CN106157694A - The pedestrian anti-collision method for early warning of a kind of intersection and device - Google Patents
The pedestrian anti-collision method for early warning of a kind of intersection and device Download PDFInfo
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- CN106157694A CN106157694A CN201610617614.3A CN201610617614A CN106157694A CN 106157694 A CN106157694 A CN 106157694A CN 201610617614 A CN201610617614 A CN 201610617614A CN 106157694 A CN106157694 A CN 106157694A
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- green light
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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
Abstract
The embodiment of the present invention provides pedestrian anti-collision method for early warning and the device of a kind of intersection, and wherein method includes: obtaining the positional information of vehicle to be selected, wherein, the distance of described vehicle-to-target pedestrian traffic lamp to be selected is less than the first predetermined threshold value；Positional information according to described vehicle to be selected determines target vehicle, and wherein, described target vehicle is positioned at the first section, and can be passed through to the second section by described first section；Obtain the status information of described target vehicle；Status information according to described target vehicle judges that whether described target vehicle arrives described second section in the green light of target pedestrian's traffic lights passes through the period；The most then sending safe early warning prompting to destination mobile terminal, wherein, described destination mobile terminal is less than the second predetermined threshold value with the distance of described target pedestrian's traffic lights.Use the present invention, the collision of pedestrian and vehicle can be avoided, reduce the generation of vehicle accident.
Description
Technical field
The present invention relates to electronic technology field, particularly relate to pedestrian anti-collision method for early warning and the dress of a kind of intersection
Put.
Background technology
Along with the continuous progress of traffic planninng level, cooperation and the coordination of the traffic lights between road the most increasingly become
In perfect.But, still have some situations about cannot coordinate, still can allow at this when to cause pedestrian traffic lamp be green light
Pass through the situation of vehicle in section.Such as, some intersections there will be walk, simultaneously vehicle when pedestrian traffic lamp is green light
This section that the pedestrian that can also turn right is current, this may result in the vehicle that pedestrian still will be past when going across the road,
If some pedestrians take for not having other vehicles to pass through during green light, and do not notice that car passes through the most rashly, just it is easy to
Vehicle accident occurs.
Summary of the invention
Embodiment of the present invention technical problem to be solved is, it is provided that the pre-police of pedestrian anti-collision of a kind of intersection
Method and device, it is possible to predict the vehicle green light at pedestrian's traffic lights pass through in the period by time, to the movement of nearby users
Terminal sends early warning, such that it is able to avoid the collision of pedestrian and vehicle, reduces the generation of vehicle accident.
The embodiment of the present invention provides the pedestrian anti-collision method for early warning of a kind of intersection, and described method includes:
Obtaining the positional information of vehicle to be selected, wherein, the distance of described vehicle-to-target pedestrian traffic lamp to be selected is less than the
One predetermined threshold value；
Positional information according to described vehicle to be selected determines target vehicle, and wherein, described target vehicle is positioned at the first section,
And can be passed through to the second section by described first section；
Obtain the status information of described target vehicle；
Status information according to described target vehicle judges that described target vehicle is whether at the green light of target pedestrian's traffic lights
Described second section is arrived in the current period；
The most then send safe early warning prompting, wherein, described destination mobile terminal and described target to destination mobile terminal
The distance of pedestrian traffic lamp is less than the second predetermined threshold value.
Optionally, described status information includes travel speed；
The described status information according to described target vehicle judges that whether described target vehicle is at target pedestrian's traffic lights
Green light passes through and arrives described second section in the period and include:
Travel speed according to described target vehicle and described positional information, determine that described target vehicle arrives described second
The E.T.A in section；
Judge that whether described target vehicle arrives the E.T.A in described second section at described target pedestrian traffic
The green light of lamp passed through in the period, if, it is determined that described target vehicle arrives in the green light of target pedestrian's traffic lights passes through the period
Reach described second section.
Optionally, described status information includes car light state；
The described status information according to described target vehicle judges that whether described target vehicle is at target pedestrian's traffic lights
Green light passes through and arrives described second section in the period and include:
Car light state according to described target vehicle, determines in described target vehicle and will pass through to institute from described first section
State first vehicle in the second section；
Judge that whether described first vehicle arrives described second section in the green light of target pedestrian's traffic lights passes through the period.
Optionally, described current safe early warning includes the E.T.A of described target vehicle.
Optionally, described method also includes:
Obtaining the traffic grade information of target pedestrian's traffic lights, described traffic grade information includes green light switching time
Point and green light maintain duration；
Green light point switching time and green light according to described target pedestrian's traffic lights maintain duration, determine described target pedestrian
The green light of traffic lights passes through the period.
Accordingly, the embodiment of the present invention additionally provides the pedestrian anti-collision prior-warning device of a kind of intersection, described device
Including:
First acquisition module, for obtaining the positional information of vehicle to be selected, wherein, described vehicle-to-target pedestrian to be selected hands over
The distance of logical lamp is less than the first predetermined threshold value；
Target determination module, for determining target vehicle according to the positional information of described vehicle to be selected, wherein, described target
Vehicle is positioned at the first section, and can be passed through to the second section by described first section；
Second acquisition module, for obtaining the status information of described target vehicle；
According to the status information of described target vehicle, judge module, for judging that whether described target vehicle is target pedestrian
The green light of traffic lights passes through and arrives described second section in the period；
Warning module, for arriving described the when described target vehicle in the green light of target pedestrian's traffic lights passes through the period
During two sections, sending safe early warning prompting to destination mobile terminal, wherein, described destination mobile terminal is handed over described target pedestrian
The distance of logical lamp is less than the second predetermined threshold value.
Optionally, described status information includes travel speed；
Described judge module is used for:
Travel speed according to described target vehicle and described positional information, determine that described target vehicle arrives described second
The E.T.A in section；
Judge that whether described target vehicle arrives the E.T.A in described second section at described target pedestrian traffic
The green light of lamp passed through in the period, if, it is determined that described target vehicle arrives in the green light of target pedestrian's traffic lights passes through the period
Reach described second section.
Optionally, described status information includes car light state；
Described judge module is used for:
Car light state according to described target vehicle, determines in described target vehicle and will pass through to institute from described first section
State first vehicle in the second section；
Judge that whether described first vehicle arrives described second section in the green light of target pedestrian's traffic lights passes through the period.
Optionally, described current safe early warning includes the E.T.A of described target vehicle.
Optionally, described device also includes:
3rd acquisition module, for obtaining the traffic grade information of target pedestrian's traffic lights, described traffic grade is believed
Breath includes that green light point switching time and green light maintain duration；
Period determination module, when green light point switching time according to described target pedestrian's traffic lights and green light maintain
Long, determine that the green light of described target pedestrian's traffic lights passes through the period.
The embodiment of the present invention is by obtaining the positional information of vehicle to be selected, and wherein, described vehicle-to-target pedestrian to be selected hands over
The distance of logical lamp, less than the first predetermined threshold value, determines target vehicle according to the positional information of described vehicle to be selected, wherein, and described mesh
Mark vehicle is positioned at the first section, and can be passed through to the second section by described first section, obtains the state of described target vehicle
According to the status information of described target vehicle, information, judges that described target vehicle is the most current at the green light of target pedestrian's traffic lights
Arriving described second section in period, the most then send safe early warning prompting to destination mobile terminal, wherein, described target is moved
Dynamic terminal is less than the second predetermined threshold value with the distance of described target pedestrian's traffic lights, can predict vehicle at pedestrian's traffic lights
Green light pass through in the period by time, send early warning to the mobile terminal of nearby users, such that it is able to avoid pedestrian and vehicle
Collision, reduces the generation of vehicle accident.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of the pedestrian anti-collision method for early warning of a kind of intersection in the embodiment of the present invention；
Fig. 2 is the sight schematic diagram of a kind of intersection in the embodiment of the present invention；
Fig. 3 is the structural representation of the pedestrian anti-collision prior-warning device of a kind of intersection in the embodiment of the present invention；
Fig. 4 is the structural representation of the pedestrian anti-collision prior-warning device of another kind of intersection in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Fig. 1 is the schematic flow sheet of the pedestrian anti-collision method for early warning of a kind of intersection in the embodiment of the present invention, we
Method flow process can be implemented by the pedestrian anti-collision prior-warning device of intersection, the pedestrian anti-collision prior-warning device of described intersection
Can be a kind of roadside unit (RSU, english abbreviation Road Side Unit) or the software program operating in roadside unit, its
In, roadside unit, for being arranged on trackside, uses DSRC technology (DSRC, Dedicated Short Range
Communication) device of communication is carried out with board units (OBU, On Board Unit) or server.Real in the present invention
Executing in example, roadside unit can be the street lamp of intersection, monitoring camera, stop-light etc..
The embodiment of the present invention is be applicable to the sight of the various intersections with pedestrian traffic lamp, wherein for each tool
The method for early warning having the intersection of pedestrian traffic lamp is all basically identical, and therefore this method embodiment is only for a pedestrian
The sight of the intersection at traffic lights place is described, and i.e. carries out the sight of the intersection at target pedestrian's traffic lights place
Describe.
As it can be seen, described method at least includes:
Step S101, obtains the positional information of vehicle to be selected, wherein, described vehicle-to-target pedestrian traffic lamp to be selected away from
From less than the first predetermined threshold value.
In general, traffic lights can be divided into vehicular traffic lamp and pedestrian traffic lamp, is namely respectively used to indicate vehicle
Current and two kinds of current traffic lights of pedestrian.Vehicle to be selected can be preset less than first with the distance of target pedestrian's traffic lights
The vehicle of threshold value.
Concrete, roadside unit can obtain in current intersection, with the distance of target pedestrian's traffic lights less than the
The positional information of the vehicle to be selected of one predetermined threshold value, wherein, distance here can refer to the straight of vehicle-to-target pedestrian traffic lamp
Linear distance, it is also possible to refer to that the vehicle that determines according to current road information is to the traffic route distance of target pedestrian's traffic lights.
In being embodied as, the method for the positional information that roadside unit obtains vehicle to be selected can have multiple.Such as, roadside is single
Photographic head can be installed by unit, is shot the positional information determining vehicle to be selected by photographic head；Roadside unit can also join to car
The server of net sends position acquisition request, so that server search is sent out at the positional information of the vehicle of current intersection
Give roadside unit；Roadside unit directly can also send positional information from peripherad vehicle and obtain request, thus directly connects
Receive the positional information of self sent by vehicle to be selected.Concrete positional information is not obtained mode to be defined.
Step S102, determines target vehicle according to the positional information of described vehicle to be selected, and wherein, described target vehicle is positioned at
First section, and can be passed through to the second section by described first section.
Concrete, the second section can be with the street at feeling the pulse with the finger-tip mark pedestrian traffic lamp place, road, lane, lane etc., and target line
The walk in this second section of people's traffic grade.First section then can refer to the street allowing vehicle pass-through to the second section
Or road etc., say, that the vehicle in the first section in the case of traffic rules allow P Passable to the second section.
Exemplary, as in figure 2 it is shown, the section that the second section is target pedestrian's traffic grade walk, according to Fig. 2
In trail guide it can be seen that road A and road B can turn right arrival the second section, if the sight set as this
Intersection bends to right and need not indicate according to vehicular traffic lamp, can bend to right at any time to the second section, or
Current vehicular traffic lamp passes through for green light during right-turning vehicles, then road A and road B is just the first section, it is assumed that figure
In five cars be vehicle to be selected, then be in four cars in A and B section, i.e. vehicle 1, vehicle 2, vehicle 3 and vehicle 4 then
Target vehicle can be defined as by roadside unit.
Step S103, obtains the status information of described target vehicle.
Concrete, status information can include the travel speed of vehicle, acceleration, car light state etc..Roadside unit exists
After vehicle to be selected determines target vehicle, it is possible to obtain the above-mentioned status information of target vehicle.In being embodied as, roadside
Unit can send state to target vehicle and obtain request, so that target vehicle sends the state letter of himself to roadside unit
Breath；Roadside unit can also send the state acquisition request of target vehicle to the server of car networking, so that server search is also
It is sent to roadside unit after obtaining the status information of target vehicle.
According to the status information of described target vehicle, step S104, judges that whether described target vehicle is at target pedestrian traffic
The green light of lamp passes through and arrives described second section in the period.
Concrete, after roadside unit obtains the status information of target vehicle, it can be determined that whether target vehicle is at target line
The green light of people's traffic lights passes through and arrives the second section in the period.It is to say, roadside unit needs the state according to target vehicle
Whether information prediction target vehicle can drive towards the second section, if target vehicle to drive towards the second section, then also need to prediction
Arrive time in the second section when whether can be target pedestrian's traffic lights green light.In being embodied as, roadside unit can root
Predict according to the data such as travel direction of speed, target vehicle and the running distance in the second section of target vehicle, target vehicle
Target vehicle arrives the time in the second section, and then the period of passing through of the green light with the target pedestrian's traffic lights got in advance is carried out
Contrast, it is judged that target vehicle arrives whether the time in the second section passes through in the period at green light.
Optionally, status information can include travel speed, then step S104 may include that
Travel speed according to described target vehicle and described positional information, determine that described target vehicle arrives described second
The E.T.A in section.
Concrete, it is contemplated that can refer to that scheduled target vehicle arrives the time point in the second section the time of advent.Roadside unit root
The positional information current according to target vehicle combines the traffic map prestored, it may be determined that target vehicle distance the second section
Running distance, in conjunction with the travel speed that target vehicle is current, it is possible to estimate how long target vehicle is anticipated needs flower
Arrive the second section, in conjunction with current time point, then may determine that target vehicle arrives the E.T.A in the second section.
Such as, as in figure 2 it is shown, set vehicle 1, vehicle 2, vehicle 3 and vehicle 4 target carriage as P Passable to the second section
, travel speed is respectively 10km/h, 8km/h, 12km/h and 5km/h, and combining position information obtains vehicle 1, vehicle 2, vehicle 3
It is 6m, 8m, 10m and 12m respectively with the running distance in vehicle 4 distance the second section.So roadside unit can by driving away from
From the method divided by travel speed, estimate vehicle 1, vehicle 2, vehicle 3 and vehicle 4 and arrive the time span in the second section respectively
For: 2.16s, 3.6s, 3s, 8.63s.If the current time is 11: 20: 30, then vehicle 1, vehicle 2, vehicle 3 and vehicle
4 E.T.A arriving the second section were then respectively as follows: 11: 20: 32.16,11: 20: 33.6,11: 20
33 seconds, 11: 20 38.63s.
Judge that whether described target vehicle arrives the E.T.A in described second section at described target pedestrian traffic
The green light of lamp passed through in the period, if, it is determined that described target vehicle arrives in the green light of target pedestrian's traffic lights passes through the period
Reach described second section.
Concrete, roadside unit is in the E.T.A in arrival the second section determining at least one target vehicle
After, it is right that the period of can E.T.A corresponding for each target vehicle and the green light of target pedestrian's traffic lights being passed through respectively is carried out
Ratio, it is judged that whether target vehicle arrives the E.T.A in the second section and pass through the period at the green light of target pedestrian's traffic lights
In, if the E.T.A of a certain target vehicle passes through in the period at green light, then illustrate that this target vehicle will be in target
The green light of pedestrian traffic lamp passes through and arrives described second section in the period.
As in figure 2 it is shown, hold a citing gained, vehicle 1, vehicle 2, vehicle 3 and vehicle 4 arrive expecting of the second section
The time that reaches then is respectively as follows: 11: 20: 32.16,11: 20: 33.6,11: 20: 33,11: 20: 38.63.False
If the green light of target pedestrian's traffic lights passes through, the period is as shown in table 1, i.e. passes through 10s every 1min, then roadside unit through than
Relatively it was determined that 11: 20: 32.16,11: 20: 33.6 and 11 o'clock 20 minutes 33 seconds these three E.T.A are 11
This green light of 20 minutes 25 seconds 11: 20: 35 of point passes through in the period, and 11: 20: 38.63 the most at arbitrary green light
In the current period, then just it is believed that vehicle 1, vehicle 2, vehicle 3 can pass through the period at the green light at target pedestrian's traffic lights
Described second section of interior arrival, vehicle 4 then will not arrive described second in the green light of target pedestrian's traffic lights passes through the period
Section.During it is to say, vehicle 1, vehicle 2, vehicle 3 are by the second section, it is likely that have pedestrian passing through the second section.
| Green light passes through the period |
| …… |
| 11: 20: 25 seconds |
| 11: 21: 35 seconds |
| 11: 22: 45 seconds |
| …… |
Table 1: segment table (example) when the green light of target pedestrian's traffic lights passes through
Optionally, status information can include car light state, then step S104 may include that
Car light state according to described target vehicle, determine described target vehicle will pass through from described first section to
First vehicle in described second section.
In a kind of sight, target vehicle is in P Passable in first section in the second section, but this first via
Section be not merely P Passable to the second section, such as, road B as shown in Figure 2, both allowed vehicle forwards to travel,
Allow also to vehicle turn to the second section to the right.In this case, roadside unit can be first according to the car light of target vehicle
State, determines the first vehicle in target vehicle, and wherein the first vehicle is will to pass through to the mesh in the second section from the first section
Mark vehicle.
Specifically, when vehicle needs to turn, all can right turn lamp be beaten or left steering lamp, then roadside unit obtains
Get the car light state of target vehicle, it is possible to judge whether this vehicle is will to pass through to described second section.Still with Fig. 2
Citing, road A is due to must be to right travel to the second section, therefore without determining vehicle 1 according to car light state
It is the first vehicle with vehicle 2；And in vehicle 3 in road B and vehicle 4, it is assumed that roadside unit gets the car light state of vehicle 3
Flash for right turn lamp, and the car light state of vehicle 4 is flicker free, then be assured that vehicle 3 is will to pass through from road B
To the second section, and vehicle 4 is not.So may determine that in target vehicle and will pass through from the first section to the of the second section
One vehicle is vehicle 1, vehicle 2 and vehicle 3.
Judge that whether described first vehicle arrives described second section in the green light of target pedestrian's traffic lights passes through the period.
Concrete, after roadside unit determines the first vehicle, only necessary to the first vehicle whether at target pedestrian traffic
The green light of lamp passes through and arrives the second section in the period and carry out judging, concrete judge process is referred to aforementioned method steps,
Here repeat no more.
Step S105, the most then send safe early warning prompting, wherein, described destination mobile terminal to destination mobile terminal
It is less than the second predetermined threshold value with the distance of described target pedestrian's traffic lights.
Concrete, when roadside unit judges to draw that target vehicle arrives in the green light of target pedestrian's traffic lights passes through the period
Second section, then just the transmission of all mobile terminals in distance objective pedestrian traffic lamp the second predetermined threshold value safe early warning carries
Showing, the prompting of this safe early warning is for the pedestrian's early warning to current second section of preparation, and pedestrian is in green light transit time section meeting in prompting
There is this section of vehicle pass-through, note seeing road and dodging.
Further alternative, current safe early warning can also include the E.T.A of target vehicle.It is to say, use
Family is when receiving safe early warning prompting by mobile terminal, it is known that target vehicle estimates the time arrived, thus rationally
Arrange transit time, or be easier to dodge vehicle.
Further, before performing this method step, in addition it is also necessary to when the green light of acquisition target pedestrian's traffic lights passes through in advance
Section, specifically may include that
Obtaining the traffic grade information of target pedestrian's traffic lights, described traffic grade information includes green light switching time
Point and green light maintain duration.
Concrete, green light point switching time refers to that target pedestrian's traffic lights switches to the time point of green light, such as, can be
12: 25 cut and shift to green light；Green light maintains duration then to refer to green light each duration length of target pedestrian's traffic lights,
Can be such as 10s, 20s etc..
In being embodied as, roadside unit directly can be set up with target pedestrian's traffic lights after being connected and obtain target pedestrian traffic
The traffic grade information of lamp, it is also possible to obtain the traffic lights of target pedestrian's traffic lights to management platforms such as traffic control servers
Control information, is not especially limited here.
Green light point switching time and green light according to described target pedestrian's traffic lights maintain duration, determine described target pedestrian
The green light of traffic lights passes through the period.
Concrete, to hold time according to green light point switching time and green light, roadside unit just can show that target pedestrian hands over
The green light of logical lamp passes through the period.Such as, green light switching time, point was 12: 25: 10, when green light maintains a length of 20 seconds, the greenest
Lamp period of passing through is then 12: 25: 10 seconds.
The embodiment of the present invention is by obtaining the positional information of vehicle to be selected, and wherein, described vehicle-to-target pedestrian to be selected hands over
The distance of logical lamp, less than the first predetermined threshold value, determines target vehicle according to the positional information of described vehicle to be selected, wherein, and described mesh
Mark vehicle is positioned at the first section, and can be passed through to the second section by described first section, obtains the state of described target vehicle
According to the status information of described target vehicle, information, judges that described target vehicle is the most current at the green light of target pedestrian's traffic lights
Arriving described second section in period, the most then send safe early warning prompting to destination mobile terminal, wherein, described target is moved
Dynamic terminal is less than the second predetermined threshold value with the distance of described target pedestrian's traffic lights, can predict vehicle at pedestrian's traffic lights
Green light pass through in the period by time, send early warning to the mobile terminal of nearby users, such that it is able to avoid pedestrian and vehicle
Collision, reduces the generation of vehicle accident.
Fig. 3 is the structural representation of the pedestrian anti-collision prior-warning device of a kind of intersection in the embodiment of the present invention, this dress
Put and include:
First acquisition module 310, for obtaining the positional information of vehicle to be selected, wherein, described vehicle-to-target row to be selected
The distance of people's traffic lights is less than the first predetermined threshold value；
Target determination module 320, for determining target vehicle according to the positional information of described vehicle to be selected, wherein, described
Target vehicle is positioned at the first section, and can be passed through to the second section by described first section；
Second acquisition module 330, for obtaining the status information of described target vehicle；
According to the status information of described target vehicle, judge module 340, for judging that whether described target vehicle is in target
The green light of pedestrian traffic lamp passes through and arrives described second section in the period；
Warning module 350, for arriving institute when described target vehicle in the green light of target pedestrian's traffic lights passes through the period
When stating the second section, send safe early warning prompting, wherein, described destination mobile terminal and described target line to destination mobile terminal
The distance of people's traffic lights is less than the second predetermined threshold value.
Optionally, described current safe early warning includes the E.T.A of described target vehicle.
Optionally, described status information includes that travel speed, described judge module 340 are used for:
Travel speed according to described target vehicle and described positional information, determine that described target vehicle arrives described second
The E.T.A in section；
Judge that whether described target vehicle arrives the E.T.A in described second section at described target pedestrian traffic
The green light of lamp passed through in the period, if, it is determined that described target vehicle arrives in the green light of target pedestrian's traffic lights passes through the period
Reach described second section.
Optionally, described status information includes that car light state, described judge module 340 are used for:
Car light state according to described target vehicle, determines in described target vehicle and will pass through to institute from described first section
State first vehicle in the second section；
Judge that whether described first vehicle arrives described second section in the green light of target pedestrian's traffic lights passes through the period.
Optionally, described device also includes:
3rd acquisition module 360, for obtaining the traffic grade information of target pedestrian's traffic lights, described traffic grade
Information includes that green light point switching time and green light maintain duration；
Period determination module 370, maintains for green light point switching time according to described target pedestrian's traffic lights and green light
Duration, determines that the green light of described target pedestrian's traffic lights passes through the period.
The embodiment of the present invention is by obtaining the positional information of vehicle to be selected, and wherein, described vehicle-to-target pedestrian to be selected hands over
The distance of logical lamp, less than the first predetermined threshold value, determines target vehicle according to the positional information of described vehicle to be selected, wherein, and described mesh
Mark vehicle is positioned at the first section, and can be passed through to the second section by described first section, obtains the state of described target vehicle
According to the status information of described target vehicle, information, judges that described target vehicle is the most current at the green light of target pedestrian's traffic lights
Arriving described second section in period, the most then send safe early warning prompting to destination mobile terminal, wherein, described target is moved
Dynamic terminal is less than the second predetermined threshold value with the distance of described target pedestrian's traffic lights, can predict vehicle at pedestrian's traffic lights
Green light pass through in the period by time, send early warning to the mobile terminal of nearby users, such that it is able to avoid pedestrian and vehicle
Collision, reduces the generation of vehicle accident.
Fig. 4 is the structural representation of the pedestrian anti-collision prior-warning device of another kind of intersection in the embodiment of the present invention.As
Shown in Fig. 4, this device includes processor 41, memorizer 42 and communication interface 43.Processor 41 is connected to memorizer 42 and leads to
Letter interface 43, such as processor 41 can be connected to memorizer 42 and communication interface 43 by bus.
It is corresponding that processor 41 is configured to support that the pedestrian anti-collision prior-warning device of intersection performs in said method
Function.This processor 41 can be central processing unit (English: central processing unit, CPU), network processing unit
(English: network processor, NP), hardware chip or its combination in any.Above-mentioned hardware chip can be special integrated
Circuit (English: application-specific integrated circuit, ASIC), PLD (English:
Programmable logic device, PLD) or a combination thereof.Above-mentioned PLD can be CPLD (English:
Complex programmable logic device, CPLD), field programmable gate array is (English: field-
Programmable gate array, FPGA), GAL (English: generic array logic, GAL) or its
Combination in any.
Store 42 memorizeies to pass through the period etc. for status information, green light.Memorizer 42 can include volatile memory
(English: volatile memory), such as random access memory (English: random-access memory, abbreviation:
RAM)；Memorizer 42 can also include nonvolatile memory (English: non-volatile memory), the most read-only storage
Device (English: read-only memory, abbreviation: ROM), flash memory (English: flash memory), hard disk (English:
Hard disk drive, abbreviation: HDD) or solid state hard disc (English: solid-state drive, abbreviation: SSD)；Memorizer 42
The combination of the memorizer of mentioned kind can also be included.
Communication interface 43 for the equipment wireless connections such as mobile terminal, mobile unit, roadside unit, server.
Processor 41 can perform following operation:
The positional information of vehicle to be selected, wherein, described vehicle-to-target pedestrian traffic to be selected is obtained by communication interface 43
The distance of lamp is less than the first predetermined threshold value；Positional information according to described vehicle to be selected determines target vehicle, wherein, and described target
Vehicle is positioned at the first section, and can be passed through to the second section by described first section；Obtain the state letter of described target vehicle
Breath；Status information according to described target vehicle judges that described target vehicle is whether when the green light of target pedestrian's traffic lights passes through
Described second section is arrived in section；The most then send safe early warning by communication interface 43 to destination mobile terminal to point out, its
In, described destination mobile terminal is less than the second predetermined threshold value with the distance of described target pedestrian's traffic lights.
Optionally, described status information includes that travel speed, processor 41 are used for:
Travel speed according to described target vehicle and described positional information, determine that described target vehicle arrives described second
The E.T.A in section；Judge that whether described target vehicle arrives the E.T.A in described second section at described mesh
The green light of mark pedestrian traffic lamp passed through in the period, if, it is determined that described target vehicle leads at the green light of target pedestrian's traffic lights
Described second section is arrived in the row period.
Optionally, described status information includes that car light state, processor 41 are used for:
Car light state according to described target vehicle, determines in described target vehicle and will pass through to institute from described first section
State first vehicle in the second section；Judge that whether described first vehicle arrives in the green light of target pedestrian's traffic lights passes through the period
Described second section.
Optionally, processor 41 is additionally operable to:
The traffic grade information of target pedestrian's traffic lights, described traffic grade information bag is obtained by communication interface 43
Include green light point switching time and green light maintains duration；Green light point switching time and green light according to described target pedestrian's traffic lights are tieed up
Hold duration, determine that the green light of described target pedestrian's traffic lights passes through the period.
One of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method, be permissible
Instructing relevant hardware by computer program to complete, described program can be stored in a computer read/write memory medium
In, this program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access
Memory, RAM) etc..
The above disclosed present pre-ferred embodiments that is only, can not limit the right model of the present invention with this certainly
Enclose, the equivalent variations therefore made according to the claims in the present invention, still belong to the scope that the present invention is contained.
Claims (10)
1. the pedestrian anti-collision method for early warning of an intersection, it is characterised in that described method includes:
Obtaining the positional information of vehicle to be selected, wherein, the distance of described vehicle-to-target pedestrian traffic lamp to be selected is pre-less than first
If threshold value；
Positional information according to described vehicle to be selected determines target vehicle, and wherein, described target vehicle is positioned at the first section, and can
Passed through to the second section by described first section；
Obtain the status information of described target vehicle；
Status information according to described target vehicle judges that described target vehicle is the most current at the green light of target pedestrian's traffic lights
Described second section is arrived in period；
The most then send safe early warning prompting, wherein, described destination mobile terminal and described target pedestrian to destination mobile terminal
The distance of traffic lights is less than the second predetermined threshold value.
2. the method for claim 1, it is characterised in that described status information includes travel speed；
The described status information according to described target vehicle judges that described target vehicle is whether at the green light of target pedestrian's traffic lights
Arrive described second section in the current period to include:
Travel speed according to described target vehicle and described positional information, determine that described target vehicle arrives described second section
E.T.A；
Judge that whether described target vehicle arrives the E.T.A in described second section at described target pedestrian's traffic lights
Green light passed through in the period, if, it is determined that described target vehicle arrives institute in the green light of target pedestrian's traffic lights passes through the period
State the second section.
3. the method for claim 1, it is characterised in that described status information includes car light state；
The described status information according to described target vehicle judges that described target vehicle is whether at the green light of target pedestrian's traffic lights
Arrive described second section in the current period to include:
Car light state according to described target vehicle, determines and will pass through from described first section in described target vehicle to described
First vehicle in two sections；
Judge that whether described first vehicle arrives described second section in the green light of target pedestrian's traffic lights passes through the period.
4. the method as described in Claims 2 or 3 is arbitrary, it is characterised in that described current safe early warning includes described target carriage
E.T.A.
5. the method for claim 1, it is characterised in that described method also includes:
Obtain the traffic grade information of target pedestrian's traffic lights, described traffic grade information include some green light switching time and
Green light maintains duration；
Green light point switching time and green light according to described target pedestrian's traffic lights maintain duration, determine described target pedestrian traffic
The green light of lamp passes through the period.
6. the pedestrian anti-collision prior-warning device of an intersection, it is characterised in that described device includes:
First acquisition module, for obtaining the positional information of vehicle to be selected, wherein, described vehicle-to-target pedestrian traffic lamp to be selected
Distance less than the first predetermined threshold value；
Target determination module, for determining target vehicle according to the positional information of described vehicle to be selected, wherein, described target vehicle
It is positioned at the first section, and can be passed through to the second section by described first section；
Second acquisition module, for obtaining the status information of described target vehicle；
According to the status information of described target vehicle, judge module, for judging that whether described target vehicle is at target pedestrian traffic
The green light of lamp passes through and arrives described second section in the period；
Warning module, for arriving described second tunnel when described target vehicle in the green light of target pedestrian's traffic lights passes through the period
Duan Shi, sends safe early warning prompting, wherein, described destination mobile terminal and described target pedestrian's traffic lights to destination mobile terminal
Distance less than the second predetermined threshold value.
7. device as claimed in claim 6, it is characterised in that described status information includes travel speed；
Described judge module is used for:
Travel speed according to described target vehicle and described positional information, determine that described target vehicle arrives described second section
E.T.A；
Judge that whether described target vehicle arrives the E.T.A in described second section at described target pedestrian's traffic lights
Green light passed through in the period, if, it is determined that described target vehicle arrives institute in the green light of target pedestrian's traffic lights passes through the period
State the second section.
8. device as claimed in claim 6, it is characterised in that described status information includes car light state；
Described judge module is used for:
Car light state according to described target vehicle, determines and will pass through from described first section in described target vehicle to described
First vehicle in two sections；
Judge that whether described first vehicle arrives described second section in the green light of target pedestrian's traffic lights passes through the period.
9. the device as described in as arbitrary in claim 6 or 7, it is characterised in that described current safe early warning includes described target carriage
E.T.A.
10. device as claimed in claim 6, it is characterised in that described device also includes:
3rd acquisition module, for obtaining the traffic grade information of target pedestrian's traffic lights, described traffic grade information bag
Include green light point switching time and green light maintains duration；
Period determination module, maintains duration, really for green light point switching time according to described target pedestrian's traffic lights and green light
The green light of fixed described target pedestrian's traffic lights passes through the period.
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| CN106846908A (en) * | 2016-12-27 | 2017-06-13 | 东软集团股份有限公司 | The danger judgement method and apparatus of road |
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| CN107615356A (en) * | 2015-05-27 | 2018-01-19 | 株式会社电装 | Controller of vehicle and control method for vehicle |
| CN107731009A (en) * | 2017-11-28 | 2018-02-23 | 吉林大学 | One kind keeps away people, anti-collision system and method suitable for no signal lamp intersection vehicle |
| CN107978168A (en) * | 2017-11-21 | 2018-05-01 | 风度（常州）汽车研发院有限公司 | Driving monitoring method, device and monitoring device |
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