CN114724406A - Security protection method, device and storage medium - Google Patents

Abstract

The safety protection method is applied to a safety protection device of a user on a weak road, and comprises the following steps: acquiring motion data and position information of a vehicle driven by a user on a weak road, and transmitting the motion data and the position information to an automobile in an Internet of vehicles through V2X communication; receiving motion data and position information of the automobile; determining a spatial motion relationship between a vehicle driven by a vulnerable road user and an automobile according to the received motion data and position information of the automobile and the motion data and position information of the vehicle driven by the vulnerable road user; judging whether the vulnerable road user is in an automobile door opening protection scene or not according to the space motion relation; and adopting corresponding early warning protection measures when the vulnerable road user is in the automobile door opening protection scene. The scheme of this paper can promote the security when the weak road user drives the vehicle.

Description

Security protection method, device and storage medium

technical field

The embodiments of the present application relate to the technical field of assisted driving, and in particular, to a safety protection method, device, and storage medium.

Background technique

Among the accident cases of CIDAS (China In-Depth Accident Study, China In-Depth Accident Study) from 2011 to 2018, VRU (vulnerable road user) accidents accounted for 80.28%, of which two- and three-wheeler accidents accounted for as high as 63.87%. The VRU may be a non-motorized road user, such as a pedestrian, cyclist, motorcyclist, disabled or a person with reduced mobility and disorientation.

It can be seen from the data that the accident rate between electric two-wheeled vehicles, motorcycles and automobiles remains high, and the causes of accidents often appear in blind spots of vision and failure to identify risks in advance.

SUMMARY OF THE INVENTION

The embodiment of the present application provides a safety protection method, which is applied to a safety protection device for vulnerable road users, including:

Obtain the motion data and position information of vehicles driven by vulnerable road users, and send the motion data and position information to the cars in the Internet of Vehicles through the V2X communication of the Internet of Vehicles; receive the motion data and position information of the cars;

Determine the spatial motion relationship between the vehicle driven by the vulnerable road user and the vehicle according to the received motion data and position information of the vehicle and the motion data and position information of the vehicle driven by the vulnerable road user; The motion relationship determines whether the vulnerable road user is in a car door opening protection scenario;

Corresponding early warning protection measures are taken when the vulnerable road user is in a vehicle door opening protection scenario.

The embodiment of the present application provides a safety protection method, which is applied to a safety protection device of an automobile, including:

Obtain the motion data and position information of the car, and send the motion data and position information to the safety protection device of the vulnerable road users in the Internet of Vehicles through the V2X communication of the Internet of Vehicles; receive the information of the vehicles driven by the vulnerable road users. athletic data and location information;

Determine the spatial motion relationship between the vehicle driven by the vulnerable road user and the vehicle according to the received motion data and position information of the vehicle driven by the vulnerable road user and the motion data and position information of the vehicle; The motion relationship determines whether the vulnerable road user is in a car door opening protection scenario;

When the vulnerable road user is in a vehicle door opening protection scenario, monitor the opening and closing status of the vehicle door in real time and calculate the collision time TTC when the vehicle driven by the vulnerable road user hits the vehicle door. The switch state takes corresponding early warning protection measures.

An embodiment of the present application provides a security protection device, including: a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the above security protection method are implemented.

An embodiment of the present application provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the foregoing security protection method are implemented.

In the safety protection method and device provided by the embodiments of the present application, the safety protection device for vulnerable road users and the safety protection device for automobiles transmit motion data and position information to each other, and the two determine the spatial motion relationship between each other according to the motion data and position information. , according to the spatial motion relationship to determine whether the vulnerable road user is in a car door opening protection scenario; when the vulnerable road user is in a car door opening protection scenario, calculate in real time that the vehicle driven by the vulnerable road user hits the car The collision time TTC of the car door, the safety protection device of vulnerable road users takes corresponding early warning protection measures according to the collision time, and the safety protection device of the car also monitors the opening and closing status of the car door in real time, according to the collision time and the opening and closing state of the door. Take appropriate precautionary measures. The technical solutions of the embodiments of the present application can improve the safety of vulnerable road users when driving vehicles.

Other aspects will become apparent upon reading and understanding of the drawings and detailed description.

Description of drawings

The accompanying drawings are used to provide an understanding of the technical solutions of the present application, and constitute a part of the specification. They are used to explain the technical solutions of the present application together with the embodiments of the present application, and do not constitute a limitation on the technical solutions of the present application.

1 is a schematic flowchart of a safety protection method according to an embodiment of the application (safety protection device for vulnerable road users);

2 is a schematic flowchart of a safety protection method according to an embodiment of the application (safety protection device for an automobile);

3 is a schematic structural diagram of a safety protection device according to an embodiment of the application (safety protection device for vulnerable road users);

4 is a schematic structural diagram of a safety protection device according to an embodiment of the application (a safety protection device for an automobile);

Fig. 5 is a scene schematic diagram of a roadside parking and door opening danger scene according to an embodiment of the application;

6 is a flowchart of a safety protection method for a smart helmet worn by a rider of a two-wheeled vehicle according to an embodiment of the application;

7 is a flowchart of a safety protection method for a safety protection device of an automobile according to an embodiment of the application;

FIG. 8 is a schematic diagram of an early warning prompt in a danger scenario of a display device on an automobile in a door-to-door danger scenario according to an embodiment of the present application.

Detailed ways

This application describes a number of embodiments, but the description is exemplary rather than restrictive, and it will be apparent to those of ordinary skill in the art that within the scope of the embodiments described in this application can be There are many more examples and implementations. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Unless expressly limited, any feature or element of any embodiment may be used in combination with, or may be substituted for, any other feature or element of any other embodiment.

This application includes and contemplates combinations with features and elements known to those of ordinary skill in the art. The embodiments, features and elements that have been disclosed in this application can also be combined with any conventional features or elements to form unique inventive arrangements as defined by the appended claims. Any features or elements of any embodiment may also be combined with features or elements from other inventive arrangements to form another unique inventive arrangement as defined by the appended claims. Accordingly, it should be understood that any of the features shown and/or discussed in this application may be implemented alone or in any suitable combination. Accordingly, the embodiments are not to be limited except in accordance with the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

The embodiments of the present application provide a security protection method. As shown in Figure 1, a method of safety protection, applied to vulnerable road users, includes:

Step S10: Obtain motion data and position information of vehicles driven by vulnerable road users, and send the motion data and position information to cars in the Internet of Vehicles through V2X (Vehicle-to-Everything) communication; the motion data and location information of the vehicle;

Step S20, determining the spatial motion relationship between the vehicle driven by the vulnerable road user and the vehicle according to the received motion data and position information of the vehicle and the motion data and position information of the vehicle driven by the vulnerable road user; The spatial motion relationship determines whether the vulnerable road user is in a vehicle door opening protection scenario;

Step S30, when the vulnerable road user is in a vehicle door opening protection scenario, corresponding early warning protection measures are taken.

In the safety protection method provided by the embodiment of the present application, the safety protection device of the vulnerable road user acquires the motion data and position information of the vehicle driven by the vulnerable road user, and sends the motion data and position information to the Internet of Vehicles through V2X communication receiving the motion data and location information of the vehicle; determining the traffic driven by the vulnerable road user according to the received motion data and location information of the vehicle and the motion data and location information of the vehicle driven by the vulnerable road user The spatial motion relationship between the tool and the car; according to the spatial motion relationship, it is determined whether the vulnerable road user is in a car door opening protection scenario; corresponding early warning protection measures are taken when the vulnerable road user is in a car door opening protection scenario. The technical solutions of the embodiments of the present application can improve the driving safety of vulnerable road users.

Vulnerable road users (VRUs) may be non-motorized road users, such as pedestrians, cyclists, motorcyclists, disabled persons or persons with reduced mobility and disorientation.

In some exemplary embodiments, vehicles driven by vulnerable road users include: two-wheeled electric vehicles, motorcycles, or three-wheeled electric vehicles.

In some exemplary embodiments, the road users in the Internet of Vehicles are interconnected through the PC5 communication protocol. In other embodiments, other types of wireless communication protocols may also be used for interconnection between road users in the vehicle network. Road users in the Internet of Vehicles can exchange information in real time, such as periodically interacting with location information and motion data at a certain frequency.

In some exemplary embodiments, the motion data includes at least one of the following: velocity, acceleration, and heading angle. In other embodiments, the motion data may also include other information.

In some exemplary embodiments, the location information includes: longitude and latitude information.

In some exemplary embodiments, the spatial motion relationship between the vehicle and the vehicle driven by the vulnerable road user includes: a relative distance, a relative speed, and an included angle between the two directions of travel.

In some exemplary embodiments, the determining whether the vulnerable road user is in a vehicle door opening protection scenario according to the spatial motion relationship includes:

determining whether the vehicle is in front of the vehicle being driven by the vulnerable road user;

determining a lateral distance between the vehicle when the vehicle is in front of the vehicle being driven by the vulnerable road user;

It is judged whether the lateral distance is less than or equal to the safety distance threshold, and if yes, it is judged that the vulnerable road user is in a car door opening protection scenario, otherwise it is determined that the vulnerable road user is not in a car door opening protection scenario.

The safe distance threshold can be a distance value set experimentally or empirically.

In some exemplary embodiments, motion data and location information are periodically exchanged between the vulnerable road user's safety guard and the vehicle at a certain frequency.

In some exemplary embodiments, the TTC is the quotient of the relative distance between the vehicle and the vulnerable road user divided by the relative speed.

In some exemplary embodiments, when the vulnerable road user is in a vehicle door opening protection scenario, corresponding early warning protection measures are taken, including:

Calculate the collision time TTC of the vehicle driven by the vulnerable road user hitting the door of the car in real time; when the TTC is less than or equal to the first time threshold and greater than 0 and/or the first warning prompt information sent by the car is received, the vulnerable road user is sent. Road users issue a first warning to alert vulnerable road users that they are at risk of colliding with a car door.

The first time threshold may be a length of time set according to safety standards, experiments or experience.

In some exemplary embodiments, the issuing the first warning to the vulnerable road user includes: issuing a prompt signal through a speaker and/or an indicator light to remind the vulnerable road user to avoid the front door. In other implementations, other methods of early warning may also be used, for example, when the safety protection device of a vulnerable road user is a smart helmet, the early warning may be issued by means of lights and sounds. When the vulnerable road user's safety guard is a portable device or a vehicle-mounted device, a signal can be issued through a display and/or a speaker for early warning.

In some exemplary embodiments, when the vulnerable road user is in a vehicle door opening protection scenario, corresponding early warning protection measures are taken, including:

Calculate the collision time TTC when the vehicle driven by the vulnerable road user hits the door of the car in real time; when the TTC is less than or equal to the second time threshold and greater than the third time threshold and/or when the second warning prompt information sent by the car is received , issue a second warning to vulnerable road users to first alert vulnerable road users that there is a risk of colliding with the car door; when TTC is less than or equal to the third time threshold and greater than 0 and/or a third warning reminder sent by the car is received When the information is received, a third warning is issued to the vulnerable road user to remind the vulnerable road user for the second time that there is a risk of colliding with the vehicle door; wherein the third time threshold is smaller than the second time threshold.

Through the two-level early warning, vulnerable road users can obtain more adequate prompts and warnings, so as to take effective obstacle avoidance methods.

The second time threshold and the third time threshold may be lengths of time set according to safety standards, experiments or experience.

The embodiments of the present application provide a security protection method. As shown in Figure 2, a safety protection method, applied to a safety protection device of an automobile, includes:

Step S10, obtain the motion data and position information of the car, and send the motion data and position information to the safety protection device of the vulnerable road user in the Internet of Vehicles through the V2X communication of the Internet of Vehicles; receive the information driven by the vulnerable road user. Movement data and location information of vehicles;

Step S20: Determine the spatial motion relationship between the vehicle driven by the vulnerable road user and the vehicle according to the received motion data and position information of the vehicle driven by the vulnerable road user and the motion data and position information of the vehicle; The spatial motion relationship determines whether the vulnerable road user is in a vehicle door opening protection scenario;

Step S30, when the vulnerable road user is in a vehicle door opening protection scenario, monitor the opening and closing state of the vehicle door in real time and calculate the collision time TTC when the vehicle driven by the vulnerable road user hits the vehicle door, according to the collision time As well as the opening and closing status of the door, corresponding early warning protection measures are taken.

In the safety protection method provided by the embodiment of the present application, the safety protection device of the car acquires the motion data and position information of the car, and sends the motion data and position information to the safety of vulnerable road users in the Internet of Vehicles through V2X communication of the Internet of Vehicles a protective device; receiving motion data and position information of the vehicle driven by the vulnerable road user; determining the vehicle according to the received motion data and position information of the vehicle driven by the vulnerable road user and the motion data and position information of the car The spatial motion relationship between the vehicle driven by the vulnerable road user and the car; according to the spatial motion relationship, it is determined whether the vulnerable road user is in a car door opening protection scenario; when the vulnerable road user is in a car door opening protection scenario , monitor the opening and closing state of the vehicle door in real time, calculate the collision time TTC of the vehicle driven by the vulnerable road user hitting the vehicle door, and take corresponding early warning protection measures according to the collision time and the opening and closing state of the vehicle door. The technical solutions of the embodiments of the present application can improve the safety of vulnerable road users when driving vehicles.

In some exemplary embodiments, the safety protection device of the automobile includes: an on-board control device. The vehicle-mounted control device can detect the driving state of the vehicle and the opening and closing information of the vehicle door.

In some exemplary embodiments, the road users in the Internet of Vehicles are interconnected through the PC5 communication protocol. In other embodiments, other types of wireless communication protocols may also be used for interconnection between road users in the vehicle network. Road users in the Internet of Vehicles can exchange information in real time, such as periodically interacting with location information and motion data at a certain frequency.

In some exemplary embodiments, the motion data includes at least one of the following: velocity, acceleration, and heading angle. In other embodiments, the motion data may also include other information.

In some exemplary embodiments, the location information includes: longitude and latitude information.

In some exemplary embodiments, the spatial motion relationship between the vehicle and the vehicle driven by the vulnerable road user includes: a relative distance, a relative speed, and an included angle between the two directions of travel.

In some exemplary embodiments, determining whether the vulnerable road user is in a vehicle door opening protection scenario according to the spatial motion relationship between the vulnerable road user and the vehicle includes:

determining whether the vehicle is in front of the vulnerable road user;

The determining whether the vulnerable road user is in a vehicle door opening protection scenario according to the spatial motion relationship includes:

determining whether the vehicle is in front of the vehicle being driven by the vulnerable road user;

determining a lateral distance between the vehicle when the vehicle is in front of the vehicle being driven by the vulnerable road user;

It is determined whether the lateral distance between the two is less than or equal to the safety distance threshold, and if yes, it is determined that the vulnerable road user is in a vehicle door opening protection scenario, otherwise it is determined that the vulnerable road user is not in a vehicle door opening protection scenario.

In a car door protection scenario, vulnerable road users are at risk of hitting the car door if the car door is opened.

The safe distance threshold can be a distance value set experimentally or empirically.

In some exemplary embodiments, movement data and location information are periodically exchanged between the vulnerable road user's safety guard and the vehicle's safety guard at a certain frequency.

In some exemplary embodiments, the TTC is the quotient of the relative distance between the vehicle and the vulnerable road user divided by the relative speed.

In some exemplary embodiments, corresponding early warning protection measures are taken according to the collision time and the opening and closing state of the vehicle door, including:

Corresponding early warning protection measures are taken according to the collision time and the opening and closing state of the door, including: when the TTC is less than or equal to the first time threshold and greater than 0, a first collision warning is issued to the car to remind the occupants of the car that there is an approaching vehicle behind and The first warning prompt information is sent to the safety protection device of the vulnerable road user to remind the vulnerable road user that there is a risk of colliding with the car door.

In some exemplary embodiments, corresponding early warning protection measures are taken according to the collision time and the opening and closing state of the vehicle door, including:

When the TTC is less than or equal to the second time threshold and greater than the third time threshold, if a door unlocking operation is detected in the car, a second collision warning is issued to the car to remind the occupants not to open the door, and the vulnerable road users are warned. The safety protection device sends a second warning message to alert vulnerable road users for the first time that there is a risk of colliding with the car door;

When the TTC is less than or equal to the third time threshold and greater than 0, if a door unlocking operation is detected in the car, a third collision warning is issued to the car to remind the occupants of the vehicle behind and the safety protection of vulnerable road users The device sends third warning prompt information to prompt vulnerable road users for the second time that there is a risk of colliding with the vehicle door; wherein the third time threshold is smaller than the second time threshold. Sending two-level warnings to vulnerable road users through vehicles can enable vulnerable road users to obtain more adequate prompts and warnings, so as to take effective obstacle avoidance methods.

The first time threshold, the second time threshold and the third time threshold may be lengths of time set according to safety standards, experiments or experience.

In some exemplary embodiments, the issuing the first collision warning, the second collision warning, or the third collision warning to the vehicle includes: issuing a voice warning prompt through a speaker in the vehicle to remind the occupant not to open the door; and / or through the display in the car to display a warning prompt to remind the occupants of the car not to open the door. In other implementations, other forms of early warning may also be used.

The embodiments of the present application provide a safety protection device. As shown in Figure 3, a safety protection device, applied to the vulnerable road user side, includes:

The information interaction module 10 is configured to obtain motion data and position information of vehicles driven by vulnerable road users, and send the motion data and position information to the cars in the Internet of Vehicles through V2X communication of the Internet of Vehicles; athletic data and location information;

The scene judgment module 12 is configured to determine the space between the vehicle driven by the vulnerable road user and the vehicle according to the received motion data and position information of the vehicle and the motion data and position information of the vehicle driven by the vulnerable road user Motion relationship; determine whether the vulnerable road user is in a car door opening protection scenario according to the spatial motion relationship;

The collision detection and early warning module 14 is configured to take corresponding early warning protection measures when the vulnerable road user is in a vehicle door opening protection scenario.

The safety protection device for vulnerable road users provided by the embodiments of the present application includes an information interaction module, a scene judgment module, and a collision detection and early warning module. The information interaction module acquires motion data and position information of vehicles driven by vulnerable road users, The motion data and position information are sent to the car in the Internet of Vehicles through the V2X communication of the Internet of Vehicles; the motion data and position information of the car are received; the scene judgment module is based on the received motion data and position information of the car and vulnerable road users. Determine the spatial motion relationship between the vehicle driven by the vulnerable road user and the vehicle by the motion data and position information of the vehicle being driven; determine whether the vulnerable road user is in a vehicle door opening protection scenario according to the spatial motion relationship; The collision detection and early warning module takes corresponding early warning protection measures when the vulnerable road user is in a vehicle door opening protection scenario. The technical solutions of the embodiments of the present application can improve the safety of vulnerable road users driving vehicles.

In some exemplary embodiments, the safety protection device for the vulnerable road user includes a wearable device, a portable electronic device, or a vehicle-mounted device. The wearable device includes: a smart helmet. The portable electronic device is, for example, a mobile phone, a tablet computer, and the like. The in-vehicle equipment is, for example, an in-vehicle navigator and the like.

In some exemplary embodiments, the scene judgment module is configured to judge whether the vulnerable road user is in a vehicle door opening protection scene according to the spatial motion relationship in the following manner: judging whether the vehicle is located in the vulnerable road user in front of the vehicle being driven; when the vehicle is located in front of the vehicle driven by the vulnerable road user, determine the lateral distance between the two; determine whether the lateral distance is less than or equal to the safety distance threshold, if yes It is determined that the vulnerable road user is in a car door opening protection scenario, otherwise it is determined that the vulnerable road user is not in a car door opening protection scenario. In a car door protection scenario, vulnerable road users are at risk of hitting the car door if the car door is opened.

In some exemplary embodiments, the TTC is the quotient of the relative distance between the vehicle and the vulnerable road user divided by the relative speed.

In some exemplary implementations, the collision detection and early warning module is configured to take corresponding early warning protection measures when the vulnerable road user is in a vehicle door opening protection scenario by: Collision time TTC when the vehicle hits the door of the car; when the TTC is less than or equal to the first time threshold and greater than 0 and/or the first warning message sent by the car is received, a first warning is issued to vulnerable road users to remind vulnerable road users Road users are at risk of colliding with car doors.

In some exemplary implementations, the collision detection and early warning module is configured to take corresponding early warning protection measures when the vulnerable road user is in a vehicle door opening protection scenario by: Collision time TTC when the vehicle hits the door of the car; when the TTC is less than or equal to the second time threshold and greater than the third time threshold and/or the second warning message sent by the car is received, a second warning is issued to vulnerable road users It is the first time to prompt vulnerable road users that there is a risk of colliding with the car door; when the TTC is less than or equal to the third time threshold and greater than 0 and/or the third warning information sent by the car is received, the vulnerable road users will be sent a third warning. The third warning is used to remind vulnerable road users for the second time that there is a risk of colliding with the vehicle door; wherein the third time threshold is smaller than the second time threshold.

The embodiments of the present application provide a safety protection device. As shown in Figure 4, a safety protection device, applied to an automobile, includes:

The information interaction module 20 is configured to obtain the motion data and position information of the car, and send the motion data and position information to the safety protection device of the vulnerable road users in the Internet of Vehicles through the V2X communication of the Internet of Vehicles; receive the vulnerable road users Movement data and location information of the vehicle driven by the user;

The scene judgment module 22 is configured to determine the space between the vehicle driven by the vulnerable road user and the vehicle according to the received motion data and position information of the vehicle driven by the vulnerable road user and the motion data and position information of the vehicle Motion relationship; determine whether the vulnerable road user is in a car door opening protection scenario according to the spatial motion relationship;

The collision detection and early warning module 24 is configured to monitor the opening and closing state of the vehicle door in real time when the vulnerable road user is in a vehicle door opening protection scenario and calculate the collision time TTC when the vehicle driven by the vulnerable road user hits the vehicle door , and take corresponding early warning protection measures according to the collision time and the opening and closing state of the vehicle door.

The safety protection device for an automobile provided by the embodiment of the present application includes an information interaction module, a scene judgment module, and a collision detection and early warning module. The information interaction module acquires the motion data and position information of the automobile, and transmits the motion data and position information through the Internet of Vehicles. The V2X communication is sent to the safety protection device of the vulnerable road user in the Internet of Vehicles; the motion data and location information of the vehicle driven by the vulnerable road user are received; the scene judgment module is based on the received vehicle driven by the vulnerable road user. determine the spatial motion relationship between the vehicle and the vehicle driven by the vulnerable road user; determine whether the vulnerable road user is in the vehicle according to the spatial motion relationship Door opening protection scenario; when the vulnerable road user is in the car door opening protection scenario, the collision detection and early warning module monitors the opening and closing status of the car door in real time and calculates the collision time TTC when the vehicle driven by the vulnerable road user hits the car door , and take corresponding early warning protection measures according to the collision time and the opening and closing state of the vehicle door. The technical solutions of the embodiments of the present application can improve the safety of vulnerable road users driving vehicles.

In some exemplary embodiments, the safety protection device of the automobile includes: an on-board control device. The vehicle-mounted control device can detect the driving state of the vehicle and the opening and closing information of the vehicle door.

In some exemplary embodiments, the scene judgment module is configured to judge whether the vulnerable road user is in a vehicle door opening protection scene according to the spatial motion relationship in the following manner: judging whether the vehicle is located in the vulnerable road user In front of the vehicle being driven; when the vehicle is in front of the vehicle driven by the vulnerable road user, determine the lateral distance between the two; determine whether the lateral distance between the two is less than or equal to a safe distance threshold , if yes, it is determined that the vulnerable road user is in a vehicle door opening protection scenario, otherwise it is determined that the vulnerable road user is not in a vehicle door opening protection scenario. In a car door protection scenario, vulnerable road users are at risk of hitting the car door if the car door is opened.

In some exemplary embodiments, the TTC is the quotient of the relative distance between the vehicle and the vulnerable road user divided by the relative speed.

In some exemplary embodiments, the collision detection and early warning module is configured to take corresponding early warning protection measures according to the collision time and the opening and closing state of the vehicle door in the following manner:

Corresponding early warning protection measures are taken according to the collision time and the opening and closing state of the door, including: when the TTC is less than or equal to the first time threshold and greater than 0, a first collision warning is issued to the car to remind the occupants of the car that there is an approaching vehicle behind and The first warning prompt information is sent to the safety protection device of the vulnerable road user to remind the vulnerable road user that there is a risk of colliding with the car door.

In some exemplary embodiments, the collision detection and early warning module is configured to take corresponding early warning protection measures according to the collision time and the opening and closing state of the vehicle door in the following manner:

When the TTC is less than or equal to the second time threshold and greater than the third time threshold, if a door unlocking operation is detected in the car, a second collision warning is issued to the car to remind the occupants not to open the door, and the vulnerable road users are warned. The safety protection device sends a second warning message to alert vulnerable road users for the first time that there is a risk of colliding with the car door;

When the TTC is less than or equal to the third time threshold and greater than 0, if a door unlocking operation is detected in the car, a third collision warning is issued to the car to remind the occupants of the vehicle behind and the safety protection of vulnerable road users The device sends third warning prompt information to prompt vulnerable road users for the second time that there is a risk of colliding with the vehicle door; wherein the third time threshold is smaller than the second time threshold.

An embodiment of the present application provides a security protection device, including: a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the above security protection method are implemented.

An embodiment of the present application provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the foregoing security protection method are implemented.

The following takes the dangerous scene of parking and opening the door on the roadside as an example to illustrate how the smart helmet (safety protection device) of the two-wheeled cyclist and the safety protection device of the car carry out safety protection.

As shown in FIG. 5 , vehicle A is parked on the right side of the road parallel to the driving direction of the two-wheeled vehicle, and a vehicle B is parked directly behind vehicle A that blocks the blind spot of the front vehicle (vehicle A). The distance between the rear of vehicle A and the front of vehicle B is d1, the lateral distance between vehicle A and the two-wheeled vehicle is d2, and the speed of the two-wheeled vehicle is v.

Bicycle riders wear smart helmets. Figure 6 shows the steps of the smart helmet safety protection method. As shown in Figure 6, the smart helmet safety protection method may include the following steps:

Step S1, interconnecting with the safety protection device of the automobile (vehicle A) through the PC5 communication protocol;

Among them, the PC5 communication protocol is a communication interface protocol between terminals. The PC5 protocol interface is a short-distance direct communication interface between vehicles, people, and road infrastructure; its characteristics are: low-latency, high-capacity, and high-reliability communication through direct connection, broadcast, and network scheduling.

Step S2, send motion data and position information to each other with the safety protection device of the car, process the motion data and position information of the two-wheeled vehicle and the car, and obtain the spatial motion relationship between the two;

The GPS (Global Positioning System) kit in the smart helmet can obtain the latitude and longitude, speed and heading angle of the two-wheeled vehicle and send it to the car;

The smart helmet also receives the car's latitude and longitude, speed and heading angle from the car's GPS kit.

Among them, the spatial motion relationship between the two-wheeled vehicle and the car includes information such as relative distance, relative speed, and the angle between the driving directions of the two vehicles;

Step S3, judging whether the lateral distance between the two-wheeled vehicle and the car is less than or equal to the safety distance threshold, if so, go to step S4, otherwise return to step S2;

Step S4, determining that the current scene is a car door opening protection scene;

Step S5, calculating in real time the collision time TTC when the two-wheeled vehicle hits the car door;

Step S6, determine whether the collision time TTC is greater than 0, if so, execute step S7, otherwise end;

Step S7, judging whether the collision time TTC is less than or equal to the first time threshold, or receiving the first warning prompt information sent by the car, if yes, go to step S8, otherwise return to step S5;

In step S8, a first warning is issued to the rider of the two-wheeled vehicle.

Among them, the smart helmet can issue an early warning through sound or light.

FIG. 7 shows the processing steps of the safety protection method of the safety protection device of the automobile. As shown in FIG. 7 , the safety protection method of the safety protection device of the automobile may include the following steps:

Step S1, interconnecting with the smart helmet worn by the rider of the two-wheeler through the PC5 communication protocol;

Step S2, send motion data and position information to each other with the smart helmet, process the motion data and position information of the two-wheeled vehicle and the car, and obtain the spatial motion relationship between the two;

The GPS kit of the global positioning system of the car's safety protection device can obtain the longitude and latitude, speed and heading angle of the car and send it to the smart helmet;

The safety protection device of the car also receives the information such as the longitude and latitude, speed and heading angle of the two-wheeler sent by the GPS kit of the smart helmet.

Among them, the spatial motion relationship between the two-wheeled vehicle and the car includes information such as relative distance, relative speed, and the angle between the driving directions of the two vehicles;

Step S3, judging whether the lateral distance between the two is less than or equal to the safety distance threshold, if so, go to step S4, otherwise return to step S2;

Step S4, determining that the current scene is a car door opening protection scene;

Step S5, monitor the switch state of the car door in real time, and calculate the collision time TTC when the two-wheeled vehicle hits the car door in real time;

Step S6, determine whether the collision time TTC is less than or equal to the second time threshold and greater than the third time threshold and the door has an unlocking operation, if so, go to step S7, otherwise return to step S5;

Step S7, sending a second collision warning to the car to remind the person in the car not to open the door, and sending a second warning message to the smart helmet to remind the rider of the two-wheeled vehicle for the first time that there is a risk of colliding with the car door;

Step S8, monitor the switch state of the vehicle door in real time, and calculate the collision time TTC when the two-wheeled vehicle hits the vehicle door in real time;

Step S9, judging whether the collision time TTC is greater than 0, if so, go to step S10;

Step S10, judging whether the collision time TTC is less than or equal to the third time threshold and the door has an unlocking operation, if yes, go to step S11, otherwise return to step S8;

In step S11, a third collision warning is sent to the car to remind people in the car that there is an approaching vehicle behind, and a third warning message is sent to the smart helmet to remind the rider of the two-wheeled vehicle to avoid the front door.

Among them, FIG. 8 shows an early warning prompt in a dangerous scenario of opening a door on a display device on an automobile. As shown in Figure 8, the display device on the car can display the driving status of the cyclists wearing smart helmets distributed in the warning range in real time, and give sound and light warnings to the dangerous actions that may be caused by the people in the car opening the door. It continues until the rear of the two-wheeled vehicle passes through the door position to prevent the door from causing collision and injury to the rider outside the vehicle.

Those of ordinary skill in the art can understand that the functional modules/units in the apparatus disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be composed of several physical components Components execute cooperatively. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). As known to those of ordinary skill in the art, the term computer storage media includes both volatile and nonvolatile implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules or other data flexible, removable and non-removable media. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cartridges, magnetic tape, magnetic disk storage or other magnetic storage devices, or may Any other medium used to store desired information and which can be accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and can include any information delivery media, as is well known to those of ordinary skill in the art .

Claims (14)

1. A safety protection method, applied to a safety protection device for vulnerable road users, comprising: Obtain the motion data and position information of vehicles driven by vulnerable road users, and send the motion data and position information to the cars in the Internet of Vehicles through the V2X communication of the Internet of Vehicles; receive the motion data and position information of the cars; Determine the spatial motion relationship between the vehicle driven by the vulnerable road user and the vehicle according to the received motion data and position information of the vehicle and the motion data and position information of the vehicle driven by the vulnerable road user; The motion relationship determines whether the vulnerable road user is in a car door opening protection scenario; Corresponding early warning protection measures are taken when the vulnerable road user is in a vehicle door opening protection scenario. 2. The method of claim 1, wherein: The determining whether the vulnerable road user is in a vehicle door opening protection scenario according to the spatial motion relationship includes: determining whether the vehicle is in front of the vehicle being driven by the vulnerable road user; determining a lateral distance between the vehicle when the vehicle is in front of the vehicle being driven by the vulnerable road user; It is judged whether the lateral distance is less than or equal to the safety distance threshold, and if yes, it is judged that the vulnerable road user is in a car door opening protection scenario, otherwise it is determined that the vulnerable road user is not in a car door opening protection scenario. 3. The method of claim 1, wherein: When the vulnerable road user is in a vehicle door opening protection scenario, corresponding early warning protection measures are taken, including: Calculate the collision time TTC of the vehicle driven by the vulnerable road user hitting the door of the car in real time; when the TTC is less than or equal to the first time threshold and greater than 0 and/or the first warning prompt information sent by the car is received, the vulnerable road user is sent. Road users issue a first warning to alert vulnerable road users that they are at risk of colliding with a car door. 4. The method of claim 1, wherein: The vehicles driven by the vulnerable road users include: two-wheeled electric vehicles, motorcycles or three-wheeled electric vehicles. 5. The method of claim 1, wherein: The spatial motion relationship between vehicles driven by vulnerable road users and cars includes: relative distance, relative speed, and the included angle between the two directions of travel. 6. The method of claim 1, wherein: The motion data includes at least one of the following: speed, acceleration and heading angle; The location information includes: longitude and latitude information. 7. The method of claim 1, wherein: When the vulnerable road user is in a vehicle door opening protection scenario, corresponding early warning protection measures are taken, including: Calculate the collision time TTC when the vehicle driven by the vulnerable road user hits the door of the car in real time; when the TTC is less than or equal to the second time threshold and greater than the third time threshold and/or when the second warning prompt information sent by the car is received , issue a second warning to vulnerable road users to first alert vulnerable road users that there is a risk of colliding with the car door; when TTC is less than or equal to the third time threshold and greater than 0 and/or a third warning reminder sent by the car is received When the information is received, a third warning is issued to the vulnerable road user to remind the vulnerable road user for the second time that there is a risk of colliding with the vehicle door; wherein the third time threshold is smaller than the second time threshold. 8. A safety protection method, applied to a safety protection device of an automobile, comprising: Obtain the motion data and position information of the car, and send the motion data and position information to the safety protection device of the vulnerable road users in the Internet of Vehicles through the V2X communication of the Internet of Vehicles; receive the information of the vehicles driven by the vulnerable road users. athletic data and location information; Determine the spatial motion relationship between the vehicle driven by the vulnerable road user and the vehicle according to the received motion data and position information of the vehicle driven by the vulnerable road user and the motion data and position information of the vehicle; The motion relationship determines whether the vulnerable road user is in a car door opening protection scenario; When the vulnerable road user is in a vehicle door opening protection scenario, monitor the opening and closing status of the vehicle door in real time and calculate the collision time TTC when the vehicle driven by the vulnerable road user hits the vehicle door. The switch state takes corresponding early warning protection measures. 9. The method of claim 8, wherein: The determining whether the vulnerable road user is in a vehicle door opening protection scenario according to the spatial motion relationship includes: determining whether the vehicle is in front of the vehicle being driven by the vulnerable road user; determining a lateral distance between the vehicle when the vehicle is in front of the vehicle being driven by the vulnerable road user; It is determined whether the lateral distance between the two is less than or equal to the safety distance threshold, and if yes, it is determined that the vulnerable road user is in a vehicle door opening protection scenario, otherwise it is determined that the vulnerable road user is not in a vehicle door opening protection scenario. 10. The method of claim 8, wherein: Corresponding early warning protection measures are taken according to the collision time and the opening and closing state of the door, including: when the TTC is less than or equal to the first time threshold and greater than 0, a first collision warning is issued to the car to remind the occupants of the car that there is an approaching vehicle behind and The first warning prompt information is sent to the safety protection device of the vulnerable road user to remind the vulnerable road user that there is a risk of colliding with the vehicle door. 11. The method of claim 8, wherein: The spatial motion relationship between vehicles and vehicles driven by vulnerable road users includes: relative distance, relative speed, and the included angle between the two directions of travel. 12. The method of claim 8, wherein: Corresponding early warning protection measures are taken according to the collision time and the opening and closing status of the doors, including: When the TTC is less than or equal to the second time threshold and greater than the third time threshold, if a door unlocking operation is detected in the car, a second collision warning is issued to the car to remind the occupants not to open the door, and the vulnerable road users are warned. The safety protection device sends a second warning message to alert vulnerable road users for the first time that there is a risk of colliding with the car door; When the TTC is less than or equal to the third time threshold and greater than 0, if a door unlocking operation is detected in the car, a third collision warning is issued to the car to remind the occupants of the vehicle behind and the safety protection of vulnerable road users The device sends third warning prompt information to prompt vulnerable road users for the second time that there is a risk of colliding with the vehicle door; wherein the third time threshold is smaller than the second time threshold. 13. A security protection device, comprising: a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the security protection according to any one of the preceding claims 1-12 is implemented steps of the method. 14. A computer-readable storage medium storing a computer program, the computer program implementing the steps of the security protection method according to any one of the preceding claims 1-12 when the computer program is executed by a processor.

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