CN106828388A - For the vehicle active warning system and method and vehicle of pedestrian - Google Patents

Abstract

A vehicle active alarm system for pedestrians, including a pedestrian detection module, a vehicle driving state analysis module, a collision risk decision-making module, and an action response execution module. The pedestrian detection module detects and converts the moving state information of pedestrians around the vehicle through the vehicle's external sensors In order to send the corresponding signal to the collision risk decision-making module, the self-vehicle driving state analysis module obtains the driving state information of the vehicle through the vehicle internal sensor and converts it into a corresponding signal and sends it to the collision risk decision-making module. The collision risk decision-making module receives information from the pedestrian detection module and The various signals transmitted by the self-vehicle driving state analysis module process the received signals to determine whether there is a possibility of collision between pedestrians and vehicles around the vehicle. When the processing result is that there is a risk of collision, the collision risk decision-making module takes action The response execution module sends out an alarm signal, and the action response execution module controls the lights and/or horns of the vehicle to issue an alarm to pedestrians, thereby reminding pedestrians to take the initiative to avoid collisions and avoid collisions.

Description

Vehicle active alarm system and method for pedestrians and vehicle

technical field

The invention relates to the technical field of vehicle active safety, and in particular to a vehicle active alarm system and method for pedestrians and a vehicle.

Background technique

In recent years, vehicle active safety technology has received a high degree of attention. For example, when the vehicle is in a driving state, the alarm system installed on the vehicle senses the surrounding environment through sensors such as radar, camera or lidar installed in front of the vehicle. The collision risk of pedestrians is analyzed and processed. When the system analyzes the risk of collision between pedestrians and vehicles, it helps the driver avoid collision risks by prompting the driver or automatically braking, and improves driving safety. However, this system or method does not provide effective reminders to pedestrians, so that pedestrians can realize that risks are coming and take effective measures to avoid vehicles.

For example, Chinese patent application No. CN201510523637.3 provides a vehicle distance detection active safety system and control method, which solves the problem in the prior art that the vehicle distance detection is not perfect enough to effectively prompt the driver. The system includes a control module, a detection module, a display module, an alarm module, and an ignition switch and a speed sensor connected to the control module. The detection module detects surrounding obstacles and sends the results to the control module; the control module receives and processes the detection results to confirm obstacles The status is displayed by the display module, and the alarm module is controlled to send out an alarm when there is a risk of collision, giving instructive alarms and prompts to assist the driver in driving safely.

The above-mentioned patents can give alarms and reminders to the driver, but cannot give alarms and reminders to pedestrians who are about to collide with the vehicle, so that pedestrians can actively avoid the vehicle. When the driver is fatigued or distracted, then The driver cannot effectively take active braking measures to avoid pedestrians, so there are obvious defects and loopholes in giving alarms and prompts only for the driver. Therefore, a novel technical method is needed to improve the existing scheme, so that pedestrians can issue warnings to pedestrians in advance when there is a risk of collision with vehicles.

Contents of the invention

The purpose of the present invention is to provide a vehicle active alarm system and method for pedestrians, so as to solve the safety problem that the existing vehicle active alarm system only targets drivers and cannot provide effective warning for pedestrians.

The present invention solves the technical problem by adopting the following technical solutions.

The present invention provides an active vehicle alarm system for pedestrians, which includes a pedestrian detection module, an analysis module of the vehicle's driving state, a collision risk decision-making module and an action response execution module. The pedestrian detection module detects the moving state of pedestrians around the vehicle through the vehicle's external sensors and converts them into corresponding signals and sends them to the collision risk decision-making module. Risk decision-making module, the collision risk decision-making module receives various signals from the pedestrian detection module and the vehicle driving state analysis module, and processes the received signals to determine whether there is a possibility of collision between pedestrians and vehicles around the vehicle. When the result is that there is a risk of collision, the collision risk decision-making module sends an alarm signal to the action response execution module, and the action response execution module controls the lights and/or horns of the vehicle to issue an alarm to pedestrians.

Further, the collision risk decision-making module is preset with a time threshold and an overlap rate threshold, when the time required for the intersection of the vehicle and the pedestrian is less than or equal to the time threshold and the overlap rate of the intersection of the pedestrian and the vehicle is greater than or equal to the overlap rate threshold , the collision risk decision-making module judges that there is a collision risk between the vehicle and the pedestrian and sends an alarm signal to the action response execution module; when the time required for the intersection of the vehicle and the pedestrian is greater than the time threshold, the collision risk decision-making module judges that the vehicle will not collide with the pedestrian , the collision risk decision-making module does not send an alarm signal to the action response execution module; when the time required for the intersection of the vehicle and the pedestrian is less than or equal to the time threshold, but the overlap rate of the intersection of the pedestrian and the vehicle is less than the overlap rate threshold, the collision risk The decision-making module judges that the vehicle will not collide with pedestrians, and the collision risk decision-making module does not send an alarm signal to the action response execution module.

Further, the vehicle exterior sensors include cameras, laser radars and/or millimeter wave radars.

Further, the vehicle interior sensors include wheel speed sensors, yaw angle sensors and/or steering angle sensors.

Further, the vehicle internal sensors also include a master cylinder pressure sensor, which is used to monitor pressure changes of the brake pedal when the driver actively brakes.

Further, when issuing an alarm to pedestrians, the high beam and the low beam are used alone to alternately and repeatedly switch the lights, the horn is used alone, or a combination of the two is used simultaneously.

The present invention also provides a vehicle active alarm method for pedestrians, the steps of which include:

Use the pedestrian detection module to detect the movement status information of pedestrians through the vehicle's external sensors and convert them into corresponding signals and transmit them to the collision risk decision-making module;

Use the self-vehicle driving state analysis module to obtain the vehicle's driving state information through the vehicle's internal sensors and convert it into a corresponding signal and transmit it to the collision risk decision-making module;

The collision risk decision-making module receives and processes various related signals from the pedestrian detection module and the self-vehicle driving state analysis module, and obtains the time required for the intersection of the vehicle and the pedestrian and the overlap rate of the intersection of the pedestrian and the vehicle. The collision risk decision-making The time threshold and overlap rate threshold are pre-set in the module. When the time required for the intersection of the vehicle and the pedestrian is less than or equal to the time threshold and the overlap rate of the intersection of the pedestrian and the vehicle is greater than or equal to the overlap rate threshold, the collision risk decision-making module judges There is a risk of collision between the vehicle and the pedestrian and an alarm signal is sent to the action response execution module;

After the action response execution module receives the alarm prompt signal from the collision risk decision-making module, it controls the high beam and low beam of the vehicle to alternately and repeatedly switch the lights on and/or controls the horn to sound the whistle to issue an alarm to pedestrians.

Further, when the time required for the intersection of the vehicle and the pedestrian is greater than the time threshold or the overlap rate of the intersection of the pedestrian and the vehicle is less than the overlap rate threshold, the collision risk decision-making module judges that the vehicle will not collide with the pedestrian, and the collision risk decision-making module does not Send an alarm prompt signal to the action response execution module.

Further, the overlap rate threshold takes a value of 0.2-0.4, and the time threshold takes a value of 1-3 seconds.

The present invention also provides a vehicle, including the above active vehicle alarm system and method for pedestrians.

The present invention provides a vehicle active alarm system and method for pedestrians. When the vehicle is in the driving state, the moving state information of the vehicle and the pedestrians around the vehicle is obtained and calculated and analyzed. At this time, by controlling the high beam and low beam of the vehicle to alternately and repeatedly switch the lights and/or control the horn to sound the whistle to issue an alarm to pedestrians and remind passers-by to avoid emergency.

Description of drawings

FIG. 1 is a schematic block diagram of a vehicle active alarm system in an embodiment of the present invention.

Fig. 2 is a schematic diagram of the calculation and analysis of the collision risk decision-making module in the embodiment of the present invention.

Fig. 3 is a working flow chart of the vehicle active alarm system in the embodiment of the present invention.

detailed description

In order to further explain the technical means and effects of the present invention to achieve the intended purpose of the invention, the specific implementation, structure, features and effects of the present invention will be described in detail below in conjunction with the accompanying drawings and examples.

Fig. 1 is a schematic block diagram of the structure of the vehicle active alarm system in the embodiment of the present invention, please refer to Fig. 1, the vehicle active alarm system for pedestrians includes a pedestrian detection module 10, a vehicle driving state analysis module 20, a collision risk decision module 30 and The action responds to the execution module 40 . The pedestrian detection module 10 detects the movement state information of pedestrians around the vehicle through the vehicle external sensors and converts the information into corresponding signals and sends them to the collision risk decision-making module 30 . The driving state analysis module 20 of the own vehicle acquires the driving state information of the vehicle through the vehicle internal sensors and converts the information into corresponding signals and sends them to the collision risk decision-making module 30 . The collision risk decision-making module 30 receives various signals transmitted from the pedestrian detection module 10 and the driving state analysis module 20 of the self-vehicle, and processes the received signals to determine whether there is a possibility of collision between pedestrians and vehicles around the vehicle. As a result, when there is a risk of collision, the collision risk decision-making module 30 sends an alarm prompt signal to the action response execution module 40, and the action response execution module 40 controls the high beam 41 and the low beam 42 to alternately and repeatedly switch the lights and/or control the horn 43 Sound the horn to alert pedestrians.

Further, the pedestrian detection module 10 receives the detection signal of the vehicle external sensor through a high-speed bus (such as CAN bus). 13 can be used in conjunction with each other or independently. The camera 11 is used to capture the moving speed V ₁ of the pedestrian and the lateral distance L ₂ between the pedestrian and the vehicle, and the laser radar 12 and the millimeter-wave radar 13 are used to detect the longitudinal distance L ₁ between the pedestrian and the vehicle.

Further, the driving state analysis module 20 of the ego vehicle receives detection signals from vehicle internal sensors through a high-speed bus (such as CAN bus). The wheel speed sensor ₂₁ monitors the positive velocity V2 and the forward acceleration A2 of the vehicle in its traveling direction in real time and transmits the detected signal to the vehicle running state analysis module ₂₀ , the yaw angle sensor 22 and the steering angle sensor 23 real-time The lateral velocity V ₃ and lateral acceleration A ₃ of the vehicle are monitored and the detected signals are sent to the driving state analysis module 20 of the own vehicle.

In this embodiment, the vehicle interior sensor may also include a master cylinder pressure sensor 24, which can monitor the pressure change of the brake pedal when the driver actively brakes. When the driver observes pedestrians around the vehicle and actively brakes, the master cylinder pressure sensor 24 can monitor the pressure change of the brake pedal when the driver brakes, and transmit the pressure signal of the brake pedal through the driving state analysis module 20 of the vehicle To the collision risk decision module 30, when the collision can be avoided by braking, the collision risk decision module 30 will temporarily disable the active warning system of the vehicle.

When the collision risk decision-making module 30 judges that there is a collision risk between the vehicle and the pedestrian, the alarm prompt signal is sent to the action response execution module 40, and the action response execution module 40 controls the high beam 41 and the low beam 42 to alternately and repeatedly switch the lights and/or Or control horn 43 whistles to remind pedestrians to avoid.

Fig. 2 is a schematic diagram of the calculation and analysis of the collision risk decision-making module 30. Please refer to Fig. 2. When the vehicle is in the driving state, set the area of pedestrians as S ₁ and the area of the vehicle as S ₂ . The pedestrian detection module 1 of the vehicle detects The longitudinal distance between the pedestrian and the vehicle is L ₁ , the lateral distance is L ₂ and the speed of the pedestrian is V ₁ , and the detected relevant signals are sent to the collision risk decision module 30 . The self-vehicle running state analysis module 20 monitors the vehicle's forward velocity V ₂ , forward acceleration A ₂ along its longitudinal direction, lateral velocity V ₃ , and lateral acceleration A ₃ along the vehicle's lateral direction through the vehicle's internal sensors, and will monitor The related signals are transmitted to the collision risk decision module 30. In this embodiment, if the vehicle is running straight, the lateral velocity V ₃ and the lateral acceleration A ₃ along the transverse direction of the vehicle are both zero.

When the collision risk decision-making module 30 receives various related signals from the pedestrian detection module 10 and the self-vehicle driving state analysis module 20, it calculates the required time T when the vehicle and the pedestrian meet (taking simple calculation as an example, the time T is The ratio of the longitudinal distance L ₁ between the vehicle and the pedestrian to the speed V ₂ of the vehicle), if the time T calculated at this time is greater than the time threshold T _th preset in the collision risk decision-making module 30 (T _th is preset at When the time value in the vehicle, such as the driver's reaction time), the driver can achieve parking within the range _of the longitudinal distance L1 through active braking and deceleration. Therefore, when the driver has an active braking behavior, the master cylinder pressure sensor 24 detects the pressure change of the brake pedal and transmits the detected pressure signal to the collision risk decision-making module 30 via the driving state analysis module 20 of the own vehicle. The module 30 will temporarily close the active alarm system of the vehicle, that is, it will not send an alarm prompt signal to the action response execution module 40 .

When the collision risk decision-making module 30 receives various related signals from the pedestrian detection module 10 and the self-vehicle driving state analysis module 20, it calculates the required time T when the vehicle and the pedestrian meet (taking simple calculation as an example, the time T is The ratio of the longitudinal distance L ₁ between the vehicle and the pedestrian to the speed V ₂ of the vehicle), if the time T calculated at this time is less than or equal to the time threshold T _th preset in the collision risk decision module 30 (T _th is the preset When the value of the time in the vehicle is fixed, such as the driver’s reaction time), it is difficult for the driver to stop within the longitudinal distance L1 through active braking and deceleration, and the vehicle and pedestrians may _collide . By calculating the product _of time T and pedestrian velocity V1, the distance traveled by pedestrians within time T can be calculated, the position of pedestrians relative to vehicles when they meet vehicles can be determined, and the overlap between pedestrians and vehicles can be calculated further Rate P (the ratio of the area S ₃ to the pedestrian area S ₁ when vehicles and pedestrians intersect).

When the overlap rate P when the pedestrian and the vehicle intersect is greater than or equal to the overlap rate threshold _Pth preset in the collision risk decision-making module 30, the vehicle and the pedestrian may intersect, and the collision risk decision-making module 30 judges that there is a collision risk between the vehicle and the pedestrian , at this time the overlapping flag in the collision risk decision-making module 30 is turned on and the collision flag is also turned on, the collision risk decision-making module 30 sends an alarm prompt signal to the action response execution module 40, and the action response execution module 40 controls the high beam 41 and the low beam 42 alternately and repeatedly switch the lights and/or control the horn 43 to whistle, so as to remind pedestrians to avoid and avoid collision accidents. What needs to be explained here is that when an alarm is issued to pedestrians, the high beam 41 and the low beam 42 can be used alone to alternately and repeatedly switch the lights on, the horn 43 can be used alone to whistle, or a combination of both can be used simultaneously.

When the overlap rate P when the pedestrian and the vehicle intersect is less than the overlap rate threshold P _th preset in the collision risk decision-making module 30, the collision risk decision-making module 30 judges that the vehicle will not collide with the pedestrian, and the overlap in the collision risk decision-making module 30 The sign will not be turned on, and neither will the collision sign. At this time, the collision risk decision-making module 30 will not send an alarm signal to the action response execution module 40, and the active alarm system of the vehicle will not send an alarm to pedestrians.

That is to say, when the time T required for the intersection of the vehicle and the pedestrian is greater than the time threshold T _th preset in the collision risk decision-making module 30, the collision risk decision-making module 30 judges that the vehicle will not collide with the pedestrian, and the collision risk decision-making module 30 An alarm prompt signal is not sent to the action response execution module 40 .

When the time T required for the intersection of the vehicle and the pedestrian is less than or equal to the time threshold T _th preset in the collision risk decision-making module 30 , and the overlap rate P is greater than or equal to the overlap rate threshold P _th preset in the collision risk decision-making module 30 , the collision risk decision-making module 30 judges that there is a collision risk between the vehicle and the pedestrian, and sends an alarm signal to the action response execution module 40, and the action response execution module 40 controls the high beam 41 and the low beam 42 to alternately and repeatedly switch the lights and/or Or control the horn 43 to whistle, to remind pedestrians to avoid emergency.

When the time T required for the intersection of the vehicle and the pedestrian is less than or equal to the time threshold T _th preset in the collision risk decision-making module 30 , but the overlap rate P is smaller than the overlap rate threshold P _th preset in the collision risk decision-making module 30 , The collision risk decision-making module 30 judges that the vehicle will not collide with pedestrians, and the collision risk decision-making module 30 does not send an alarm prompt signal to the action response execution module 40 .

The present invention also provides a vehicle active alarm method for pedestrians. FIG. 3 is a flow chart of the vehicle active alarm method for pedestrians provided by an embodiment of the present invention. The steps include:

Use the pedestrian detection module 10 to detect the movement state information of the pedestrian through the vehicle external sensor and convert it into a corresponding signal and transmit it to the collision risk decision-making module 30;

The driving state analysis module 20 of the own vehicle obtains the driving state information of the vehicle through the vehicle internal sensor and converts the corresponding signal into the collision risk decision-making module 30;

The collision risk decision-making module 30 receives and processes various related signals from the pedestrian detection module 10 and the self-vehicle driving state analysis module 20, and obtains the required time T when the vehicle and the pedestrian meet and the overlap rate P when the pedestrian and the vehicle meet , where the collision risk decision-making module 30 is preset with a time threshold T _th and an overlap rate threshold P _th , when the time T required for the intersection of the vehicle and the pedestrian is less than or equal to the time threshold T _th and the overlap rate P of the intersection of the pedestrian and the vehicle When greater than or equal to the overlap rate threshold P _th , the collision risk decision-making module 30 judges that the vehicle and the pedestrian have a collision risk and sends an alarm prompt signal to the action response execution module 40;

After the action response execution module 40 receives the warning signal from the collision risk decision-making module 30 , it controls the high beam 41 and the low beam 42 to alternately and repeatedly switch the lights on and/or controls the horn 43 to whistle to issue an alarm to pedestrians.

Further, in the above-mentioned vehicle active alarm method, when the time T required for the intersection of the vehicle and the pedestrian is greater than the time threshold T _th or the overlap rate P of the intersection of the pedestrian and the vehicle is less than the overlap rate threshold P _th , the collision risk decision Module 3 judges that the vehicle will not collide with pedestrians, and at this time, the collision risk decision-making module 3 does not send an alarm signal to the action response execution module 4 .

In an example, the overlapping ratio threshold P _th may be 0.2-0.4, and the time threshold T _th may be 1-3 seconds.

In addition, the present invention also provides a vehicle, including the above-mentioned active vehicle alarm system and method for pedestrians.

The present invention provides a vehicle active alarm system and method for pedestrians. When the vehicle is in the driving state, the moving state information of the vehicle and the pedestrians around the vehicle is obtained and calculated and analyzed. At this time, by controlling the high beam and low beam of the vehicle to alternately and repeatedly switch the lights and/or control the horn to sound the whistle to issue an alarm to pedestrians and remind passers-by to avoid emergency.

As used herein, the terms "comprises", "comprises" or any other variation thereof are intended to cover a non-exclusive inclusion of elements other than those listed and also other elements not expressly listed.

In this article, the orientation words such as front, rear, upper, and lower involved are defined by the parts in the drawings and the positions between the parts in the drawings, just for the clarity and convenience of expressing the technical solution. It should be understood that the use of the location words should not limit the scope of protection claimed in this application.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (10)

1. a kind of vehicle active warning system for pedestrian, it is characterised in that including pedestrian detection module (10), from car traveling State analyzing module (20), risk of collision decision-making module (30) and action response performing module (40), the pedestrian detection module (10) mobile status information of the pedestrian of vehicle periphery is detected by outside vehicle sensor and corresponding signal is converted into and is sent to The risk of collision decision-making module (30) is described to obtain car by term vehicle internal sensors from vehicle travelling state analysis module (20) Running condition information and be converted into corresponding signal and be sent to the risk of collision decision-making module (30), the risk of collision is determined Plan module (30) is received from the pedestrian detection module (10) and described passed over from vehicle travelling state analysis module (20) Various signals and the signal to receiving processed to determine whether the pedestrian of vehicle periphery has the possibility of collision with vehicle, When the result for the treatment of is to there is risk of collision, the risk of collision decision-making module (30) is to the action response performing module (40) Alarm signal is sent, is sent out with to pedestrian from the light and/or loudspeaker of the action response performing module (40) control vehicle Go out alarm.

2. as claimed in claim 1 for the vehicle active warning system of pedestrian, it is characterised in that the risk of collision decision-making Module is previously provided with time threshold (T in (30)_th) and Duplication threshold value (P_th), when vehicle and pedestrian cross the required time (T) Less than or equal to the time threshold (T_th) and the Duplication (P) of pedestrian and vehicle when crossing is more than or equal to the Duplication threshold value (P_th) when, the risk of collision decision-making module (30) judges that vehicle has risk of collision and performs mould to the action response with pedestrian Block (40) sends alarm signal；Time (T) needed for vehicle and pedestrian cross is more than the time threshold (T_th) when, it is described Risk of collision decision-making module (30) judges that vehicle will not be with pedestrian collision, and the risk of collision decision-making module (30) is not to institute State action response performing module (40) and send alarm signal；Time (T) needed for vehicle crosses with pedestrian is less than or waits In the time threshold (T_th), but the Duplication (P) of pedestrian and vehicle when crossing is less than the Duplication threshold value (P_th) when, it is described Risk of collision decision-making module (30) judges that vehicle will not be with pedestrian collision, and the risk of collision decision-making module (30) is not to institute State action response performing module (40) and send alarm signal.

3. as claimed in claim 1 for the vehicle active warning system of pedestrian, it is characterised in that the outside vehicle sensing Device includes camera (11), laser radar (12) and/or millimetre-wave radar (13).

4. as claimed in claim 1 for the vehicle active warning system of pedestrian, it is characterised in that the vehicle interior sensing Device includes wheel speed sensors (21), yaw angle transducer (22) and/or steering angle sensor (23).

5. as claimed in claim 4 for the vehicle active warning system of pedestrian, it is characterised in that the vehicle interior sensing Device also includes master cylinder pressure sensor (24), and the master cylinder pressure sensor (24) braked during driver's active brake for being monitored The pressure change of pedal.

6. as claimed in claim 1 for the vehicle active warning system of pedestrian, it is characterised in that send alarm to pedestrian When, high beam (41) and dipped headlight (42) alternate repetition switching bright light is used alone, loudspeaker (43) are used alone and blow a whistle, Huo Zhetong When using both combination.

7. a kind of vehicle initiative alarming method for pedestrian, it is characterised in that including step：

Using pedestrian detection module (10) is by the mobile status information of outside vehicle sensor detecting pedestrian and is converted into corresponding Signal transmission is to risk of collision decision-making module (30)；

Using from vehicle travelling state analysis module (20) is by the running condition information of term vehicle internal sensors acquisition vehicle and turns Turn to corresponding signal and be transferred to the risk of collision decision-making module (30)；

The risk of collision decision-making module (30) receives and comes from the pedestrian detection module (10) and described from vehicle travelling state point The various coherent signals of analysis module (20) are simultaneously processed, required time (T) and pedestrian when showing that vehicle and pedestrian cross and Duplication (P) when vehicle crosses, wherein being previously provided with time threshold (T in the risk of collision decision-making module (30)_th) and weight Folded rate threshold value (P_th), the time (T) needed for vehicle and pedestrian cross is less than or equal to the time threshold (T_th) and pedestrian and car Duplication (P) when crossing is more than or equal to the Duplication threshold value (P_th) when, the risk of collision decision-making module (30) judges Vehicle has risk of collision and sends alarm signal to action response performing module (40) with pedestrian；

The action response performing module (40) receives the alarm signal from the risk of collision decision-making module (30) Afterwards, control vehicle high beam (41) and dipped headlight (42) alternate repetition switch bright light and/or control loudspeaker (43) blow a whistle with to Pedestrian sends alarm.

8. as claimed in claim 7 for the vehicle initiative alarming method of pedestrian, it is characterised in that when vehicle crosses with pedestrian The required time (T) is more than the time threshold (T_th) or Duplication (P) when crossing of pedestrian and vehicle be less than the Duplication threshold Value (P_th) when, the risk of collision decision-making module (30) judges that vehicle will not be with pedestrian collision, the risk of collision decision-making Module (30) does not send alarm signal to the action response performing module (40).

9. as claimed in claim 7 for the vehicle initiative alarming method of pedestrian, it is characterised in that the Duplication threshold value (P_th) value be 0.2~0.4, the time threshold (T_th) value be 1~3 second.

10. a kind of vehicle, it is characterised in that actively reported including the vehicle for pedestrian as described in any one of claim 1 to 9 Alert system and method.