CN-120472709-B - V2X-based vehicle door opening anti-collision early warning method and processing terminal

CN120472709BCN 120472709 BCN120472709 BCN 120472709BCN-120472709-B

Abstract

The invention discloses a vehicle door opening anti-collision early warning method and a processing terminal based on V2X, wherein the method comprises the steps of determining a vehicle with a door in an unlocking state as a target current vehicle, screening out a behavior body which is in physical space cross overlapping with the target current vehicle in a first time, wherein the first time is the time when the behavior body moves from a current position to the position of the target current vehicle, executing door opening action in the first time, comparing the first time with a second time, judging whether the vehicle door is in collision or not based on a comparison result so as to decide whether to send anti-collision early warning, and the second time is the sum of the time consumed from the current opening angle of the door of the target current vehicle to the maximum opening angle of the door which is completely opened, and the passenger reaction time. According to the invention, through a double judging mechanism, whether the vehicle door collides or not can be judged more accurately, the early warning accuracy is improved, and the situations of misjudgment and missing judgment are avoided or reduced.

Inventors

CAI ZHIJUN
ZHANG YINHUA
Guo Yuansu
FENG QIGAO

Assignees

立昇汽车科技(广州)有限公司

Dates

Publication Date: 20260505
Application Date: 20250522

Claims (9)

1. A vehicle door opening anti-collision early warning method based on V2X is characterized by comprising the following steps: Determining a current vehicle to include the vehicle with the door in an unlocked state as a target, Screening out a behavior body which is crossed and overlapped with the physical space of the target current vehicle in a first time, wherein the first time is the time when the behavior body moves from the current position to the position of the target current vehicle, the target current vehicle executes a door opening action in the first time, Comparing the first time with the second time, judging whether the vehicle door is collided based on the comparison result to decide whether to send out anti-collision early warning, The second time is the current opening angle of the door of the target current vehicle Time spent starting to door maximum opening angle with door fully open and passenger reaction time The sum of the two values, The specific implementation process of the behavior body which is crossly overlapped with the physical space of the target current vehicle in the first time is selected, and comprises the following steps: A first plane coordinate system is established at the current position of the target current vehicle, an origin O of the first plane coordinate system is the nearest position of the center line of the lane where the target current vehicle is positioned to the center of mass of the target current vehicle, the direction tangential to the origin O is a Y axis, the direction perpendicular to the Y axis and along the center line of the lane is an X axis away from the roadside of the target current vehicle, Establishing a second plane coordinate system at the position of the behavior body, wherein an origin O 'of the second plane coordinate system is the nearest position of the behavior body to the center of mass of the behavior body at the center line of the lane, the direction tangential to the origin O' is a Y-axis, and the direction perpendicular to the Y-axis and along the center line of the lane, the roadside far away from the behavior body is an X-axis; Obtaining the maximum openable opening Lmax of the door of the target current vehicle, wherein the maximum openable opening L max =L d *sin（θ max ）,L d is the door length of the target current vehicle, and theta max is the door maximum openable angle; judging whether the relation between the behavior body and the target current vehicle meets the first condition, if so, judging that the physical space cross overlap exists between the behavior body and the door of the target current vehicle at the first time, If the door of the target current vehicle in the unlocked state is the right door, the formula ① is satisfied, and if the door of the target current vehicle in the unlocked state is the left door, the formula ② is satisfied: ------① ------② Wherein X h is the abscissa of the centroid of the target current vehicle in the first planar coordinate system, Representing the width of the target current vehicle, The width of the behavior body is indicated, Representing the running speed of the behavior body in the X-axis direction of the second plane coordinate system, Representing the traveling speed of the behavior body in the Y-axis direction of the second planar coordinate system, S representing the path length of the behavior body to the target current vehicle, Representing the current opening angle of the door of the target current vehicle, Indicating the angular velocity of the door opening of the target current vehicle, Is a preset safety distance.
2. The V2X-based vehicle door opening collision prevention warning method according to claim 1, wherein the door state information is obtained by detecting a door state of a current vehicle, and whether the door is in an unlocked state is determined by the door state information.
3. The V2X-based vehicle door-opening collision-prevention warning method according to claim 1, wherein surrounding behavior bodies of the target current vehicle are screened out first, and then, behavior bodies which cross-overlap with the physical space of the target current vehicle at the first time are screened out of the surrounding behavior bodies.
4. The V2X-based vehicle door-opening collision-prevention warning method of claim 3, wherein the screening of the surrounding behavior of the target current vehicle is performed by: step 21, calculating the included angle between the first vector and the second vector, judging whether the included angle is an acute angle, wherein the first vector is a vector formed by connecting the mass center of the behavior body with the mass center of the target current vehicle, the direction is the direction of the behavior body to the target current vehicle, the second vector is the speed vector of the behavior body, If the included angle is acute, continuing to step 22, otherwise, excluding the behavior body as a surrounding behavior body; Step 22, judging whether the behavior body is in the same lane as the target current vehicle according to the lane width of the lane where the target current vehicle is located and the position of the lane center line, if so, judging that the behavior body is a peripheral behavior body, and if not, judging that the behavior body is a non-peripheral behavior body.
5. The V2X-based vehicle door opening collision avoidance warning method of claim 1 wherein the angular velocity of the door opening The corresponding values are determined by a pre-calibration or are set for different passengers or drivers and corresponding doors.
6. The V2X-based vehicle door opening collision avoidance early warning method according to claim 1, wherein comparing the magnitude of the first time and the magnitude of the second time, and based on the comparison result, determining whether the vehicle door opening has a collision, so as to decide whether to send out the collision avoidance early warning, and the specific implementation process comprises the following steps: Judging whether the second condition is met, if so, judging the possibility of collision between the behavior and the current vehicle of the target, and sending out anti-collision early warning, Condition II: In the formula, The reaction time of the passenger is indicated, For the first time period of time, Is the second time.
7. The V2X-based vehicle door opening collision prevention early warning method according to claim 6, wherein after determining that a door opening collision exists, further comprising providing early warning levels of different risk degrees of the door collision, wherein the early warning levels represent the probability of the door opening collision, and the higher the early warning levels are, the greater the probability of the door opening collision is indicated, and the higher the risk degree is, and conversely, the lower the probability of the door opening collision is indicated, and the lower the risk degree is indicated.
8. The V2X-based vehicle door opening collision avoidance warning method of claim 7 wherein the warning level employs a warning level parameter Representing the early warning level parameter The calculation formula of (2) is as follows: Wherein K is a coefficient, which is a preset value.
9. A processing terminal, characterized in that it comprises: A memory for storing program instructions; a processor for executing the program instructions to perform the steps of the V2X-based vehicle door opening anti-collision warning method according to any one of claims 1-8.

Description

V2X-based vehicle door opening anti-collision early warning method and processing terminal Technical Field The invention relates to the technical field of vehicle door opening anti-collision, in particular to a vehicle door opening anti-collision early warning method based on V2X and a processing terminal. Background Aiming at the problem of collision risk caused by vehicle door opening, most of traditional processing methods adopt a technical scheme based on camera and radar perception to identify the collision risk caused by static obstacles around the vehicle, the technical scheme based on the camera and the radar has the defect that whether collision risk exists is difficult to identify for objects with far distance or high moving speed of the vehicle, and particularly the problem that traffic participants at turning positions cannot be identified due to the fact that the traffic participants are located in blind areas of the radar and the camera frequently, so that collision risk is caused. In order to solve the problem that collision risks cannot be identified in certain scenes due to the technical scheme based on cameras and radars, a part of existing technologies also adopt V2X-based vehicle door opening anti-collision early warning. For example, the applicant has searched chinese patent application publication No. CN113223311a, which discloses that V2X-based vehicle door opening anti-collision early warning is adopted, and the present vehicle is mainly communicated with other traffic participants based on V2X, so as to obtain the running parameters of the present vehicle and the other traffic participants, and further judge whether there is a possibility of collision in space based on the running parameters, so as to realize vehicle door opening anti-collision early warning. Similar to the prior art of the chinese patent application, the reaction speed of the passenger and the maximum opening angle and opening time of the door are not considered, which affects the accuracy of the door opening anti-collision early warning, and particularly, for an object moving at a high speed, based on such prior art as the chinese patent application, under the condition that the reaction speed of the passenger, the opening angle and the opening time of the door are ignored, although the collision possibility is spatially judged, the collision possibility still exists, and the collision possibility is high, so that there is a defect that the early warning accuracy is not high, that is, there is a misjudgment or a misjudgment. Disclosure of Invention Aiming at the defects of the prior art, the invention aims to provide a vehicle door opening anti-collision early warning method and a processing terminal based on V2X, which can solve the problems described in the background art. The technical scheme for achieving the purpose of the invention is that the vehicle door opening anti-collision early warning method based on V2X comprises the following steps: Determining a current vehicle to include the vehicle with the door in an unlocked state as a target, Screening out a behavior body which is crossed and overlapped with the physical space of the target current vehicle in a first time, wherein the first time is the time when the behavior body moves from the current position to the position of the target current vehicle, the target current vehicle executes a door opening action in the first time, Comparing the first time with the second time, judging whether the vehicle door is collided based on the comparison result to decide whether to send out anti-collision early warning, The second time is the current opening angle of the door of the target current vehicleTime spent starting to door maximum opening angle with door fully open and passenger reaction timeAnd (3) summing. Further, door state information is obtained by detecting a door state of the current vehicle, and whether the door is in an unlocked state is determined by the door state information. Further, surrounding behavior bodies of the target current vehicle are screened out, and then, the behavior bodies which are intersected and overlapped with the physical space of the target current vehicle in the first time are screened out of the surrounding behavior bodies. Further, the surrounding behavior bodies of the target current vehicle are screened out, and the specific implementation process comprises the following steps: step 21, calculating the included angle between the first vector and the second vector, judging whether the included angle is an acute angle, wherein the first vector is a vector formed by connecting the mass center of the behavior body with the mass center of the target current vehicle, the direction is the direction of the behavior body to the target current vehicle, the second vector is the speed vector of the behavior body, If the included angle is acute, continuing to step 22, otherwise, excluding the behavior body as a surrounding behavior