CN115503603B - Automobile door opening detection system and method based on ultrasonic radar - Google Patents
Automobile door opening detection system and method based on ultrasonic radar Download PDFInfo
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- CN115503603B CN115503603B CN202211357959.1A CN202211357959A CN115503603B CN 115503603 B CN115503603 B CN 115503603B CN 202211357959 A CN202211357959 A CN 202211357959A CN 115503603 B CN115503603 B CN 115503603B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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Abstract
The embodiment of the invention provides an automobile door opening detection system and method based on an ultrasonic radar. The method comprises the following steps: acquiring detected obstacle coordinates from a first sensor; acquiring a vehicle speed signal and an angle signal, and predicting a pre-parking position according to the vehicle speed signal, the angle signal and the obstacle coordinates; generating the distance between the obstacle and the vehicle door according to the pre-parking position and the obstacle coordinate; if the distance between the obstacle and the vehicle door is smaller than the door opening threshold value, prompting a user to adjust the vehicle; acquiring the detected passenger position from the second sensor; generating the distance between the obstacle and the vehicle door where the passenger position is located according to the pre-parking position, the passenger position and the obstacle coordinate; and if the distance between the obstacle and the vehicle door where the passenger position is judged to be smaller than the door opening threshold value, prompting the user to adjust the vehicle. The distance between the obstacle and the vehicle door is calculated by arranging the first sensor and the second sensor, and the problem of door opening interference is avoided based on the distance between the obstacle and the vehicle door.
Description
[ field of technology ]
The invention relates to the technical field of vehicles, in particular to an automobile door opening detection system and method based on an ultrasonic radar.
[ background Art ]
In normal parking or parking, the reversing radar system generally only considers that no obstacle is collided when parking, so that ultrasonic radars are arranged at the front end and the rear end of the vehicle to detect the positions of the front and rear obstacles to avoid collision, but parking spaces at two sides of the vehicle are often ignored, so that the final opening space is insufficient, or the vehicle door is provided with an obstacle outside to cause the opening interference.
[ invention ]
In view of the above, the embodiment of the invention provides an automobile door opening detection system and method based on an ultrasonic radar, which are used for avoiding the problem of door opening interference.
In one aspect, an embodiment of the present invention provides an automobile door opening detection system based on an ultrasonic radar, including: the system comprises a second sensor, a vehicle motion self-checking system and a first sensor arranged on a vehicle door;
the first sensor is used for detecting an obstacle and recording obstacle coordinates of the obstacle, wherein the first sensor comprises an ultrasonic radar sensor;
the vehicle motion self-checking system is used for acquiring a vehicle speed signal and an angle signal, and predicting a pre-parking position according to the vehicle speed signal, the angle signal and the obstacle coordinates; generating a distance between an obstacle and a vehicle door according to the pre-parking position and the acquired obstacle coordinate; if the distance between the obstacle and the vehicle door is smaller than the door opening threshold value, prompting a user to adjust the vehicle;
the second sensor is used for detecting and recording the position of the passenger;
the vehicle motion self-checking system is further used for generating the distance between the obstacle and the vehicle door where the passenger position is located according to the pre-parking position, the passenger position and the obstacle coordinate; and if the distance between the obstacle and the vehicle door where the passenger position is located is judged to be smaller than the door opening threshold value, prompting a user to adjust the vehicle.
Optionally, the method further comprises:
the vehicle motion self-checking system is specifically used for locking the vehicle door and prompting a user to adjust the vehicle if the distance between the obstacle and the vehicle door is judged to be smaller than the door opening threshold value.
Optionally, the method further comprises:
the vehicle motion self-checking system is specifically used for prompting a user to open the door carefully if the distance between the obstacle and the vehicle door is judged to be greater than or equal to the door opening threshold value and smaller than the rotation radius of the vehicle door.
Optionally, the method further comprises:
the vehicle motion self-checking system is further used for enabling the distance between the vehicle door and the obstacle at the pre-parking position to meet the condition that the distance between the vehicle door and the obstacle at least one side is larger than the rotation radius of the vehicle door when the distances between the vehicle doors at two sides of the vehicle and the obstacle are smaller than the door opening threshold value; or, the distance between the door at the pre-parking position and the obstacle is made to be larger than the door opening threshold value when the distance between the door at least one side and the obstacle is met.
Optionally, the method further comprises: a third sensor and a fourth sensor;
the vehicle motion self-checking system is specifically configured to acquire an angle signal based on the third sensor and the fourth sensor, where the third sensor includes an angular velocity sensor, and the fourth sensor includes an acceleration sensor.
Optionally, the second sensor includes a pressure sensor or the like.
Alternatively, the first sensor records the spatial position of the obstacle with respect to the vehicle body at a greater distance from the obstacle when the obstacle at a higher or lower position with respect to the vehicle is beyond the detection range of the first sensor.
On the other hand, the embodiment of the invention provides an automobile door opening detection method based on an ultrasonic radar, which comprises the following steps:
acquiring detected obstacle coordinates from a first sensor, the first sensor comprising an ultrasonic radar sensor;
acquiring a vehicle speed signal and an angle signal, and predicting a pre-parking position according to the vehicle speed signal, the angle signal and the obstacle coordinates;
generating a distance between an obstacle and a vehicle door according to the pre-parking position and the obstacle coordinate;
if the distance between the obstacle and the vehicle door is smaller than the door opening threshold value, prompting a user to adjust the vehicle;
acquiring the detected passenger position from the second sensor;
generating a distance between an obstacle and a vehicle door where the passenger position is located according to the pre-parking position, the passenger position and the obstacle coordinate;
and if the distance between the obstacle and the vehicle door where the passenger position is located is judged to be smaller than the door opening threshold value, prompting a user to adjust the vehicle.
Optionally, the method further comprises:
and if the distance between the obstacle and the vehicle door is smaller than the door opening threshold value, locking the vehicle door and prompting a user to adjust the vehicle.
On the other hand, the embodiment of the invention provides a vehicle motion self-checking system, which comprises a memory and a processor, wherein the memory is used for storing information comprising program instructions, and the processor is used for controlling execution of the program instructions, and the vehicle motion self-checking system is characterized in that the steps of the vehicle door opening detection method based on the ultrasonic radar are realized when the program instructions are loaded and executed by the processor.
In the technical scheme provided by the embodiment of the invention, the detected obstacle coordinates are obtained from the first sensor; acquiring a vehicle speed signal and an angle signal, and predicting a pre-parking position according to the vehicle speed signal, the angle signal and the obstacle coordinates; generating the distance between the obstacle and the vehicle door according to the pre-parking position and the obstacle coordinate; if the distance between the obstacle and the vehicle door is smaller than the door opening threshold value, prompting a user to adjust the vehicle; acquiring the detected passenger position from the second sensor; generating the distance between the obstacle and the vehicle door where the passenger position is located according to the pre-parking position, the passenger position and the obstacle coordinate; and if the distance between the obstacle and the vehicle door where the passenger position is judged to be smaller than the door opening threshold value, prompting the user to adjust the vehicle. According to the technical scheme provided by the embodiment of the invention, the distance between the obstacle and the vehicle door is calculated by arranging the first sensor on the vehicle door, and the problem of door opening interference is avoided based on the distance between the obstacle and the vehicle door.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an automobile door opening detection system based on an ultrasonic radar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a positional relationship between an obstacle and a vehicle door according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a setting position of a first sensor according to an embodiment of the present invention;
fig. 4 is a flowchart of an automobile door opening detection method based on an ultrasonic radar according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a vehicle motion self-checking system according to an embodiment of the present invention.
[ detailed description ] of the invention
For a better understanding of the technical solution of the present invention, the following detailed description of the embodiments of the present invention refers to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all, embodiments of the invention. 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.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one way of describing an association of associated objects, meaning that there may be three relationships, e.g., a and/or b, which may represent: the first and second cases exist separately, and the first and second cases exist separately. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
The vehicle motion self-checking system (Electronic Power Steering, EPS for short) is electronic power steering. It uses the power generated by the motor to assist the driver in power steering. The working principle of the EPS is simply understood that when a driver is steering, the torque sensor detects the angle of a steering wheel and the magnitude of the torque, then a voltage signal is transmitted to a control module of the EPS, and the control module sends a steering instruction to the motor in combination with information such as vehicle speed information, thereby generating steering assist force and providing real-time vehicle speed signals and angle signals.
The embodiment of the invention provides an automobile door opening detection system based on an ultrasonic radar, and fig. 1 is a schematic structural diagram of the automobile door opening detection system based on the ultrasonic radar, as shown in fig. 1, and the system comprises: the vehicle motion self-checking system comprises a second sensor 3, a vehicle motion self-checking system 2 and a first sensor 1 arranged on a vehicle door, wherein the first sensor 1 is connected with the vehicle motion self-checking system 2, and the second sensor 3 is connected with the vehicle motion self-checking system 2.
In the embodiment of the invention, when the first sensor 1 in front of and behind the vehicle detects that the height of the obstacle is higher than the height of the chassis stored in the control unit during forward parking or reverse parking, and when the first sensor 1 in front of and behind the vehicle detects that the obstacle disappears, the first sensor 1 arranged at the vehicle door is awakened.
Specifically, when the first sensor 1 in the front and rear of the vehicle detects that the obstacle height is higher than the vehicle chassis height stored by the control unit, and when the first sensor 1 in the front and rear of the vehicle detects that the obstacle disappears, indicating that the obstacle is on the side of the vehicle, the first sensor 1 provided to the door is awakened.
In an embodiment of the invention, the first sensor comprises an ultrasonic sensor.
The first sensor 1 is used to detect an obstacle and to record the obstacle coordinates of the obstacle.
The vehicle motion self-checking system 2 is used for acquiring a vehicle speed signal and an angle signal and predicting a pre-parking position according to the vehicle speed signal, the angle signal and the obstacle coordinates; generating the distance between the obstacle and the vehicle door according to the pre-parking position and the acquired obstacle coordinates; and if the distance between the obstacle and the vehicle door is smaller than the door opening threshold value, prompting a user to adjust the vehicle.
In the embodiment of the present invention, the first sensor 1 may detect the obstacle coordinates of the obstacle through the dual radar.
In the embodiment of the present invention, fig. 2 is a schematic diagram of the positional relationship between an obstacle and a vehicle door provided in the embodiment of the present invention, as shown in fig. 2, the surrounding of the vehicle includes an obstacle 1, an obstacle 2, and an obstacle 3, wherein if the vehicle door corresponding to the obstacle 1 is opened, the vehicle door cannot be completely opened, the opening gap of the vehicle door is smaller, a passenger may damage the vehicle door when opening the vehicle door, and the passenger may not get off the vehicle door corresponding to the obstacle 1. If the door corresponding to the obstacle 2 is opened, the door cannot be completely opened, and the passenger may damage the door when opening the door. If the door corresponding to the obstacle 3 is opened, the door can be completely opened, and passengers can not damage the door when opening the door.
In the embodiment of the present invention, fig. 3 is a schematic diagram of the setting positions of the first sensors provided in the embodiment of the present invention, as shown in fig. 3, if the vehicle includes 4 doors, the first sensors 1 are set on the tail and each door, and the small circles on the tail and each door in fig. 3 are the positions of the first sensors 1. The first sensor 1 is arranged on the vehicle tail to detect the obstacle positioned at the rear of the vehicle tail, and the first sensor 1 is arranged on each vehicle door to detect the obstacle positioned near the vehicle door.
In the embodiment of the invention, the first sensor 1 is suitable for virtual obstacle detection reminding, and can be used for detecting blind areas of a vehicle and net-shaped obstacles, for example, when the obstacle at a higher or lower position relative to the vehicle exceeds the detection range of the first sensor 1, the obstacle can be detected due to the diffusion of a detection angle when the vehicle is at a longer distance from the obstacle, and the first sensor 1 records the spatial position of the obstacle relative to the vehicle body, wherein the spatial position is the obstacle coordinate. In the embodiment of the invention, the door opening threshold value can be set according to actual conditions. For example, the door opening threshold is 0.5 meters.
In the embodiment of the invention, the vehicle motion self-checking system 2 can be combined with a vehicle speed signal, an angle signal, an obstacle in a warehouse-in direction and/or a fish-eye camera to predict a pre-parking position.
The second sensor 3 is used to detect and record the passenger position. The vehicle motion self-checking system 2 is further used for generating the distance between the obstacle and the vehicle door where the passenger position is located according to the pre-parking position, the passenger position and the obstacle coordinate; and if the distance between the obstacle and the vehicle door where the passenger position is judged to be smaller than the door opening threshold value, prompting the user to adjust the vehicle.
In the embodiment of the present invention, the second sensor 3 includes a pressure sensor or the like.
In an embodiment of the present invention, the second sensor 3 may include, but is not limited to, a sensor that converts a pressure signal or a deformation signal into an electrical signal, or may be a capacitance or a resistance that changes in the electrical signal due to the pressure or the deformation, such as a varistor, etc., when such a sensor or resistance or capacitance detects a weight of the seat reaching a certain threshold value, it may determine that a person is present on the seat, and likewise, the second sensor 3 may be a switch circuit, and when the sensor senses the pressure reaching the certain threshold value, the switch is closed, the second sensor 3 may detect that a person is present on the seat, and the second sensor 3 may also be a safety belt, and when the electrical signal on the seat buckle is turned on, the second sensor 3 may determine that a person is present on the seat.
In the embodiment of the invention, the vehicle motion self-checking system 2 is specifically configured to lock the door and prompt a user to adjust the vehicle if it is determined that the distance between the obstacle and the door is less than the door opening threshold.
In the embodiment of the invention, the vehicle motion self-checking system 2 is specifically configured to prompt a user to open the door carefully if it is determined that the distance between the obstacle and the door is greater than or equal to the door opening threshold and less than the door rotation radius.
As an alternative, when the distances between the doors and the obstacles on both sides of the vehicle are smaller than the door opening threshold, one side mode can be sacrificed, the distance between the door and the obstacle at the pre-parking position of the reversing track is ensured to meet the distance between the door and the obstacle on at least one side and be larger than the rotation radius of the door, if the distance cannot be met after adjustment, the distance between the door and the obstacle at the pre-parking position of the reversing track is ensured to meet the distance between the door and the obstacle on at least one side and be larger than the door opening threshold, otherwise, alarm information is output.
In an embodiment of the present invention, the system further includes: a third sensor 4 and a fourth sensor 5, the third sensor 4 is connected with the vehicle motion self-checking system 2, and the fourth sensor 5 is connected with the vehicle motion self-checking system 2.
The vehicle motion self-test system 2 is specifically configured to acquire an angle signal based on the third sensor 4 and the fourth sensor 5.
In the embodiment of the present invention, the third sensor 4 includes an angular velocity sensor, and the fourth sensor 5 includes an acceleration sensor. Wherein the angular velocity sensor comprises a gyroscope.
Specifically, the direction of gravity may be measured with an acceleration sensor and the angle information may be deduced, for example, if an acceleration of 0.1G is obtained on the x-axis, which means that the inclination angle in the angle information is arcsin (0.1) =5.7°, and in order to avoid calculation errors of the inclination angle caused by vibration and impact, a low-pass filter having a cut-off frequency of 100Hz or less than 100Hz may be used. In the technical scheme provided by the embodiment of the invention, the detected obstacle coordinates are obtained from the first sensor; acquiring a vehicle speed signal and an angle signal, and predicting a pre-parking position according to the vehicle speed signal, the angle signal and the obstacle coordinates; generating the distance between the obstacle and the vehicle door according to the pre-parking position and the obstacle coordinate; if the distance between the obstacle and the vehicle door is smaller than the door opening threshold value, prompting a user to adjust the vehicle; acquiring the detected passenger position from the second sensor; generating the distance between the obstacle and the vehicle door where the passenger position is located according to the pre-parking position, the passenger position and the obstacle coordinate; and if the distance between the obstacle and the vehicle door where the passenger position is judged to be smaller than the door opening threshold value, prompting the user to adjust the vehicle. According to the technical scheme provided by the embodiment of the invention, the distance between the barrier and the vehicle door is calculated by arranging the first sensor and the second sensor, and the problem of door opening interference is avoided based on the distance between the barrier and the vehicle door.
Based on the above-mentioned detection system of opening the door of the car based on ultrasonic radar, the embodiment of the invention provides a detection method of opening the door of the car based on ultrasonic radar, fig. 4 is a flowchart of the detection method of opening the door of the car based on ultrasonic radar provided by the embodiment of the invention, as shown in fig. 4, the method includes:
step 102, acquiring detected obstacle coordinates from a first sensor.
In the embodiment of the invention, each step is executed by a vehicle motion self-checking system. In this step, the first sensor detects an obstacle, records the obstacle coordinates of the obstacle, and transmits the obstacle coordinates to the vehicle motion self-checking system.
And 104, acquiring a vehicle speed signal and an angle signal, and predicting a pre-parking position according to the vehicle speed signal, the angle signal and the obstacle coordinates.
In the embodiment of the invention, the vehicle speed signal and the angle signal are used for predicting the running track of the vehicle, and the running track needs to avoid the coordinates of the obstacle, so that the pre-parking position is predicted according to the vehicle speed signal, the angle signal and the coordinates of the obstacle.
And 106, generating the distance between the obstacle and the vehicle door according to the pre-parking position and the obstacle coordinate.
In the embodiment of the invention, the door coordinates of the door are calculated according to the pre-parking space. The pre-parking position is the same as the size of the vehicle, and the door coordinates of the door can be determined according to the design parameters of the vehicle.
In the embodiment of the invention, the distance between the coordinates of the vehicle door and the coordinates of the obstacle is calculated by a distance calculation formula, namely the distance between the obstacle and the vehicle door.
And step 108, if the distance between the obstacle and the vehicle door is judged to be smaller than the door opening threshold value, prompting a user to adjust the vehicle.
In the embodiment of the invention, the door opening threshold value can be set according to actual conditions. For example, the door opening threshold is 0.5 meters.
In the embodiment of the invention, if the distance between the barrier and the vehicle door is judged to be smaller than the door opening threshold value, the problem that the vehicle has door opening interference is indicated, and the vehicle door cannot be opened; if it is determined that the distance between the obstacle and the door is greater than or equal to the door opening threshold, it is indicated that the door can be opened although the vehicle has a problem of door opening interference, but the door needs to be carefully opened.
According to the embodiment of the invention, the distance between the barrier and the vehicle door can be calculated in advance based on the pre-parking position, and the vehicle is warned or prompted to be adjusted by a user when the distance is smaller than the door opening threshold value.
Step 110, the detected passenger position is obtained from the second sensor.
In this step, the second sensor detects the passenger position and records the passenger position, and the passenger position is sent to the vehicle motion self-checking system.
And 112, generating the distance between the obstacle and the vehicle door where the passenger position is located according to the pre-parking position, the passenger position and the obstacle coordinate.
In the step, the position of the door where the passenger position is located is determined according to the pre-parking position and the passenger position, and the distance between the obstacle coordinate and the position of the door where the passenger position is located, namely the distance between the obstacle and the door where the passenger position is located, is calculated based on a distance calculation formula.
And 114, prompting a user to adjust the vehicle if the distance between the obstacle and the vehicle door where the passenger position is located is less than the door opening threshold value.
In the embodiment of the invention, if the distance between the barrier and the door where the passenger is located is judged to be smaller than the door opening threshold value, the problem that the door opening interference is generated in the vehicle is indicated, and the door cannot be opened; if it is determined that the distance between the obstacle and the door where the passenger is located is greater than or equal to the door opening threshold, it is indicated that the door can be opened although the vehicle has a problem of door opening interference, but the door needs to be carefully opened.
In the technical scheme provided by the embodiment of the invention, the detected obstacle coordinates are obtained from the first sensor; acquiring a vehicle speed signal and an angle signal, and predicting a pre-parking position according to the vehicle speed signal, the angle signal and the obstacle coordinates; generating the distance between the obstacle and the vehicle door according to the pre-parking position and the obstacle coordinate; if the distance between the obstacle and the vehicle door is smaller than the door opening threshold value, prompting a user to adjust the vehicle; acquiring the detected passenger position from the second sensor; generating the distance between the obstacle and the vehicle door where the passenger position is located according to the pre-parking position, the passenger position and the obstacle coordinate; and if the distance between the obstacle and the vehicle door where the passenger position is judged to be smaller than the door opening threshold value, prompting the user to adjust the vehicle. According to the technical scheme provided by the embodiment of the invention, the distance between the barrier and the vehicle door is calculated by arranging the first sensor and the second sensor, and the problem of door opening interference is avoided based on the distance between the barrier and the vehicle door.
The embodiment of the invention provides a storage medium, which comprises a stored program, wherein equipment where the storage medium is located is controlled to execute the steps of the embodiment of the automobile door opening detection method based on the ultrasonic radar when the program runs, and specific description can be seen from the embodiment of the automobile door opening detection method based on the ultrasonic radar.
The embodiment of the invention provides a vehicle motion self-checking system, which comprises a memory and a processor, wherein the memory is used for storing information comprising program instructions, the processor is used for controlling execution of the program instructions, and the program instructions are loaded and executed by the processor to realize the steps of the embodiment of the ultrasonic radar-based automobile door opening detection method.
Fig. 5 is a schematic diagram of a vehicle motion self-checking system according to an embodiment of the present invention. As shown in fig. 5, the vehicle motion self-test system 20 of this embodiment includes: the processor 21, the memory 22, and the computer program 23 stored in the memory 22 and capable of running on the processor 21, wherein the computer program 23 when executed by the processor 21 implements the method for detecting the opening of the automobile based on the ultrasonic radar according to the embodiment, and is not described herein in detail for avoiding repetition. Alternatively, the computer program when executed by the processor 21 implements the functions of the embodiments applied to each model/unit in the ultrasonic radar-based vehicle door opening detection system, and is not described herein in detail to avoid repetition.
The vehicle motion self-test system 20 includes, but is not limited to, a processor 21, a memory 22. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the vehicle motion self-test system 20 and is not intended to be limiting of the vehicle motion self-test system 20, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the vehicle motion self-test system may further include input and output devices, network access devices, buses, etc.
The processor 21 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), micro control units (Micro Control Unit, MCU), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 22 may be an internal storage unit of the vehicle motion self-test system 20, such as a hard disk or memory of the vehicle motion self-test system 20. The memory 22 may also be an external storage device of the vehicle motion self-test system 20, such as a plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card) or the like, which are provided on the vehicle motion self-test system 20. Further, the memory 22 may also include both internal and external memory devices of the vehicle motion self-test system 20. The memory 22 is used to store computer programs and other programs and data required by the vehicle motion self-test system. The memory 22 may also be used to temporarily store data that has been output or is to be output.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the elements is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a Processor (Processor) to perform part of the steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
Claims (10)
1. An automobile door opening detection system based on ultrasonic radar, which is characterized by comprising: a second sensor, a vehicle motion self-checking system, a first sensor provided in front of and behind the vehicle and each door;
the first sensor is used for detecting an obstacle and recording obstacle coordinates of the obstacle, wherein the first sensor comprises an ultrasonic radar sensor;
the vehicle motion self-checking system is used for acquiring a vehicle speed signal and an angle signal, and predicting a pre-parking position according to the vehicle speed signal, the angle signal and the obstacle coordinates; generating a distance between an obstacle and a vehicle door according to the pre-parking position and the acquired obstacle coordinate; if the distance between the obstacle and the vehicle door is smaller than the door opening threshold value, prompting a user to adjust the vehicle;
the second sensor is used for detecting and recording the position of the passenger;
the vehicle motion self-checking system is further used for generating the distance between the obstacle and the vehicle door where the passenger position is located according to the pre-parking position, the passenger position and the obstacle coordinate; if the distance between the obstacle and the vehicle door where the passenger position is located is judged to be smaller than the door opening threshold value, prompting a user to adjust the vehicle;
when the first sensors in the front and rear of the vehicle detect that the height of the obstacle is higher than the height of the automobile chassis stored by the control unit, and when the first sensors in the front and rear of the vehicle detect that the obstacle disappears, the first sensors arranged on the automobile door are awakened;
the vehicle motion self-checking system is further used for enabling the distance between the vehicle door at the pre-parking position and the obstacle to meet the condition that the distance between the vehicle door at least one side and the obstacle is larger than the door opening threshold value when the distances between the vehicle doors at the two sides and the obstacle are smaller than the door opening threshold value.
2. The system of claim 1, further comprising:
the vehicle motion self-checking system is specifically used for locking the vehicle door and prompting a user to adjust the vehicle if the distance between the obstacle and the vehicle door is judged to be smaller than the door opening threshold value.
3. The system of claim 1, further comprising:
the vehicle motion self-checking system is specifically used for prompting a user to open the door carefully if the distance between the obstacle and the vehicle door is judged to be greater than or equal to the door opening threshold value and smaller than the rotation radius of the vehicle door.
4. The system of claim 1, wherein the vehicle motion self-test system is further configured to cause the distance between the door and the obstacle at the pre-park position to satisfy the distance between the door and the obstacle at least one side to be greater than the door radius of rotation when the distances between the door and the obstacle at both sides of the vehicle are less than the door opening threshold.
5. The system of claim 1, further comprising: a third sensor and a fourth sensor;
the vehicle motion self-checking system is specifically configured to acquire an angle signal based on the third sensor and the fourth sensor, where the third sensor includes an angular velocity sensor, and the fourth sensor includes an acceleration sensor.
6. The system according to claim 1, wherein the second sensor comprises a pressure sensor or the like.
7. The system of claim 1, wherein the first sensor records a spatial position of the obstacle relative to the vehicle body at a greater distance from the obstacle when the obstacle is beyond a detection range of the first sensor relative to the vehicle at the higher or lower position of the vehicle, the spatial position being an obstacle coordinate.
8. An automobile door opening detection method based on ultrasonic radar is characterized by comprising the following steps:
acquiring detected obstacle coordinates from a first sensor, the first sensor comprising an ultrasonic radar sensor;
acquiring a vehicle speed signal and an angle signal, and predicting a pre-parking position according to the vehicle speed signal, the angle signal and the obstacle coordinates;
generating a distance between an obstacle and a vehicle door according to the pre-parking position and the obstacle coordinate;
if the distance between the obstacle and the vehicle door is smaller than the door opening threshold value, prompting a user to adjust the vehicle;
acquiring the detected passenger position from the second sensor;
generating a distance between an obstacle and a vehicle door where the passenger position is located according to the pre-parking position, the passenger position and the obstacle coordinate;
if the distance between the obstacle and the vehicle door where the passenger position is located is judged to be smaller than the door opening threshold value, prompting a user to adjust the vehicle;
when the first sensors in the front and rear of the vehicle detect that the height of the obstacle is higher than the height of the automobile chassis stored by the control unit, and when the first sensors in the front and rear of the vehicle detect that the obstacle disappears, the first sensors arranged on the automobile door are awakened;
when the distances between the doors and the barriers on two sides of the vehicle are smaller than the door opening threshold value, the distance between the door and the barrier on at least one side, which satisfies the distance between the door and the barrier on the pre-parking position, is larger than the door opening threshold value.
9. The method as recited in claim 8, further comprising:
and if the distance between the obstacle and the vehicle door is smaller than the door opening threshold value, locking the vehicle door and prompting a user to adjust the vehicle.
10. A vehicle motion self-test system comprising a memory for storing information including program instructions and a processor for controlling execution of the program instructions, wherein the program instructions, when loaded and executed by the processor, implement the steps of the ultrasonic radar-based vehicle door opening detection method of claim 8 or 9.
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| CN113879210A (en) * | 2021-10-12 | 2022-01-04 | 江西昌河汽车有限责任公司 | Door opening anti-collision system and method |
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