CN106882143A - Pedestrian protection system and method based on LTE V communications - Google Patents
Pedestrian protection system and method based on LTE V communications Download PDFInfo
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- CN106882143A CN106882143A CN201710120789.8A CN201710120789A CN106882143A CN 106882143 A CN106882143 A CN 106882143A CN 201710120789 A CN201710120789 A CN 201710120789A CN 106882143 A CN106882143 A CN 106882143A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/34—Protecting non-occupants of a vehicle, e.g. pedestrians
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The invention discloses a kind of pedestrian protection system based on LTE V communications, including car-mounted terminal and handheld terminal, the car-mounted terminal includes policy of Central Government module, first communication module, information acquisition module, locating module, performing module and the first alarm module.The handheld terminal includes current assistance application module, second communication module, mapping module and the second alarm module；The car-mounted terminal and handheld terminal set up point to point link by LTE V networks, realize information exchange.The invention also discloses a kind of method for protecting pedestrian based on LTE V communications, it is necessary to pedestrian and vehicle are respectively mounted handheld terminal and car-mounted terminal, current request signal is actively sent by pedestrian, obtain the information of vehicle；Given a warning to pedestrian and vehicle driver simultaneously when there is risk of collision, and will collide driver it is still reactionless when braked with collision avoidance by the performing module active control vehicle of car-mounted terminal.
Description
Technical field
The invention belongs to automobile active safety and auxiliary driving field, and in particular to a kind of pedestrian based on LTE-V communications
Protection system and method.
Background technology
In the traffic environment of current city, traffic accident occupies urban traffic accident caused by crossing road due to pedestrian
30% or so, and major casualties are frequently resulted in, cause heavy economic losses.
It is currently based on the pedestrian protection system of laser radar to be applied in the vehicle of part, when vehicle is detecting front
When having pedestrian and there is risk of collision, driver can be alarmed, and when driver has little time reaction by vehicle
Carry out active brake and pedestrian is protected with collision free.But system in this way is generally only less than 30km/h in speed
When just effectively, in high vehicle speeds, because vehicle inertia cannot be braked greatly in time very much, still can finally bump against pedestrian；And
And because the physical characteristic of radar cannot detect the target in remote and non line of sight and easily be disturbed by surrounding environment.To solve
One kind that the shortcoming of the pedestrian protection system based on laser radar and camera, such as CN104217615A are recorded is cooperateed with based on bus or train route
Pedestrian anti-collision system and method, the invention provides one kind by using radio communication（WIFI）Realize that bus or train route information is handed over
Mutually, the device of detecting pedestrian be arranged on trackside, by trackside WIFI communication modules by result of detection and whether dangerous transmission
To car end, early warning is then carried out to driver if there is danger, and then take corresponding anticollision measure.But the method is in reality
There are a large amount of defects in existing process and final effect, be embodied in：（1）Can only be effective in WIFI communication ranges, due to
WIFI transmission ranges are generally within 100m, and vehicle-mounted WIFI module and trackside WIFI module foundation connection needs carry out safety and recognize
Card, it usually needs the time of 1~3s, causes usually just to have been sent out due to not yet completing certification danger when running at high speed in vehicle
It is raw；（2）Due to only carrying out unidirectional early warning to vehicle driver, and pedestrian cannot know dangerous situation cause it occur frequently that judge by accident and
Produce extra danger；（3）Judge whether the danger that can collide, depend on the collection of the central processing module of trackside terminal to fall into a trap
Calculate, when trackside terminal surrounding exist vehicle is excessive or during excessive pedestrian, trackside central processing module needs to carry out big gauge
Calculate, cause communication delay very high to the performance requirement of central processing module and that second level can be produced, it is difficult to popularization and application.
The content of the invention
It is an object of the invention to provide a kind of pedestrian protection system based on LTE-V communications and method, to improve to pedestrian
Protection.
Pedestrian protection system based on LTE-V communications of the present invention, including car-mounted terminal and handheld terminal, the car
Mounted terminal and handheld terminal are communicated by LTE-V；
The car-mounted terminal is installed in vehicle, and it includes that first communication module, locating module, information acquisition module, center are determined
Plan module, performing module and the first alarm module；
The first communication module is used to receive and dispatch LTE-V data, including broadcasts this car ID, position information, transport condition letter
Breath and reception walk solicited message, pedestrian's attribute, positional information, warning message, pedestrian's stand-by period, first communication
Module is connected with policy of Central Government module；
The locating module is used to obtain current vehicle position information, and the locating module is connected with policy of Central Government module；
Described information acquisition module is used to gather this vehicle travelling state information from CAN, and the information acquisition module is determined with center
Plan module is connected；
The policy of Central Government module is based on received data and judges whether to need to alarm driver and level of being alarmed
Not, it is additionally operable to judge whether to need to carry out vehicle active brake prevent collision；
The performing module is braked according to the brake command that policy of Central Government module sends to this car, the performing module with center
Decision-making module is connected；
First alarm module is alarmed based on alarm level with different type of alarms, first alarm module with center
Decision-making module is connected；
The handheld terminal is held by pedestrian, and it includes second communication module, mapping module, current assistance application module and the
Two alarm modules；
The mapping module is used to for the position of pedestrian and vehicle, road information to be uploaded to current assistance application module, the map
Module is connected with current assistance application module；
The second communication module is used to receive and dispatch LTE-V data, including receives vehicle ID, position information, transport condition letter
Walk solicited message and its positional information, movement state information, warning message, stand-by period are ceased and broadcast, this second leads to
Letter module is connected with current assistance application module；
The current assistance application module is used to send walk solicited message, and according to second communication module and mapping module
The data of offer judge whether to need to be pointed out to pedestrian；
Second alarm module is used to perform the prompting of current assistance application module, and second alarm module should with current auxiliary
Connected with module.
The locating module is arranged in the shark fins antenna of vehicle roof.
First alarm module is HMI module, and the HMI module is connected by CAN with policy of Central Government module.
Second alarm module is UI modules, and the UI modules are connected with current assistance application module.
The handheld terminal is smart mobile phone, or is Intelligent bracelet.
The current assistance application module is provided with the current button of request, and the current request for receiving pedestrian is input into.
A kind of method for protecting pedestrian based on LTE-V communications of the present invention, using pedestrian protecting of the present invention
System, its method is comprised the following steps：
Step one, by handheld terminal send walk solicited message；
Step 2, handheld terminal are by walk solicited message, pedestrian's attribute information, pedestrian position information and place road information
It is encoded into standard LTE-V data forms, and periodic broadcast；
Whether step 3, handheld terminal receive the information of surrounding vehicles broadcast, and have threat this current vehicle around judging；
If step 4, surrounding do not threaten this current vehicle, pedestrian's normal pass is reminded；If being passed through in the presence of this is threatened
Vehicle, then pedestrian is alarmed, to remind pedestrian to wait, while handheld terminal by pedestrian position information, road believe
The vehicle ID that breath, warning message, stand-by period and affix threaten this current is broadcasted.
Whether step 5, the policy of Central Government module of car-mounted terminal need to send report based on received information real-time judge
It is alert, if need not alarm, do not carry out any operation；If desired alarm, then judge current alert levels, and according to alarm etc.
Level is alarmed with corresponding type of alarm, and vehicle is carried out active brake to prevent from touching when active brake condition is met
Hit.
Whether there is around judging the method for threatening this current vehicle to be：
Whether 3a, setting communication coverage Dmax, have vehicle, if it is not, thinking not threaten in the range of detection Dmax
The vehicle of this normal pass；
If detecting vehicle in the range of 3b, Dmax, obtain the longitude and latitude of vehicle, speed information and under reach mapping module,
Obtain the road ID of vehicle traveling；If pedestrian road ID and road vehicle ID are inconsistent, then it is assumed that vehicle is with pedestrian not same
One road, will not threaten this current generation；
If 3c, road ID where pedestrian are consistent with road ID where vehicle, the historical path information of registration of vehicle, according to going through
In history routing information each location point to the distance of pedestrian variation tendency, if distance becomes larger, then it represents that vehicle by
Gradually away from pedestrian, then it is assumed that vehicle will not be threatened this current generation；
If 3d, distance are gradually reduced, then it is assumed that vehicle close to pedestrian, now build by the current assistance application module of handheld terminal
Just, the longitude and latitude position of vehicle is changed for X-axis in the vertical cartesian coordinate system centered on pedestrian, the current direction of pedestrian's preparation
It is with the position in cartesian coordinate system（X,Y）；Distance | Y | that pedestrian is currently arrived according to vehicle calculates vehicle according to current vehicle
Fast Vv travels to pedestrian the time Tv for preparing transit route；
3e, the average speed Vp that different type pedestrian is set according to statistical information；Pedestrian is calculated according to present road width W complete
Time Tp into needed for road；
3f, setting safe passing threshold time Ts, when | Tv-Tp | are during >=Ts, then vehicle will not be to this current generation prestige
The side of body；Threat is otherwise produced, and vehicle ID is sent to car-mounted terminal.
The step 5 is specially：
The vehicle ID that 5a, the handheld terminal for comparing this car vehicle ID and receiving send, if it is inconsistent, the message is abandoned, no
Driver is alarmed；
If 5b, this car vehicle ID are identical with the vehicle ID that the handheld terminal for receiving sends, show this car to the normal of pedestrian
It is current to produce threat, give driver by HMI module and alarmed with image mode, alarm level is rudimentary, if driver selects
Action of giving way releases threat, then alarm release, if driver ignores this time alarm, into step 5c；
If 5c, this car receive the Twait of the stand-by period≤Twait_expire of pedestrian, the alarm of driver is remained as low
Level；If Twait>Twait_expire upgrades to middle rank to the alarm level of driver, by HMI module give driver with
The mode of image and sound is alarmed, wherein, Twait_expire is statistical value, represents the tolerable maximum latency of pedestrian；
If 5d, pedestrian ignore the prompting of handheld terminal, pass through by force, then the alarm level to driver upgrades to the superlative degree,
The HMI module of car-mounted terminal reminds driver's collision avoidance by way of image and sound；If driver's selection is given way, action makes prestige
The side of body is released, then alarm release, if driver ignores this time alarm, into step 5e；
5e, the policy of Central Government module of car-mounted terminal are according to pedestrian and fore-and-aft distance | Y | of vehicle, lateral separation | X | and current
Vehicle velocity V v calculates the time TTC for reaching the point of impingement, if TTC<Tbrake, policy of Central Government module controls car by performing module
Active brake is carried out with collision avoidance；Wherein, Tbrake is the braking time started, according to the deceleration size of the active brake for setting
Aset is calculated, and computing formula is：Tbrake = Vv / Aset.
Beneficial effects of the present invention：
（1）People and the vehicle communication of low latency can be realized by LTE-V, communication distance is more than 300m, can realize what is blocked
Communication in non line of sight；
（2）Pedestrian sends current request signal manually by handheld terminal, and vehicle is shifted to an earlier date accurately perception has pedestrian to prepare
Passing road；
（3）All complicated calculating are completed in handheld terminal, and car-mounted terminal only receives the warning message of handheld terminal transmission, keeps away
Exempt to cause the load of car-mounted terminal to rise at double a large amount of pedestrians send current request signal simultaneously when；
（4）Communication mode uses people-car point-to-point communication, without roadside device transfer, can not receive roadside device installation site
Limitation；It is with low cost and system algorithm is realized simply, it is to be capable of achieving without complicated pedestrian's recognizer and path prediction algorithm
The pedestrian protection system of high reliability；
In sum, the present invention improves the protection to pedestrian.
Brief description of the drawings
Fig. 1 is present system schematic block diagram；
Fig. 2 is the theory diagram of car-mounted terminal of the invention；
Fig. 3 is the theory diagram of handheld terminal of the invention；
In figure：1st, pedestrian, 2, vehicle, 3, transit route, 4, road, 5, policy of Central Government module, 6, HMI module, 7, performing module,
8th, locating module, 9, information acquisition module, 10, first communication module, 11, car-mounted terminal, 12, UI modules, 13, current auxiliary should
With module, 14, second communication module, 15, mapping module, 16, handheld terminal.
Wherein, Fig. 1 arrows represent the direction of vehicle traveling.
Specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
Pedestrian protection system based on LTE-V communications as shown in Figure 1, including car-mounted terminal 11 and handheld terminal 16, institute
State car-mounted terminal 11 and handheld terminal 16 is communicated by LTE-V.
The car-mounted terminal 11 is installed in vehicle 2, and it includes first communication module 10, locating module 8, information gathering mould
Block 9, policy of Central Government module 5, the alarm module of performing module 7 and first.
The first communication module 10 is used to receive and dispatch LTE-V data, including broadcasts this car ID, position information, traveling
Status information and reception walk solicited message, pedestrian's attribute（Such as：Old man, child, pregnant woman, adult normal, deformity
People）, positional information, warning message, pedestrian's stand-by period, the first communication module 10 pass through UDP（UDP）With
Policy of Central Government module 5 is connected.
Locating module 8 is arranged in the shark fins antenna of vehicle roof.Vehicle is obtained by GPS or big-dipper satellite receiver
Current location information.The positional information includes Current vehicle longitude, latitude, course, and the locating module 8 is by CAN with
Centre decision-making module 5 is connected.
Described information acquisition module 9 is used to gather this vehicle travelling state information, including speed, acceleration, system from CAN
Dynamic, steering, steering indicating light information, the information acquisition module 9 are connected by CAN with policy of Central Government module 5.
The policy of Central Government module 5 is nucleus module, using independent ECU（Electronic control unit）, collision avoidance algorithm applies to
In this module.Judge whether to need to alarm driver and alert levels based on received data, be additionally operable to sentence
It is disconnected whether to need to carry out vehicle active brake to prevent collision.
The performing module 7 refers to ESP system（Body electronics systems stabilisation）, according to the system that policy of Central Government module 5 sends
Dynamic order is braked to this car, and the performing module 7 is connected by CAN with policy of Central Government module 5.
First alarm module is alarmed based on alarm level with different type of alarms, first alarm module with
Policy of Central Government module 5 is connected.In the present embodiment, first alarm module be HMI module 6, i.e. human-computer interaction interface, for
Display alarm information in vehicular meter, the HMI module 6 is connected by CAN with policy of Central Government module 5.
The handheld terminal 16 is held by pedestrian 1, usually smart mobile phone, or is Intelligent bracelet, or is and LTE-V equipment
The consistent special hand-held terminal of communications band, it includes second communication module 14, mapping module 15, current assistance application module 13
And second alarm module.
The mapping module 15 is the map application of handheld terminal 16, by map open interface and current assistance application mould
Block 13 is interacted, and the position of pedestrian 1 and vehicle 2, road information are uploaded into current assistance application module 13, the mapping module
15 are connected with current assistance application module 13.
The second communication module 14 is used to receive and dispatch LTE-V data, including receives vehicle ID, position information, traveling
Status information is simultaneously broadcasted walk solicited message and its positional information, movement state information, warning message, stand-by period, should
Second communication module 14 is connected with current assistance application module 13；
The current assistance application module 13 is based on the SDK of handheld terminal 16（SDK）Exploitation, the current auxiliary
Application module 13 is provided with the current button of request, and the current request for receiving pedestrian 1 is input into, and walk solicited message is sent out
See off, while being judged whether to need to be carried to pedestrian 1 according to the data that second communication module 14 and mapping module 15 are provided
Show.
Second alarm module is used to performing the prompting of current assistance application module 13, second alarm module with it is current
Assistance application module 13 is connected.Second alarm module described in the present embodiment is UI modules 12, i.e. user interface, the UI modules 12
It is connected with current assistance application module 13, prompting mode includes picture cues and auditory tone cues.
A kind of method for protecting pedestrian based on LTE-V communications of the present invention, using pedestrian protecting of the present invention
System, its method is comprised the following steps：
Step one, by handheld terminal 16 send walk solicited message.
Step 2, handheld terminal 16 are by walk solicited message, pedestrian's attribute information, pedestrian position information and place road
Road information（Including road ID, road width etc.）It is packaged under packet and reaches the second communication module 14 of handheld terminal 16, hand
Hold terminal 16 and it is encoded into standard LTE-V data forms, and periodic broadcast.
Step 3, handheld terminal 16 receive the information of surrounding vehicles broadcast, and whether this passes through threat around judging
Vehicle；Specially：
Whether 3a, setting communication coverage Dmax, have vehicle, if it is not, thinking not threaten in the range of detection Dmax
The vehicle of this normal pass.
If detecting vehicle in the range of 3b, Dmax, obtain the longitude and latitude of vehicle, speed information and under reach ground artwork
Block 15, obtains the road ID of vehicle traveling；If pedestrian road ID and road vehicle ID are inconsistent, then it is assumed that vehicle is with pedestrian not
In same road 4, this current generation will not be threatened.
If 3c, the place road ID of pedestrian 1 are consistent with road ID where vehicle, the historical path information of registration of vehicle 2,
According to the variation tendency of each location point in historical path information to the distance of pedestrian 1, if distance becomes larger, then it represents that car
2 are being gradually distance from pedestrian 1, then it is assumed that vehicle 2 current will not produce threat to this.
If 3d, distance are gradually reduced, then it is assumed that, close to pedestrian 1, now the current auxiliary of handheld terminal 16 should for vehicle 2
The cartesian coordinate system set up centered on pedestrian 1 with module 13, pedestrian prepares current direction for X-axis just, by the warp of vehicle 2
Position Latitude is converted to the position in cartesian coordinate system（X,Y）；Calculated according to current distance | the Y | to pedestrian 1 of vehicle 2
Vehicle 2 travels to pedestrian 1 the time Tv for preparing transit route 3 according to current vehicle speed Vv.
3e, the average speed Vp that different type pedestrian 1 is set according to statistical information；Calculated according to present road width W
Time Tp needed for the completion road of pedestrian 1.
3f, setting safe passing threshold time Ts, when | Tv-Tp | are during >=Ts, then vehicle 2 will not be to this current product
It is raw to threaten；Threat is otherwise produced, and vehicle ID is sent to car-mounted terminal 11.
Whole process can constantly repeat step 3a to step 3f.
If step 4, surrounding do not threaten this current vehicle 2, the normal pass of pedestrian 1 is reminded；If in the presence of threat originally
Secondary current vehicle 2, then alarm pedestrian 1, to remind pedestrian 1 to wait, while handheld terminal 16 is by the position of pedestrian 1
The vehicle ID that information, road information, warning message, stand-by period and affix threaten this current is broadcasted.
Whether step 5, the policy of Central Government module 5 of car-mounted terminal 11 need to send based on received information real-time judge
Alarm, if need not alarm, does not carry out any operation；If desired alarm, then judge current alert levels, and according to alarm
Grade is alarmed with corresponding type of alarm, and vehicle 2 is carried out active brake to prevent when active brake condition is met
Collision；Specially：
The vehicle ID that 5a, the handheld terminal 16 for comparing this car vehicle ID and receiving send, if it is inconsistent, the message is abandoned,
Driver is not alarmed.
If 5b, this car vehicle ID are identical with the vehicle ID that the handheld terminal 16 for receiving sends, show this car to pedestrian 1
Normal pass produce threat, give driver by HMI module 6 is alarmed with image mode, and alarm level is for rudimentary, if driving
Member selects action of giving way（Such as：Braking, steering）Threat is released, then alarm release, if driver ignores this time alarm, entered
Enter step 5c.
If 5c, this car receive the Twait of the stand-by period≤Twait_expire of pedestrian 1, to the alarm of driver still
It is so rudimentary；If Twait>Twait_expire upgrades to middle rank to the alarm level of driver, is given by HMI module 6
Driver is alarmed in the way of image and sound, wherein, Twait_expire is statistical value, represents the tolerable maximum of pedestrian 1
Stand-by period.
If 5d, pedestrian 1 ignore the prompting of handheld terminal 16, pass through by force, then the alarm level to driver upgrades to
The superlative degree, the HMI module 6 of car-mounted terminal 11 reminds driver's collision avoidance by way of image and sound.Alarm level is senior
Alarmed using image and voice mode with middle rank, but can be carried out by the difference of the difference of color and/or sound
Distinguish, such as when alarm level is for middle rank, color is yellow, and when alarm level is senior, color just uses red, so as to
Distinguished in driver.If driver's selection is given way, action releases threat, alarm release, if driver ignores this time alarm,
Then enter step 5e.
5e, the policy of Central Government module 5 of car-mounted terminal 11 are according to pedestrian 1 and fore-and-aft distance | Y | of vehicle 2, lateral separation | X
| and current vehicle speed Vv calculates the time TTC for reaching the point of impingement, if TTC<Tbrake, policy of Central Government module 5 is by performing
The control vehicle 2 of module 7 carries out active brake with collision avoidance；Wherein, Tbrake is the braking time started, according to the active brake for setting
Deceleration size Aset be calculated, computing formula is：Tbrake = Vv / Aset.
Whole process can constantly repeat step 5a to step 5e.
Claims (9)
1. it is a kind of based on LTE-V communication pedestrian protection system, it is characterised in that：Including car-mounted terminal（11）And handheld terminal
（16）, the car-mounted terminal（11）And handheld terminal（16）Communicated by LTE-V；
The car-mounted terminal（11）It is installed on vehicle（2）In, it includes first communication module（10）, locating module（8）, information adopts
Collection module（9）, policy of Central Government module（5）, performing module（7）And first alarm module；
The first communication module（10）For receiving and dispatching LTE-V data, including this car ID is broadcasted, position information, traveling shape
State information and reception walk solicited message, pedestrian's attribute, positional information, warning message, pedestrian's stand-by period, this first
Communication module（10）With policy of Central Government module（5）Connection；
The locating module（8）For obtaining current vehicle position information, the locating module（8）With policy of Central Government module（5）Even
Connect；
Described information acquisition module（9）For gathering this vehicle travelling state information from CAN, the information acquisition module（9）With
Policy of Central Government module（5）Connection；
The policy of Central Government module（5）Judge whether to need based on received data that driver is alarmed and alarmed
Rank, is additionally operable to judge whether to need to carry out vehicle active brake prevent collision；
The performing module（7）According to policy of Central Government module（5）The brake command for sending is braked to this car, the performing module
（7）With policy of Central Government module（5）Connection；
First alarm module is alarmed based on alarm level with different type of alarms, first alarm module with center
Decision-making module（5）Connection；
The handheld terminal（16）By pedestrian（1）Hold, it includes second communication module（14）, mapping module（15）, it is current auxiliary
Help application module（13）And second alarm module；
The mapping module（15）For by pedestrian（1）And vehicle（2）Position, road information be uploaded to current assistance application mould
Block（13）, the mapping module（15）With current assistance application module（13）Connection；
The second communication module（14）For receiving and dispatching LTE-V data, including receive vehicle ID, position information, traveling shape
State information simultaneously broadcasts walk solicited message and its positional information, movement state information, warning message, stand-by period, and this
Two communication modules（14）With current assistance application module（13）Connection；
The current assistance application module（13）For sending walk solicited message, and according to second communication module（14）With
Mapping module（15）The data of offer judge whether to need to be pointed out to pedestrian；
Second alarm module is used to perform current assistance application module（13）Prompting, second alarm module is auxiliary with current
Help application module（13）Connection.
2. it is according to claim 1 based on LTE-V communication pedestrian protection system, it is characterised in that：The locating module
（8）In the shark fins antenna of vehicle roof.
3. it is according to claim 1 and 2 based on LTE-V communication pedestrian protection system, it is characterised in that：First report
Alert module is HMI module（6）, the HMI module（6）By CAN and policy of Central Government module（5）Connection.
4. it is according to claim 1 and 2 based on LTE-V communication pedestrian protection system, it is characterised in that：Second report
Alert module is UI modules（12）, the UI modules（12）With current assistance application module（13）Connection.
5. it is according to claim 1 and 2 based on LTE-V communication pedestrian protection system, it is characterised in that：The hand-held end
End（16）It is smart mobile phone, or is Intelligent bracelet.
6. it is according to claim 1 and 2 based on LTE-V communication pedestrian protection system, it is characterised in that：It is described current auxiliary
Help application module（13）The current button of request is provided with, the current request for receiving pedestrian is input into.
7. it is a kind of based on LTE-V communication method for protecting pedestrian, it is characterised in that：Using as described in claim 1 to 6 is any
Pedestrian protection system, its method is comprised the following steps：
Step one, by handheld terminal（16）Send walk solicited message；
Step 2, handheld terminal（16）By walk solicited message, pedestrian's attribute information, pedestrian position information and place road
Information is encoded into standard LTE-V data forms, and periodic broadcast；
Step 3, handheld terminal（16）Receiving the information of surrounding vehicles broadcast, and judge whether surrounding has threatens this current
Vehicle；
If step 4, surrounding do not threaten this current vehicle, pedestrian's normal pass is reminded；If being passed through in the presence of this is threatened
Vehicle, then pedestrian is alarmed, to remind pedestrian to wait, while handheld terminal（16）By pedestrian position information, road
The vehicle ID that road information, warning message, stand-by period and affix threaten this current is broadcasted；
Step 5, car-mounted terminal（11）Policy of Central Government module（5）Whether need to send based on the information real-time judge for being received
Alarm, if need not alarm, does not carry out any operation；If desired alarm, then judge current alert levels, and according to alarm
Grade is alarmed with corresponding type of alarm, and vehicle is carried out active brake to prevent from touching when active brake condition is met
Hit.
8. it is according to claim 7 based on LTE-V communication method for protecting pedestrian, it is characterised in that：Whether judge surrounding
Have threaten this current vehicle method be：
Whether 3a, setting communication coverage Dmax, have vehicle, if it is not, thinking not threaten in the range of detection Dmax
The vehicle of this normal pass；
If detecting vehicle in the range of 3b, Dmax, obtain the longitude and latitude of vehicle, speed information and under reach mapping module
（15）, obtain the road ID of vehicle traveling；If pedestrian road ID and road vehicle ID are inconsistent, then it is assumed that vehicle is with pedestrian not
In same road（4）, this current generation will not be threatened；
If 3c, road ID where pedestrian are consistent with road ID where vehicle, the historical path information of registration of vehicle, according to going through
In history routing information each location point to the distance of pedestrian variation tendency, if distance becomes larger, then it represents that vehicle by
Gradually away from pedestrian, then it is assumed that vehicle will not be threatened this current generation；
If 3d, distance are gradually reduced, then it is assumed that vehicle close to pedestrian, now handheld terminal（16）Current assistance application mould
Block（13）Set up cartesian coordinate system centered on pedestrian, pedestrian prepares current direction for X-axis just, by the longitude and latitude of vehicle
Position is converted to the position in cartesian coordinate system（X,Y）；Currently arrived according to vehicle pedestrian distance | Y | calculate vehicle by
Travelled to pedestrian according to current vehicle speed Vv and prepare transit route（3）Time Tv；
3e, the average speed Vp that different type pedestrian is set according to statistical information；Pedestrian is calculated according to present road width W complete
Time Tp into needed for road；
3f, setting safe passing threshold time Ts, when | Tv-Tp | are during >=Ts, then vehicle will not be to this current generation prestige
The side of body；Threat is otherwise produced, and vehicle ID is sent to car-mounted terminal（11）.
9. according to claim 7 or 8 based on LTE-V communication method for protecting pedestrian, it is characterised in that：The step 5
Specially：
5a, compare this car vehicle ID and the handheld terminal for receiving（16）The vehicle ID of transmission, if it is inconsistent, abandon this disappearing
Breath, does not alarm driver；
If 5b, this car vehicle ID and the handheld terminal for receiving（16）The vehicle ID of transmission is identical, then show this car to pedestrian's
Normal pass produces threat, by HMI module（6）Give driver to be alarmed with image mode, alarm level is rudimentary, if driving
Member's selection action of giving way releases threat, then alarm release, if driver ignores this time alarm, into step 5c；
If 5c, this car receive the Twait of the stand-by period≤Twait_expire of pedestrian, the alarm of driver is remained as low
Level；If Twait>Twait_expire upgrades to middle rank to the alarm level of driver, by HMI module（6）Give and drive
Member is alarmed in the way of image and sound, wherein, Twait_expire is statistical value, when representing that the tolerable maximum of pedestrian is waited
Between；
If 5d, pedestrian ignore handheld terminal（16）Prompting, pass through by force, then the alarm level to driver upgrades to highest
Level, car-mounted terminal（11）HMI module（6）Driver's collision avoidance is reminded by way of image and sound；If driver's selection allows
Action work releases threat, then alarm release, if driver ignores this time alarm, into step 5e；
5e, car-mounted terminal（11）Policy of Central Government module（5）According to pedestrian and fore-and-aft distance | Y | of vehicle, lateral separation | X |
And current vehicle speed Vv calculates the time TTC for reaching the point of impingement, if TTC<Tbrake, policy of Central Government module（5）By performing
Module（7）Control vehicle carries out active brake with collision avoidance；Wherein, Tbrake is the braking time started, according to the active system for setting
Dynamic deceleration size Aset is calculated, and computing formula is：Tbrake = Vv / Aset.
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Application publication date: 20170623 Assignee: CHONGQING CHANGAN NEW ENERGY AUTOMOBILE TECHNOLOGY Co.,Ltd. Assignor: Chongqing Changan Automobile Co.,Ltd. Contract record no.: X2021500000014 Denomination of invention: Pedestrian protection system and method based on lte-v communication Granted publication date: 20190705 License type: Common License Record date: 20211014 |