d between the vehicle door and the barrier; and the control module is used for controlling the door opening angle of the vehicle door according to the maximum allowable door opening angle beta.
In some embodiments, the acquisition module comprises a reversing camera mounted at the tail of the vehicle, and the reversing camera is used for shooting a parking space.
In some embodiments, the vehicle parking collision avoidance system further comprises a driving module in signal connection with the control module, and the driving module controls the opening angle of the vehicle door according to the signal sent by the control module.
In some embodiments, the drive module comprises: the limiter is used for controlling the door opening angle of the vehicle door and is connected with the vehicle door; a rotating gear engaged with the stopper through teeth; one end of the clamping mechanism is connected with the rotating gear, and the rotating gear is clamped through the clamping mechanism so that the door opening angle of the vehicle door is controlled by the limiting stopper; and the motor and the transmission device are connected with the other end of the clamping mechanism, and the motor and the transmission device adjust the clamping force of the clamping mechanism according to the signal sent by the control module.
The technical scheme provided by the invention has the beneficial effects that:
the embodiment of the invention provides a vehicle parking anti-collision method and a vehicle parking anti-collision system, because the parking space behind the vehicle is photographed before the vehicle is driven to the parking space, the parking width S between barriers at two sides of the parking space to be parked can be further identified, whether the vehicle is suitable for parking in the parking space or not can be judged in advance according to the parking width S, whether the parking space needs to be replaced or not can be judged, so that early warning is carried out before the vehicle enters the parking space, the probability of collision between the vehicle and surrounding barriers is reduced, the probability of exiting from the parking space to be reselected after the vehicle enters the parking space is reduced, meanwhile, guidance can be carried out in the parking process according to the parking width S, and after the vehicle enters the parking space, the door opening angle of a vehicle door can be automatically controlled according to the maximum allowable door opening angle beta by calculating the maximum allowable door opening angle beta, further avoid when opening the door and the obstacle of side bump, consequently, it is lower to driver's driving skill requirement, and can reduce the collision risk.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a vehicle parking collision avoidance system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a warning prompt device and a central display screen of a vehicle parking collision avoidance system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a stopper of a vehicle parking collision avoidance system according to an embodiment of the present invention;
fig. 4 is a control logic diagram of a vehicle parking collision avoidance system according to an embodiment of the invention.
In the figure:
1. a vehicle; 11. a vehicle door; 12. a hinge;
2. a reversing camera;
3. a distance sensor;
4. a stopper;
5. a rotating gear;
6. a clamping mechanism;
7. a motor and a transmission device;
8. an alarm prompting device;
9. a central display screen.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The embodiment of the invention provides a vehicle parking anti-collision method and a vehicle parking anti-collision system, which can solve the problems that the requirements on the driving skill of a driver during parking are high in the related art, and the collision degree can only be relieved to a certain extent by additionally arranging an anti-collision rubber strip on the edge of a vehicle door.
Referring to fig. 1, an embodiment of the present invention provides a vehicle parking collision avoidance method, which may include the following steps:
step 1: images of a parking space behind the vehicle 1 are collected.
Referring to fig. 1, in some embodiments, in step 1, the acquiring the image of the parking space behind the vehicle 1 may include: before backing up, a parking space behind the vehicle 1 is imaged by using a backing camera 2 mounted on the tail of the vehicle.
Step 2: and identifying the parking width S between the obstacles on two sides of the parking space according to the image, and judging whether to replace the parking space according to the parking width S and guiding in the parking process.
Referring to fig. 1 and 2, the self width of the vehicle 1 may be set to l and the minimum opening width of the door 11 (i.e. the minimum distance between the outer edge and the inner edge of the door 11 when ensuring that a driver can get on or off the vehicle) may be set to a in advance according to the model size of the vehicle 1, in step 2, in some embodiments, the parking width S between obstacles on both sides of the parking space in the image may be identified through an algorithm, and further, the determining whether to replace the parking space according to the parking width S and guiding during parking may include: comparing the parking width S with the width l of the vehicle 1 itself; when S is less than l + a, a voice alarm can be given to prompt a driver that the door opening collision risk exists and the replacement of the parking space is recommended; when l + a is less than or equal to S and less than l +2a, whether the parking space is replaced or not and parking guidance can be further judged according to the conditions of the obstacles on the two sides of the parking space; when S is larger than or equal to l +2a, the driver can be prompted to park in the middle through voice.
Referring to fig. 1 and 2, further, in step 2, when l + a is not less than S < l +2a, the further determining whether to replace the parking space and guiding parking according to the obstacle condition on the two sides of the parking space may include: when the obstacles on the two sides of the parking space are judged to be objects, the driver is prompted to reserve the left width of the vehicle 1 when backing up, and is prompted to get off in advance, namely, the driver can automatically judge whether the obstacles on the two sides of the parking space are the objects or the vehicle 1 according to the shape of the obstacles in the pre-shot image, and is prompted, the driver does not need to observe the obstacles backwards by himself or judge whether the driver observes the obstacles by himself, and parking is carried out according to own will; when the barrier in at least one side in parking stall is other vehicles 1, then the suggestion driver has the collision risk, and is concrete, is the object when the parking stall left side, and the right side is when vehicle 1, then the suggestion driver right side door 11 has the collision risk, is vehicle 1 when the parking stall left side, and when the right side was the object, then the suggestion driver left side door 11 has the collision risk, and the driver can decide whether the parking is in this parking stall according to the suggestion self.
And step 3: after the vehicle 1 enters the parking space, the distance d between the door 11 and the obstacle is detected.
Referring to fig. 1, in some embodiments, in step 3, after the vehicle 1 enters the parking space, detecting a distance d between the door 11 and the obstacle may include: the distance d between the door 11 and its nearest obstacle, that is, the distance between the door 11 and the nearest obstacle to the door 11, is automatically detected using the distance sensor 3 mounted on the door 11.
And 4, step 4: the maximum allowable door opening angle β is calculated based on the distance d between the vehicle door 11 and the obstacle.
And 5: the opening angle of the vehicle door 11 is controlled according to the maximum allowable opening angle β.
Referring to fig. 1 and 3, in some embodiments, the minimum door opening angle of the vehicle door 11 may be preset to be α, the maximum door opening angle may be preset to be γ, and the minimum door opening angle α and the maximum door opening angle γ may be set by user according to the size of the vehicle and the user's requirements, for example, the minimum door opening angle may be 30 ° to the maximum door opening angle γ; in step 5, the controlling the door opening angle of the vehicle door 11 according to the maximum allowable door opening angle β may include: comparing the maximum allowable door opening angle beta with the minimum door opening angle alpha and the maximum door opening angle gamma of the vehicle door 11; when the beta is less than the alpha, prompting drivers and passengers that the side car door 11 is difficult to get off, and having collision risk; when the alpha is less than or equal to beta and less than gamma, prompting a driver and passengers to get off the vehicle normally, and controlling the door opening angle of the vehicle door 11 to be beta; when the beta is larger than or equal to the gamma, the vehicle door 11 can be freely opened, so that a driver is prompted to get off the vehicle normally, and the door opening angle of the vehicle door 11 is controlled to be gamma; by controlling the opening angle of the door 11, collision with surrounding obstacles due to an excessively large opening angle is prevented.
Referring to fig. 1 to 3, an embodiment of the present invention also provides a vehicle parking collision avoidance system, which may include: the acquisition module is used for acquiring images of a parking space behind the vehicle 1; the judging module is used for identifying the parking width S between the obstacles on two sides of the parking space according to the image, judging whether to replace the parking space according to the parking width S and guiding in the parking process; a detection module for detecting a distance d from the vehicle door 11 to an obstacle; a calculation module for calculating a maximum allowable door opening angle beta according to a distance d between the vehicle door 11 and the obstacle; and a control module for controlling the opening angle of the vehicle door 11 according to the maximum allowable opening angle β.
Referring to fig. 1 and 4, in the present embodiment, both sides of the vehicle 1 are provided with doors 11, and the doors 11 are connected with the vehicle 1 through hinges 12; the vehicle parking anti-collision system further comprises a master control unit, wherein the master control unit comprises the judging module, the calculating module and the control module.
Referring to fig. 1 and 4, in some embodiments, the acquisition module includes a reversing camera 2 installed at the tail of the vehicle, and the reversing camera 2 captures an image of the parking space in advance, and in this embodiment, a central display screen 9 is further installed on the vehicle 1, and both the central display screen 9 and the acquisition module can be in signal connection with the main control unit, so that the image captured by the reversing camera 2 can be displayed on the central display screen 9.
Referring to fig. 2 and 4, in this embodiment, the vehicle parking collision avoidance system further includes an alarm prompting device 8, the alarm prompting device 8 is in signal connection with the main control unit, and the main control unit can send a corresponding working instruction to the alarm prompting device 8 according to a judgment result of the judgment module or the control module, so that the alarm prompting device 8 prompts a driver to pay attention to a parking position and give a door opening collision warning in a display and voice manner.
Referring to fig. 1, in some optional embodiments, the detection module may be a distance sensor 3, which may be mounted on the vehicle door 11 and located at a handle of the vehicle door 11, so that the distance between the vehicle door 11 and the obstacle is detected according to the movement of the vehicle door 11 at the moment when the vehicle door 11 is opened.
Referring to fig. 3, the vehicle parking collision avoidance system may further include a driving module in signal connection with the control module, and the driving module may control the opening angle of the vehicle door 11 according to a signal sent by the control module, so as to lock the vehicle door 11 at a preset angle, thereby preventing collision.
Referring to fig. 1 and 3, the driving module may include: a stopper 4 for controlling the opening angle of the door 11, which is connected to the door 11; the rotating gear 5 is meshed with the limiting stopper 4 through teeth, namely the limiting stopper 4 is also provided with teeth, so that the limiting stopper 4 can perform tooth matching motion with the rotating gear 5; one end of the clamping mechanism 6 is connected with the rotating gear 5, the rotating gear 5 is clamped through the clamping mechanism 6, so that the door opening angle of the vehicle door 11 is controlled by the stopper 4, namely, the stopper 4 moves along with the vehicle door 11 in the opening process of the vehicle door 11, meanwhile, the rotating gear 5 rotates through tooth meshing, and after the vehicle door 11 is opened to a certain angle, the clamping mechanism 6 is controlled to clamp the rotating gear 5, so that the rotating gear 5 stops rotating, and further, the stopper 4 and the vehicle door 11 are prevented from moving; and the motor and transmission device 7 is connected with the other end of the clamping mechanism 6, the motor and transmission device 7 can adjust the clamping force of the clamping mechanism 6 according to a signal sent by the control module, when the vehicle door 11 moves, the clamping force is small, and when the vehicle door 11 needs to be prevented from being opened, the clamping force is large, so that the clamping mechanism 6 clamps the rotating gear 5.
The principles of the vehicle parking anti-collision method and the vehicle parking anti-collision system provided by the embodiment of the invention are as follows:
because the parking space behind the vehicle 1 is shot before the vehicle 1 is driven to the parking space, the parking width S between barriers at two sides of the parking space to be parked can be further identified, whether the vehicle 1 is suitable for being parked at the parking space or not can be judged in advance according to the parking width S, whether the parking space needs to be replaced or not is judged, early warning is carried out before the vehicle 1 enters the parking space, the probability that the vehicle 1 collides with surrounding barriers is reduced, the probability that the vehicle 1 needs to quit and reselect the parking space after entering the parking space is reduced, meanwhile, guidance can be carried out in the parking process according to the parking width S, and after the vehicle enters the parking space, the door opening angle beta of the vehicle door 11 is automatically controlled according to the maximum door opening angle beta by calculating the maximum allowed door opening angle beta, collision between the vehicle door and the barriers at the side when the vehicle door is opened is further avoided, and the number of places needing judgment and thinking by a driver is small, the requirements on the driving skill of the driver are low, and the collision risk can be reduced.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It is to be noted that, in the present invention, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A vehicle parking anti-collision method is characterized by comprising the following steps:
collecting images of a parking space behind the vehicle (1);
recognizing the parking width between the obstacles at the two sides of the parking space according to the images
According to the parking width
Judging whether to replace the parking space and guiding in the parking process;
after a vehicle (1) enters a parking space, the distance between a vehicle door (11) and an obstacle is detected
；
According to the distance from the vehicle door (11) to the obstacle
Calculating the maximum allowable door opening angle
；
According to the maximum allowable door opening angle
Controlling the opening angle of the vehicle door (11);
setting the width of the vehicle (1) itself to
The minimum opening width of the door (11) is
According to the parking width
Judging whether to replace the parking space and guiding in the parking process, comprising the following steps:
the parking width
Width of the vehicle (1) itself
Comparing;
when in use
If so, prompting the driver to replace the parking space; when in use
If so, further judging whether to replace the parking space and guiding parking according to the conditions of the obstacles on the two sides of the parking space; when in use
And when the vehicle is parked, prompting the driver to park in the middle.
2. The method for parking collision avoidance according to claim 1, wherein the capturing of the image of the parking space behind the vehicle (1) comprises:
before backing, a backing camera (2) arranged at the tail of a vehicle is used for shooting a parking space behind the vehicle (1).
3. The method of parking bump protection for a vehicle of claim 1, when
In time, whether to change the parking stall and guide to park is further judged according to the barrier condition in parking stall both sides, include:
when the obstacles on the two sides of the parking space are all objects, the driver is prompted to reserve the width of the left side of the vehicle (1) when backing the vehicle, and the assistant driver is prompted to get off in advance;
when the obstacle on at least one side of the parking space is other vehicles (1), the driver is prompted to have collision risk.
4. Method for parking collision avoidance for a vehicle according to claim 1, characterized in that after the vehicle (1) enters the parking space, the distance between the door (11) and the obstacle is detected
The method comprises the following steps:
the distance between a vehicle door (11) and a nearest obstacle is automatically detected by using a distance sensor (3) mounted on the vehicle door (11)
。
5. A vehicle parking collision avoidance method according to claim 1, characterized in that the minimum opening angle of the vehicle door (11) is set to
The maximum door opening angle is
According to the maximum allowable door opening angle
Controlling a door opening angle of a vehicle door (11), comprising:
will open the door at the maximum allowable angle
Minimum opening angle to the door (11)
Maximum door opening angle
Comparing;
when in use
When the vehicle is in use, the driver and passengers are prompted that the side door (11) is difficult to get off, and the collision risk exists;
when in use
When the vehicle is running, the driver and passengers are prompted to normally get off the vehicle, and the door opening angle of the vehicle door (11) is controlled to be
；
When in use
When the vehicle is running, the driver and passengers are prompted to normally get off the vehicle, and the door opening angle of the vehicle door (11) is controlled to be
。
6. A vehicle parking collision avoidance system, comprising:
the acquisition module is used for acquiring images of a parking space behind the vehicle (1);
a judging module for identifying the parking width between the barriers at two sides of the parking space according to the image
According to the parking width
Judging whether to replace the parking space and guiding in the parking process;
a detection module for detecting the distance of the vehicle door (11) to an obstacle
；
A calculation module for determining the distance of the vehicle door (11) to the obstacle
Calculating the maximum allowable door opening angle
；
A control module for controlling the door according to the maximum allowable door opening angle
Controlling the opening angle of the vehicle door (11);
setting the width of the vehicle (1) itself to
The most important of the vehicle door (11)The width of the small opening door is
According to the parking width
Judge whether change parking stall and park the in-process at and guide, include:
the parking width
Width of the vehicle (1) itself
Comparing;
when the temperature is higher than the set temperature
If so, prompting the driver to replace the parking space; when in use
If so, further judging whether to replace the parking space and guiding parking according to the conditions of the obstacles on the two sides of the parking space; when in use
And when the vehicle is parked, prompting the driver to park in the middle.
7. The vehicle park collision avoidance system of claim 6, wherein:
the acquisition module comprises a reversing camera (2) arranged at the tail of the vehicle, and the reversing camera (2) is used for shooting a parking space.
8. The vehicle park collision avoidance system of claim 6, wherein:
the vehicle parking anti-collision system further comprises a driving module in signal connection with the control module, and the driving module controls the door opening angle of the vehicle door (11) according to the signal sent by the control module.
9. The vehicle park collision avoidance system of claim 8, wherein the drive module comprises:
the limiter (4) is used for controlling the opening angle of the vehicle door (11) and is connected with the vehicle door (11);
a rotating gear (5) which is engaged with the stopper (4) by teeth;
one end of the clamping mechanism (6) is connected with the rotating gear (5), and the rotating gear (5) is clamped through the clamping mechanism (6) so that the limiting stopper (4) controls the door opening angle of the vehicle door (11);
and the motor and transmission device (7) is connected with the other end of the clamping mechanism (6), and the motor and transmission device (7) adjusts the clamping force of the clamping mechanism (6) according to the signal sent by the control module.
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