CN105957401A - Intersection pedestrian anti-collision method based on vehicle-road coordination and device thereof - Google Patents
Intersection pedestrian anti-collision method based on vehicle-road coordination and device thereof Download PDFInfo
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- CN105957401A CN105957401A CN201610403181.1A CN201610403181A CN105957401A CN 105957401 A CN105957401 A CN 105957401A CN 201610403181 A CN201610403181 A CN 201610403181A CN 105957401 A CN105957401 A CN 105957401A
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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 provides an intersection pedestrian anti-collision method based on vehicle-road coordination. The method comprises the steps that vehicle-borne monitoring equipment and road side monitoring equipment monitor a monitored area at the same time, and road pedestrians are detected; whether the road pedestrians are in a safe area is judged; the vehicle-borne monitoring equipment and/or the road side monitoring equipment emits alarm information to the road pedestrians if the road pedestrians are not in the safe area; and if the road pedestrians do not enter into the safe area within the predetermined time, the vehicle-borne monitoring equipment and/or the road side monitoring equipment emits early warning information to the road pedestrians and vehicles in and/or near the monitoring area. The invention also discloses a system for realizing the above method. According to the method and the system, the collision accidents of the vehicle and the pedestrians can be alarmed in advance, and the problem that risk can not be accurately predicted under light and sound wave shielding is solved.
Description
Technical field
The invention belongs to pedestrian collision avoidance system, relate to equipped with DSRC (DSRC) communication module and radar
Vehicle, equipped with the RSU (drive test monitoring device) of photographic head and DSRC communication module and the mobile phone equipped with DSRC communication module.
Background technology
The existing traffic of China is complicated, and road often has pedestrian, and bicycle mixedly appears, and has substantial amounts of thing every year
Therefore it is because vehicle and bicycle and the collision of pedestrian, the most how to reduce this type of accident and be highly desirable to.
Existing technological invention uniquely relies on the radar of vehicle own, or driver is unilaterally alerted, not by RSU
Have and pedestrian self behavior is corrected and alerted.And in reversing, the light sound wave such as the poor place of light and crossing blocks place, thunder
Reach and be also not easy to realize, can not well reduce this type of vehicle accident.
The present invention is utilizing trailer-mounted radar potential danger to carry out early warning simultaneously, utilizes the RSU row to violating the traffic regulations
People corrects, and processes the information such as pedestrian's position and speed with vehicle, is estimated potential danger, in time to vehicle and row
People carries out early warning simultaneously.
Summary of the invention
For achieving the above object, the present invention provides a kind of intersection pedestrian anti-collision method collaborative based on bus or train route, bag
Containing following steps:
Step 1: vehicle-mounted monitoring equipment and drive test monitoring device monitor area to be monitored simultaneously, detects road surface pedestrian；
Step 2: judge that road surface pedestrian is whether in safety zone respectively；
Step 3: if having road surface pedestrian not in safety zone, then vehicle-mounted monitoring equipment and/or drive test monitoring device to
Road surface pedestrian sends warning information；
Step 4: if this road surface pedestrian does not enters into safety zone in the given time, then vehicle-mounted monitoring equipment and/or
Drive test monitoring device is in this road surface pedestrian and area to be monitored and/or neighbouring vehicle sends early warning information.
Preferably, early warning information is sent to associated vehicle and road surface row by vehicle-mounted monitoring equipment and drive test monitoring device simultaneously
People.
In step 4, drive test monitoring device is according to the distance between road surface pedestrian and vehicle, and point distance level scale carries out a point degree
Early warning.
The method of the present invention uses when dividing degree early warning, and distance D between road pavement pedestrian and vehicle judges, as D2 < D
< during D1, drive test monitoring device sends potential danger early warning to road surface pedestrian and vehicle, and as D, < during D2, drive test monitoring device is to road
Face pedestrian and vehicle send grave danger early warning, and require that vehicle brakes, as D > D1 time, show that vehicle is relative to this road surface
Pedestrian is the most dangerous, not early warning, and wherein, D1 represents minimum safe distance, and D2 represents the greatest danger distance, and D1 is not equal to D2.
Further, distance D between road surface pedestrian and vehicle obtains in the following manner:
Centered by drive test monitoring device, obtain the physical coordinates (X of road surface pedestrian1, Y1) and the physical coordinates (X of vehicle2,
Y2),
Obtain the distance between vehicle and road surface pedestrian
In order to preferably realize range measurement, utilize photographic head obtain road surface pedestrian pixel coordinate (u, v), by conversion
Obtain the physical coordinates (X of road surface pedestrian1, Y1)；The gps data utilizing vehicle obtains the physical coordinates (X with vehicle2, Y2)。
The present invention also provides for a kind of intersection pedestrian anti-collision system collaborative based on bus or train route, sets including drive test monitoring
Standby, car-mounted device and road surface pedestrian's communicator.Described drive test monitoring device includes the first controller, a DSRC communication module
With drive test monitoring unit, wherein, the first controller is used for controlling drive test monitoring device monitoring area to be monitored, detection road surface row
People, and judge that road surface pedestrian is whether in safety zone；If road surface pedestrian is not in safety zone, then led to by a DSRC
Letter module communicates with road surface pedestrian's communicator, and to road surface, pedestrian sends warning information；If this road surface pedestrian is predetermined
Safety zone is not entered into, the most again by a DSRC communication module and road surface pedestrian's communicator and monitored district in time
In territory and/or neighbouring vehicle communicates, send early warning information to vehicle and road surface pedestrian.Described car-mounted device includes second
Controller, the 2nd DSRC communication module, vehicle-mounted monitoring unit and Ben Che prior-warning device, wherein, described second controller is used for controlling
Vehicle-mounted monitoring unit monitors area to be monitored processed, detects road surface pedestrian, and judges that whether road surface pedestrian is in places of safety such as zebra crossing
In territory；If road surface pedestrian is not in safety zone, then carried out with road surface pedestrian's communicator by the 2nd DSRC communication module
Communication, to road surface, pedestrian sends warning information；If this road surface pedestrian does not enters into safety zone in the given time, lead to the most again
In crossing the 2nd DSRC communication module and road surface pedestrian's communicator and area to be monitored and/or neighbouring vehicle communicates,
Sending early warning information to Ben Che and associated vehicle with this road surface pedestrian, this car prior-warning device passes through the 2nd DSRC communication module from road
The car-mounted device surveying monitoring device and other vehicles receives early warning information, carries out the early warning of this car in the mode such as audio frequency, video.Described
Road surface pedestrian's communicator includes the 3rd DSRC communication module and pedestrian's prior-warning device, and wherein, pedestrian's prior-warning device passes through the 3rd
DSRC communication module receives alarm and the early warning information that drive test monitoring device and associated vehicle send, and sends to this road surface pedestrian and carries
Show information.
Preferably, early warning information is sent to associated vehicle and road surface row by vehicle-mounted monitoring equipment and drive test monitoring device simultaneously
People.
In terms of range measurement, drive test monitoring unit is photographic head, and the first controller utilizes photographic head to obtain road surface pedestrian's
(pixel coordinate of road surface pedestrian v), is converted to the road surface pedestrian's physical coordinates centered by drive test monitoring device to pixel coordinate by u
(X1, Y1)；Described car-mounted device also comprises GPS device, it is provided that the positional information of vehicle, and second controller passes through the 2nd DSRC
Vehicle position information is issued drive test monitoring device by communication module, and drive test monitoring device calculates according to vehicle position information with drive test
Vehicle physical coordinate (X centered by monitoring device2, Y2)；First controller of drive test monitoring device is sat according to road surface pedestrian's physics
Mark (X1, Y1) and vehicle physical coordinate (X2, Y2) obtain the distance of vehicle and pedestrian
Further, the 3rd controller receives, by the 3rd DSRC communication module, the serious danger that drive test monitoring device sends
After the alarm of danger, send cutoff command to vehicle, control vehicle brake.
The present invention can send the accident of collision in advance and carry out early warning, simultaneously warning pedestrian and driver car and pedestrian,
And solve reversing, rather dark, light sound wave block down cannot Accurate Prediction danger problem.Notify when occurring dangerous simultaneously
Pedestrian and vehicle drivers, effectively reduce vehicle and bicycle, the vehicle accident of pedestrian, real reaches car, road, people work in coordination with.
Accompanying drawing explanation
Fig. 1 is the system flow chart of the intersection pedestrian anti-collision method collaborative based on bus or train route of the present invention；
Fig. 2 is the intersection pedestrian anti-collision system construction drawing collaborative based on bus or train route of the present invention；
Fig. 3 is the system flow chart that the present invention calculates vehicle and pedestrian's distance；
Fig. 4 is pixel coordinate and the transition diagram of physical coordinates in the present invention.
Detailed description of the invention
Hereinafter, the detailed description of the invention of the present invention referring to the drawings, those skilled in the art will become apparent this
Bright all directions.It will be apparent to a skilled person that these accompanying drawings are used only for coordinating detailed description of the invention explanation
Technical scheme, and be not intended to protection scope of the present invention is construed as limiting.
As it is shown in figure 1, the intersection pedestrian anti-collision method collaborative based on bus or train route of the present invention, comprise the steps of
Step 1: vehicle-mounted monitoring equipment and drive test monitoring device monitor area to be monitored simultaneously, detects road surface pedestrian；
Step 2: judge that road surface pedestrian is whether in the safety zone of such as zebra crossing respectively；
Step 3: if having road surface pedestrian not in safety zone, then vehicle-mounted monitoring equipment and/or drive test monitoring device to
Road surface pedestrian sends warning information；
Step 4: if this road surface pedestrian does not enters into safety zone in the given time, then vehicle-mounted monitoring equipment and/or
Drive test monitoring device is in this road surface pedestrian and area to be monitored and/or neighbouring vehicle sends early warning information.
In step 4, it is preferred that early warning information is sent to associated vehicle by vehicle-mounted monitoring equipment and drive test monitoring device simultaneously
With road surface pedestrian.
In order to improve the efficiency of early warning, the drive test monitoring device of the present invention always according to road surface pedestrian and vehicle distances, point away from
A point method for degree early warning is carried out, as it is shown on figure 3, comprise the steps of from grade
Step a: centered by drive test monitoring device, obtains the physical coordinates (X of road surface pedestrian1, Y1) and the physics seat of vehicle
Mark (X2, Y2)；
Step b: obtain the distance of vehicle and road surface pedestrian
Step c: the D that adjusts the distance judges, as D2 < D, < during D1, drive test monitoring device sends latent to road surface pedestrian and vehicle
At danger early warning, as D, < during D2, drive test monitoring device sends grave danger early warning to road surface pedestrian and vehicle, and requires that vehicle enters
Row brake；As D > D1 time, show that vehicle is the most dangerous relative to this road surface pedestrian.Wherein D1 represents minimum safe distance, D2
Representing the greatest danger distance, D1 is not equal to D2.
Wherein, in step a, multiple method can be used to obtain the thing of the road surface pedestrian centered by drive test monitoring device
Reason coordinate (X1, Y1).The present invention preferably by photographic head obtain road surface pedestrian pixel coordinate (u, v), by being converted to road surface
Physical coordinates (the X of pedestrian1, Y1)。
As shown in Figure 4, pixel abscissa u, vertical coordinate v represent its columns in image array and line number.With image it is
Physical coordinates system X-Y, (u are set up in center0,v0) pixel coordinate at representative image center, dx Yu dy represents each pixel respectively at x
Length in axle y-axis, then there is following relation in physical coordinates and pixel coordinate:
Then according to pedestrian's pixel coordinate, the physical coordinates of pedestrian can be obtained according to above formula, then try to achieve pedestrian through conversion
Coordinate (X relative to RSU1, Y1)。
Step a can also use various ways to obtain the physical coordinates (X of the vehicle centered by drive test monitoring device2,
Y2), the present invention obtains the physical coordinates with vehicle preferably by the gps data of vehicle and the distance of vehicle and drive test monitoring device
(X2, Y2)。
As shown in Figure 3, it is achieved present invention system based on the intersection pedestrian anti-collision method that bus or train route is worked in coordination with includes road
Survey monitoring device, car-mounted device and road surface pedestrian's communicator.
Described drive test monitoring device includes the first controller, a DSRC communication module and drive test monitoring unit.Described
One controller is used for controlling drive test monitoring device monitoring area to be monitored, detects road surface pedestrian, and judges that whether road surface pedestrian exists
In the safety zones such as zebra crossing；If road surface pedestrian is not in safety zone, then by a DSRC communication module and road surface row
People's communicator communicates, and to road surface, pedestrian sends warning information；If this road surface pedestrian does not enters in the given time
Safety zone, the most again by a DSRC communication module and road surface pedestrian's communicator and area to be monitored and/or near
Vehicle communicate, send early warning information to vehicle and road surface pedestrian.
Described car-mounted device includes second controller, the 2nd DSRC communication module, vehicle-mounted monitoring unit and Ben Che early warning dress
Put, vehicle-mounted monitoring unit e.g. radar.Described second controller is used for controlling vehicle-mounted monitoring unit monitors area to be monitored, inspection
Survey road surface pedestrian, and judge that road surface pedestrian is whether in the safety zones such as zebra crossing；If road surface pedestrian is not in safety zone,
Then being communicated with road surface pedestrian's communicator by the 2nd DSRC communication module, to road surface, pedestrian sends warning information；If
This road surface pedestrian does not enters into safety zone in the given time, is communicated with road surface pedestrian by the 2nd DSRC communication module the most again
In device and area to be monitored and/or neighbouring vehicle communicates, send to Ben Che and associated vehicle and this road surface pedestrian
Early warning information.This car prior-warning device is connect from the car-mounted device of drive test monitoring device He other vehicles by the 2nd DSRC communication module
Receive early warning information, carry out the early warning of this car in the mode such as audio frequency, video.
Described road surface pedestrian's communicator includes the 3rd DSRC communication module and pedestrian's prior-warning device, and pedestrian's prior-warning device leads to
Cross the 3rd DSRC communication module and receive alarm and the early warning information that drive test monitoring device and associated vehicle send, to this road surface pedestrian
Send information.
Wherein, drive test monitoring unit is photographic head, and the first controller utilizes photographic head to obtain the pixel coordinate of road surface pedestrian
(pixel coordinate of road surface pedestrian v), is converted to the road surface pedestrian physical coordinates (X centered by drive test monitoring device by u1, Y1)。
Wherein, described car-mounted device also comprises GPS device, it is provided that the positional information of vehicle, and second controller is by the
Vehicle position information is issued drive test monitoring device by two DSRC communication modules.Drive test monitoring device calculates according to vehicle position information
Vehicle physical coordinate (X centered by drive test monitoring device2, Y2)。
First controller of drive test monitoring device is according to road surface pedestrian physical coordinates (X1, Y1) and vehicle physical coordinate (X2,
Y2) obtain the distance of vehicle and pedestrianThe D that adjusts the distance judges, as D2 < D < D1
Time, drive test monitoring device sends potential danger early warning to road surface pedestrian and vehicle, and as D, < during D2, drive test monitoring device is to road surface row
People and vehicle send grave danger early warning；As D > D1 time, show that vehicle is the most dangerous relative to this road surface pedestrian.Wherein D1 generation
Table minimum safe distance, D2 represents the greatest danger distance, and D1 is not equal to D2.
It addition, the 3rd controller receives, by the 3rd DSRC communication module, the grave danger announcement that drive test monitoring device sends
After police, send cutoff command to vehicle, control vehicle brake.
It is understood that for those of ordinary skills, can be according to technical scheme and send out
Bright design in addition equivalent or change, and all these change or replace the guarantor that all should belong to appended claims of the invention
Protect scope.
Claims (10)
1. the intersection pedestrian anti-collision method worked in coordination with based on bus or train route, it is characterised in that: comprise the steps of
Step 1: vehicle-mounted monitoring equipment and drive test monitoring device monitor area to be monitored simultaneously, detects road surface pedestrian；
Step 2: judge that road surface pedestrian is whether in safety zone respectively；
Step 3: if having road surface pedestrian not in safety zone, then vehicle-mounted monitoring equipment and/or drive test monitoring device are to road surface
Pedestrian sends warning information；
Step 4: if this road surface pedestrian does not enters into safety zone, then vehicle-mounted monitoring equipment and/or drive test in the given time
Monitoring device is in this road surface pedestrian and area to be monitored and/or neighbouring vehicle sends early warning information.
2. the method for claim 1, it is characterised in that: early warning is believed by vehicle-mounted monitoring equipment and drive test monitoring device simultaneously
Breath is sent to associated vehicle and road surface pedestrian.
3. the method for claim 1, it is characterised in that: in step 4, drive test monitoring device is according to road surface pedestrian and vehicle
Between distance, point distance level scale carries out a point degree early warning.
4. method as claimed in claim 3, it is characterised in that: when dividing degree early warning, distance D between road pavement pedestrian and vehicle
Judge,
When D2 < D < during D1, drive test monitoring device sends potential danger early warning to road surface pedestrian and vehicle,
When D < during D2, drive test monitoring device sends grave danger early warning to road surface pedestrian and vehicle, and requires that vehicle brakes,
As D > D1 time, show that vehicle is the most dangerous relative to this road surface pedestrian, not early warning,
Wherein, D1 represents minimum safe distance, and D2 represents the greatest danger distance, and D1 is not equal to D2.
5. the method as described in claim 3 or 4, it is characterised in that: distance D between road surface pedestrian and vehicle is in the following manner
Obtain:
Centered by drive test monitoring device, obtain the physical coordinates (X of road surface pedestrian1, Y1) and the physical coordinates (X of vehicle2, Y2),
Obtain the distance between vehicle and road surface pedestrian
6. method as claimed in claim 5, it is characterised in that: utilize photographic head obtain road surface pedestrian pixel coordinate (u, v),
By being converted to the physical coordinates (X of road surface pedestrian1, Y1)；
The gps data utilizing vehicle obtains the physical coordinates (X with vehicle2, Y2)。
7. the intersection pedestrian anti-collision system worked in coordination with based on bus or train route, it is characterised in that: include drive test monitoring device, car
Carry and put and road surface pedestrian's communicator,
Described drive test monitoring device includes the first controller, a DSRC communication module and drive test monitoring unit, wherein, the first control
Device processed is used for controlling drive test monitoring device monitoring area to be monitored, detects road surface pedestrian, and judges that whether road surface pedestrian is in safety
In region；If road surface pedestrian is not in safety zone, then entered with road surface pedestrian's communicator by a DSRC communication module
Row communication, to road surface, pedestrian sends warning information；If this road surface pedestrian does not enters into safety zone in the given time, the most again
By in a DSRC communication module and road surface pedestrian's communicator and area to be monitored and/or neighbouring vehicle leads to
Letter, sends early warning information to vehicle and road surface pedestrian；
Described car-mounted device includes second controller, the 2nd DSRC communication module, vehicle-mounted monitoring unit and Ben Che prior-warning device, its
In, described second controller is used for controlling vehicle-mounted monitoring unit monitors area to be monitored, detects road surface pedestrian, and judges road surface row
Whether people is in the safety zones such as zebra crossing；If road surface pedestrian is not in safety zone, then by the 2nd DSRC communication module
Communicating with road surface pedestrian's communicator, to road surface, pedestrian sends warning information；If this road surface pedestrian is in the given time
Do not enter into safety zone, the most again by the 2nd DSRC communication module and road surface pedestrian's communicator and area to be monitored
And/or neighbouring vehicle communicates, send early warning information, this car prior-warning device to Ben Che and associated vehicle with this road surface pedestrian
Receive early warning information by the 2nd DSRC communication module from the car-mounted device of drive test monitoring device and other vehicles, with audio frequency, regard
The modes such as frequency carry out the early warning of this car；
Described road surface pedestrian's communicator includes the 3rd DSRC communication module and pedestrian's prior-warning device, wherein, pedestrian's prior-warning device
The alarm sent by the 3rd DSRC communication module reception drive test monitoring device and associated vehicle and early warning information, to this road surface row
People sends information.
8. system as claimed in claim 7, it is characterised in that: early warning is believed by vehicle-mounted monitoring equipment and drive test monitoring device simultaneously
Breath is sent to associated vehicle and road surface pedestrian.
9. system as claimed in claim 7 or 8, it is characterised in that: drive test monitoring unit is photographic head, and the first controller utilizes
Photographic head obtain road surface pedestrian pixel coordinate (u, v), the pixel coordinate of road surface pedestrian is converted to drive test monitoring device be
The road surface pedestrian physical coordinates (X at center1, Y1),
Described car-mounted device also comprises GPS device, it is provided that the positional information of vehicle, and second controller is communicated by the 2nd DSRC
Vehicle position information is issued drive test monitoring device by module, and drive test monitoring device calculates according to vehicle position information and monitors with drive test
Vehicle physical coordinate (X centered by equipment2, Y2),
First controller of drive test monitoring device is according to road surface pedestrian physical coordinates (X1, Y1) and vehicle physical coordinate (X2, Y2) ask
Go out the distance of vehicle and pedestrian
10. system as claimed in claim 7 or 8, it is characterised in that: the 3rd controller is received by the 3rd DSRC communication module
After the grave danger alarm that drive test monitoring device sends, send cutoff command to vehicle, control vehicle brake.
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| CN106971626A (en) * | 2017-05-12 | 2017-07-21 | 南通海鑫信息科技有限公司 | A kind of alarming method for power of pedestrian running red light |
| CN107564337A (en) * | 2017-09-25 | 2018-01-09 | 南京律智诚专利技术开发有限公司 | A kind of collision prevention of vehicle people system |
| CN108447305A (en) * | 2018-04-21 | 2018-08-24 | 上海交通大学 | A kind of new friendship rule are lower to give precedence to pedestrian's method for early warning and early warning system |
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Application publication date: 20160921 |