技术领域technical field
本发明涉及汽车安全领域，尤其涉一种基于车载以太网的汽车防剐蹭方法及系统。The invention relates to the field of automobile safety, in particular to an automobile anti-scratch method and system based on a vehicle Ethernet.
背景技术Background technique
随着汽车的普及，越来越多的汽车进入千家万户，越来越多的拥有汽车。随着汽车拥有量的增加，会导致交通拥挤以及停车外紧张的问题。目前很多大型商场、居住社区在面临着逐渐增加的汽车时，其原先设计的车位明显要小于汽车的数量，使得空余车位非常少，从而导致停车难。另外一方面，车辆驾驶员停车技术参差不齐，导致汽车停在车位上时，汽车并没有处于正向，而处于倾斜状态或者偏离车位标线，要么靠近左边线，要么靠近右边线。如：限于停车的空间有限以及不能很好的判断两车之间的停车距离，一些驾驶员经常将车停放的与旁边车辆过近。后续进入停车场停车的车辆，驾驶员在倒车进入对应的停车位进行停车的时候，往往由于处于相邻车位的车辆没有被停放到正确的位置而使得所停汽车与相邻汽车过进，这样，在汽车开门时，乘坐在汽车的乘客往往没有意识到本车与相邻车辆的车门垂直距离较小，在下车突发开门时会导致本车车门剐蹭相邻汽车从而对相邻汽车的外观以及本车车门外观造成损坏。With the popularity of automobiles, more and more automobiles have entered thousands of households, and more and more people have automobiles. As the number of cars increases, it will lead to traffic congestion and tight parking problems. At present, when many large shopping malls and residential communities are facing the gradual increase of cars, the originally designed parking spaces are obviously smaller than the number of cars, so that there are very few vacant parking spaces, which leads to parking difficulties. On the other hand, the parking skills of vehicle drivers are uneven, resulting in that when the car is parked in the parking space, the car is not in the forward direction, but is in a tilted state or deviates from the parking space marking, either close to the left line or close to the right line. Such as: due to the limited parking space and the inability to judge the parking distance between the two cars well, some drivers often park their cars too close to the side vehicles. Subsequent vehicles that enter the parking lot to park, when the driver reverses into the corresponding parking space for parking, often the vehicle in the adjacent parking space is not parked in the correct position and the parked car passes by the adjacent car. , when the door of the car is opened, the passengers in the car often do not realize that the vertical distance between the door of the car and the adjacent vehicle is small. and damage to the exterior of the vehicle's doors.
现有技术中，如专利CN101927746A提供一种防撞系统，其是在汽车尾部安装上红外线或微波探头，通过感应控制车门锁开关。当车后有其他车辆或行人跟进时，探头首先探知，控制车门锁关闭，车门无法打开，因此也不能与后面跟进的车辆或行人碰撞。这种防碰撞系统是通过检测到车辆或行人时通过自动锁死车门的方式进行避免碰撞，但若此时相邻车辆停下来而不前进时，则会发生乘客或者驾驶员无法打开车门下车的情况。专利CN105882519A也提供车辆驻车开门时的防碰撞装置及控制方法，包括传感模块、电控模块、车门锁和报警模块，传感模块的输出端与电控模块的输入端连接，电控模块的输出端分别与报警模块和车门锁控制端连接；其中传感模块包括用于探测车辆周围是否有行人或行车的移动物体传感器、用于获取当前车辆速度的车速传感器、以及用于获取车门是否将要打开的开关传感器；车速传感器置于变速器的输出轴上，开关传感器设置在车门内侧把手处。但这种技术方案，当车辆旁有行人或车辆时，提醒开门下车的人员，注意后方来人或来车。这种技术方案仅仅是提醒乘客或者驾驶员而已，倘若乘客无视提醒，仍然迅速打开车门，此时仍然会导致事故的发生。另外，以上方案无法适用于停车场中汽车停好后防止开门时本车车门对邻车造成刮蹭的情景。In the prior art, for example, patent CN101927746A provides an anti-collision system, which is to install an infrared or microwave probe at the rear of the car to control the door lock switch through induction. When there are other vehicles or pedestrians following behind the car, the probe first detects and controls the door lock to close, and the door cannot be opened, so it cannot collide with the following vehicles or pedestrians. This anti-collision system avoids collisions by automatically locking the doors when a vehicle or pedestrian is detected, but if the adjacent vehicle stops and does not move forward at this time, the passenger or driver cannot open the door and get off the vehicle. Case. Patent CN105882519A also provides an anti-collision device and control method when the vehicle is parked and opened, including a sensing module, an electronic control module, a door lock and an alarm module. The output of the sensing module is connected to the input of the electronic control module, and the electronic control module The output terminals of the alarm module and the door lock control terminal are respectively connected; the sensing module includes a moving object sensor for detecting whether there are pedestrians or driving around the vehicle, a vehicle speed sensor for obtaining the current vehicle speed, and a vehicle door for obtaining The switch sensor to be opened; the vehicle speed sensor is placed on the output shaft of the transmission, and the switch sensor is arranged at the handle inside the door. But this technical scheme, when there are pedestrians or vehicles beside the vehicle, the personnel who open the door and get off are reminded to pay attention to people or vehicles coming from behind. This technical solution is only to remind the passenger or the driver, if the passenger ignores the reminder and still opens the car door quickly, it will still cause an accident now. In addition, the above scheme cannot be applied to the situation where the car door is prevented from scratching the adjacent car when the door is opened after the car is parked in the parking lot.
发明内容Contents of the invention
基于现有技术中存在的缺陷，本发明要解决的技术问题在于在停车区域内本车停止后避免因开门造成邻车的刮蹭方法及系统。Based on the defects in the prior art, the technical problem to be solved by the present invention is the method and system for avoiding the scratching of neighboring cars caused by opening the door after the own car stops in the parking area.
为了实现上述目的，本发明提供一种车载以太网的汽车防剐蹭方法，In order to achieve the above object, the present invention provides a car anti-scratch method of vehicle Ethernet,
包括以下步骤：Include the following steps:
步骤S1，当汽车在停车位停车时，通过距离传感器实时获取汽车与相邻障碍物的间距；Step S1, when the car is parked in the parking space, obtain the distance between the car and the adjacent obstacle in real time through the distance sensor;
步骤S2，将汽车停止后汽车与相邻障碍物的间距与预设值进行比较并获取比较结果；Step S2, comparing the distance between the car and the adjacent obstacle after the car stops with the preset value and obtaining the comparison result;
步骤S3，根据比较结果通过控制车门开度传感器从而对车门开度进行控制，使其车门开到所控制的最大开度时不会造成相邻障碍物的刮蹭；Step S3, control the door opening by controlling the door opening sensor according to the comparison result, so that the adjacent obstacle will not be scratched when the door is opened to the controlled maximum opening;
所述步骤S2和步骤S3，将汽车停止后汽车与相邻障碍物的间距与预设值进行比较并获取比较结果以及车门开度传感器的控制是通过控制器进行完成的。The step S2 and step S3, comparing the distance between the car and the adjacent obstacle after the car stops with the preset value and obtaining the comparison result, and the control of the door opening sensor are completed by the controller.
一种基于车载以太网的汽车防剐蹭方法，进一步地，所述车门开度设有三个限位角，分别为最大开度角α，最大安全开度角β，最小侧身下车角γ；A car anti-scratch method based on vehicle Ethernet, further, the door opening is provided with three limit angles, which are respectively the maximum opening angle α, the maximum safe opening angle β, and the minimum sideways alighting angle γ;
所述最大开度角α定义为在车门开度传感器不对车门开度进行控制的情况下车门能够自然打开的最大开度对应的角度；The maximum opening angle α is defined as the angle corresponding to the maximum opening of the door that can be opened naturally when the door opening sensor does not control the door opening;
最大安全开度角β定义为在车门开度传感器对车门开度进行控制情况下车门能够打开的最大开度对应的角度；The maximum safe opening angle β is defined as the angle corresponding to the maximum opening of the door that can be opened when the door opening sensor controls the door opening;
所述最大安全开度角β＝acrsin(本车车门宽度/停车后本车与相邻车的间距)且β≦α，所述本车车门宽度定义为处于车门的两个边缘之间并平行于地平面的线段的最大宽度；The maximum safe opening angle β=acrsin (the width of the door of the vehicle/the distance between the vehicle and the adjacent vehicle after parking) and β≦α, the width of the door of the vehicle is defined as being between the two edges of the door and parallel the maximum width of a line segment at ground level;
所述最小侧身下车角γ定义为车上人员通过打开车门后能够刚好侧身下车的最小车门开度对应的角度。The minimum sideways getting off angle γ is defined as the angle corresponding to the minimum door opening that the occupants can just get off sideways after opening the door.
一种基于车载以太网的汽车防剐蹭方法，进一步地，所述预设值包括车门的最大垂直距离、最小侧身下车垂直距离；A car anti-scratch method based on the vehicle Ethernet, further, the preset value includes the maximum vertical distance of the door, the minimum vertical distance of getting off the car sideways;
车门的最大垂直距离定义为车门打开的开度对应的角度为α时，车门上远离车体的最远边沿与其所连接侧的车体侧面的垂直距离；The maximum vertical distance of the door is defined as the vertical distance between the farthest edge of the door away from the car body and the side of the car body to which it is connected when the angle corresponding to the opening of the door is α;
车门的最小侧身下车垂直距离定义为车门打开的开度对应的角度为γ，车门上远离车体的最远边沿与其所连接侧的车体侧面的垂直距离。The minimum sideways alighting vertical distance of the door is defined as the angle γ corresponding to the opening of the door, and the vertical distance between the farthest edge of the door away from the car body and the side of the car body to which it is connected.
一种基于车载以太网的汽车防剐蹭方法，进一步地，所述步骤S3，根据来自步骤S2的比较结果来决定车门所处于第一情形、第二情形、第三情形中的哪一种情形；A car anti-scratch method based on the vehicle Ethernet, further, the step S3, according to the comparison result from the step S2 to determine which situation the door is in the first situation, the second situation, the third situation;
所述第一情形包括本车停车完成后本车与相邻车辆的间距大于本车车门的最大垂直距离；The first situation includes that after the vehicle is parked, the distance between the vehicle and the adjacent vehicle is greater than the maximum vertical distance of the vehicle door;
所述第二情形包括本车停车完成后本车与相邻车辆的间距小于等于本车车门的最大垂直距离，但大于最小侧身下车垂直距离；The second situation includes that after the vehicle is parked, the distance between the vehicle and the adjacent vehicle is less than or equal to the maximum vertical distance of the vehicle door, but greater than the minimum vertical distance of getting off the vehicle sideways;
所述第三情形包括本车停车完成后本车与相邻车辆的间距小于最小侧身下车垂直距离。The third situation includes that after the vehicle stops, the distance between the vehicle and the adjacent vehicle is less than the minimum vertical distance for getting off the vehicle sideways.
一种基于车载以太网的汽车防剐蹭方法，进一步地，对处于情形一的车门下发不对该车门的开度传感器进行控制；A car anti-scratch method based on the vehicle Ethernet, further, the door opening sensor of the car door in the first situation is not controlled;
对处于情形二的车门下发对该车门开度传感器进行控制使其最大开度角小于等于最大安全开度角β；The vehicle door in situation 2 is issued to control the door opening sensor so that the maximum opening angle is less than or equal to the maximum safe opening angle β;
对处于情形三的车门下发锁住车门并同时发出报警指令；Issue a locking command to the car door in situation 3 and issue an alarm command at the same time;
所述车门处于情形三的情况下，控制器将报警指令发送给报警模块启动报警提示，以提醒驾驶员重新调整停车位置。When the door is in situation three, the controller sends an alarm command to the alarm module to start an alarm prompt to remind the driver to readjust the parking position.
一种基于车载以太网的汽车防剐蹭方法，进一步地，所述距离传感器包括左前门距离传感器、右前门距离传感器、左后门距离传感器、右后门距离传感器，距离传感器安装于相应的车门对应的车身但不包括车门；A car anti-scratch method based on the vehicle Ethernet, further, the distance sensor includes a left front door distance sensor, a right front door distance sensor, a left rear door distance sensor, a right rear door distance sensor, and the distance sensor is installed on the body corresponding to the corresponding car door but not including doors;
所述距离传感器包括超声波雷达传感器、激光测距仪、红外测距仪中的一种或多种。The distance sensor includes one or more of an ultrasonic radar sensor, a laser range finder, and an infrared range finder.
一种基于车载以太网的汽车防剐蹭方法，进一步地，所述控制器包括比较模块，决策模块，指令下发模块；A car anti-scratch method based on vehicle Ethernet, further, the controller includes a comparison module, a decision module, and a command issuing module;
比较模块，被配置为将获取到的本车与相邻障碍物之间的间距与预设值进行比较并判断大小，然后将比较后的结果发送给决策模块；The comparison module is configured to compare the obtained distance between the vehicle and the adjacent obstacle with a preset value and determine the size, and then send the compared result to the decision module;
决策模块，被配置为根据接收来自比较模块传来的数据决定车门所处于的情形；The decision module is configured to determine the situation of the door according to the data received from the comparison module;
控制下发模块，被配置为根据车门所处于的情形下发相应的控制指令。The control issuing module is configured to issue corresponding control instructions according to the situation of the vehicle door.
一种基于车载以太网的汽车防剐蹭方法，进一步地，距离传感器与控制器之间的数据传递通过车载以太网网关进行的；A car anti-scratch method based on vehicle Ethernet, further, the data transmission between the distance sensor and the controller is carried out through the vehicle Ethernet gateway;
距离传感器与车载以太网网关通过车载以太网总线进行连接；The distance sensor is connected with the vehicle Ethernet gateway through the vehicle Ethernet bus;
车载以太网网关与控制器通过车载以太网总线进行连接；The vehicle Ethernet gateway and the controller are connected through the vehicle Ethernet bus;
车载以太网配置有车载以太网芯片，信号的传输需要经过车载以太网芯片进行信号的封装或解包，车载以太网芯片包括物理层和介质访问控制层，其中，介质访问控制层采用IEEE 802.3的接口标准。The vehicle-mounted Ethernet is equipped with a vehicle-mounted Ethernet chip. The signal transmission needs to be encapsulated or unpacked by the vehicle-mounted Ethernet chip. The vehicle-mounted Ethernet chip includes a physical layer and a media access control layer. The media access control layer adopts IEEE 802.3 interface standard.
一种基于车载以太网的汽车防剐蹭方法，进一步地，车载以太网还包括以太网音视频桥接技术协议，以太网音视频桥接技术协议包括四个标准802.1AS精准时间同步协议、802.1Qat流预留协议、802.1Qav队列及转发协议、802.1BA音视频桥接系统标准。A car anti-scratch method based on the vehicle Ethernet, further, the vehicle Ethernet also includes Ethernet audio and video bridging technology protocol, Ethernet audio and video bridging technology protocol includes four standard 802.1AS precise time synchronization protocol, 802.1Qat stream preview Retention protocol, 802.1Qav queue and forwarding protocol, 802.1BA audio and video bridging system standard.
一种基于车载以太网的汽车防剐蹭系统，包括上述的基于车载以太网的汽车防剐蹭方法。An automobile anti-scratch system based on the vehicle Ethernet, including the above-mentioned automobile anti-scratch method based on the vehicle Ethernet.
有益效果：Beneficial effect:
1.本发明提供的车载以太网的汽车防剐蹭方法，在汽车停在停车位上时，能够根据本车与相邻障碍物的间距调整车门的最大开度，使得车门处于最大开度时，乘客能够安全下车而且车门还不会对相邻车辆或者障碍物造成刮蹭，圆满的解决了因停车位置不正或者两车之间的距离过窄造成开车门时对相邻车造成刮蹭等问题。1. The car anti-scratch method of vehicle Ethernet provided by the present invention can adjust the maximum opening of the car door according to the distance between the car and the adjacent obstacle when the car is parked in the parking space, so that when the car door is at the maximum opening, Passengers can get out of the car safely and the door will not cause scratches to adjacent vehicles or obstacles. It satisfactorily solves the problem of scratching adjacent cars when the door is opened due to improper parking position or too narrow distance between the two cars. question.
2.采用车载以太网的传输网络能够降低线束成本，传输速率高。2. The transmission network using the vehicle Ethernet can reduce the cost of the wiring harness, and the transmission rate is high.
3.通过在车门开度传感器设置三个限位，在停车时，依据距离传感器测量本车与相邻车之间的间距，然后根据间距并结合车门开度传感器的三个限位对车门开度传感器进行控制，从而控制车门的开度，确保乘客下车不会对车门造成剐蹭。3. By setting three limit positions on the door opening sensor, when parking, measure the distance between the car and the adjacent car according to the distance sensor, and then adjust the door opening according to the distance and combined with the three limit positions of the door opening sensor. The sensor is used to control the opening of the door, so as to ensure that the passenger will not scratch the door when getting out of the car.
附图说明Description of drawings
以下附图仅对本发明做示意性说明和解释，并不限定本发明的范围。The following drawings only illustrate and explain the present invention schematically, and do not limit the scope of the present invention.
图1为本发明一实施例汽车的防剐蹭系统的结构示意图。FIG. 1 is a schematic structural diagram of an anti-scratch system for an automobile according to an embodiment of the present invention.
图2为本发明一实施例安装有距离传感器汽车开门状态下的示意图。Fig. 2 is a schematic diagram of an embodiment of the present invention in which a distance sensor is installed on a vehicle with the door open.
图3为本发明一实施例本车停到车位上时本车与相邻车之间的间距大于本车车门最大垂直距离的示意图。Fig. 3 is a schematic diagram of an embodiment of the present invention when the car is parked in a parking space, and the distance between the car and the adjacent car is greater than the maximum vertical distance of the door of the car.
图4为本发明一实施例本车停到车位上时本车与相邻车之间的间距的抽象的立体几何关系示意图。Fig. 4 is a schematic diagram of an abstract three-dimensional geometric relationship between the own car and the adjacent car when the car is parked in a parking space according to an embodiment of the present invention.
图5为本发明一实施例本车停到车位上时汽车与相邻车之间的间距大于最大车门垂直距离时的抽象几何距离示意图。Fig. 5 is a schematic diagram of the abstract geometric distance when the distance between the car and the adjacent car is greater than the maximum vertical distance of the car door when the car is parked in the parking space according to an embodiment of the present invention.
图6为本发明一实施例本车停到车位上时本车与左相邻车之间的间距小于等于本车车门最大垂直距离但大于最小侧身下车垂直距离的示意图。6 is a schematic diagram of an embodiment of the present invention when the car is parked in a parking space, and the distance between the car and the left adjacent car is less than or equal to the maximum vertical distance of the car door but greater than the minimum vertical distance of getting off the car sideways.
图7为本发明一实施例本车停到车位上时本车与左相邻车之间的间距小于最大车门垂直距离但大于最小侧身下车垂直距离的抽象几何距离示意图。Fig. 7 is a schematic diagram of an abstract geometric distance between the car and the adjacent car on the left when the car is parked in a parking space according to an embodiment of the present invention.
图8为本发明一实施例控制器的结构示意图。Fig. 8 is a schematic structural diagram of a controller according to an embodiment of the present invention.
具体实施方式Detailed ways
为了对本发明的技术特征、目的和效果有更加清楚的理解，现对照附图说明本发明的具体实施方式，在各图中相同的标号表示相同的部分。为使图面简洁，各图中示意性地表示出了与本发明相关部分，而并不代表其作为产品的实际结构。另外，以使图面简洁便于理解，在有些图中具有相同结构或功能的部件，仅示意性地绘示了其中的一个，或仅标出了其中的一个。In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described with reference to the accompanying drawings, in which the same symbols represent the same parts. In order to make the drawings concise, each drawing schematically shows the relevant parts of the present invention, but does not represent its actual structure as a product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components having the same structure or function is schematically shown, or only one of them is marked.
关于控制系统，功能模块、应用程序(APP)本领域技术人员熟知的是，其可以采用任何适当的形式，既可以是硬件也可以是软件，既可以是离散设置的多个功能模块，也可以是集成到一个硬件上的多个功能单元。作为最简单的形式，所述控制系统可以是控制器，例如组合逻辑控制器、微程序控制器等，只要能够实现本申请描述的操作即可。当然，控制系统也可以作为不同的模块集成到一个物理设备上，这些都不偏离本发明的基本原理和保护范围。As for the control system, functional modules and application programs (APP) are well known to those skilled in the art, they can take any appropriate form, either hardware or software, multiple functional modules discretely set, or It is multiple functional units integrated into one piece of hardware. In the simplest form, the control system can be a controller, such as a combination logic controller, a microprogram controller, etc., as long as it can realize the operations described in this application. Of course, the control system can also be integrated into one physical device as different modules, all of which do not deviate from the basic principle and protection scope of the present invention.
实施例1Example 1
本实施提供一种汽车的防剐蹭系统，具体参见图1和图2，图1为本发明一实施例汽车的防剐蹭系统的结构示意图，图2为本发明一实施例安装有距离传感器汽车开门状态下的示意图，防剐蹭系统包括：距离传感器、车载以太网网关、控制器、车门开度传感器，距离传感器与车载以太网网关相连接，车载以太网网关、车门开度传感器分别与控制器相连接。This implementation provides an anti-scratch system for a car. See Figures 1 and 2 for details. The schematic diagram in the state, the anti-scratch system includes: distance sensor, vehicle Ethernet gateway, controller, door opening sensor, the distance sensor is connected to the vehicle Ethernet gateway, and the vehicle Ethernet gateway and door opening sensor are respectively connected to the controller. connect.
距离传感器，被配置为用于测量汽车与相邻障碍物的间距；a distance sensor configured to measure the distance between the vehicle and an adjacent obstacle;
具体地，如可以为超声波雷达传感器、激光测距仪、红外测距仪中的一种或其它可用于测量距离的传感器。Specifically, it may be one of an ultrasonic radar sensor, a laser range finder, an infrared range finder, or other sensors that can be used to measure distance.
车载以太网网关，被配置为在不同的设备之间建立网络连接，当设备之间采用不同的网络传输协议时，对不同网络段中的使用不同传输协议的数据进行互相的翻译转换；The vehicle-mounted Ethernet gateway is configured to establish network connections between different devices. When devices use different network transmission protocols, they can translate and convert data using different transmission protocols in different network segments;
具体地，如可以将基于CAN协议的数据传输转化为基于车载以太网协议的数据的传输。反之，也可以将基于车载以太网协议的数据的传输转化为基于CAN协议的数据传输。Specifically, for example, the data transmission based on the CAN protocol can be converted into the data transmission based on the vehicle Ethernet protocol. Conversely, the data transmission based on the vehicle Ethernet protocol can also be converted into data transmission based on the CAN protocol.
控制器，被配置为对系统各功能模块进行调用和控制；The controller is configured to call and control each functional module of the system;
车门开度传感器，被配置为对车门开度进行控制；a vehicle door opening sensor configured to control the opening of the vehicle door;
具体地参见图4，图4为本实施例本车停到车位上时本车与相邻车之间的间距的抽象的立体几何关系示意图，车门开度设有三个限位角，分别为最大开度角α，最大安全开度角β，最小侧身下车角γ；Specifically referring to Fig. 4, Fig. 4 is the abstract three-dimensional geometric relationship schematic diagram of the space between this car and the adjacent car when Fig. 4 is parked on the parking space of this embodiment, and the opening of the car door is provided with three limit angles, respectively maximum Opening angle α, maximum safe opening angle β, minimum sideways dismounting angle γ;
OA位于车门上并表示车门宽度，OC位于车身上其宽度与车门宽度相等，AD为车门最大垂直距离，弧AC为车门的移动轨迹，HI为车门最大安全垂直距离，JK为车门最小侧身下车垂直距离。OA is located on the door and represents the width of the door, OC is located on the body and its width is equal to the width of the door, AD is the maximum vertical distance of the door, arc AC is the moving track of the door, HI is the maximum safe vertical distance of the door, and JK is the minimum sideways exit of the door vertical distance.
最大开度角α定义为在车门开度传感器不对车门开度进行控制的情况下车门能够自然打开的最大开度对应的角度，α只与车型有关系，当车型固定，其α为常数。The maximum opening angle α is defined as the angle corresponding to the maximum opening of the door that can be opened naturally when the door opening sensor does not control the door opening. α is only related to the vehicle model. When the vehicle model is fixed, its α is a constant.
最大安全开度角β定义为在车门开度传感器对车门开度进行控制情况下车门能够打开的最大开度对应的角度，最大安全开度角β＝acrsin(本车车门宽度/停车后本车与相邻车的间距)且β≦α，本车车门宽度定义为处于车门的两个边缘之间并平行于地平面的线段的最大宽度；The maximum safe opening angle β is defined as the angle corresponding to the maximum opening of the door when the door opening sensor controls the door opening, the maximum safe opening angle β=acrsin(the width of the vehicle door/the vehicle after parking distance from the adjacent vehicle) and β≦α, the vehicle door width is defined as the maximum width of the line segment between the two edges of the door and parallel to the ground plane;
最小侧身下车角γ定义为车上人员通过打开车门后能够刚好侧身下车的最小车门开度对应的角度，γ只与车型有关系，当车型固定，其γ为常数。The minimum sideways alighting angle γ is defined as the angle corresponding to the minimum door opening that the occupants can just get out of the vehicle after opening the door. γ is only related to the vehicle type. When the vehicle type is fixed, γ is a constant.
车门的最大垂直距离定义车门打开的开度对应的角度为α时，车门上远离车体的最远边沿与其所连接侧的车体侧面的垂直距离，如图4中的线段AD为车门的最大垂直距离。The maximum vertical distance of the car door defines the vertical distance between the farthest edge of the car door away from the car body and the side of the car body to which it is connected when the angle corresponding to the opening of the car door is α, as shown in Figure 4. The line segment AD is the maximum of the car door vertical distance.
车门的最大安全垂直距离定义车门打开的开度对应的角度为β时，车门上远离车体的最远边沿与其所连接侧的车体侧面的垂直距离，如图4中的线段HI为车门的最大安全垂直距离。The maximum safe vertical distance of the car door defines the vertical distance between the farthest edge of the car door away from the car body and the side of the car body to which it is connected when the angle corresponding to the opening degree of the car door is β, as shown in Figure 4. The line segment HI is the Maximum safe vertical distance.
车门的最小侧身下车垂直距离定义为车门打开的开度对应的角度为γ，车门上远离车体的最远边沿与其所连接侧的车体侧面的垂直距离，如图4中的线段JK。The minimum sideways vertical distance of the door is defined as the angle γ corresponding to the opening of the door, and the vertical distance between the farthest edge of the door away from the car body and the side of the car body to which it is connected, as shown in the line segment JK in Figure 4.
具体地，车门开度传感器根据来自控制器的控制指令，对车门的开度进行控制，通过控制车门的开度，从而控制打开后的车门距离障碍物的间距。Specifically, the door opening sensor controls the opening of the door according to the control instruction from the controller, and by controlling the opening of the door, the distance between the opened door and the obstacle is controlled.
距离传感器包括左前门距离传感器、右前门距离传感器、左后门距离传感器、右后门距离传感器，距离传感器安装于相应的车门对应的车身但不包括车门；The distance sensor includes the distance sensor for the left front door, the distance sensor for the right front door, the distance sensor for the left rear door, and the distance sensor for the right rear door. The distance sensor is installed on the body corresponding to the corresponding door but does not include the door;
参见图2，具体地，如：左前门距离传感器安装于车身上位于左前门的边缘位置，右前门距离传感器安装于车身上位于右前门的边缘位置。以左前门为例，OA表示车门宽度，OC也表示车门宽度，弧长AC表示车门打开时的移动轨迹。OA位于车门上，OC位于车身上，OA＝OC。Referring to Fig. 2, specifically, for example: the left front door distance sensor is installed on the vehicle body at the edge of the left front door, and the right front door distance sensor is installed on the vehicle body at the edge of the right front door. Taking the left front door as an example, OA represents the width of the door, OC also represents the width of the door, and the arc length AC represents the moving track when the door is opened. OA is located on the door, OC is located on the body, OA=OC.
防剐蹭系统还包括报警模块，报警模块与控制器相连接，报警模块被配置为根据接收到来自控制器的报警指令发出报警提示音进行报警；The anti-scratch system also includes an alarm module, the alarm module is connected to the controller, and the alarm module is configured to send out an alarm prompt sound to alarm according to the alarm instruction received from the controller;
具体地，当本车车辆停放在停车位上时，本车与相邻车之间的间距小于车门打开的安全距离，报警模块发出提示音进行报警以提醒驾驶员进行停车位置的调整，避免打开车门时，由于车门开度受制于安全距离限制，导致车上人员无法从较小的开门间隙下车。Specifically, when the vehicle is parked in a parking space and the distance between the vehicle and the adjacent vehicle is less than the safe distance for door opening, the alarm module sends out a prompt sound to warn the driver to adjust the parking position and avoid opening the door. When opening the car door, because the door opening is limited by the safety distance, the occupants cannot get out of the car through a small door opening gap.
控制器包括比较模块、决策模块、指令下发控制模块；The controller includes a comparison module, a decision module, and a command issuing control module;
参见图8，图8为本实施例的控制器的结构示意图。Referring to FIG. 8, FIG. 8 is a schematic structural diagram of the controller of this embodiment.
比较模块，被配置为将获取到的本车与相邻障碍物之间的间距与本车车门的最大垂直距离进行比较并判断大小，然后将比较后的结果发送给决策模块；The comparison module is configured to compare the obtained distance between the vehicle and the adjacent obstacle with the maximum vertical distance of the vehicle door and determine the size, and then send the compared result to the decision module;
决策模块，被配置为根据接收来自比较模块传来的数据决定车门所处于第一情形、第二情形、第三情形中的哪一种情形；The decision-making module is configured to determine which of the first situation, the second situation, and the third situation the door is in according to the data received from the comparison module;
第一情形包括本车停车完成后本车与相邻车辆的间距大于本车车门的最大垂直距离；第二情形包括本车停车完成后本车与相邻车辆的间距小于等于本车车门的最大垂直距离，但大于最小侧身下车垂直距离；第三情形包括本车停车完成后本车与相邻车辆的间距小于最小侧身下车垂直距离。The first situation includes that the distance between the vehicle and adjacent vehicles is greater than the maximum vertical distance of the vehicle door after the vehicle is parked; the second situation includes that the distance between the vehicle and adjacent vehicles is less than or equal to the maximum The vertical distance, but greater than the minimum vertical distance of getting off the vehicle sideways; the third situation includes that the distance between the vehicle and the adjacent vehicle after the vehicle stops is less than the minimum vertical distance of getting off the vehicle sideways.
控制器还包括指令控制下发模块，控制下发模块被配置为根据车门所处于的情形下发相应的控制指令；The controller also includes an instruction control issuing module, and the control issuing module is configured to issue corresponding control instructions according to the situation of the vehicle door;
具体地，指令控制下发模块对处于情形一的车门下发不对该车门的开度传感器进行控制，对处于情形二的车门下发对该车门开度传感器进行控制使其最大开度角小于等于最大安全开度角β，对处于情形三的车门下发锁住车门并同时发出报警指令。将报警指令传送给报警模块，从而报警模块启动扬声器进行报警以提醒驾驶员重新调整停车位置。Specifically, the instruction control issuing module does not control the door opening sensor for the vehicle door in situation 1, and controls the door opening sensor for the vehicle door in situation 2 so that the maximum opening angle is less than or equal to The maximum safe opening angle β, lock the door and issue an alarm command to the door in situation three. The alarm command is sent to the alarm module, so that the alarm module starts the loudspeaker to give an alarm to remind the driver to readjust the parking position.
报警方式有多种，可以用蜂鸣器、震动、语音提示等方式。There are many ways to alarm, such as buzzer, vibration, voice prompt and so on.
距离传感器与车载以太网网关通过车载以太网总线相连接，车载以太网总线传输由于其成本低、能够降低音频、视频的传输延迟，而且既有较高的传输速率。The distance sensor and the vehicle Ethernet gateway are connected through the vehicle Ethernet bus. The vehicle Ethernet bus transmission is low in cost, can reduce the transmission delay of audio and video, and has a high transmission rate.
车载以太网是一种用以太网连接车内电子单元的新型局域网技术。与普通的以太网使用2或4对非屏蔽双绞线(unshielded twisted pair，UTP)电缆不同，车载以太网的物理层采用了博通公司的BroadR-Reach技术，BroadR-Reach的物理层技术已经由单线对以太网联盟(one-pairethernet alliance，OPEN)标准化。车载以太网在单对非屏蔽双绞线上可实现100Mbps甚至1Gbps的数据传输速率，同时还满足汽车行业对高可靠性、低电磁辐射、低功耗、低延迟以及同步实时性等方面的要求。车载以太网的MAC层采用IEEE 802.3的接口标准，可支持广泛使用的高层网络协议(如TCP/IP)。Vehicle Ethernet is a new type of local area network technology that uses Ethernet to connect electronic units in vehicles. Different from ordinary Ethernet using 2 or 4 pairs of unshielded twisted pair (unshielded twisted pair, UTP) cables, the physical layer of automotive Ethernet adopts Broadcom's BroadR-Reach technology, and the physical layer technology of BroadR-Reach has been developed by One-pair Ethernet alliance (OPEN) standardization. Automotive Ethernet can achieve a data transmission rate of 100Mbps or even 1Gbps on a single unshielded twisted pair, and also meet the requirements of the automotive industry for high reliability, low electromagnetic radiation, low power consumption, low delay, and synchronous real-time performance. . The MAC layer of the vehicle Ethernet adopts the interface standard of IEEE 802.3, which can support widely used high-level network protocols (such as TCP/IP).
车载以太网配置有车载以太网芯片，信号的传输需要经过车载以太网芯片进行信号的封装或解包，车载以太网芯片包括物理层(PHY层)和介质访问控制层(MAC层)，其中介质访问控制层采用IEEE 802.3的接口标准。The vehicle-mounted Ethernet is equipped with a vehicle-mounted Ethernet chip. Signal transmission needs to be encapsulated or unpacked by the vehicle-mounted Ethernet chip. The vehicle-mounted Ethernet chip includes a physical layer (PHY layer) and a media access control layer (MAC layer). The access control layer adopts the interface standard of IEEE 802.3.
车载以太网还包括以太网音视频桥接技术(Ethernet Audio/Video Bridging,AVB)协议，AVB协议主要包括四个标准802.1AS精准时间同步协议、802.1Qat流预留协议、802.1Qav队列及转发协议、802.1BA音视频桥接系统标准：Vehicle Ethernet also includes Ethernet Audio/Video Bridging (AVB) protocol. AVB protocol mainly includes four standard 802.1AS precise time synchronization protocol, 802.1Qat stream reservation protocol, 802.1Qav queue and forwarding protocol, 802.1BA audio and video bridge system standard:
802.1AS精准时间同步协议(PrecisionTime Protocol，简称PTP):提供低延迟、低抖动的时钟。PTP基于IEEE1588:2002协议，定义了整个网络的时钟同步机制。通过定义主时钟选择与协商算法、路径延迟测算与补偿、以及时钟频率匹配与调节的机制，PTP设备交换标准的以太网消息，将网络各个节点的时间都同步到一个共同的主时钟。作为IEEE1588协议的一个简化版本，IEEE802.1AS与1588的最大区别在于PTP是一个完全基于二层网络，非IP路由的协议。与IEEE1588一样，PTP定义了一个自动协商网络主时钟的方法，即最优主时钟算法(Best Master Clock Algorithm，简称BMCA)。BMCA定义了底层的协商和信令机制，用于标识出AVB局域网内的主时钟(Grandmaster)。一旦主时钟被选定，所有局域网节点的PTP设备将以此主时钟为参考值，如果Grandmaster发生变化，整个AVB网络也能通过BMCA在最短时间确定新的主时钟，确保整个网络保持时间同步。802.1AS的核心在于时间戳机制(Timestamping)。PTP消息在进出具备802.1AS功能的端口时，会根据协议触发对本地实时时钟(RTC)的采样，将自己的RTC值与来自该端口相对应的主时钟(Master)的信息进行比较，利用路径延迟测算和补偿技术，将其RTC时钟值匹配到PTP域的时间。当PTP同步机制覆盖了整个AVB局域网，各网络节点设备间就可以通过周期性的PTP消息的交换精确地实现时钟调整和频率匹配算法。最终，所有的PTP节点都将同步到相同的“挂钟”(Wall Clock)时间，即Grandmaster时间。在最大7跳的网络环境中，理论上PTP能够保证时钟同步误差在1μs以内。802.1AS Precision Time Protocol (PrecisionTime Protocol, referred to as PTP): Provides a low-latency, low-jitter clock. Based on the IEEE1588:2002 protocol, PTP defines the clock synchronization mechanism of the entire network. By defining master clock selection and negotiation algorithms, path delay measurement and compensation, and clock frequency matching and adjustment mechanisms, PTP devices exchange standard Ethernet messages to synchronize the time of each node in the network to a common master clock. As a simplified version of the IEEE1588 protocol, the biggest difference between IEEE802.1AS and 1588 is that PTP is a protocol based entirely on the two-layer network and non-IP routing. Like IEEE1588, PTP defines a method for automatically negotiating a network master clock, that is, Best Master Clock Algorithm (BMCA for short). BMCA defines the underlying negotiation and signaling mechanism, which is used to identify the Grandmaster in the AVB LAN. Once the master clock is selected, the PTP devices of all LAN nodes will use this master clock as a reference value. If the Grandmaster changes, the entire AVB network can also determine a new master clock in the shortest time through BMCA to ensure that the entire network maintains time synchronization. The core of 802.1AS lies in the timestamp mechanism (Timestamping). When a PTP message enters or exits a port with 802.1AS functions, it will trigger the sampling of the local real-time clock (RTC) according to the protocol, compare its own RTC value with the information from the corresponding master clock (Master) of the port, and use the path Delay measurement and compensation technology to match its RTC clock value to the time of the PTP domain. When the PTP synchronization mechanism covers the entire AVB local area network, the clock adjustment and frequency matching algorithms can be accurately realized through the exchange of periodic PTP messages among the network node devices. Eventually, all PTP nodes will be synchronized to the same "Wall Clock" (Wall Clock) time, which is Grandmaster time. In a network environment with a maximum of 7 hops, theoretically, PTP can ensure that the clock synchronization error is within 1 μs.
802.1Qat流预留协议(StreamReservation Protocol，简称SRP):解决网络中AV实时流量与普通异步TCP流量之间的竞争问题。通过协商机制，在AV流从源设备到不同交换机再到终端设备的整个路径上预留出所需的带宽资源，以提供端到端(End-to-End)的服务质量及延迟保障。802.1Qat Stream Reservation Protocol (StreamReservation Protocol, SRP for short): solves the competition problem between AV real-time traffic and ordinary asynchronous TCP traffic in the network. Through the negotiation mechanism, the required bandwidth resources are reserved on the entire path of the AV stream from the source device to different switches and then to the terminal device to provide end-to-end (End-to-End) service quality and delay guarantee.
802.1Qav队列及转发协议(Queuing and Forwarding Protocol，简称Qav):解决网络中AV实时流量与普通异步TCP流量之间的竞争问题。通过协商机制，在AV流从源设备到不同交换机再到终端设备的整个路径上预留出所需的带宽资源，以提供端到端(End-to-End)的服务质量及延迟保障。802.1Qav queuing and forwarding protocol (Queuing and Forwarding Protocol, referred to as Qav): solve the competition problem between AV real-time traffic and ordinary asynchronous TCP traffic in the network. Through the negotiation mechanism, the required bandwidth resources are reserved on the entire path of the AV stream from the source device to different switches and then to the terminal device to provide end-to-end (End-to-End) service quality and delay guarantee.
802.1BA音视频桥接系统协议(Audio/VideoBridging Systems，简称AVB):definitionof profiles for AVB systems。802.1BA audio and video bridging system protocol (Audio/VideoBridging Systems, referred to as AVB): definition of profiles for AVB systems.
由于这些协议的存在，能够及时对音频、视频的传输进行时间同步，降低画面的延迟，提高用户的体验，而且成本低。Due to the existence of these protocols, it is possible to time-synchronize the transmission of audio and video in time, reduce the delay of the picture, improve the user experience, and the cost is low.
实施例2Example 2
本实施例提供一种汽车的防剐蹭方法，车辆驾驶员将车辆停放到停车位时，通过距离传感器计算车门与相邻障碍物的间距，然后将车门与相邻障碍物的间距与预设值进行比较，根据比较结果通过控制车门开度传感器从而对车门开度进行控制，使其车门开到所控制的最大开度时不会造成相邻障碍物的刮蹭。This embodiment provides an anti-scratch method for a car. When the vehicle driver parks the vehicle in a parking space, the distance sensor calculates the distance between the door and the adjacent obstacle, and then compares the distance between the door and the adjacent obstacle with the preset value. Carry out the comparison, and control the door opening by controlling the door opening sensor according to the comparison result, so that the adjacent obstacles will not be scratched when the door is opened to the controlled maximum opening.
将汽车停止后汽车与相邻障碍物的间距与预设值进行比较并获取比较结果以及车门开度传感器的控制是通过控制器进行完成的。After the car stops, the distance between the car and the adjacent obstacle is compared with the preset value, and the comparison result is obtained, and the control of the door opening sensor is completed through the controller.
具体参见图3，图3为本实施例本车停到车位上时本车与相邻车之间的间距大于本车车门最大垂直距离的示意图，图3中，显示有第一车位、第二车位、第三车位，在第一车位上停放有左相邻车，第三车位上停放有右相邻车，当本车车位开始停放在第二车位时，距离传感器开始实时测量车门距离左相邻车与右相邻车的间距，根据停车完成后本车与相邻车辆的间距同本车车门的最大垂直距离进行大小比较。Specifically referring to Fig. 3, Fig. 3 is the sketch map that the space between this car and the adjacent car is greater than the maximum vertical distance of this car door when this car is parked on the parking space in this embodiment, among Fig. 3, show the first parking space, the second Parking space, the third parking space, there is a left adjacent car parked in the first parking space, and a right adjacent car is parked in the third parking space. When the parking space starts to park in the second parking space, the distance sensor starts to measure the distance from the door to the left in real time. The distance between the neighboring car and the right neighboring car is compared according to the distance between the own car and the adjacent vehicle and the maximum vertical distance of the door of the own car after the parking is completed.
第一情形定义为：本车停车完成后本车与相邻车辆的间距大于本车车门的最大垂直距离，如图3所示。第二情形定义为：本车停车完成后本车与相邻车辆的间距小于等于本车车门的最大垂直距离，但大于最小侧身下车垂直距离。第三情形定义为包括本车停车完成后本车与相邻车辆的间距小于最小侧身下车垂直距离。The first situation is defined as: after the vehicle is parked, the distance between the vehicle and adjacent vehicles is greater than the maximum vertical distance of the vehicle door, as shown in FIG. 3 . The second situation is defined as: after the vehicle is parked, the distance between the vehicle and the adjacent vehicle is less than or equal to the maximum vertical distance of the vehicle door, but greater than the minimum vertical distance of getting off the vehicle sideways. The third situation is defined as including that the distance between the self-vehicle and the adjacent vehicle is less than the minimum vertical distance of getting off the vehicle after the self-vehicle stops.
参见图5，图5为本实施例本车停到车位上时汽车与相邻车之间的间距大于最大车门垂直距离时的抽象几何距离示意图。EF表示相邻车的边线，CF为停车后本车与相邻车的间距S2，α为最大开度角α，AD为停车后本车车门的最大垂直距离S1,从图中可以看出，S1<S2。即此时，车门处于最大开启状态，也不会对相邻车辆造成刮蹭。在此第一情形下，控制器无须对车门开度传感器进行控制，车门能够处于最大开度，车门最大开度对应的角为α。Referring to Fig. 5, Fig. 5 is the schematic diagram of the abstract geometric distance when the distance between the car and the adjacent car is greater than the maximum vertical distance of the car door when the car is parked on the parking space in this embodiment. EF is the sideline of the adjacent car, CF is the distance S2 between the car and the adjacent car after parking, α is the maximum opening angle α, and AD is the maximum vertical distance S1 of the door of the car after parking. It can be seen from the figure that S1<S2. That is, at this time, the door is in the maximum open state, and it will not cause scratches to adjacent vehicles. In this first situation, the controller does not need to control the door opening sensor, the door can be at the maximum opening, and the angle corresponding to the maximum opening of the door is α.
需要说明的是通常汽车有四个门，分别为左前门、右前门、左后门、右后门，由于车辆不同车门处于的环境不相同，不同的驾驶员在同一车位上停车的位置也会存在差异，车辆可能处于垂直位置，也有可能处于倾斜位置。相邻车辆位于车位时，可能存在垂直位置，也有可能存在倾斜位置。不同车门与相邻车辆的间距存在不同的情形，可能左前门处于第一情形，右前门门处于第二情形、左后门处于第三情形，右后门处于第一情形等。本实施为了简述方便，仅示意其中一个车门进行说明，实际上汽车停放在停车位时，都需要对四个车门距离相邻车辆的间距进行计算，然后分别将四个车门的间距与相应本车门的最大垂直距离进行比较。It should be noted that a car usually has four doors, namely the left front door, the right front door, the left rear door, and the right rear door. Due to the different environments of the different doors of the vehicle, different drivers will park in different positions in the same parking space. , the vehicle may be in a vertical or inclined position. When an adjacent vehicle is in a parking space, there may be a vertical position or an oblique position. Different vehicle doors have different distances from adjacent vehicles. It is possible that the left front door is in the first situation, the right front door is in the second situation, the left rear door is in the third situation, and the right rear door is in the first situation. For the convenience of brief description, this implementation only shows one of the doors for illustration. In fact, when a car is parked in a parking space, it is necessary to calculate the distance between the four doors and the adjacent vehicle, and then calculate the distance between the four doors and the corresponding vehicle. The maximum vertical distance of the door is compared.
第二情形定义为车辆停车完成后本车与相邻车辆的间距小于等于本车车门的最大垂直距离但大于最小侧身下车垂直距离，具体参见图6和图7，图6为本实施例本车停到车位上时本车与左相邻车之间的间距小于等于本车车门最大垂直距离但大于最小侧身下车垂直距离的示意图，图7为本发明一实施例本车停到车位上时本车与左相邻车之间的间距小于最大车门垂直距离但大于最小侧身下车垂直距离的抽象几何距离示意图。第一车位停放左相邻车、第三车位停放右相邻车，第二车位停放本车。参见图7，EF表示左相邻车的边线，α为本车车门的最大开度是对应的最大开度角，AD为本车车门的最大垂直距离S1,CF为停车后本车与左邻车的间距S2，最大安全角度为β，HI为本车车门的最小侧身下车距离S3，此时对应角度为最小侧身下车角γ。从图中可以看出，S3<S2<S1。弧线段BC为车门的运动轨迹，OB表示车门沿着转轴O点，由C点运动B点。即第二情形下，如果车门开启到最大开度时，会对左相邻车造成刮蹭。为了避免开车门时造成左相邻车的刮蹭，需要通过控制器去控制车门开度传感器减少车门的最大开度角，使其最大开度角调整为β，从而使得车门开度到小于最大安全开度角β，此时，车门的垂直距离小于S2，避免车门对左相邻车造成刮蹭。The second situation is defined as the distance between the vehicle and the adjacent vehicle after the vehicle is parked, which is less than or equal to the maximum vertical distance of the vehicle door but greater than the minimum vertical distance of getting off the vehicle sideways. See Figure 6 and Figure 7 for details. When the car is parked on the parking space, the distance between the car and the left adjacent car is less than or equal to the maximum vertical distance of the car door but greater than the minimum vertical distance of getting off the car sideways. Fig. 7 is an embodiment of the present invention when the car is parked on the parking space Schematic diagram of the abstract geometric distance between the car and the left adjacent car when the distance is less than the maximum vertical distance of the door but greater than the minimum vertical distance of getting off the car sideways. The left adjacent car is parked in the first parking space, the right adjacent car is parked in the third parking space, and the own car is parked in the second parking space. Referring to Figure 7, EF represents the sideline of the left adjacent car, α represents the maximum opening of the vehicle’s door and the corresponding maximum opening angle, AD represents the maximum vertical distance S1 of the vehicle’s door, and CF represents the distance between the vehicle and the left neighbor after parking. The distance between cars is S2, the maximum safety angle is β, HI is the minimum sideways alighting distance S3 of the vehicle door, and the corresponding angle is the minimum sideways alighting angle γ. It can be seen from the figure that S3<S2<S1. The arc segment BC is the motion track of the door, and OB means that the door moves from point C to point B along the axis of rotation. That is, in the second situation, if the door is opened to the maximum opening, it will scratch the left adjacent car. In order to avoid scratching the left adjacent car when opening the door, it is necessary to control the door opening sensor to reduce the maximum opening angle of the door through the controller, so that the maximum opening angle is adjusted to β, so that the door opening is less than the maximum The safe opening angle β, at this time, the vertical distance of the door is less than S2, so as to prevent the door from scratching the left adjacent car.
第三情形定义为包括本车停车完成后本车与相邻车辆的间距小于最小侧身下车垂直距离，控制传感器根据间距调整车门的开度，由于此时的间距较小，车门在大安全角度为β情况下形成最大开度对应的车门的垂直距离小于最小侧身下车垂直距离，此时驾驶员或者车上乘客无法下车，控制器会下发出报警的指令给报警模块启动报警提示音提醒驾驶员进行位置调整。The third situation is defined as including that the distance between the self-car and the adjacent vehicle is less than the minimum vertical distance of getting off the vehicle after the vehicle is parked, and the control sensor adjusts the opening of the door according to the distance. In the case of β, the vertical distance of the door corresponding to the maximum opening is less than the minimum vertical distance of getting off the vehicle sideways. At this time, the driver or passengers cannot get off the vehicle, and the controller will issue an alarm command to the alarm module to activate the alarm sound reminder The driver makes position adjustments.
具体地，需要说明的是，本发明所有实施例中的“连接”、“电连接”可以包括直接连接、间接连接、通信连接。Specifically, it should be noted that "connection" and "electrical connection" in all embodiments of the present invention may include direct connection, indirect connection, and communication connection.
以上所述的仅是本发明的优选实施方式，本发明不限于以上实施例。本领域的技术人员可以清楚，该实施例中的形式不局限于此，同时可调整方式也不局限于此。可以理解，本领域技术人员在不脱离本发明的基本构思的前提下直接导出或联想到的其他改进和变化，均应认为包含在发明的保护范围之内。What is described above is only a preferred embodiment of the present invention, and the present invention is not limited to the above examples. Those skilled in the art can understand that the form in this embodiment is not limited thereto, and the adjustable manner is not limited thereto either. It can be understood that other improvements and changes directly derived or conceived by those skilled in the art without departing from the basic concept of the present invention shall be considered to be included in the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910777817.2ACN110549940B (en) | 2019-08-21 | 2019-08-21 | Automobile scratch prevention method and system based on vehicle-mounted Ethernet |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910777817.2ACN110549940B (en) | 2019-08-21 | 2019-08-21 | Automobile scratch prevention method and system based on vehicle-mounted Ethernet |
| Publication Number | Publication Date |
|---|---|
| CN110549940Atrue CN110549940A (en) | 2019-12-10 |
| CN110549940B CN110549940B (en) | 2022-01-21 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910777817.2AActiveCN110549940B (en) | 2019-08-21 | 2019-08-21 | Automobile scratch prevention method and system based on vehicle-mounted Ethernet |
| Country | Link |
|---|---|
| CN (1) | CN110549940B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112721801A (en)* | 2021-01-19 | 2021-04-30 | 东风汽车集团股份有限公司 | Vehicle parking anti-collision method and vehicle parking anti-collision system |
| CN113513228A (en)* | 2021-05-27 | 2021-10-19 | 上汽大众汽车有限公司 | Electromagnetic automatic opening and closing door for automobile |
| CN113569698A (en)* | 2021-07-22 | 2021-10-29 | 上汽通用五菱汽车股份有限公司 | Vehicle monitoring method, vehicle and computer readable storage medium |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19836310A1 (en)* | 1998-08-11 | 2000-03-02 | Jochen Bruell | Restraint device for vehicle door can be switched on and off and is controlled by monitoring device which monitors for presence of stationary and/or approaching obstacles |
| KR100622729B1 (en)* | 2004-06-18 | 2006-09-14 | 기아자동차주식회사 | Control method of door opening assistance system |
| CN205531905U (en)* | 2016-01-14 | 2016-08-31 | 北京汽车股份有限公司 | Car door switch control device and car |
| CN206568972U (en)* | 2017-03-01 | 2017-10-20 | 北京汽车股份有限公司 | Door control system and automobile |
| CN108528443A (en)* | 2018-03-29 | 2018-09-14 | 京东方科技集团股份有限公司 | Vehicle and its anti-scratch method, system, processor |
| CN108909618A (en)* | 2018-07-03 | 2018-11-30 | 陕西科技大学 | A kind of anti-side crash device of opening door of vehicle and application method |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19836310A1 (en)* | 1998-08-11 | 2000-03-02 | Jochen Bruell | Restraint device for vehicle door can be switched on and off and is controlled by monitoring device which monitors for presence of stationary and/or approaching obstacles |
| KR100622729B1 (en)* | 2004-06-18 | 2006-09-14 | 기아자동차주식회사 | Control method of door opening assistance system |
| CN205531905U (en)* | 2016-01-14 | 2016-08-31 | 北京汽车股份有限公司 | Car door switch control device and car |
| CN206568972U (en)* | 2017-03-01 | 2017-10-20 | 北京汽车股份有限公司 | Door control system and automobile |
| CN108528443A (en)* | 2018-03-29 | 2018-09-14 | 京东方科技集团股份有限公司 | Vehicle and its anti-scratch method, system, processor |
| CN108909618A (en)* | 2018-07-03 | 2018-11-30 | 陕西科技大学 | A kind of anti-side crash device of opening door of vehicle and application method |
| Title |
|---|
| 中国汽车工程学会 丰田汽车公司: "《中国汽车技术发展报告2017》", 30 November 2017* |
| 许勇: "《工业通信网络技术和应用》", 31 January 2013, 西安电子科技大学出版社* |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112721801A (en)* | 2021-01-19 | 2021-04-30 | 东风汽车集团股份有限公司 | Vehicle parking anti-collision method and vehicle parking anti-collision system |
| CN112721801B (en)* | 2021-01-19 | 2022-06-03 | 东风汽车集团股份有限公司 | Vehicle parking anti-collision method and vehicle parking anti-collision system |
| CN113513228A (en)* | 2021-05-27 | 2021-10-19 | 上汽大众汽车有限公司 | Electromagnetic automatic opening and closing door for automobile |
| CN113569698A (en)* | 2021-07-22 | 2021-10-29 | 上汽通用五菱汽车股份有限公司 | Vehicle monitoring method, vehicle and computer readable storage medium |
| CN113569698B (en)* | 2021-07-22 | 2023-10-27 | 上汽通用五菱汽车股份有限公司 | Vehicle monitoring method, vehicle and computer readable storage medium |
| Publication number | Publication date |
|---|---|
| CN110549940B (en) | 2022-01-21 |
| Publication | Publication Date | Title |
|---|---|---|
| CN110549940A (en) | automobile scratch prevention method and system based on vehicle-mounted Ethernet | |
| US11215993B2 (en) | Method and device for data sharing using MEC server in autonomous driving system | |
| CN112005588B (en) | Wireless local area network for vehicles | |
| EP2960095B1 (en) | Head-up display apparatus for vehicle | |
| EP2958275B1 (en) | Limp-home operation of audio video bridging networks | |
| WO2019141093A1 (en) | Method and apparatus for selecting communication mode, and vehicle | |
| KR20210053385A (en) | Vehicle Having a Dangerous Situation Notification Function and Control Method thereof | |
| KR102716460B1 (en) | Method and apparatus for data security for autonomous vehicle | |
| US20050264431A1 (en) | Forwarding system for long-range preemption and corridor clearance for emergency response | |
| CN106210503A (en) | In vehicle-mounted ethernet communication network camera shutter synchronize control method and equipment | |
| CN111016651A (en) | Vehicle, vehicle-mounted equipment, extensible vehicle-mounted display screen and control method | |
| JP2019029992A (en) | Network monitoring device, network monitoring method and program | |
| CN113345240A (en) | Highway vehicle importing method and system based on intelligent networking environment | |
| CN113744564B (en) | Intelligent networking bus road cooperative control system based on edge calculation | |
| CN108010339B (en) | Intersection signal lamp control method based on bus stop time | |
| CN103198715B (en) | Auxiliary parking system and parking and safe alarming method | |
| CN210970847U (en) | Automobile anti-scratch system based on vehicle-mounted Ethernet and automobile | |
| CN104290681A (en) | Vehicle door opening control system and method | |
| Eiermann et al. | Cooperative automated lane merge with role-based negotiation | |
| CN110853406A (en) | Lane change early warning method, system, server and vehicle based on 5G technology | |
| JP7459293B2 (en) | Method, computer program and apparatus for invoking a remote control driving session - Patents.com | |
| US20210327275A1 (en) | A first on-board control unit and a method for operating a first on-board control unit | |
| WO2005029437A2 (en) | Forwarding system for long-range preemption and corridor clearance for emergency response | |
| JP2018164121A (en) | Communication apparatus and communication system | |
| CN210363590U (en) | Vehicle body bottom image driving auxiliary system |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | Address after:Room 403, block a, 1018 dongsanliqiao Road, Pudong New Area, Shanghai 200125 Patentee after:Heqian Automotive Technology (Shenzhen) Co.,Ltd. Country or region after:China Address before:Room 403, block a, 1018 dongsanliqiao Road, Pudong New Area, Shanghai 200125 Patentee before:SHANGHAI HINGE ELECTRONIC TECHNOLOGIES Co.,Ltd. Country or region before:China | |
| CP03 | Change of name, title or address |