CN115434602A - Vehicle door opening control method, device, equipment and storage medium - Google Patents
Vehicle door opening control method, device, equipment and storage medium Download PDFInfo
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- CN115434602A CN115434602A CN202211195135.9A CN202211195135A CN115434602A CN 115434602 A CN115434602 A CN 115434602A CN 202211195135 A CN202211195135 A CN 202211195135A CN 115434602 A CN115434602 A CN 115434602A
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- 238000001514 detection method Methods 0.000 claims abstract description 151
- 230000004888 barrier function Effects 0.000 claims abstract description 56
- 230000002093 peripheral effect Effects 0.000 claims abstract description 25
- 230000008859 change Effects 0.000 claims description 43
- 238000004364 calculation method Methods 0.000 claims description 19
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
- E05F2015/483—Detection using safety edges for detection during opening
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
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Abstract
The invention belongs to the field of vehicle control, and discloses a vehicle door opening control method, a vehicle door opening control device, vehicle door opening control equipment and a storage medium, wherein first barrier information is obtained by receiving a vehicle door opening instruction and detecting peripheral barriers through a barrier detection device on a vehicle door; if the first obstacle information accords with the vehicle door opening condition, controlling the vehicle door to be opened to a first preset angle; after the vehicle door is opened to a first preset angle, detecting peripheral obstacles again to obtain second obstacle information; determining whether to enter a parking lot mode according to the first obstacle information, the second obstacle information and the first preset angle; and if the vehicle enters the parking lot mode, controlling the vehicle door to be continuously opened according to the parking lot mode. The automobile door is controlled to open the first preset angle firstly, then whether the obstacle is a long special obstacle or not is detected, if yes, the automobile door is controlled to open through the parking lot mode, and even if the obstacle is the long special obstacle, the automobile door can be guaranteed to be opened safely automatically.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle door opening control method, a vehicle door opening control device, vehicle door opening control equipment and a storage medium.
Background
Today, in order to improve the user experience, vehicles have become increasingly intelligent, and vehicles have begun to use door auto-open functions, such as: the door is automatically opened after parking in the parking lot or before the driver gets on the vehicle. The current alarm logic for automatically opening the car door is as follows: the vehicle door moves to a preset door opening angle, and the vehicle door is automatically opened and stopped; in the door opening process, if the distance of the obstacle detected by the obstacle detection device (such as a detection probe and the like) on the vehicle door is smaller than or equal to a preset alarm threshold value, emergency alarm is given, and the vehicle door stops being automatically opened.
The alarm logic can meet the safety requirement of automatic opening of the vehicle door when dealing with common scenes. However, if the side of the vehicle is a long obstacle such as a wall, a vehicle, a long and high step, an iron fence, a high flower cluster, etc., the door may not move to the planned opening angle or the obstacle distance detected by the obstacle detecting device is still greater than the preset alarm threshold, but the tail of the door may collide with the obstacle.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle door opening control method, a vehicle door opening control device, vehicle door opening control equipment and a storage medium, and aims to solve the technical problems that in the prior art, automatic vehicle door opening control logic cannot deal with special obstacles and potential safety hazards exist.
In order to achieve the above object, the present invention provides a vehicle door opening control method, including the steps of:
after receiving a vehicle door opening instruction, detecting peripheral obstacles through an obstacle detection device on a vehicle door to obtain first obstacle information;
if the first obstacle information accords with the vehicle door opening condition, controlling the vehicle door to be opened to a first preset angle;
after the vehicle door is opened to the first preset angle, detecting peripheral obstacles again to obtain second obstacle information;
determining whether to enter a parking lot mode according to the first obstacle information, the second obstacle information and the first preset angle;
and if the vehicle enters a parking lot mode, controlling the vehicle door to be continuously opened according to the edge distance threshold value corresponding to the parking lot mode, the first obstacle information and the arrangement information of the obstacle detection device.
Optionally, the step of determining whether to enter the parking lot mode according to the first obstacle information, the second obstacle information, and the first preset angle includes:
determining an angle judgment range according to the first preset angle and the detection error coefficient;
determining an inclination angle change value according to the first obstacle information and the second obstacle information;
and if the inclination angle change value is within the angle judgment range, judging to enter a parking lot mode.
Optionally, before the step of determining the angle determination range according to the first preset angle and the detection error coefficient, the method further includes:
acquiring structural parameter information of a vehicle door and model information of an obstacle detection device installed on the vehicle door;
determining a detection error value of the obstacle detection device according to the model information;
determining a detection error coefficient based on the detection error value and the structural parameter information.
Optionally, a first obstacle detection device and a second obstacle detection device are mounted on the vehicle door;
the step of determining the inclination angle change value according to the first obstacle information and the second obstacle information includes:
calculating an inclination angle change value according to the first obstacle information and the second obstacle information through a preset change value calculation formula;
the preset variation value calculation formula is as follows:
change＝arcsin[(LA'-LB')/L2]-arcsin[(LA-LB)/L2]
where change is a change in inclination angle, LA is an obstacle distance detected by a first obstacle detection device included in the first obstacle information, LB is an obstacle distance detected by a second obstacle detection device included in the first obstacle information, LA 'is an obstacle distance detected by a first obstacle detection device included in the second obstacle information, LB' is an obstacle distance detected by a second obstacle detection device included in the second obstacle information, and L2 is a distance between the first obstacle detection device and the second obstacle detection device.
Optionally, the step of controlling the vehicle door to continue to open according to the edge distance threshold, the first obstacle information, and the obstacle detection device arrangement information corresponding to the parking lot mode includes:
determining the maximum opening angle of the vehicle door according to the edge distance threshold corresponding to the parking lot mode, the first obstacle information and the arrangement information of the obstacle detection device;
acquiring barrier information in real time to obtain third barrier information;
and if the third obstacle information meets the vehicle door opening condition, controlling the vehicle door to be continuously opened based on the maximum opening angle.
Optionally, the step of determining the maximum opening angle of the vehicle door according to the edge distance threshold corresponding to the parking lot mode, the first obstacle information, and the obstacle detection device arrangement information includes:
determining the inclination angle of the vehicle relative to the obstacle according to the first obstacle information and the arrangement information of the obstacle detection device;
calculating the maximum opening angle of the vehicle door according to an edge distance threshold value corresponding to the parking lot mode, the inclination angle, the first obstacle information and the arrangement information of the obstacle detection device by a preset maximum angle calculation formula;
the preset maximum angle calculation formula is as follows:
β＝arcsin[(LC+L1*sinθ-S)/L]-θ
where β is a maximum opening angle of the door, LC is an obstacle distance detected by the obstacle detecting device included in the first obstacle information, S is an edge distance threshold corresponding to the parking lot mode, L is a length of the door, θ is an inclination angle of the vehicle with respect to the obstacle, and L1 is a distance between the first obstacle detecting device and a hinge axis of the door.
Optionally, a plurality of obstacle detection devices are mounted on the vehicle door;
if the first obstacle information meets the vehicle door opening condition, before the step of controlling the vehicle door to be opened to a first preset angle, the method further comprises the following steps:
extracting the obstacle distance detected by each obstacle detection device from the first obstacle information;
if the barrier distances are all larger than a preset alarm threshold value, judging that the first barrier information meets the vehicle door opening condition;
and if the barrier distances are all larger than a preset alarm threshold value, judging that the first barrier information meets the vehicle door opening condition.
In addition, in order to achieve the above object, the present invention further provides a door opening control device, including the following modules:
the command receiving module is used for detecting peripheral obstacles through an obstacle detecting device on the vehicle door after receiving a vehicle door opening command to obtain first obstacle information;
the condition judgment module is used for controlling the vehicle door to be opened to a first preset angle if the first obstacle information accords with the vehicle door opening condition;
the vehicle door detection module is used for detecting peripheral obstacles again after the vehicle door is opened to the first preset angle to obtain second obstacle information;
the mode judging module is used for determining whether to enter a parking lot mode according to the first obstacle information, the second obstacle information and the first preset angle;
and the mode control module is used for controlling the vehicle door to be opened continuously according to the edge distance threshold value corresponding to the parking lot mode, the first obstacle information and the arrangement information of the obstacle detection device if the vehicle enters the parking lot mode.
Further, to achieve the above object, the present invention also proposes a vehicle door opening control device including: a processor, a memory and a door opening control program stored on the memory and operable on the processor, the door opening control program when executed by the processor implementing the steps of the door opening control method as described above.
In addition, in order to achieve the above object, the present invention further provides a computer-readable storage medium, on which a door opening control program is stored, and the door opening control program implements the steps of the door opening control method as described above when executed.
According to the invention, after a vehicle door opening instruction is received, peripheral obstacles are detected by an obstacle detection device on a vehicle door, and first obstacle information is obtained; if the first obstacle information accords with the vehicle door opening condition, controlling the vehicle door to be opened to a first preset angle; after the vehicle door is opened to a first preset angle, detecting peripheral obstacles again to obtain second obstacle information; determining whether to enter a parking lot mode according to the first obstacle information, the second obstacle information and the first preset angle; and if the vehicle enters the parking lot mode, controlling the vehicle door to be continuously opened according to the edge distance threshold value corresponding to the parking lot mode and the first obstacle information. Because can control the door earlier and open first preset angle, then detect whether the barrier is longer special barrier, if yes, then open through parking area mode control door, guarantee even the barrier is longer special barrier, still can normally control the automatic opening of door.
Drawings
Fig. 1 is a schematic structural diagram of an electronic device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating a first embodiment of a door opening control method according to the present invention;
FIG. 3 is a schematic flow chart diagram illustrating a second embodiment of a door opening control method according to the present invention;
FIG. 4 is a schematic view of an obstacle when a vehicle door is not open;
FIG. 5 is a schematic view of an obstacle when a door of the vehicle is opened by a first predetermined angle;
FIG. 6 is a flowchart illustrating the complete execution of the door opening control method of the present invention;
fig. 7 is a block diagram showing the structure of the first embodiment of the door opening control device of the present invention.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a door opening control device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the electronic device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the electronic device, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a door opening control program.
In the electronic apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the electronic device of the present invention may be provided in a door opening control device, and the electronic device calls the door opening control program stored in the memory 1005 through the processor 1001 and executes the door opening control method provided by the embodiment of the present invention.
An embodiment of the present invention provides a vehicle door opening control method, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the vehicle door opening control method according to the present invention.
In this embodiment, the vehicle door opening control method includes the steps of:
step S10: when a vehicle door opening instruction is received, peripheral obstacles are detected through an obstacle detection device on a vehicle door, and first obstacle information is obtained.
It should be noted that the executing main body of the present embodiment may be the door opening control device, and the door opening control device may be a main controller installed in the vehicle, and of course, may also be another device that controls the vehicle.
It should be noted that the vehicle door opening instruction may be an instruction sent by a user to the vehicle door opening control device through a user terminal, where the user terminal may be a terminal device such as a smart phone or a wireless key corresponding to a vehicle. Of course, the door opening command may also be automatically generated when detecting that the state of the vehicle satisfies a preset condition, for example: when the vehicle is detected to be changed from a moving state to a static state and continues for a certain period of time, namely, the vehicle is in a parking state, a vehicle door opening instruction is generated. In addition, the door opening instruction may also be an instruction sent to the door opening control device after the user presses the door switch.
In a specific implementation, for the accuracy of detection, at least two obstacle detection devices may be mounted on a door of the vehicle, and the obstacle detection devices may be obstacle detection probes, or of course, may also be other devices with similar functions, which is not limited in this embodiment.
In practical use, the obstacle detection device on the vehicle door detects the peripheral obstacles, and the obtaining of the first obstacle information may be detecting distances from the peripheral obstacles to the obstacle detection device by the obstacle detection device on the vehicle door, obtaining obstacle distances, and aggregating the obstacle distances detected by the obstacle detection devices into the first obstacle information.
Step S20: and if the first obstacle information accords with the vehicle door opening condition, controlling the vehicle door to be opened to a first preset angle.
It should be noted that, if the first obstacle information meets the door opening condition, it indicates that the obstacles around the vehicle are all far away from the vehicle, and therefore, the door may be controlled to be opened to the first preset angle first. Wherein, first preset angle can be opened controlgear's managers by the door and set up in advance, and first preset angle is for use when being the great barrier of length in order to make things convenient for the convenience of confirming peripheral barrier, and simultaneously, in order to avoid bumping, first preset angle can be an minimumly angle value, for example: the first preset angle is set to 3 °.
Further, since the obstacle may be irregular in shape, in order to accurately determine whether the vehicle door opening condition is met, before step S20, the method may further include:
extracting the obstacle distance detected by each obstacle detection device from the first obstacle information;
if the barrier distances are all larger than a preset alarm threshold value, judging that the first barrier information meets the vehicle door opening condition;
and if the barrier distances are all larger than a preset alarm threshold value, judging that the first barrier information accords with the vehicle door opening condition.
It should be noted that the preset alarm threshold may be preset by a manager of the vehicle door opening control device according to actual needs, for example: the preset alarm threshold is set to 200mm. The vehicle door is provided with a plurality of obstacle detection devices, and the first obstacle information is actually formed by aggregating the obstacle distances detected by the obstacle detection devices, so that the obstacle distances detected by the obstacle detection devices can be obtained by analyzing the first obstacle information.
It can be understood that if any one of the distances between the obstacles detected by the obstacle detection devices is less than or equal to the preset alarm threshold, it indicates that at least part of the obstacles is close to the vehicle, and at this time, the vehicle door is opened, and a potential safety hazard may exist, so that it can be determined that the vehicle door opening condition is not met. And if the barrier distance detected by each barrier detection device is greater than the preset alarm threshold value, the barrier distance is far away from the vehicle at the moment, and no potential safety hazard exists when the vehicle door is opened, so that the condition that the first barrier information accords with the vehicle door opening condition can be judged. If the distance between the obstacles detected by any obstacle detection device is smaller than or equal to the preset alarm threshold value, it is indicated that the obstacle is closer to a certain part of the vehicle door, and if the vehicle door is continuously opened, the vehicle door and the obstacle may collide, so that potential safety hazards exist.
In addition, in the automatic opening process of the vehicle door, the distance between obstacles detected by each obstacle detection device can be continuously monitored, if the distance between obstacles detected by any obstacle detection device is smaller than or equal to a preset alarm threshold value, the vehicle door can be immediately stopped to be opened, and if necessary, a preset alarm prompt tone can be triggered to prompt a user that a relatively close obstacle exists.
Step S30: and after the vehicle door is opened to the first preset angle, detecting peripheral obstacles again to obtain second obstacle information.
It is understood that, in order to facilitate determining whether the obstacle on the side of the vehicle is a long special obstacle, after the vehicle door is opened to the first preset angle, the peripheral obstacle may be detected again by the obstacle detecting device on the vehicle door, so as to obtain the second obstacle information.
Step S40: and determining whether to enter a parking lot mode according to the first obstacle information, the second obstacle information and the first preset angle.
In practical use, whether to enter the parking lot mode or not is determined according to the first obstacle information, the second obstacle information and the first preset angle, and a tilt angle change value is calculated according to the first obstacle information and the second obstacle information, the tilt angle change value is compared with the first preset angle, and if the tilt angle change value is equal to the first preset angle, it can be determined that the obstacle on the side of the vehicle is a long special obstacle, such as: the side of the vehicle is provided with barriers such as walls or fences. It may be determined at this time to enter the parking lot mode. Of course, if it is determined that the vehicle does not need to enter the parking lot mode, the vehicle door can be opened directly according to the normal mode.
Step S50: and if the vehicle enters the parking lot mode, controlling the vehicle door to be continuously opened according to the edge distance threshold value corresponding to the parking lot mode, the first obstacle information and the arrangement information of the obstacle detection device.
It should be noted that the edge distance threshold corresponding to the parking lot mode may be a minimum value of a distance between the rear edge of the vehicle door and the obstacle, and the edge distance threshold is a positive number and may be set in advance by a manager of the vehicle door opening control device, for example: the edge distance threshold is set to 100mm. Of course, the owner of the vehicle can adjust the vehicle according to actual needs.
In a specific implementation, the step of controlling the vehicle door to continue to open according to the edge distance threshold corresponding to the parking lot mode, the first obstacle information, and the arrangement information of the obstacle detection devices may be controlling the vehicle door to gradually open according to the edge distance threshold corresponding to the parking lot mode, the obstacle distance acquired in the first obstacle information, and the arrangement position of the obstacle detection devices when arranged, so that the distance between the rear edge of the vehicle door and the obstacle reaches the edge distance threshold.
Further, since the probe generally cannot be set at the edge-most position of the vehicle door, in order to accurately control the vehicle door, step S50 in this embodiment may include:
determining the maximum opening angle of the vehicle door according to the edge distance threshold corresponding to the parking lot mode, the first obstacle information and the arrangement information of the obstacle detection device;
acquiring barrier information in real time to obtain third barrier information;
and if the third obstacle information meets the vehicle door opening condition, controlling the vehicle door to continue opening based on the maximum opening angle.
It should be noted that the maximum opening angle may be an opening angle of the vehicle door when the distance between the rear edge of the door and the obstacle reaches the edge distance threshold.
In the concrete implementation, the whole body for controlling the opening of the vehicle door has a big premise, namely, the vehicle door opening condition is met, if the vehicle door opening condition is not met, it can be stated that the obstacle is close to the vehicle or a part of the obstacle is close to the vehicle, at the moment, the vehicle door is continuously opened, potential safety hazards may appear, therefore, after the maximum opening angle of the vehicle door is obtained through calculation, the obstacle distance can be detected again through the obstacle detection device on the vehicle door, third obstacle information is obtained, and when the third obstacle information meets the vehicle door opening condition, the vehicle door is controlled to continue to be opened based on the maximum opening angle.
In practical use, the vehicle door can be controlled to be opened gradually based on the maximum opening angle until the opening angle of the vehicle door reaches the maximum opening angle. Wherein, at the control door and open the in-process step by step, can also continuously gather barrier information through the barrier detection device on the door, when gathering barrier information and satisfying the door opening condition, just continue to control the door and open, and in case the barrier information who gathers does not satisfy the door opening condition, then can stop opening the door, if necessary, can also trigger the alarm, remind driver or vehicle peripheral personnel.
The determining of the maximum opening angle of the vehicle door according to the edge distance threshold, the first obstacle information, and the arrangement information of the obstacle detection devices corresponding to the parking lot mode may be determining an inclination angle of the vehicle relative to the obstacle according to the first obstacle information and the arrangement information of the obstacle detection devices, and then calculating the maximum opening angle of the vehicle door according to the edge distance threshold, the inclination angle, the first obstacle information, and the arrangement information of the obstacle detection devices corresponding to the parking lot mode by using a preset maximum angle calculation formula.
The preset maximum angle calculation formula may be:
β＝arcsin[(LC+L1*sinθ-S)/L]-θ
where β is a maximum opening angle of the door, LC is an obstacle distance detected by the obstacle detecting device included in the first obstacle information, S is an edge distance threshold corresponding to the parking lot mode, L is a length of the door, θ is an inclination angle of the vehicle with respect to the obstacle, and L1 is a distance between the first obstacle detecting device and a hinge axis of the door.
Wherein, because a plurality of obstacle detection device are probably installed to the door, when calculating the biggest opening angle, can select wherein arbitrary obstacle detection device to calculate, for example: if two obstacle detection devices A and B are installed on the vehicle door, the A or B can be selected to calculate the maximum opening angle of the vehicle door, LC is the obstacle distance detected by the selected obstacle detection device in the first obstacle information, and L1 is the distance between the selected obstacle detection device and the hinge axis of the vehicle door.
In a specific implementation, determining the inclination angle of the vehicle with respect to the obstacle according to the first obstacle information and the obstacle detection device arrangement information may be extracting two obstacle detection devices (which may be represented as a first obstacle detection device a and a second obstacle detection device B, where a is closer to a hinge axis of the door than B) having different arrangement positions from the first obstacle information according to the obstacle detection device arrangement information, and then calculating the inclination angle of the vehicle with respect to the obstacle according to an angle calculation formula.
The angle calculation formula may be:
θ＝arcsin[(LA-LB)/L2]
where θ is an inclination angle of the vehicle with respect to the obstacle, L2 is a distance between two obstacle detection devices having different arrangement positions, LA is an obstacle distance detected by the first obstacle detection device a, and LB is an obstacle distance detected by the second obstacle detection device B.
In the embodiment, the first barrier information is obtained by receiving a vehicle door opening instruction and detecting peripheral barriers through a barrier detection device on a vehicle door; if the first barrier information accords with the vehicle door opening condition, controlling the vehicle door to be opened to a first preset angle; after the vehicle door is opened to a first preset angle, detecting peripheral obstacles again to obtain second obstacle information; determining whether to enter a parking lot mode according to the first obstacle information, the second obstacle information and the first preset angle; and if the vehicle enters the parking lot mode, controlling the vehicle door to be continuously opened according to the edge distance threshold value corresponding to the parking lot mode and the first obstacle information. Because can control the door earlier and open first preset angle, then detect whether the barrier is longer special barrier, if yes, then open through parking area mode control door, guarantee even the barrier is longer special barrier, still can normally control the automatic opening of door.
Referring to fig. 3, fig. 3 is a schematic flow chart of a second embodiment of a vehicle door opening control method according to the present invention.
Based on the first embodiment, the step S40 of the vehicle door opening control method of the present embodiment includes:
step S401: and determining an angle judgment range according to the first preset angle and the detection error coefficient.
The detection error coefficient may be determined based on a detection error of an obstacle detecting device mounted on the vehicle door. The determining of the angle determination range according to the first preset angle and the detection error coefficient may be determining a maximum determination angle and a minimum determination angle according to the first preset angle and the detection error coefficient, and then generating the angle determination range according to the maximum determination angle and the minimum determination angle. For example: assuming that the first preset angle is α and the detection error coefficient is 0.03, the maximum determination angle is (1 + 0.03) × α =1.03 α, and the minimum determination angle is (1-0.03) × α =0.97 α, and the angle determination range is [0.97 α,1.03 α ].
Further, in order to determine the detection error coefficient quickly, before step S401 in this embodiment, the method may further include:
acquiring structural parameter information of a vehicle door and model information of an obstacle detection device installed on the vehicle door;
determining a detection error value of the obstacle detection device according to the model information;
determining a detection error coefficient based on the detection error value and the structural parameter information.
It should be noted that the structural parameter information of the vehicle door may include a maximum openable angle of the vehicle door. Determining the detection error value of the obstacle detection device according to the model information may be searching for a corresponding detection error value in a preset model error table according to the model information.
In practical use, determining the detection error coefficient based on the detection error value and the structural parameter information may be extracting a maximum openable angle from the structural parameter information, and then taking a ratio of the detection error value to the maximum openable angle as the detection error coefficient. For example: assuming that the detection error value is 2 °, the maximum openable angle of the vehicle door is 70 °, then the detection error coefficient =2/70=0.03.
Step S402: and determining a change value of the inclination angle according to the first obstacle information and the second obstacle information.
The inclination angle change value may be a change value of an included angle of the vehicle door calculated from the first obstacle information and the second obstacle information.
In practical use, at least two obstacle detection devices are mounted on the vehicle door, at this time, two of the at least two obstacle detection devices can be selected as a first obstacle detection device and a second obstacle detection device respectively, and the first obstacle detection device is closer to the axle center of the vehicle door hinge relative to the second obstacle detection device.
Determining the inclination angle change value according to the first obstacle information and the second obstacle information may be calculating the inclination angle change value according to the first obstacle information and the second obstacle information through a preset change value calculation formula;
the preset variation value calculation formula is as follows:
change＝arcsin[(LA'-LB')/L2]-arcsin[(LA-LB)/L2]
where change is a change in inclination angle, LA is an obstacle distance detected by a first obstacle detection device included in the first obstacle information, LB is an obstacle distance detected by a second obstacle detection device included in the first obstacle information, LA 'is an obstacle distance detected by a first obstacle detection device included in the second obstacle information, LB' is an obstacle distance detected by a second obstacle detection device included in the second obstacle information, and L2 is a distance between the first obstacle detection device and the second obstacle detection device.
Step S403: and if the inclination angle change value is within the angle judgment range, judging to enter a parking lot mode.
It can be understood that if the inclination angle change value is within the angle judgment range, the obstacle on the side of the vehicle is a long special obstacle, and at the moment, the vehicle can be judged to enter the parking lot mode so as to perform finer control on the opening process of the vehicle door and avoid potential safety hazards.
For convenience of understanding, but not limiting the present solution, a method for controlling the opening of a vehicle door according to the present invention will now be described with reference to fig. 4 and 5. Fig. 4 is a schematic diagram of an obstacle when the vehicle door is not opened, and fig. 5 is a schematic diagram of an obstacle when the vehicle door is opened by a first preset angle. In fig. 4, two obstacle detection devices, namely a probe a and a probe B, exist on the vehicle door, wherein the obstacle distance detected by the probe a is LA, the obstacle distance detected by the probe B is LB, the vehicle door length is L, L' is the distance between the rear edge of the vehicle door and the wall when the vehicle is converted to be parallel to the wall, L1 is the distance between the probe a and the axis of the door hinge, L2 is the distance between the probe a and the probe B, and θ is the angle of inclination of the vehicle relative to the wall, and only L1, L2, L, LA and LB are known at this time.
Fig. 5 is a diagram corresponding to fig. 4, where α is a first preset angle, probe a 'is a position of probe a after the door is opened by the first preset angle, probe B' is a position of probe B after the door is opened by the first preset angle, LA 'is a distance between obstacles detected by probe a after the door is opened by the first preset angle α, and LB' is a distance between obstacles detected by probe B after the door is opened by the first preset angle α.
At this time, since LB = LA-L2 sin θ,
the following can be obtained: θ = arcsin [ (LA-LB)/L2 ];
and since LB '= LA' -L2 x sin (θ + α),
the following can be obtained:
change＝arcsin[(LA'-LB')/L2]-θ＝arcsin[(LA'-LB')/L2]-arcsin[(LA-LB)/L2]；
if the detection error coefficient is 0.03, and if the change is more than or equal to 0.97 alpha and less than or equal to 1.03 alpha, it can be said that the vehicle is close to a wall (or other long obstacle), and then the parking lot mode can be entered.
Assuming that the parking lot mode is entered, the alarm condition is: when the distance between the rear edge of the vehicle door and the wall is less than or equal to 100mm, the vehicle door is opened and stopped; then the edge distance threshold may be determined to be 100mm at this point; and in the door opening process, the barrier distances detected by the barrier detection devices are monitored in real time, if any barrier distance is less than or equal to 200mm, an emergency alarm is given, and the door stops being automatically opened.
At this time, theta = arcsin [ (LA-LB)/L2 ] can be calculated according to the geometric theorem;
if the vehicle is converted to be parallel to the wall, the distance L' = LA + L1 sin theta between the rear edge of the vehicle door and the wall;
when the door is opened to the maximum opening angle, the distance from the rear edge of the door to the wall is 100, so that sin (θ + β) = (L' -100)/L = (LA + L1 × sin θ -100)/L can be obtained, and by deforming it, the maximum opening angle β = arcsin [ (LA + L1 × sin θ -100)/L ] - θ of the door can be obtained.
According to the derivation process, the complete execution flow chart of the vehicle door opening control method of the present application can be shown in fig. 6, and fig. 6 is the complete execution flow chart of the vehicle door opening control method of the present invention, wherein 200mm is the preset alarm threshold.
In the embodiment, an angle judgment range is determined according to the first preset angle and the detection error coefficient; determining a change value of an inclination angle according to the first obstacle information and the second obstacle information; and if the inclination angle change value is within the angle judgment range, judging to enter a parking lot mode. Because can open a less first preset angle earlier with the door, then calculate inclination angle change value according to first barrier information and the second barrier information of gathering, judge the scope with inclination angle change value and angle, whether the barrier that can be accurate according to the result of comparison confirms the vehicle side is longer special barrier to judge whether need get into the parking area mode.
In addition, an embodiment of the present invention further provides a storage medium, where a door opening control program is stored on the storage medium, and the door opening control program, when executed by a processor, implements the steps of the door opening control method as described above.
Referring to fig. 7, fig. 7 is a block diagram showing the structure of the first embodiment of the door opening control device of the present invention.
As shown in fig. 7, a vehicle door opening control device according to an embodiment of the present invention includes:
the vehicle door opening control device comprises an instruction receiving module 10, a first obstacle information acquiring module and a second obstacle information acquiring module, wherein the instruction receiving module is used for detecting peripheral obstacles through an obstacle detecting device on a vehicle door after receiving a vehicle door opening instruction, and acquiring first obstacle information;
the condition judgment module 20 is configured to control the vehicle door to be opened to a first preset angle if the first obstacle information meets the vehicle door opening condition;
the vehicle door detection module 30 is configured to detect a peripheral obstacle again after the vehicle door is opened to the first preset angle, and obtain second obstacle information;
the mode judging module 40 is configured to determine whether to enter a parking lot mode according to the first obstacle information, the second obstacle information, and the first preset angle;
and the mode control module 50 is configured to, if the vehicle enters the parking lot mode, control the vehicle door to continue to open according to the edge distance threshold, the first obstacle information, and the obstacle detection device arrangement information corresponding to the parking lot mode.
In the embodiment, the first obstacle information is obtained by receiving a vehicle door opening instruction and detecting peripheral obstacles through an obstacle detection device on a vehicle door; if the first obstacle information accords with the vehicle door opening condition, controlling the vehicle door to be opened to a first preset angle; after the vehicle door is opened to a first preset angle, detecting peripheral obstacles again to obtain second obstacle information; determining whether to enter a parking lot mode according to the first obstacle information, the second obstacle information and a first preset angle; and if the vehicle enters the parking lot mode, controlling the vehicle door to be continuously opened according to the edge distance threshold value corresponding to the parking lot mode and the first obstacle information. The automobile door is controlled to open by a first preset angle, whether the obstacle is a long special obstacle or not is detected, if yes, the automobile door is controlled to open through the parking lot mode, and even if the obstacle is the long special obstacle, the automobile door can be normally controlled to open automatically.
Further, the mode determining module 40 is further configured to determine an angle determining range according to the first preset angle and a detection error coefficient; determining an inclination angle change value according to the first obstacle information and the second obstacle information; and if the inclination angle change value is within the angle judgment range, judging to enter a parking lot mode.
Further, the mode determining module 40 is further configured to obtain structural parameter information of a vehicle door and model information of an obstacle detecting device installed on the vehicle door; determining a detection error value of the obstacle detection device according to the model information; and determining a detection error coefficient based on the detection error value and the structure parameter information.
Further, a first obstacle detection device and a second obstacle detection device are mounted on the vehicle door;
the mode judging module 40 is further configured to calculate an inclination angle change value according to the first obstacle information and the second obstacle information through a preset change value calculation formula;
the preset variation value calculation formula is as follows:
change＝arcsin[(LA'-LB')/L2]-arcsin[(LA-LB)/L2]
where change is a change in inclination angle, LA is an obstacle distance detected by a first obstacle detection device included in the first obstacle information, LB is an obstacle distance detected by a second obstacle detection device included in the first obstacle information, LA 'is an obstacle distance detected by a first obstacle detection device included in the second obstacle information, LB' is an obstacle distance detected by a second obstacle detection device included in the second obstacle information, and L2 is a distance between the first obstacle detection device and the second obstacle detection device.
Further, the mode control module 50 is further configured to determine a maximum opening angle of the vehicle door according to the edge distance threshold corresponding to the parking lot mode, the first obstacle information, and the obstacle detection device arrangement information; acquiring barrier information in real time to obtain third barrier information; and if the third obstacle information meets the vehicle door opening condition, controlling the vehicle door to continue opening based on the maximum opening angle.
Further, the mode control module 50 is further configured to control the obstacle detection device to detect the obstacle; calculating the maximum opening angle of the vehicle door according to the edge distance threshold value corresponding to the parking lot mode, the inclination angle, the first obstacle information and the arrangement information of the obstacle detection device through a preset maximum angle calculation formula;
the preset maximum angle calculation formula is as follows:
β＝arcsin[(LC+L1*sinθ-S)/L]-θ
where β is a maximum opening angle of the door, LC is an obstacle distance detected by the obstacle detecting device included in the first obstacle information, S is an edge distance threshold value corresponding to the parking lot mode, L is a length of the door, θ is an inclination angle of the vehicle with respect to the obstacle, and L1 is a distance between the obstacle detecting device and a hinge axis of the door.
Furthermore, a plurality of obstacle detection devices are mounted on the vehicle door;
the condition judgment module is further used for extracting the barrier distance detected by each barrier detection device from the first barrier information; and if the barrier distances are all larger than a preset alarm threshold value, judging that the first barrier information accords with the vehicle door opening condition.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-mentioned work flows are only illustrative and do not limit the scope of the present invention, and in practical applications, those skilled in the art may select some or all of them according to actual needs to implement the purpose of the solution of the present embodiment, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment can be referred to the vehicle door opening control method provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle door opening control method is characterized by comprising the following steps:
after receiving a vehicle door opening instruction, detecting peripheral obstacles through an obstacle detection device on a vehicle door to obtain first obstacle information;
if the first obstacle information meets the vehicle door opening condition, controlling the vehicle door to be opened to a first preset angle;
detecting peripheral obstacles again after the vehicle door is opened to the first preset angle to obtain second obstacle information;
determining whether to enter a parking lot mode according to the first obstacle information, the second obstacle information and the first preset angle;
and if the vehicle enters the parking lot mode, controlling the vehicle door to be opened continuously according to the edge distance threshold value corresponding to the parking lot mode, the first obstacle information and the arrangement information of the obstacle detection device.
2. The door opening control method of claim 1, wherein the step of determining whether to enter a parking lot mode based on the first obstacle information, the second obstacle information, and the first preset angle includes:
determining an angle judgment range according to the first preset angle and a detection error coefficient;
determining an inclination angle change value according to the first obstacle information and the second obstacle information;
and if the inclination angle change value is within the angle judgment range, judging to enter a parking lot mode.
3. A vehicle door opening control method as claimed in claim 2, wherein before the step of determining an angle determination range based on the first preset angle and a detection error coefficient, the method further comprises:
acquiring structural parameter information of a vehicle door and model information of an obstacle detection device installed on the vehicle door;
determining a detection error value of the obstacle detection device according to the model information;
determining a detection error coefficient based on the detection error value and the structural parameter information.
4. A vehicle door opening control method as claimed in claim 2, wherein a first obstacle detecting device and a second obstacle detecting device are mounted on the vehicle door;
the step of determining a tilt angle change value according to the first obstacle information and the second obstacle information includes:
calculating an inclination angle change value according to the first obstacle information and the second obstacle information through a preset change value calculation formula;
the preset variation value calculation formula is as follows:
change＝arcsin[(LA'-LB')/L2]-arcsin[(LA-LB)/L2]
where change is a change in inclination angle, LA is an obstacle distance detected by a first obstacle detection device included in the first obstacle information, LB is an obstacle distance detected by a second obstacle detection device included in the first obstacle information, LA 'is an obstacle distance detected by a first obstacle detection device included in the second obstacle information, LB' is an obstacle distance detected by a second obstacle detection device included in the second obstacle information, and L2 is a distance between the first obstacle detection device and the second obstacle detection device.
5. The door opening control method according to claim 1, wherein the step of controlling the door to continue opening in accordance with the edge distance threshold value corresponding to the parking lot mode, the first obstacle information, and the obstacle detecting device arrangement information includes:
determining the maximum opening angle of the vehicle door according to the edge distance threshold corresponding to the parking lot mode, the first obstacle information and the arrangement information of the obstacle detection device;
acquiring barrier information in real time to obtain third barrier information;
and if the third obstacle information meets the vehicle door opening condition, controlling the vehicle door to be continuously opened based on the maximum opening angle.
6. The door opening control method according to claim 5, wherein the step of determining the maximum opening angle of the door based on the edge distance threshold corresponding to the parking lot mode, the first obstacle information, and the obstacle detection device arrangement information includes:
determining the inclination angle of the vehicle relative to the obstacle according to the first obstacle information and the arrangement information of the obstacle detection device;
calculating the maximum opening angle of the vehicle door according to the edge distance threshold value corresponding to the parking lot mode, the inclination angle, the first obstacle information and the arrangement information of the obstacle detection device through a preset maximum angle calculation formula;
the preset maximum angle calculation formula is as follows:
β＝arcsin[(LC+L1*sinθ-S)/L]-θ
where β is a maximum opening angle of the door, LC is an obstacle distance detected by the obstacle detecting device included in the first obstacle information, S is an edge distance threshold corresponding to the parking lot mode, L is a length of the door, θ is an inclination angle of the vehicle with respect to the obstacle, and L1 is a distance between the first obstacle detecting device and a hinge axis of the door.
7. The door opening control method according to any one of claims 1 to 6, wherein a plurality of obstacle detecting devices are mounted on the door;
if the first obstacle information meets the vehicle door opening condition, before the step of controlling the vehicle door to be opened to a first preset angle, the method further comprises the following steps:
extracting the obstacle distance detected by each obstacle detection device from the first obstacle information;
if the barrier distances are all larger than a preset alarm threshold value, judging that the first barrier information meets the vehicle door opening condition;
and if the distance between any obstacle is smaller than or equal to a preset alarm threshold value, judging that the first obstacle information does not accord with the vehicle door opening condition.
8. A vehicle door opening control device is characterized by comprising the following modules:
the command receiving module is used for detecting peripheral obstacles through an obstacle detecting device on the vehicle door after receiving a vehicle door opening command to obtain first obstacle information;
the condition judgment module is used for controlling the vehicle door to be opened to a first preset angle if the first obstacle information accords with the vehicle door opening condition;
the vehicle door detection module is used for detecting peripheral obstacles again after the vehicle door is opened to the first preset angle to obtain second obstacle information;
the mode judging module is used for determining whether to enter a parking lot mode according to the first obstacle information, the second obstacle information and the first preset angle;
and the mode control module is used for controlling the vehicle door to be opened continuously according to the edge distance threshold value corresponding to the parking lot mode, the first obstacle information and the arrangement information of the obstacle detection device if the vehicle enters the parking lot mode.
9. A vehicle door opening control apparatus characterized by comprising: a processor, a memory and a door opening control program stored on and executable on said memory, said door opening control program when executed by the processor implementing the steps of the door opening control method as claimed in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that a door opening control program is stored thereon, which when executed implements the steps of a door opening control method according to any one of claims 1-7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116104385A (en) * | 2023-02-10 | 2023-05-12 | 重庆长安汽车股份有限公司 | Door control system, electric door and door control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116104385A (en) * | 2023-02-10 | 2023-05-12 | 重庆长安汽车股份有限公司 | Door control system, electric door and door control method |
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