阅读说明：本技术 车门开启预警系统和方法 (Vehicle door opening early warning system and method ) 是由 陈宁 马骁 朱晓华 史钟晖 于 2020-03-31 设计创作，主要内容包括：本发明涉及车门开启预警系统和方法。车门开启预警系统包括：传感器单元,其配置成用于获取与车辆周围的对象相关联的信息；以及处理单元,其配置成基于来自传感器单元的信息、并结合预设条件来针对目标对象采用相应的预警方式,所述目标对象为需要针对其进行预警的对象；其中,处理单元采用多层级方式来筛选目标对象。车门开启预警方法包括以下步骤：获取与车辆周围的对象相关联的信息；以及基于信息、并结合预设条件来针对目标对象采用相应的预警方式,所述目标对象为需要针对其进行预警的对象；其中,采用多层级方式来筛选目标对象。(The invention relates to a vehicle door opening early warning system and a vehicle door opening early warning method. The early warning system is opened to the door includes: a sensor unit configured to acquire information associated with an object around a vehicle; the processing unit is configured to adopt a corresponding early warning mode for a target object based on information from the sensor unit and in combination with a preset condition, wherein the target object is an object for which early warning is required; the processing unit screens the target object in a multi-level mode. The early warning method for the opening of the vehicle door comprises the following steps: acquiring information associated with objects around a vehicle; adopting a corresponding early warning mode aiming at a target object based on the information and in combination with a preset condition, wherein the target object is an object needing to be early warned aiming at the target object; wherein, a multi-level mode is adopted to screen the target object.)

1. A vehicle door opening warning system comprising:

a sensor unit configured to acquire information associated with an object around a vehicle; and

a processing unit configured to adopt a corresponding early warning manner for a target object based on the information from the sensor unit in combination with a preset condition, the target object being an object for which early warning is required;

wherein the processing unit screens the target object in a multi-level manner.

2. The system of claim 1, wherein the preset conditions include: whether the door is open and/or whether the object is in a particular target screening zone.

3. The system of claim 1, wherein the processing unit is further configured to, when filtering the target object in the multi-hierarchy manner, perform the following:

dividing a target screening area into a first area and a second area; and

determining the object as a target object after the object enters the first region until before exiting the second region;

wherein the first region is part of the second region.

4. The system of claim 2 or 3, wherein the target screening zone comprises a first target screening zone and a second target screening zone, wherein the second target screening zone is farther from the vehicle than the first target screening zone.

5. The system of claim 1, wherein the processing unit is further configured to: in a case where it is determined that the object is directly behind the vehicle based on the information from the sensor unit, no early warning is performed.

6. The system of claim 1, wherein the information associated with the object comprises one or more of: position, speed, direction of movement, and profile.

7. The system of claim 1, further comprising:

an instrument panel control unit configured to display door opening warning information in response to an instrument panel control signal from the processing unit; and/or

An infotainment system control unit configured to present door opening warning information in response to an infotainment system control signal from the processing unit.

8. The system of claim 1, wherein the processing unit is further configured to:

receiving information on a state of a door from a body control unit;

receiving information about the vehicle speed from an engine control unit; and

information about the motion state of the vehicle is received from a brake control unit.

9. The system of claim 1, wherein the sensor unit comprises a millimeter wave sensor.

10. A vehicle door opening early warning method comprises the following steps:

acquiring information associated with objects around a vehicle; and

adopting a corresponding early warning mode aiming at a target object based on the information and combining a preset condition, wherein the target object is an object needing to be early warned aiming at the target object;

wherein the target object is screened in a multi-level manner.

11. The method of claim 10, wherein the preset conditions include: whether the door is open and/or whether the object is in a particular target screening zone.

12. The method of claim 10, wherein screening the target object in the multi-hierarchy manner further comprises:

dividing a target screening area into a first area and a second area; and

determining the object as a target object after the object enters the first region until before exiting the second region;

wherein the first region is part of the second region.

13. The method of claim 11 or 12, wherein the target screening zone comprises a first target screening zone and a second target screening zone, wherein the second target screening zone is farther from the vehicle than the first target screening zone.

14. The method of claim 10, further comprising:

in a case where it is determined that the object is directly behind the vehicle based on the information from the sensor unit, no early warning is performed.

15. The method of claim 10, wherein the information associated with the object comprises one or more of: position, speed, direction of movement, and profile.

16. The method of claim 10, further comprising the steps of:

displaying door opening warning information in response to an instrument panel control signal from the processing unit; and/or

Vehicle door opening warning information is presented in response to infotainment system control signals from the processing unit.

17. The method of claim 10, further comprising the steps of:

receiving information about a state of a vehicle door;

receiving information about the vehicle speed; and

receiving information about the vehicle motion state.

Technical Field

The invention relates to the technical field of automobile control. Particularly, the invention relates to a vehicle door opening early warning system and a vehicle door opening early warning method.

Background

In recent years, the number of automobiles has increased rapidly, and a traffic accident caused by careless opening of doors when passengers get off the automobile has taken a considerable part. Before getting off, if a driver or a passenger opens the vehicle door without observing the situation outside the vehicle, the motorcycle and the like which are quickly approached from the rear easily collide with the vehicle door or the person getting off the vehicle, and serious injury is possibly caused.

Disclosure of Invention

Therefore, a vehicle door opening early warning system, a vehicle door opening early warning method and a vehicle door opening early warning device capable of reminding people according to different vehicle exterior conditions are needed.

To achieve one or more of the above objects, the present invention provides the following technical solutions.

According to a first aspect of the present invention, there is provided a vehicle door opening warning system comprising: a sensor unit configured to acquire information associated with an object around a vehicle; the processing unit is configured to adopt a corresponding early warning mode for a target object based on the information from the sensor unit and in combination with a preset condition, and the target object is an object for which early warning is required; the processing unit screens the target object in a multi-level mode.

According to an embodiment of the present invention, the preset condition includes: whether the doors are open and/or whether the object is in a particular target screening zone.

The system according to another embodiment of the invention or any of the embodiments above, wherein the processing unit is further configured to perform the following operations when screening the target object in a multi-level manner: dividing a target screening area into a first area and a second area; and determining the object as the target object after the object enters the first region until before the object leaves the second region; wherein the first region is part of the second region.

A system according to another embodiment of the invention or any of the embodiments above wherein the target screening zone includes a first target screening zone and a second target screening zone, wherein the second target screening zone is further from the vehicle than the first target screening zone.

The system according to another embodiment of the invention or any of the embodiments above, wherein the processing unit is further configured to: in the case where it is determined that the object is directly behind the vehicle based on the information from the sensor unit, the warning is not performed.

A system according to another embodiment of the invention or any of the embodiments above wherein the information associated with the object includes one or more of the following: position, speed, direction of movement, and profile.

A system according to another embodiment of the invention or any of the embodiments above, further comprising: an instrument panel control unit configured to display door opening warning information in response to an instrument panel control signal from the processing unit; and/or an infotainment system control unit configured to present door opening warning information in response to an infotainment system control signal from the processing unit.

The system according to another embodiment of the invention or any of the embodiments above, wherein the processing unit is further configured to: receiving information on a state of a door from a body control unit; receiving information about a vehicle speed from an engine control unit; and receiving information on the moving state of the vehicle from the brake control unit.

A system according to another embodiment of the invention or any of the embodiments above, wherein the sensor unit comprises a millimeter wave sensor.

According to a second aspect of the present invention, there is provided a vehicle door opening warning method, including the steps of: acquiring information associated with objects around a vehicle; adopting a corresponding early warning mode aiming at a target object based on the information and by combining a preset condition, wherein the target object is an object needing to be early warned aiming at the target object; wherein, a multi-level mode is adopted to screen the target object.

The method according to an embodiment of the present invention, wherein the preset condition includes: whether the doors are open and/or whether the object is in a particular target screening zone.

The method according to another embodiment or any of the above embodiments, wherein the screening the target objects in a multi-level manner further comprises the following operations: dividing a target screening area into a first area and a second area; and determining the object as the target object after the object enters the first region until the object leaves the second region; wherein the first region is part of the second region.

A method according to another embodiment of the invention or any of the embodiments above wherein the target screening zone includes a first target screening zone and a second target screening zone, wherein the second target screening zone is further from the vehicle than the first target screening zone.

A method according to another embodiment of the invention or any of the embodiments above, further comprising: in the case where it is determined that the object is directly behind the vehicle based on the information from the sensor unit, the warning is not performed.

A method according to another embodiment of the invention or any of the embodiments above wherein the information associated with the object includes one or more of the following: position, speed, direction of movement, and profile.

A method according to another embodiment of the invention or any of the embodiments above, further comprising the steps of: displaying door opening warning information in response to an instrument panel control signal from the processing unit; and/or display door opening warning information in response to infotainment system control signals from the processing unit.

A method according to another embodiment of the invention or any of the embodiments above, further comprising the steps of: receiving information about a state of a vehicle door; receiving information about a vehicle speed; and receiving information about the motion state of the vehicle.

By using the vehicle door opening early warning system and method provided by the invention, the probability of collision when the vehicle door is opened can be efficiently reduced, meanwhile, the target object is more accurately screened in a mode based on multiple regions, multiple levels and target contour characteristic points, and the instability of the screening result of the target object caused by the fact that the target object is positioned at the boundary of the screening region is greatly reduced.

Drawings

The above and/or other aspects and advantages of the present invention will become more apparent and more readily appreciated from the following description of the various aspects taken in conjunction with the accompanying drawings, in which like or similar elements are designated with like reference numerals. The drawings comprise:

FIG. 1 is a schematic block diagram of a vehicle door opening warning system 100 according to an embodiment of the present invention;

fig. 2 is a schematic diagram illustrating a target screening area including a far zone and a near zone divided by the vehicle door opening warning system 100 according to an embodiment of the present invention;

FIG. 3 is a schematic diagram illustrating an inbound zone and an outbound zone of a near zone according to an embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating an entry zone and an exit zone of a remote zone in accordance with an embodiment of the present invention;

FIG. 5 is a schematic diagram illustrating a case where a forward warranty center point of a target vehicle enters a left screening area of a near zone according to an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating a situation where most contour points of a target vehicle enter a left screening area of a near zone according to an embodiment of the present invention; and

fig. 7 is a schematic diagram illustrating a case where a target vehicle is located directly behind a host vehicle according to an embodiment of the invention.

Detailed Description

In this specification, the invention is described more fully with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. This invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. The embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

Words such as "comprising" and "comprises" mean that, in addition to having elements or steps which are directly and unequivocally stated in the description and the claims, the solution of the invention does not exclude other elements or steps which are not directly or unequivocally stated. Terms such as "first" and "second" do not denote an order of the elements in time, space, size, etc., but rather are used to distinguish one element from another.

The present invention is described below with reference to flowchart illustrations, block diagrams, and/or flow diagrams of methods and systems according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block and/or flow diagram block or blocks.

These computer program instructions may be loaded onto a computer or other programmable data processor to cause a series of operational steps to be performed on the computer or other programmable processor to produce a computer implemented process such that the instructions which execute on the computer or other programmable processor provide steps for implementing the functions or acts specified in the flowchart and/or block diagram block or blocks. It should also be noted that, in some alternative implementations, the functions/acts noted in the blocks may occur out of the order noted in the flowcharts. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved.

Referring now to fig. 1, fig. 1 is a schematic block diagram of a vehicle door opening warning system 100 according to an embodiment of the present invention. The door opening warning system 100 may mainly include a sensor unit 110 and a processing unit 120. The sensor unit 110 may be configured to acquire information associated with objects around the vehicle. In one embodiment, sensor unit 110 includes, but is not limited to, millimeter wave radar group sensors to acquire information associated with objects surrounding the vehicle, including, but not limited to, one or more of the following: position, speed, direction of movement, and contour of the object. For example, the millimeter wave radar group can use 76-77GHz high-precision millimeter wave radar which is respectively positioned at four corners of the left front, the right front, the left back and the right back of the host vehicle so as to achieve the effect of detecting and tracking objects in a 360-degree surrounding manner around the vehicle. In the present application, the door opening warning system 100 is used for a door opening warning operation of a vehicle (hereinafter referred to as a host vehicle, marked with "H") in which the door opening warning system is located, but the possibility that the door opening warning system 100 is used for door opening of other vehicles is not excluded.

The processing unit 120 may be configured to adopt a corresponding pre-warning manner for a target object based on the information from the sensor unit 110 and in combination with preset conditions, wherein the target object refers to an object for which pre-warning is required. In general, the target object refers to a vehicle (including an automobile, a motorcycle, a bicycle, etc.), a pedestrian, a building, an animal, etc., which may cause danger due to a person in the vehicle opening a door, and is hereinafter referred to as a target vehicle (marked with "T"), a target pedestrian, a target building, a target animal, etc., accordingly. In particular, the processing unit 120 screens the above-mentioned target objects in a multi-level manner, which will be described in detail below.

Various algorithms for door opening warning operations may be executed in the processing unit 120, including: the system comprises a data fusion and target tracking algorithm, a target screening algorithm, a state machine algorithm, a man-machine interface interaction control algorithm, a system self-diagnosis algorithm and an interface logic control algorithm. The data fusion and target tracking algorithm may perform fusion processing on detection data of an object by a plurality of radars so as to detect the object more accurately and track a motion state of the object, for example, whether the object has just appeared but is not stable yet, whether the object has appeared stably and becomes a mature target, or whether the object has been in a motion state, and the like, and the algorithm finally outputs various motion state physical quantities of the tracked object, including a transverse and lateral position, a velocity, an acceleration, a motion direction, a motion or static state, and the like. The target screening algorithm is responsible for further processing of these physical quantities: such as region screening, moving object position prediction, calculating collision time, etc., to evaluate which objects may pose a collision risk. The state machine algorithm is equivalent to the brain of the whole function and controls the state transition of the whole function, such as the following states: the system is switched off, the system is standby, the system is activated and the system alarms. The human-machine interface interaction control algorithm is responsible for the processing unit 120 and the data exchange logic of the infotainment system control unit 140, the dashboard control unit 130, the chime generator, the warning light 180, etc. The system self-diagnosis algorithm is responsible for the function of diagnosing faults of all electronic components related to the entire door opening warning system 100. Depending on the requirements of the different algorithms on the parameters, the processing unit 120 may receive information on the door status from the body control unit 150, for example, accordingly; receiving information about the vehicle speed from the engine control unit 160; and receives information on the moving state of the vehicle from the brake control unit 170.

The door opening warning system 100 may further include one or more of an instrument panel control unit 130, an infotainment system control unit 140, a vehicle body control unit 150, an engine control unit 160, a brake control unit 170, and warning lights 180 (not shown) (e.g., located inside the four doors). Among other things, the instrument panel control unit 130 is configured to display door opening warning information (e.g., on the instrument panel to the driver) in response to an instrument panel control signal from the processing unit 120. For example, after receiving the alarm signal from the processing unit 120, the instrument panel control unit 130 may display a door opening alarm message to a driver in a pattern and text manner. The infotainment system control unit 140 is configured to present door opening warning information in response to infotainment system control signals from the processing unit 120. For example, the infotainment system control unit 140 may be configured to provide an operator interface to passengers to open and close the door opening warning function, and to receive an alarm signal from the processing unit 120 and, for example, control the beeper to sound an alarm. The body control unit 150 may be configured to send signals of the opened or closed states of the four doors to the processing unit 120 to determine whether the four doors are in the opened or closed state. The engine control unit 160 may be used to send a speed signal of the host vehicle to the processing unit 120. The brake control unit 170 may be used to signal the motion/stationary state of the host vehicle to the processing unit 120. The four LED alarm lamps 180 at the front left, front right, rear left and rear right may be controlled by the LIN network. For example, the processing unit acts as master node of the LIN network, while the four LED lamps act as slave nodes.

Fig. 2 is an example of a target screening area used by the door opening warning system 100 according to the present invention. In this embodiment, the target screening areas of the host vehicle shown include a first target screening area and a second target screening area, where the second target screening area (also referred to as a far zone) is farther from the host vehicle than the first target screening area (also referred to as a near zone). The size and location of the proximal and distal regions may be calibrated. When the object is detected by the radar, the processing unit 120 starts to calculate the external contour feature points of the moving object by using a target screening algorithm, and compares the contour position of the object with the boundary line of a target screening area (including a first target screening area, a near area, and a second target screening area, a far area), to determine whether the object enters the near area or the far area of the detection area of the door opening early warning system. As shown in fig. 2, the anterior border of the near zone is at a distance L0 from the anterior axis and a length L1; the distal zone front boundary to the anterior axis is L2 and the length is L3. The distances from the transverse right boundaries of the near zone and the far zone to the central axis of the host vehicle are both b0, the width of the near zone is b1, and the width of the far zone is b 2. These lengths may all be calibrated values, which are calibrated according to different vehicle models and different operating conditions.

The operation of the processing unit 120 according to an embodiment for employing a corresponding pre-warning manner for a target object based on information from the sensor unit 110 in conjunction with preset conditions will now be described in detail with reference to fig. 2.

In one embodiment, the preset conditions are: whether an object (e.g., a target vehicle) is located in a particular target screening area (e.g., a remote zone). If the object enters the far zone, the processing unit 120 calculates a time to collision ttc (time to collision) at which the object reaches the host vehicle. TTC can be calculatedAnd calculating the acceleration, the speed and the relative displacement of the passing target vehicle and the host vehicle. The speed, acceleration and relative distance to the host vehicle of the target vehicle may be calculated directly or indirectly from the measurement data of the millimeter wave radar. And the acceleration of the host vehicle may be calculated, for example, by differentiating the host vehicle velocity signal. Once the TTC satisfies the condition: TCC (TCC) is less than or equal to T₀Then the processing unit 120 determines that an object causing a collision threat is found by the target screening algorithm and immediately sends out an alarm signal. Wherein T is₀A threshold value calibrated for a preset collision time.

If the object enters the near zone, the processing unit 120 determines whether the velocity of the object satisfies the condition: v_T≥V₀Once V is turned on_TIf the condition is met, the target screening algorithm of the processing unit 120 determines that an object causing a collision threat is found and immediately sends an alarm signal. Wherein V₀Is a preset calibration threshold value of the critical speed of the target vehicle.

In addition, the above door opening warning function may be set to be at the host vehicle speed V_HNot higher than a certain speed threshold V₂Time (V)_H≤V₂) Can it be executed. Wherein V₂To be calibrated, V_HThis signal may be derived from the engine control unit 160 as the host vehicle speed. At V₂In the case of setting to 0, it is indicated that the door open warning function can be performed only when the vehicle is stationary, and in this case, it is possible to directly receive a signal regarding a moving/stationary state of the vehicle from the brake control unit 170 to determine whether the host vehicle is stationary or moving.

In another embodiment, the preset conditions are: whether a door of the host vehicle is open. The warning of the vehicle door opening early warning system can be two-stage warning. In one aspect, a primary alarm is triggered when the processing unit 120 signals a left or right alarm according to the target screening algorithm while the doors of the respective side are not open. At the moment, the collision danger can be prompted only by the way that the alarm lamp 180 on the corresponding side (left side or right side) is normally on, and the sound alarm is not triggered. When the first-level alarm occurs, the front and rear door alarm lamps 180 on the left or right side may be presented in the same manner, and are always on. For example, when the processing unit 120 sends a left alarm signal, the alarm lamps 180 of the left front and rear doors are triggered to be normally on; when the processing unit 120 sends out a right alarm signal, the alarm lamp 180 of the right front and rear doors is triggered to be normally on. On the other hand, if a left or right alarm signal is issued by the target screening algorithm of the processing unit 120 while the corresponding left or right front or rear door is open, a secondary alarm may be triggered at the corresponding door. At this moment, the alarm lamp 180 of the corresponding vehicle door flashes, and simultaneously, a sound alarm signal is sent to the infotainment system control unit 140, so that the buzzer generator can be controlled to emit buzzing sound, and alarm information can be displayed on the dashboard. At a door that is not open, the secondary alarm may not be triggered.

Next, the operation of the door opening warning system 100 for screening target objects in a multi-level manner according to an embodiment of the present invention will be specifically described by taking fig. 3 and 4 as an example. In one embodiment, the door opening warning system 100 may divide the target screening area into a first zone (also referred to as an entrance zone) and a second zone (also referred to as an exit zone), wherein the first zone is a portion of the second zone. The door opening pre-warning system 100 may determine the object as the target object after the object enters the first zone until the object leaves the second zone.

Specifically, the door opening warning system 100 sets two levels for a first target screening zone (also referred to as a near zone) and a second target screening zone (also referred to as a far zone) of the target screening zones, respectively: an entry zone (or first zone) and an exit zone (or second zone). As shown in fig. 3, the approach zone of the near zone is formed by the edge A, B, C, D, and the exit zone of the near zone is formed by the edges a ', B', C ', D'; as shown in fig. 4, the entry region of the distal zone is partially defined by edge E, F, G and the exit region of the distal zone is partially defined by edges E ', F ', G '. The exit area is larger than the entrance area so that the entrance area is part of the exit area. The logic for screening target objects in the drive-in zone and the drive-out zone is: when an object (e.g., a target vehicle "T") has not entered the regions of any hierarchy of the far zone and the near zone, the entry zones of the far zone and the near zone are determined as the first ranges of the far zone and the near zone for screening the target object, respectively. However, once the target enters the far zone or the entrance zone of the near zone (i.e., the first range of the far zone or the near zone), the exit zones of the far zone and the near zone are respectively determined as the second range for screening the target object, that is, the target is not considered to exit the corresponding target screening zone until after the target exits the exit zone (i.e., the second range) of the corresponding zone.

If a single hierarchy is used (i.e., the first range and the second range or the entrance zone and the exit zone are not distinguished), when objects come in and go out at the boundary of the target screening area, the door opening warning system 100 may be caused to make a judgment that the target object is coming in sometimes and going out sometimes, and finally the warning lamp 180 may be caused to blink erratically. Under the condition of using a strategy of dividing the target screening area into two levels, the stability of the alarm signal can be effectively ensured.

In the above-described operation of screening the target object according to the entrance area or the exit area, in order to accurately judge the positional relationship between the target vehicle ("T") and the target screening area, the door opening warning system 100 may adopt a method of judging the target contour feature point. The processing unit 120 may abstract the vehicle into a rectangle having a certain width and length, and calculate the abscissa and ordinate of each feature contour point (including left front corner, forward bumper center, right front corner, left center, right center, left rear corner, rear bumper center, right rear corner). Thus, the relative positional relationship between the determination target vehicle and the screening area can be converted into the relationship between each feature contour point of the determination vehicle and the target screening area. By using the method, whether the target vehicle is in the target screening area, outside the area or on a certain boundary of the crossing area can be judged under the condition that the target vehicle is in various relative positions and postures. As shown in fig. 5 and 6, the target vehicle T is entering the approach zone (in fig. 5, 6, and 7, the approach zones on both sides of the host vehicle are respectively formed by the sides a, b, c, and d and the sides a ', b', c ', and d'), and at this time, the contour point enters the target screening area. For example, in fig. 5, the boundary a and b is crossed, and in fig. 6, the boundary b is crossed, the door opening warning system 100 needs to trigger an alarm.

Exceptionally, as shown in fig. 7, when the target vehicle T travels directly behind the main vehicle H and the target vehicle profile crosses the inner boundaries (d and d') of the both-side screening regions, proving that the target vehicle is in the region directly behind the host vehicle at this time, the processing unit 120 may not be triggered to generate the alarm signal. Where "directly behind" refers to a location that represents a rear vehicle in the direction of travel without intent to pass the front vehicle, as generally understood by those skilled in the art and applicable to the present scenario. That is, when the target vehicle is at this position, it can generally be judged that the vehicle does not pass by the side of the host vehicle in a short time, that is, there is generally no risk of collision with the host vehicle when the target vehicle is directly behind the host vehicle.

According to a second aspect of the present invention, a vehicle door opening warning method 200 is provided, which includes operations corresponding to those performed by the system described above. The vehicle door opening early warning method 200 includes step S201: obtaining information associated with objects surrounding a vehicle, wherein the information associated with the objects includes one or more of: position, speed, direction of movement, and profile.

The vehicle door opening warning method 200 further includes step S202: and adopting a corresponding early warning mode aiming at a target object based on the information and by combining a preset condition, wherein the target object is an object needing to be early warned aiming at the target object. The preset conditions include: whether the doors are open and/or whether the object is in a particular target screening zone. In step S202, the target object is filtered in a multi-hierarchy manner. Screening the target object in a multi-hierarchy manner may include the following operations: dividing a target screening area into a first area and a second area; and determining the object as the target object after the object enters the first region until before the object leaves the second region; wherein the first region is part of the second region.

The target screening area includes a first target screening area and a second target screening area, wherein the second target screening area is farther from the vehicle than the first target screening area. Exceptionally, in the case where it is determined that the object is directly behind the vehicle based on the information from the sensor unit, no warning is performed.

The method 200 further comprises the steps of: displaying door opening warning information in response to an instrument panel control signal from the processing unit; and/or display door opening warning information in response to infotainment system control signals from the processing unit. The method 200 further comprises the steps of: receiving information about a state of a vehicle door; receiving information about a vehicle speed; and receiving information about the motion state of the vehicle.

Under the condition of using the vehicle door opening early warning method 200, the probability of collision when the vehicle door is opened can be effectively reduced, meanwhile, the target object is more accurately screened in a mode based on multiple regions, multiple levels and target contour characteristic points, and the instability of the screening result of the target object caused by the fact that the target object is located at the boundary of the screening region is greatly reduced.

The embodiments and examples set forth herein are presented to best explain the embodiments in accordance with the present technology and its particular application and to thereby enable those skilled in the art to make and utilize the invention. However, those skilled in the art will recognize that the foregoing description and examples have been presented for the purpose of illustration and example only. The description as set forth is not intended to cover all aspects of the invention or to limit the invention to the precise form disclosed.