CN-122009029-A - Active collision avoidance detection method and system for electric side stepping and vehicle

CN122009029ACN 122009029 ACN122009029 ACN 122009029ACN-122009029-A

Abstract

The invention discloses an active collision avoidance detection method and system for electric side stepping and a vehicle, and belongs to the technical field of intelligent control of automobiles. The anti-collision function of the existing electric side pedal depends on passive response after the pedal contacts with an obstacle, and the surface of the pedal cannot be prevented from being scratched or damaged in the contact process. According to the invention, when the vehicle door is closed and the side pedal is in a retracted state, the ultrasonic radar is activated to detect the obstacle, the radar detection range at least covers the movement envelope area of the electric side pedal, and when the obstacle is in an effective area, a risk signal is generated; the car body domain controller prohibits the corresponding side pedal from unfolding or stops driving according to the signal, and simultaneously, the car body domain controller performs audible and visual alarm. The invention can prevent collision of electric side pedal, and protect pedal surface effectively, especially for vehicle with strict requirement on side pedal appearance.

Inventors

LIU ZIANG
TU CHUANCHUAN
LIU JUNSHUAI
SONG XIAONING
LIU JING
ZHU HUI

Assignees

安徽江淮汽车集团股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (10)

1. An active collision avoidance detection method for electric side stepping is characterized by comprising the following steps: step S1, acquiring an electric side stepping state signal of a vehicle, a vehicle door state signal of a corresponding side and a vehicle speed signal; S2, when the electric side stepping state signals are in a retraction state, the corresponding side door state signals are all in a closing state, and the vehicle speed signals do not exceed a preset vehicle speed threshold value, activating the corresponding side ultrasonic radar to detect obstacles; S3, judging whether an obstacle exists in a superposition space of a detection range of the ultrasonic radar and an effective area of the side electric side pedal according to detection data acquired by the ultrasonic radar, wherein the effective area is a safety margin area preset in the inner part of a motion envelope of the side electric side pedal and the periphery of the motion envelope boundary; s4, generating a collision risk signal when the side electric side pedal is unfolded according to a judging result, wherein the collision risk signal comprises three states including risk, no risk and undetermined state; and S5, when a deployment instruction of the side electric side pedal is received, if the collision risk signal is risky or undetermined, prohibiting the side electric side pedal from being deployed or stopping driving the side electric side pedal, and if the collision risk signal is risky, controlling the side electric side pedal to be deployed.
2. The active collision avoidance system of claim 1 wherein the ultrasonic waves Lei Dabu are disposed on the underside of the door panel and the probe is mounted downward, the detection range covers at least the extended position of the side of the electric side pedal, and the ultrasonic radar detection results are invalid when the door status signal corresponding to the side indicates that the door is open.
3. The method of claim 1, wherein the motion envelope is comprised of a profile of the extended state of the corresponding electric side pedal, a profile of the retracted state, and a space swept during motion between the two states.
4. The active collision avoidance detection method of an electric side pedal according to claim 1, wherein the safety margin region is a region of 1 to 5cm around the boundary of the motion envelope.
5. The method for active collision avoidance detection by electric side stepping according to claim 1, wherein the generation condition of the undetermined state includes at least one of an ultrasonic radar failure, an ultrasonic radar controller failure, a failure to satisfy a detection precondition, or a detection incompletion.
6. The active collision avoidance detection method of electrically powered side stepping according to claim 1, further comprising immediately stopping obstacle detection of the corresponding ultrasonic radar when the state signal of the electrically powered side stepping becomes the motion state or the deployment state, or And stopping the obstacle detection of the corresponding ultrasonic radar and disconnecting the power supply of the ultrasonic radar when the vehicle speed signal exceeds a preset vehicle speed threshold value and the duration exceeds a preset time.
7. The method for actively preventing collision of an electric side pedal according to claim 1, further comprising the steps of sending the collision risk signal to a cabin controller, and controlling a loudspeaker to carry out sound alarm and/or controlling an on-board screen to pop up an alarm popup containing a side pedal position indication when the collision risk signal is at risk or pending.
8. The method for detecting active collision avoidance of an electric side pedal according to claim 1, further comprising memorizing a signal value of the collision risk signal before the vehicle is dormant, and executing according to the signal value memorized at the time of dormancy if a signal transmitted by a radar controller on the corresponding side is not received when the vehicle is powered on again.
9. An active collision avoidance detection system for performing the electric side stepping of the collision avoidance detection method according to any one of claims 1 to 8, characterized by comprising: the vehicle body domain controller is used for acquiring an electric side pedal state signal, a vehicle door state signal and a vehicle speed signal and controlling the expansion and the retraction of the electric side pedal; at least one ultrasonic radar arranged at the lower side of the door panel of the vehicle door and provided with a probe downwards for sending and receiving ultrasonic signals; the radar controller is electrically connected with the ultrasonic radar and used for controlling the power supply and detection activation of the ultrasonic radar, receiving detection data of the ultrasonic radar, judging whether an obstacle exists in a detection range according to the detection data, generating an electric side stepping collision risk signal and transmitting the electric side stepping collision risk signal to the vehicle body domain controller; And the cabin domain controller is in communication connection with the vehicle body domain controller and is used for receiving collision risk signals forwarded by the vehicle body domain controller and controlling a loudspeaker and/or a vehicle-mounted screen to carry out alarm prompt.
10. A vehicle comprising the active collision avoidance detection system of claim 9.

Description

Active collision avoidance detection method and system for electric side stepping and vehicle Technical Field The invention belongs to the technical field of intelligent control of automobiles, and particularly relates to an active collision avoidance detection method and system for electric side stepping and a vehicle. Background The electric side pedals are positioned at two sides of the vehicle, and can be stretched and contracted by the motor drive and the control of the electronic controller so as to facilitate the user to get on or off the vehicle. In the process of expanding or retracting the electric side pedal, whether the electric side pedal touches an object which hinders the current running or not can be judged through a preset algorithm according to information such as current, hall signals and the like. If the obstacle is judged to be touched (the resistance is usually required to reach a certain threshold), the electric side pedal stops moving and moves reversely for a certain distance, so that injury to personnel, the obstacle or the side pedal is avoided. However, the above conventional scheme has a significant limitation in that since the retraction avoidance operation is performed only after an obstacle is touched, when the vehicle is parked beside a stone pillar, tree, street lamp, wall, road edge, shrub, or parked in the field, stone road, the electric side pedal is in the deployment or retraction movement, and once the vehicle touches an object such as a road edge, stone, etc., the electric side pedal surface is easily scratched and damaged. For some high-end vehicle types, the electric side pedal surface is a paint spraying surface, a highlight surface or a metal surface, the maintenance cost is higher, the influence on the appearance of the vehicle is larger, and for non-hidden electric side pedals, namely, a user can still see the vehicle type of the electric side pedal body at the side of the vehicle after the side pedals are retracted, so that the influence of collision damage on the appearance of the high-end vehicle is more serious. After analyzing the prior art, the obstacle avoidance detection of the electric pedal has at least the following problems that (1) the definition of the radar detection range is not clear enough, no accurate corresponding relation is established with the actual movement space of the side pedal, (2) the radar arrangement position and the installation condition lack systematic design requirements, detection dead zones or false recognition are easy to occur, and (3) the complete semantic definition and the corresponding control strategy of the detection state are lacking. In addition, the concept of the conventional scheme mostly adopts a binary control strategy of stopping when the obstacle exists and starting when the obstacle does not exist, the detection logic is simpler, and a processing mechanism for detecting abnormal states is lacked, so that the reliability and the safety are insufficient in a complex scene. Disclosure of Invention In view of the above, the present invention aims to provide an active collision avoidance detection method and system for an electric side pedal, and a vehicle, so as to solve the problem that the existing electric side pedal collision avoidance function depends on passive response after contact and cannot actively identify an obstacle before contact, and realize that the electric side pedal actively detects the foreign matter in the movement envelope range before or during the unfolding and before contacting the foreign matter, thereby avoiding the side pedal from contacting the obstacle. The technical scheme adopted by the invention is as follows: The first, the invention provides an active collision avoidance detection method of electric side pedal, taking a left pedal as an example, the method mainly comprises the following steps: The vehicle body domain controller obtains left electric side stepping state signals including a retracted state, a motion state and an extended state, left vehicle door state signals including a main driving door state and a left rear door state, and a vehicle speed signal. When the left electric side pedal state signal is in a retraction state, all the left vehicle door state signals are in a closing state, and the vehicle speed signal does not exceed a preset vehicle speed threshold (for example, 15 km/h), the vehicle body domain controller sends the state information to the radar controller, and the radar controller activates the left ultrasonic radar to detect the obstacle. The effective area of the left electric side pedal is defined as the superposition space of the left ultrasonic radar detection range and a preset safety margin area (for example, 2 cm) in the motion envelope of the left electric side pedal and at the periphery of the motion envelope boundary. The motion envelope of the left electric pedal is composed of an unfolding state outline and a retracting state outline