CN117774831A - Anti-collision system for vehicle door - Google Patents
Anti-collision system for vehicle door Download PDFInfo
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- CN117774831A CN117774831A CN202410141098.6A CN202410141098A CN117774831A CN 117774831 A CN117774831 A CN 117774831A CN 202410141098 A CN202410141098 A CN 202410141098A CN 117774831 A CN117774831 A CN 117774831A
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Abstract
The invention relates to the technical field of vehicle control, and provides a vehicle door anti-collision system. Wherein, this system includes: the anti-collision device comprises a camera, an anti-collision control device and a vehicle door control device; the camera is used for acquiring image information of the vehicle in a preset area; an anti-collision control device for judging the distance between the obstacle and the body of the vehicle according to the image information; generating a door angle instruction of the vehicle according to the distance; transmitting a door angle command to a door control device; and the door control device is used for controlling the door of the vehicle according to the door angle command. According to the invention, the collision between the vehicle and the obstacle when the door is opened is prevented, and the safety performance of the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle door anti-collision system.
Background
With the rapid development of the automotive industry, the safety performance of vehicles has become an important consideration in selecting vehicles. After stopping, during the process of opening the door when the driver or passenger gets off, the door often collides with an adjacent parked vehicle or other obstacle, thereby causing damage to the door, the adjacent vehicle, and the like.
Disclosure of Invention
In order to prevent a vehicle from colliding with an obstacle when the vehicle is opened, and improve the safety performance of the vehicle, the invention provides a vehicle door anti-collision system.
The system comprises: the anti-collision device comprises a camera, an anti-collision control device and a vehicle door control device;
the camera is used for acquiring image information of the vehicle in a preset area;
an anti-collision control device for judging the distance between the obstacle and the body of the vehicle according to the image information; generating a door angle instruction of the vehicle according to the distance; transmitting a door angle command to a door control device;
and the door control device is used for controlling the door of the vehicle according to the door angle command.
Through the system, the camera is utilized to collect image information around the vehicle, the distance between the obstacle and the vehicle body is judged according to the image information, the opening angle of the vehicle door is controlled according to the distance, collision caused by too close distance between the obstacle around the vehicle and the vehicle door is avoided, riding experience is improved, and the safety performance and intelligent management level of the vehicle are improved.
In an alternative embodiment, the crash control device comprises a cabin controller and an area controller;
a cabin controller for judging a distance between an obstacle and a body of the vehicle based on the image information; comparing the distance with a preset distance to generate a door angle instruction of the vehicle; sending a door angle instruction to an area controller;
the area controller is used for converting the door angle instruction to obtain a door angle instruction with a preset signal type; and sending a door angle instruction with a preset signal type to a door control device.
By the embodiment, the flexibility and the expandability of the vehicle door collision avoidance system can be improved by dividing the collision avoidance control device into the cabin controller and the area controller. The cabin controller is mainly responsible for judging the distance between the obstacle and the vehicle according to the image information and generating a door angle instruction; the regional controller converts the door angle instruction into an instruction of a preset signal type and sends the instruction to the door control device, the regional controller can correspond to doors at different positions of the vehicle, the regional controller can be adjusted and expanded according to different requirements and scenes, and the adaptability and maintainability of the system are improved.
In an alternative embodiment, the door control apparatus includes a door motor control module;
and the door motor control module is used for adjusting the rotating number of turns of the door motor according to a door angle instruction of a preset signal type so as to control the door opening angle of the vehicle.
In an alternative embodiment, the camera is an electronic mirror camera.
Through the embodiment, the electronic reflector camera has wider visual angle and focusing function, can adapt to the obstacle detection requirements of different distances and angles, is beneficial to improving the adaptability and the flexibility of the vehicle door anti-collision system, and can adapt to different driving environments and driving conditions.
In an alternative embodiment, the system further comprises an electronic mirror display module for displaying the image information.
In an alternative embodiment, the system calibrates the vehicle with the camera.
Through the embodiment, the calibration process can calibrate the internal parameters and the external parameters of the camera, correct the distortion and the optical error of the camera, thereby improving the accuracy of measuring the distance between the obstacles, being beneficial to ensuring that the vehicle door anti-collision system can accurately judge the distance between the obstacles under various conditions and providing a reliable basis for generating the vehicle door angle instruction. In addition, through the calibration, the system can acquire vehicle parameters of a specific vehicle type, such as the length of a vehicle body, the size of a vehicle door and the like, and the vehicle door angle instruction is calculated by utilizing the parameters, so that the system can adapt to the requirements of different vehicle types, the universality and the expandability of the vehicle door anti-collision system are improved, and the system can be widely applied to vehicles of different brands and models.
In an alternative embodiment, the cabin controller communicates with the zone controller via a controller area network, or ethernet.
Through the implementation mode, the cabin controller and the regional controller communicate through the controller local area network or the Ethernet, high-speed and reliable data transmission and real-time communication can be realized, and reliability, expandability and flexibility of vehicle safety performance are improved.
In an alternative embodiment, the anti-collision control device further comprises an on-board switch;
the cabin controller sends a door angle command to the zone controller through the on-board switch.
In an alternative embodiment, the door control apparatus further comprises a door opening and closing module;
the vehicle door opening and closing module is used for detecting vehicle door opening and closing information of the vehicle and sending the vehicle door opening and closing information to the area controller;
the zone controller transmits door opening and closing information to the cabin controller through the vehicle-mounted switch.
Through the embodiment, the door opening and closing module can detect the opening and closing state of the door of the vehicle in real time and send the opening and closing information of the door to the cabin controller, so that the system can know the actual state of the door in time, and an accurate basis is provided for subsequent door control. In addition, through real-time monitoring of the state of the vehicle door, the system can timely find the abnormal opening or non-closing condition of the vehicle door and take corresponding control measures, such as giving out a warning or automatically closing the vehicle door, so that the safety performance of the vehicle is improved, and the potential risk caused by the problem of the vehicle door is reduced.
In an alternative embodiment, the camera is located on an exterior rear view mirror of the vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a vehicle door collision avoidance system according to an exemplary embodiment;
FIG. 2 is a schematic illustration of a specific configuration of a door collision avoidance system in one example;
FIG. 3 is a schematic illustration of the position of an electronic mirror camera in one example;
FIG. 4 is a schematic illustration of a cross-plane top-view black and white layout in an example;
FIG. 5 is a schematic illustration of a cross-plane front view of a black and white grid arrangement in an example;
FIG. 6 is a schematic illustration of a vertical plane front view of a black and white grid arrangement in an example;
FIG. 7 is a schematic illustration of a vertical plane top-down black and white grid arrangement in an example;
FIG. 8 is a detailed workflow diagram of a door collision avoidance system in one example.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
In order to prevent a vehicle from colliding with an obstacle when the vehicle is opened, and improve the safety performance of the vehicle, the invention provides a vehicle door anti-collision system.
Fig. 1 is a schematic structural view of a door collision avoidance system according to an exemplary embodiment. As shown in fig. 1, the door collision avoidance system includes: camera 1, collision avoidance control 2 and door control 3.
The camera 1 is used for acquiring image information of the vehicle in a preset area.
In an alternative embodiment, the setting of the preset area may be adjusted according to the actual requirement, so as to adapt to different driving environments and scenes. For example, in a narrow road or parking scene, the preset area may be set as an area near the vehicle side body to better monitor the approaching situation of the obstacle.
In an alternative embodiment, the number of cameras 1 is set according to the actual need. For example, when it is necessary to control the opening angles of the doors on the left and right sides of the vehicle, two cameras may be provided on the left side mirror and the right side mirror outside the vehicle, respectively, so as to acquire image information in the vicinity of the bodies on the left and right sides outside the vehicle.
A collision avoidance control device 2 for judging the distance between the obstacle and the body of the vehicle based on the image information; generating a door angle instruction of the vehicle according to the distance; the door angle command is sent to the door control device 3.
In an alternative embodiment, the camera 1 transmits the image information to the anti-collision control device 2 through a Low voltage differential signaling (Low-Voltage Differential Signaling, LVDS) interface.
In an alternative embodiment, the anti-collision control device 2 may perform image preprocessing, such as denoising, enhancement, binarization, and the like, on the acquired image information to improve the sharpness and contrast of the image.
In an alternative embodiment, the collision avoidance control 2 may detect obstacles in the image by image processing algorithms, such as edge detection, morphological processing, etc., which may mark the location of the obstacle in the image based on characteristics of the obstacle, such as edge, shape, size, etc. Then, according to the relative position of the camera and the obstacle, parameters such as focal length, pixel size and the like of the camera, the distance between the obstacle and the vehicle body is calculated. For example, the distance between the obstacle and the body of the vehicle may be calculated using an algorithm such as parallax method, stereoscopic vision method, or the like.
In an alternative embodiment, the anti-collision control device 2 calculates the angle at which the door needs to be opened according to the calculated obstacle distance, in combination with a preset safety threshold and physical parameters of the vehicle, such as the length, width, etc. of the door.
In an alternative embodiment, the crash control device 2 transmits the generated door angle command to the door control device 3, and the door control device 3 performs the opening and closing operation of the door. The transmission of the door angle command can be realized through a communication protocol, so that the reliable transmission of the door angle command is ensured.
And a door control device 3 for controlling the door of the vehicle according to the door angle command.
In an alternative embodiment, the door control device 3 analyzes the received door angle command and converts it into specific control actions, including control signals such as start, stop, rotation direction, rotation number of the motor, etc.
In an alternative embodiment, the door control device 3 may monitor the state of the door motor, such as the rotation speed, current, etc. of the door motor during the door opening and closing process, to ensure that the door opening and closing actions are performed correctly as instructed.
In an alternative embodiment, if the actual opening angle of the door deviates from the angle required by the command, the door control device 3 can adjust the rotation of the motor to correct, so as to ensure that the door accurately reaches the target angle.
In an alternative embodiment, safety protection mechanisms, such as anti-pinch functions, obstacle detection, etc., may be provided during door control to prevent pinching or collision of the door against personnel during closing.
In an alternative embodiment, after the opening and closing operation of the door is performed, the image information may be acquired again, and it is determined whether the distance between the obstacle and the body of the vehicle is within a preset distance range by the collision avoidance control 2. If the preset distance range is not reached, the anti-collision control device 2 can regenerate the door angle command to perform circulation control until the safety state is reached.
Through the system, the camera 1 is utilized to collect image information around the vehicle, the distance between the obstacle and the vehicle body is judged according to the image information, the opening angle of the vehicle door is controlled according to the distance, collision caused by too close distance between the obstacle around the vehicle and the vehicle door is avoided, riding experience is improved, and the safety performance and intelligent management level of the vehicle are improved.
Fig. 2 is a schematic diagram of a specific structure of the door collision avoidance system. In fig. 2, the collision avoidance control 2 includes a cabin controller and an area controller.
A cabin controller for judging a distance between an obstacle and a body of the vehicle based on the image information; comparing the distance with a preset distance to generate a door angle instruction of the vehicle; and sending the door angle command to the area controller. The preset distance may be set according to the model of the vehicle and the specific scene requirement, and is not particularly limited herein. For example, when the distance between the obstacle and the body of the vehicle is greater than a preset distance, the door may be completely opened, and when the distance between the obstacle and the body of the vehicle is less than or equal to the preset distance, a corresponding door opening angle is calculated according to the distance between the obstacle and the body of the vehicle and a preset correspondence, so as to avoid collision of the door with the obstacle. The preset corresponding relation refers to a corresponding relation between a distance between an obstacle and a vehicle body of the vehicle and a door opening angle. The corresponding relation between the distance between the obstacle and the vehicle body and the opening angle of the vehicle door can be obtained through experiments, so that different distances correspond to different opening angles of the vehicle door.
The area controller is used for converting the door angle instruction to obtain a door angle instruction with a preset signal type; a door angle command of a preset signal type is transmitted to the door control device 3. By way of example, the preset signal type may be an analog signal, a digital signal, a pulse width modulation (Pulse Width Modulation, PWM) signal, etc., without specific limitation herein.
In the embodiment of the invention, the flexibility and the expandability of the vehicle door collision avoidance system can be improved by dividing the collision avoidance control device 2 into the cabin controller and the area controller. The cabin controller is mainly responsible for judging the distance between the obstacle and the vehicle according to the image information and generating a door angle instruction; the area controller converts the door angle command into a command with a preset signal type and sends the command to the door control device 3, and the area controller can correspond to doors at different positions of the vehicle, as shown in fig. 2, the front left area controller corresponds to a front left door of the vehicle, and the rear left area controller corresponds to a rear right door of the vehicle. The number of the regional controllers can be adjusted according to different requirements and scenes so as to improve the adaptability and maintainability of the vehicle door anti-collision system.
In one example, the door control device 3 includes a door motor control module. And the door motor control module is used for adjusting the rotating number of turns of the door motor according to a door angle instruction of a preset signal type so as to control the door opening angle of the vehicle. As shown in fig. 2, the door control device 3 includes a left front door motor control module, a right front door motor control module, a left rear door motor control module, and a right rear door motor control module.
In fig. 2, the camera 1 employs an electronic mirror camera. In fig. 3, the camera 1 specifically includes a left-side electronic mirror camera and a right-side electronic mirror camera. The electronic reflector camera has wider visual angle and focusing function, can adapt to obstacle detection requirements of different distances and angles, is favorable for improving the adaptability and flexibility of the vehicle door anti-collision system, and can adapt to different driving environments and driving conditions.
The system also includes an electronic mirror display module. The electronic reflector display module is used for displaying image information. The number of the electronic mirror display modules is not particularly limited herein, and may be limited according to actual needs. In fig. 2, there are two electronic mirror display modules, namely a left electronic mirror display module and a right electronic mirror display module.
In one example, the system calibrates the vehicle through camera 1.
In an alternative embodiment, the body space of the vehicle is calibrated by black and white checkerboard calibration. Taking a left side area of a vehicle body as an example, the right side area performs the same calibration operation, and the calibration step of the left side area of the vehicle body comprises the following steps:
first, the black and white placing position of the transverse plane is set as shown in fig. 4 and 5.
Then, the black and white placing position of the longitudinal plane is set as shown in fig. 6 and 7.
Finally, the camera 1 is used for calibrating the body space of the vehicle. In the calibration process, the angle of the camera 1 is fixed at an angle comprising a vehicle body, a preset fixed point in the vehicle body is taken as a reference point, a coordinate system of a space is established, and when the left and right vehicle bodies have obstacles, the distance from the vehicle body is judged.
In the embodiment of the invention, the calibration process can calibrate the internal parameters and the external parameters of the camera 1 and correct the distortion and the optical error of the camera 1, thereby improving the accuracy of measuring the distance of the obstacle, being beneficial to ensuring that the anti-collision system of the vehicle door can accurately judge the distance of the obstacle under various conditions and providing a reliable basis for generating the angle instruction of the vehicle door. In addition, through the demarcation, the passenger cabin controller at the end of the car door collision avoidance system can acquire the model parameters of the vehicle, such as car body length, car door size, etc., utilizes the model parameters to calculate the car door angle instruction, makes the system can adapt to the demand of different motorcycle types, helps improving the commonality and the expandability of car door collision avoidance system, makes it can be widely applied to the vehicle of different brands and models.
In an alternative embodiment, the cabin controller communicates with the zone controller via a controller area network, or ethernet.
In the embodiment of the invention, the cabin controller and the regional controller communicate through the controller local area network or the Ethernet, so that high-speed and reliable data transmission and real-time communication can be realized, and the reliability, expandability and flexibility of the safety performance of the vehicle are improved.
As shown in fig. 2, the collision avoidance control device 2 further includes an in-vehicle switch. The cabin controller sends a door angle command to the zone controller through the on-board switch.
The door control apparatus 3 further includes a door opening and closing module. And the door opening and closing module is used for detecting door opening and closing information of the vehicle and sending the door opening and closing information to the area controller. The zone controller transmits door opening and closing information to the cabin controller through the vehicle-mounted switch. As shown in fig. 2, the number of door opening and closing modules is 4, specifically, a left front door opening and closing module, a right front door opening and closing module, a left rear door opening and closing module, and a right rear door opening and closing module.
In the embodiment of the invention, the door opening and closing module can detect the opening and closing state of the door of the vehicle in real time and send the opening and closing information of the door to the cabin controller, so that the door anti-collision system can know the actual state of the door in time, and an accurate basis is provided for subsequent door control. In addition, through real-time monitoring of the state of the vehicle door, the system can timely find the abnormal opening or non-closing condition of the vehicle door and take corresponding control measures, such as giving out a warning or automatically closing the vehicle door, so that the safety performance of the vehicle is improved, and the potential risk caused by the problem of the vehicle door is reduced.
Fig. 8 is a specific workflow diagram of the system. Taking a left front door as an example, when the vehicle is in a P gear or parking state, the left front door switch module is triggered to open a door case, and then the door collision avoidance system is started. The left and right electronic reflector cameras are automatically adjusted to be in a standard state. The left and right electronic reflector cameras send the acquired image information to a cabin controller, the cabin controller marks the position of the obstacle in the image information, and the distance between the obstacle and the vehicle body is analyzed. When the distance from the obstacle to the vehicle body is greater than the maximum space distance for opening the vehicle door, bus information containing a vehicle door angle instruction for completely opening the vehicle door is sent, the vehicle door angle instruction is sent to a left front area controller through a vehicle-mounted switch, and the left front area controller converts the bus signal into a motor control signal and sends the motor control signal to a left front vehicle door motor control module. When the distance from the obstacle to the vehicle body is smaller than or equal to the maximum space distance for opening the vehicle door, calculating the optimal opening angle of the left front vehicle door through the cabin controller, using a CAN bus or an Ethernet bus to give the left front area controller, converting a bus signal into a motor control signal by the left front area controller, sending the motor control signal to a left front vehicle door motor control module, and converting the opening angle of the left front vehicle door into the corresponding rotating number of turns of the motor, thereby controlling the opening angle of the left front vehicle door of the vehicle.
It should be noted that in this document, 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely exemplary of embodiments of the present invention to enable those skilled in the art to understand or practice the 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 (10)
1. A door collision avoidance system, the system comprising: the anti-collision device comprises a camera, an anti-collision control device and a vehicle door control device;
the camera is used for acquiring image information of the vehicle in a preset area;
the anti-collision control device is used for judging the distance between the obstacle and the vehicle body of the vehicle according to the image information; generating a door angle instruction of the vehicle according to the distance; transmitting the door angle command to the door control device;
the door control device is used for controlling the door of the vehicle according to the door angle instruction.
2. The system of claim 1, wherein the collision avoidance control comprises a cabin controller and an area controller;
the cabin controller is used for judging the distance between the obstacle and the vehicle body of the vehicle according to the image information; comparing the distance with a preset distance to generate a door angle instruction of the vehicle; sending the door angle command to the area controller;
the area controller is used for converting the door angle instruction to obtain a door angle instruction with a preset signal type; and sending a door angle instruction with a preset signal type to the door control device.
3. The system of claim 2, wherein the door control device comprises a door motor control module;
the vehicle door motor control module is used for adjusting the number of turns of the vehicle door motor according to a preset signal type vehicle door angle instruction so as to control the opening angle of the vehicle door.
4. The system of claim 1, wherein the camera is an electronic mirror camera.
5. The system of claim 4, further comprising an electronic mirror display module for displaying the image information.
6. The system of claim 1, wherein the system calibrates the vehicle with the camera.
7. The system of claim 2, wherein the cabin controller and the zone controller communicate via a controller area network, or an ethernet network.
8. The system of claim 7, wherein the collision avoidance control device further comprises an on-board switch;
and the cabin controller sends the door angle instruction to the area controller through the vehicle-mounted switch.
9. The system of claim 8, wherein the door control device further comprises a door opening and closing module;
the vehicle door opening and closing module is used for detecting vehicle door opening and closing information of the vehicle and sending the vehicle door opening and closing information to the area controller;
and the area controller sends the door opening and closing information to the cabin controller through the vehicle-mounted switch.
10. The system of claim 1, wherein the camera is located on an exterior rear view mirror of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410141098.6A CN117774831A (en) | 2024-01-31 | 2024-01-31 | Anti-collision system for vehicle door |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410141098.6A CN117774831A (en) | 2024-01-31 | 2024-01-31 | Anti-collision system for vehicle door |
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| CN117774831A true CN117774831A (en) | 2024-03-29 |
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| CN202410141098.6A Pending CN117774831A (en) | 2024-01-31 | 2024-01-31 | Anti-collision system for vehicle door |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105730337A (en) * | 2014-12-26 | 2016-07-06 | 丰田自动车株式会社 | Electronic Mirror Apparatus |
| CN213768224U (en) * | 2020-12-09 | 2021-07-23 | 上海诺拉汽车科技有限公司 | Automobile door anti-collision system |
| US20220203892A1 (en) * | 2019-04-25 | 2022-06-30 | Saint-Gobain Glass France | Anti-collision warning system for vehicle door, vehicle window glass structure, and anti-collision warning method for vehicle door |
| CN114937090A (en) * | 2022-04-29 | 2022-08-23 | 惠州市德赛西威智能交通技术研究院有限公司 | Intelligent electronic front and rear view mirror system |
| CN116065918A (en) * | 2021-10-29 | 2023-05-05 | 比亚迪股份有限公司 | Vehicle door control method, control system and vehicle |
-
2024
- 2024-01-31 CN CN202410141098.6A patent/CN117774831A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105730337A (en) * | 2014-12-26 | 2016-07-06 | 丰田自动车株式会社 | Electronic Mirror Apparatus |
| US20220203892A1 (en) * | 2019-04-25 | 2022-06-30 | Saint-Gobain Glass France | Anti-collision warning system for vehicle door, vehicle window glass structure, and anti-collision warning method for vehicle door |
| CN213768224U (en) * | 2020-12-09 | 2021-07-23 | 上海诺拉汽车科技有限公司 | Automobile door anti-collision system |
| CN116065918A (en) * | 2021-10-29 | 2023-05-05 | 比亚迪股份有限公司 | Vehicle door control method, control system and vehicle |
| CN114937090A (en) * | 2022-04-29 | 2022-08-23 | 惠州市德赛西威智能交通技术研究院有限公司 | Intelligent electronic front and rear view mirror system |
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