CN106571064A - Pedestrian monitoring method based on roadside unit and pedestrian monitoring device thereof - Google Patents
Pedestrian monitoring method based on roadside unit and pedestrian monitoring device thereof Download PDFInfo
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- CN106571064A CN106571064A CN201610999022.2A CN201610999022A CN106571064A CN 106571064 A CN106571064 A CN 106571064A CN 201610999022 A CN201610999022 A CN 201610999022A CN 106571064 A CN106571064 A CN 106571064A
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- vehicle
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- range
- roadside unit
- human pilot
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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 invention discloses a pedestrian monitoring method based on a roadside unit. The pedestrian monitoring method based on the roadside unit comprises the following steps that the movement parameter of pedestrians transmitted by the roadside unit within the preset distance range of a vehicle is acquired at a preset time interval, wherein the movement parameter is one of movement distance and movement speed; whether the value of the movement parameter is greater than or equal to a corresponding preset parameter value is judged; and the prompt is emitted to the driver of the vehicle if the value of the movement parameter is greater than or equal to the corresponding preset parameter value. The invention also discloses a pedestrian monitoring device based on the roadside unit. The prompt can be emitted to the driver in advance so as to avoid the suddenly rushing out pedestrians.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of pedestrian monitoring method and device based on roadside unit.
Background technology
At present, vehicle passes through the camera for carrying or radar is monitored to roadside pedestrian, obtains corresponding information.But adopt
During with camera or radar, vehicle operator effectively and timely can not be carried out instead to the situation that pedestrian's burst is so rushed out
Should.
The content of the invention
Present invention is primarily targeted at proposing a kind of pedestrian monitoring method and device based on roadside unit, it is intended to solve
The technical problem that vehicle operator effectively and timely can not be reacted the situation that pedestrian's burst is so rushed out.
For achieving the above object, a kind of pedestrian monitoring method based on roadside unit that the present invention is provided, it is described based on road
The pedestrian monitoring method of side unit is comprised the following steps：
To be spaced the shifting that Preset Time obtains the predeterminable range scope one skilled in the art positioned at vehicle that the roadside unit sends
Dynamic parameter, the moving parameter is the one kind in displacement and translational speed；
Judge the numerical value of the moving parameter whether more than or equal to corresponding preset parameter value；
If the numerical value of the moving parameter is more than or equal to corresponding preset parameter value, to the human pilot of the vehicle
Send prompting.
Alternatively, it is described to obtain the predeterminable range scope positioned at vehicle that the roadside unit sends to be spaced Preset Time
The step of moving parameter of one skilled in the art, includes：
Judge whether there is pedestrian in the range of the predeterminable range of the vehicle；
If having pedestrian in the range of the predeterminable range, send one-level to the human pilot of the vehicle and remind；
To be spaced the shifting that Preset Time obtains the predeterminable range scope one skilled in the art positioned at vehicle that the roadside unit sends
Dynamic distance；
The step of whether judging the numerical value of the moving parameter more than or equal to corresponding preset parameter value includes：
Judge the displacement whether more than or equal to predeterminable range；
If the numerical value of the moving parameter is more than or equal to corresponding preset parameter value, to the human pilot of the vehicle
The step of sending prompting includes：
If the displacement is more than or equal to the predeterminable range, to the vehicle two grades of promptings are sent.
Alternatively, if the displacement is more than or equal to the predeterminable range, send out to the human pilot of the vehicle
The step of going out two grades of promptings includes：
To be spaced the shifting that Preset Time obtains the predeterminable range scope one skilled in the art positioned at vehicle that the roadside unit sends
Dynamic rail mark；
Judge whether the motion track overlaps with the early warning range of the vehicle；
If the motion track is overlapping with the early warning range, sends three-level to the human pilot of the vehicle and remind.
Alternatively, methods described also includes：
Judge whether there is target pedestrian in the range of the predeterminable range；
If there is target pedestrian in the range of the predeterminable range, to the human pilot of the vehicle two grades of promptings are sent；
Judge whether the motion track of the target pedestrian is overlapping with the early warning range；
If the motion track of the target pedestrian is overlapping with the early warning range, the human pilot to the vehicle sends
Three-level is reminded.
Alternatively, methods described also includes：
To be spaced the action speed that Preset Time obtains the pedestrian that the motion track is overlapped with the early warning range；
Judge the action speed whether more than or equal to early warning speed；
If the action speed is more than or equal to early warning speed, sends level Four to the human pilot of the vehicle and remind.
Additionally, for achieving the above object, the present invention also provides a kind of pedestrian monitoring device based on roadside unit, the base
Include in the pedestrian monitoring device of roadside unit：
First acquisition module, for be spaced that Preset Time obtains that the roadside unit sends positioned at vehicle it is default away from
From the moving parameter of scope one skilled in the art, the moving parameter is the one kind in displacement and translational speed；
First judge module, for judging the numerical value of the moving parameter whether more than or equal to corresponding parameter preset
Value；
First prompting module, if the numerical value for the moving parameter is more than or equal to corresponding preset parameter value, to
The human pilot of the vehicle sends prompting.
Alternatively, the acquisition module includes：
First judging unit, for whether having pedestrian in the range of the predeterminable range for judging the vehicle；
First reminding unit, if for having pedestrian in the range of the predeterminable range, sending out to the human pilot of the vehicle
Go out one-level prompting；
Acquiring unit, for obtaining the predeterminable range model positioned at vehicle that the roadside unit sends to be spaced Preset Time
Enclose the displacement of one skilled in the art；
First judge module includes：
Second judging unit, for judging the displacement whether more than or equal to predeterminable range；
First prompting module includes：
Second reminding unit, if being more than or equal to the predeterminable range for the displacement, to the vehicle
Human pilot sends two grades of promptings.
Alternatively, second reminding unit includes：
Subelement is obtained, for obtaining the predeterminable range positioned at vehicle that the roadside unit sends to be spaced Preset Time
The motion track of scope one skilled in the art；
Judgment sub-unit, for judging whether the motion track overlaps with the early warning range of the vehicle；
Subelement is reminded, if overlapping with the early warning range for the motion track, to the driver of the vehicle
Member sends three-level prompting.
Alternatively, described device also includes：
Second judge module, for judging whether there is target pedestrian in the range of the predeterminable range；
Second prompting module, if for having target pedestrian in the range of the predeterminable range, to the driver of the vehicle
Member sends two grades of promptings
3rd judge module, for judging whether the motion track of the target pedestrian is handed over the early warning distance scope
It is folded；
3rd prompting module, if the motion track and the early warning distance scope for the target pedestrian is overlapping, institute
State to the human pilot of vehicle and send three-level prompting.
Alternatively, described device also includes：
Second acquisition module, for obtaining the row that the motion track is overlapped with the early warning range to be spaced Preset Time
The action speed of people；
4th judge module, for judging the action speed whether more than or equal to early warning speed；
4th prompting module, if being more than or equal to early warning speed for the action speed, to the driving of the vehicle
Personnel send level Four prompting.
Vehicle of the present invention obtains the predeterminable range scope expert positioned at vehicle that roadside unit sends to be spaced Preset Time
Whether the moving parameter of people, then judge the moving parameter more than or equal to corresponding preset parameter value, if being more than or equal to
Preset parameter value, then send prompting to the human pilot of the vehicle, due to being provided with interval Preset Time and predeterminable range scope,
The moving parameter in the range of predeterminable range can be accurately obtained in real time, can in time remind human pilot, therefore energy of the present invention
It is enough to send prompting to human pilot in advance so that the pedestrian that human pilot can come effectively and in time to popping out avoids.
Description of the drawings
Fig. 1 is schematic flow sheet of the present invention based on the pedestrian monitoring method first embodiment of roadside unit；
Fig. 2 is schematic flow sheet of the present invention based on the pedestrian monitoring method second embodiment of roadside unit；
If Fig. 3 is that the displacement is more than or equal to the predeterminable range in third embodiment of the invention, to described
The human pilot of vehicle sends the refinement schematic flow sheet of two grades of prompting steps；
Fig. 4 is schematic flow sheet of the present invention based on the pedestrian monitoring method fourth embodiment of roadside unit；
Fig. 5 is schematic flow sheet of the present invention based on the embodiment of pedestrian monitoring method the 5th of roadside unit；
Fig. 6 is high-level schematic functional block diagram of the present invention based on the pedestrian monitoring device first embodiment of roadside unit；
Fig. 7 is high-level schematic functional block diagram of the present invention based on the pedestrian monitoring device second embodiment of roadside unit；
Fig. 8 is the refinement high-level schematic functional block diagram of the second reminding unit described in third embodiment of the invention；
Fig. 9 is high-level schematic functional block diagram of the present invention based on the pedestrian monitoring device fourth embodiment of roadside unit；
Figure 10 is high-level schematic functional block diagram of the present invention based on the embodiment of pedestrian monitoring device the 5th of roadside unit.
The realization of the object of the invention, functional characteristics and advantage will be described further referring to the drawings in conjunction with the embodiments.
Specific embodiment
It should be appreciated that specific embodiment described herein is not intended to limit the present invention only to explain the present invention.
The present invention provides a kind of pedestrian monitoring method based on roadside unit.
With reference to Fig. 1, Fig. 1 is schematic flow sheet of the present invention based on the pedestrian monitoring method first embodiment of roadside unit.
In the present embodiment, should be based on the pedestrian monitoring method of roadside unit includes：
Step S10, is obtained in the range of the predeterminable range positioned at vehicle that the roadside unit sends with being spaced Preset Time
The moving parameter of pedestrian, the moving parameter is the one kind in displacement and translational speed；
The roadside unit can include electron camera, electric road lamp and stop-light etc..Pedestrian's wearing has
Intelligent electronic device, the intelligent electronic device can occur data interaction, the roadside unit and vehicle with the roadside unit
Data interaction can also occur.In the present embodiment, the intelligent list equipment can be Intelligent bracelet, intelligent watch, intelligence
One kind in glasses, smart mobile phone and intelligent ring etc..The intelligent electronic device is set up by network with the roadside unit
Connection, the roadside unit is set up also by network with vehicle and is connected, and now the roadside unit can receive the intelligence electricity
The moving parameter of the pedestrian that sub- equipment sends, and vehicle can also receive the moving parameter that the roadside unit sends.
The moving parameter includes the one kind in displacement and translational speed.In being embodied as, the roadside unit can also be passed through
Obtain pedestrian age, so as to judge pedestrian in whether have child or old man.The Preset Time can be according to human pilot
Actual conditions are configured, it is of course possible to obtain optimum Preset Time by test of many times.The predeterminable range scope of vehicle can
It is configured with the difference according to type of vehicle, such as vehicle is pony car, the numerical value of the predeterminable range scope can be reduced,
When vehicle is high capacity waggon, the numerical value of predeterminable range scope can be increased.In being embodied as, present road information is can be combined with
The predeterminable range scope is configured, such as present road speed limit, and road conditions is complicated, then can be by the number of predeterminable range scope
Value increases.
When the intelligent electronic device is located at the predeterminable range scope of vehicle, that is, there is pedestrian to be located at the predeterminable range model of vehicle
Enclose, the intelligent electronic device per at regular intervals obtain pedestrian moving parameter, then by the moving parameter send to
The roadside unit, now the roadside unit moving parameter is sent to the vehicle again so that vehicle is located at
The moving parameter of the predeterminable range scope one skilled in the art.In being embodied as, the roadside unit can obtain the vehicle periphery
The information of road.To be spaced the moving parameter that Preset Time obtains pedestrian, motion track that can in real time to pedestrian and movement
Speed is monitored, and Preset Time is less, and the real-time degree of the moving parameter of acquisition is higher, certainly the Preset Time Ying Yushi
Border situation is consistent.
Whether step S20, judge the numerical value of the moving parameter more than or equal to corresponding preset parameter value；
The vehicle is obtained after the moving parameter of the predeterminable range scope one skilled in the art, can calculate moving parameter
Whether numerical value, then judge the numerical value of the moving parameter more than or equal to corresponding preset parameter value, i.e., described moving parameter
For translational speed when, the preset parameter value should be corresponding with the numerical value of translational speed, the moving parameter be motion track when, institute
Stating preset parameter value should be corresponding with the numerical value of motion track.In being embodied as, the preset parameter value can be according to moving parameter
Difference is configured, naturally it is also possible to be configured according to the type of vehicle of the vehicle, when such as vehicle is pony car, can increase
Plus the preset parameter value, when vehicle is high capacity waggon, the preset parameter value can be reduced.
Step S100, if the numerical value of the moving parameter is more than or equal to corresponding preset parameter value, to the vehicle
Human pilot send prompting.
The vehicle is more than or equal to corresponding preset parameter value by the numerical value for judging to find the moving parameter for obtaining, then
Prompting is sent to the human pilot of the vehicle.As the vehicle obtains the mobile speed positioned at the predeterminable range scope one skilled in the art
Whether degree, then judge the translational speed more than or equal to preset parameter value corresponding with the translational speed, i.e., corresponding
Pre-set velocity, if the translational speed is more than or equal to the pre-set velocity, to the human pilot of the vehicle prompting is sent,
The human pilot is enabled to make avoidance reaction in time and effectively.
In the present embodiment, vehicle of the present invention obtains the predeterminable range scope one skilled in the art for being located at vehicle to be spaced Preset Time
Moving parameter, i.e., per the moving parameter for obtaining pedestrian at regular intervals, whether the numerical value for then judging the moving parameter surpass
Go out certain limit, i.e., whether be more than or equal to corresponding preset parameter value, if the numerical value of the moving parameter is more than or equal to right
The preset parameter value answered, then send prompting to the human pilot of the vehicle, due to arranging interval Preset Time and predeterminable range model
Enclose, the moving parameter in predeterminable range scope one skilled in the art can be accurately obtained in real time so that the human pilot can be timely
Make avoidance, therefore the present invention can shift to an earlier date to human pilot and send prompting so that human pilot can be effectively and in time to prominent
The pedestrian for so rushing out avoids.
Further, with reference to Fig. 2, the pedestrian monitoring side based on roadside unit of the invention can be obtained based on above-mentioned first embodiment
The second embodiment of method, in the present embodiment, step S10 includes：
Step S11, judges whether there is pedestrian in the range of the predeterminable range of the vehicle；
Step S12, if having pedestrian in the range of the predeterminable range, sends one-level and carries to the human pilot of the vehicle
Wake up；
The vehicle obtains the pedestrian information that the roadside unit sends, and then according to the pedestrian information, judges described
Whether there is pedestrian in the range of the predeterminable range of vehicle, if having pedestrian in the range of the predeterminable range, to the driving of the vehicle
Personnel send one-level prompting.
Step S13, is obtained in the range of the predeterminable range positioned at vehicle that the roadside unit sends with being spaced Preset Time
The displacement of pedestrian；
The vehicle finds have pedestrian to be located in the range of the predeterminable range of vehicle by roadside unit, then when to be spaced default
Between obtain the displacement of predeterminable range scope one skilled in the art positioned at vehicle, i.e., per at regular intervals, obtain the movement of pedestrian
Distance, is capable of the displacement of real-time monitoring pedestrian.The displacement is the distance of pedestrian's movement, i.e., pedestrian is in Preset Time
The distance of middle walking.In being embodied as, the information of peripheral path can be obtained and positioned at described default by the roadside unit
Pedestrian information in distance range, then can obtain the possibility walking of pedestrian according to the road information and the pedestrian information
Route, so as to whether the route for predicting pedestrian can pass through the early warning range of vehicle or overlapping with the estimation range, if existing
It is overlapping, then can send one-level to the human pilot of the vehicle and remind, can also now judge that vehicle reaches overlapping position with pedestrian
Whether the time put is identical, if identical, can send two grades of promptings to human pilot, and the order of severity that one-level is reminded is less than two
The order of severity that level is reminded, i.e., the emergency case of two grades promptings is more serious than the emergency case that one-level is reminded.
Step S20 includes：
Whether step S21, judge the displacement more than or equal to predeterminable range；
The vehicle is obtained after the displacement of pedestrian, judge the displacement whether more than or equal to preset away from
From that is, whether pedestrian exceeds certain scope in the distance of Preset Time pedestrian.
Step S100 includes：
Step S110, if the displacement is more than or equal to the predeterminable range, to described human pilot vehicle
Human pilot send two grades of promptings.
The vehicle finds whether the displacement is more than or equal to predeterminable range by judging, then to described driving
The human pilot of personnel's vehicle sends two grades of promptings, i.e., divide different grades of prompting to different pedestrian's emergency cases so that
Human pilot can quickly know the seriousness of emergency case, be important to note that the pedestrian of periphery.
In the present embodiment, vehicle of the present invention determines whether that pedestrian is located in the range of predeterminable range, if having, to described
The human pilot of vehicle sends one-level prompting, then to be spaced the displacement that Preset Time obtains pedestrian, then judges the shifting
Whether dynamic distance is more than or equal to predeterminable range, if being more than or equal to, to the human pilot of the vehicle two grades of promptings is sent, by
In the difference according to emergency case, prompting is classified, can faster be reminded human pilot, therefore the present invention is by by pedestrian
Emergency case carry out classification prompting so that human pilot can more watch for pedestrians, and can faster make avoidance.
Further, with reference to Fig. 3, the pedestrian monitoring side based on roadside unit of the invention can be obtained based on above-mentioned second embodiment
The 3rd embodiment of method, in the present embodiment, step S110 can include：
Step S111, is obtained in the range of the predeterminable range positioned at vehicle that the roadside unit sends with being spaced Preset Time
The motion track of pedestrian；
The vehicle is more than or equal to predeterminable range by judging the displacement for finding pedestrian, and sends to the vehicle
Two grades of promptings, now obtain the predeterminable range scope one skilled in the art positioned at vehicle that the roadside unit sends to be spaced Preset Time
Motion track, i.e., per at regular intervals obtain pedestrian motion track.
Step S112, judges whether the motion track overlaps with the early warning range of the vehicle；
The vehicle is more than the predeterminable range by judging the distance for finding the motion track, then may determine that described
It is overlapping whether motion track occurs with the early warning range of the vehicle.The early warning range can be set according to type of vehicle
Put, when such as vehicle is pony car, the early warning range can be reduced, when vehicle is high capacity waggon, the early warning range can be increased.
Occur to overlap with the early warning range, i.e., described motion track intersects with early warning range, tangent or described early warning range includes institute
State motion track.
Step S113, if the motion track is overlapping with the early warning range, the human pilot to the vehicle sends
Three-level is reminded.
The vehicle finds that the motion track is overlapping with the early warning range by judging, then to the driving of the vehicle
Personnel send three-level prompting.In being embodied as, on the basis of the emergency case to pedestrian carries out grade prompting, carrying out repeatedly
Remind, i.e., when there is three-level prompting, first sending one-level to human pilot and reminding, then to human pilot after certain hour
Two grades of promptings are sent, human pilot can be repeatedly reminded.
In the present embodiment, it is of the invention when vehicle is by finding that the displacement exceeds certain limit, i.e., described shifting
Move distance and be more than or equal to predeterminable range, then with the interval Preset Time acquisition roadside unit transmission positioned at the default of vehicle
The motion track of distance range one skilled in the art, then judges whether the motion track overlaps with the early warning range of the vehicle, if overlapping,
Then send three-level to the human pilot of the vehicle to remind, due to the motion track for accurately obtaining pedestrian in real time, can be accurate
Prompting is sent to human pilot, and classification prompting is carried out according to different degrees of emergency case, therefore the present invention can be to pedestrian
Emergency case carry out classification and repeatedly prompting so that human pilot can timely make avoidance.
Further, with reference to Fig. 4, the pedestrian monitoring side based on roadside unit of the invention can be obtained based on above-mentioned 3rd embodiment
The fourth embodiment of method, in the present embodiment, the pedestrian monitoring method based on roadside unit also includes：
Step S30, judges whether there is target pedestrian in the range of the predeterminable range；
The artificial old man of the target line, child, disabled person and pregnant woman.The roadside unit find the vehicle it is default away from
There is pedestrian to move in the range of, then judge be located in the predeterminable range scope one skilled in the art whether have target to be spaced Preset Time
Pedestrian, i.e., with the presence or absence of the class in old man, child, disabled person and pregnant woman.
Step S40, if there is target pedestrian in the range of the predeterminable range, to the human pilot of the vehicle two grades is sent
Remind；
The vehicle finds there is target pedestrian in the range of the predeterminable range by judging, that is, have old man, child, disabled person
With the class in pregnant woman, then two grades of promptings are sent to the human pilot of the vehicle.
Step S50, judges whether the motion track of the target pedestrian is overlapping with the early warning range；
The vehicle to human pilot is sent after two grades of promptings, obtains the motion track of the target pedestrian, is then sentenced
Break the target pedestrian motion track it is whether overlapping with the early warning range, i.e., described early warning range whether with the moving rail
Mark is intersecting, tangent.
Step S60, if the motion track of the target pedestrian is overlapping with the early warning range, to the driving of the vehicle
Personnel send three-level prompting.
The vehicle is overlapping by judging the motion track and the early warning range that find the target pedestrian, then to described
The human pilot of vehicle sends three-level prompting.
In the present embodiment, the present invention judges pedestrian of the discovery in the range of the predeterminable range for target line in vehicle
During people, to the human pilot of the vehicle two grades of promptings are sent, then by judge find the target person motion track with
The early warning range of the vehicle is overlapped, then send three-level to the human pilot of the vehicle and remind, due to accurately obtaining row in real time
The motion track of people, when the motion track and overlapping early warning range, accurately can send prompting to human pilot, and according to not
Classification prompting is carried out with the emergency case of degree, therefore the present invention repeatedly can remind human pilot with classification so that driver
Member can make in time avoidance to pedestrian.
Further, with reference to Fig. 5, the pedestrian monitoring side based on roadside unit of the invention can be obtained based on above-mentioned fourth embodiment
The fourth embodiment of method, in the present embodiment, the pedestrian monitoring method based on roadside unit also includes：
Step S70, to be spaced the action that Preset Time obtains the pedestrian that the motion track is overlapped with the early warning range
Speed；
The vehicle obtains the movement after the motion track and the early warning range are overlapping to be spaced Preset Time
The translational speed of the pedestrian that track overlaps with the early warning range, i.e., per the action speed for obtaining pedestrian at regular intervals.
Whether step S80, judge the action speed more than or equal to early warning speed；
Step S90, if the action speed is more than or equal to early warning speed, the human pilot to the vehicle sends four
Level is reminded.
The vehicle obtains at regular intervals the mobile speed of the pedestrian that the motion track is overlapped with the early warning range
After degree, whether the translational speed is judged more than or equal to early warning speed, if the translational speed is more than or equal to early warning speed
Degree, then send level Four and remind to the human pilot of the vehicle.In being embodied as, after finding that one-level is reminded to human pilot,
Judge that the displacement of pedestrian, whether more than or equal to predeterminable range, if being more than or equal to, sends two grades of promptings, then obtain
The motion track of the pedestrian, judges whether the motion track is overlapping with the early warning range, if overlapping, to human pilot
It was found that three-level level is reminded, whether the action speed for then judging the pedestrian that the motion track is overlapped with the early warning range is more than
Or equal to early warning speed, if being more than, send level Four to human pilot and remind.
In the present embodiment, the present invention vehicle send to human pilot two grades remind after, i.e., described motion track with
The early warning range is overlapped, and obtains the action speed of the pedestrian that the motion track is overlapped with the early warning range, is then passed through
Judge to find that the action speed is more than or equal to early warning speed, then send three-level to the human pilot of the vehicle and remind, by
According to different degree emergency cases to prompting be classified, can multiple fractionation remind human pilot, therefore the present invention to
Human pilot sends repeatedly to be reminded with classification so that human pilot can make in time avoidance to pedestrian.
The present invention further provides a kind of pedestrian monitoring device based on roadside unit.
With reference to Fig. 6, Fig. 6 is that functional module of the present invention based on the pedestrian monitoring device first embodiment of roadside unit is illustrated
Figure.
In this embodiment, should be based on the pedestrian monitoring device of roadside unit includes：
First acquisition module 10, for obtaining the presetting positioned at vehicle that the roadside unit sends to be spaced Preset Time
The moving parameter of distance range one skilled in the art, the moving parameter is the one kind in displacement and translational speed；
The roadside unit can include electron camera, electric road lamp and stop-light etc..Pedestrian's wearing has
Intelligent electronic device, the intelligent electronic device can occur data interaction, the roadside unit and vehicle with the roadside unit
Data interaction can also occur.In the present embodiment, the intelligent list equipment can be Intelligent bracelet, intelligent watch, intelligence
One kind in glasses, smart mobile phone and intelligent ring etc..The intelligent electronic device is set up by network with the roadside unit
Connection, the roadside unit is set up also by network with vehicle and is connected, and now the roadside unit can receive the intelligence electricity
The moving parameter of the pedestrian that sub- equipment sends, and vehicle can also receive the moving parameter that the roadside unit sends.
The moving parameter includes the one kind in displacement and translational speed.In being embodied as, the roadside unit can also be passed through
Obtain pedestrian age, so as to judge pedestrian in whether have child or old man.The Preset Time can be according to human pilot
Actual conditions are configured, it is of course possible to obtain optimum Preset Time by test of many times.The predeterminable range scope of vehicle can
It is configured with the difference according to type of vehicle, such as vehicle is pony car, the numerical value of the predeterminable range scope can be reduced,
When vehicle is high capacity waggon, the numerical value of predeterminable range scope can be increased.In being embodied as, present road information is can be combined with
The predeterminable range scope is configured, such as present road speed limit, and road conditions is complicated, then can be by the number of predeterminable range scope
Value increases.
When the intelligent electronic device is located at the predeterminable range scope of vehicle, that is, there is pedestrian to be located at the predeterminable range model of vehicle
Enclose, the intelligent electronic device per at regular intervals obtain pedestrian moving parameter, then by the moving parameter send to
The roadside unit, now the roadside unit moving parameter is sent to the vehicle again so that vehicle is located at
The moving parameter of the predeterminable range scope one skilled in the art.In being embodied as, the roadside unit can obtain the vehicle periphery
The information of road.To be spaced the moving parameter that Preset Time obtains pedestrian, motion track that can in real time to pedestrian and movement
Speed is monitored, and Preset Time is less, and the real-time degree of the moving parameter of acquisition is higher, certainly the Preset Time Ying Yushi
Border situation is consistent.
First judge module 20, for judging the numerical value of the moving parameter whether more than or equal to corresponding parameter preset
Value；
The vehicle is obtained after the moving parameter of the predeterminable range scope one skilled in the art, can calculate moving parameter
Whether numerical value, then judge the numerical value of the moving parameter more than or equal to corresponding preset parameter value, i.e., described moving parameter
For translational speed when, the preset parameter value should be corresponding with the numerical value of translational speed, the moving parameter be motion track when, institute
Stating preset parameter value should be corresponding with the numerical value of motion track.In being embodied as, the preset parameter value can be according to moving parameter
Difference is configured, naturally it is also possible to be configured according to the type of vehicle of the vehicle, when such as vehicle is pony car, can increase
Plus the preset parameter value, when vehicle is high capacity waggon, the preset parameter value can be reduced.
First prompting module 100, if the numerical value for the moving parameter is more than or equal to corresponding preset parameter value,
Prompting is sent to the human pilot of the vehicle.
The vehicle is more than or equal to corresponding preset parameter value by the numerical value for judging to find the moving parameter for obtaining, then
Prompting is sent to the human pilot of the vehicle.As the vehicle obtains the mobile speed positioned at the predeterminable range scope one skilled in the art
Whether degree, then judge the translational speed more than or equal to preset parameter value corresponding with the translational speed, i.e., corresponding
Pre-set velocity, if the translational speed is more than or equal to the pre-set velocity, to the human pilot of the vehicle prompting is sent,
The human pilot is enabled to make avoidance reaction in time and effectively.
In the present embodiment, vehicle of the present invention obtains the predeterminable range scope one skilled in the art for being located at vehicle to be spaced Preset Time
Moving parameter, i.e., per the moving parameter for obtaining pedestrian at regular intervals, whether the numerical value for then judging the moving parameter surpass
Go out certain limit, i.e., whether be more than or equal to corresponding preset parameter value, if the numerical value of the moving parameter is more than or equal to right
The preset parameter value answered, then send prompting to the human pilot of the vehicle, due to arranging interval Preset Time and predeterminable range model
Enclose, the moving parameter in predeterminable range scope one skilled in the art can be accurately obtained in real time so that the human pilot can be timely
Make avoidance, therefore the present invention can shift to an earlier date to human pilot and send prompting so that human pilot can be effectively and in time to prominent
The pedestrian for so rushing out avoids.
Further, with reference to Fig. 7, the pedestrian monitoring based on roadside unit of the invention can be obtained based on above-mentioned first embodiment and is filled
The second embodiment put, in the present embodiment, first acquisition module 10 includes：
First judging unit 11, for whether having pedestrian in the range of the predeterminable range for judging the vehicle；
First reminding unit 12, if for having pedestrian in the range of the predeterminable range, to the human pilot of the vehicle
Send one-level prompting；
The vehicle obtains the pedestrian information that the roadside unit sends, and then according to the pedestrian information, judges described
Whether there is pedestrian in the range of the predeterminable range of vehicle, if having pedestrian in the range of the predeterminable range, to the driving of the vehicle
Personnel send one-level prompting.
Acquiring unit 13, for obtaining the predeterminable range positioned at vehicle that the roadside unit sends to be spaced Preset Time
The displacement of scope one skilled in the art；
The vehicle finds have pedestrian to be located in the range of the predeterminable range of vehicle by roadside unit, then when to be spaced default
Between obtain the displacement of predeterminable range scope one skilled in the art positioned at vehicle, i.e., per at regular intervals, obtain the movement of pedestrian
Distance, is capable of the displacement of real-time monitoring pedestrian.The displacement is the distance of pedestrian's movement, i.e., pedestrian is in Preset Time
The distance of middle walking.In being embodied as, the information of peripheral path can be obtained and positioned at described default by the roadside unit
Pedestrian information in distance range, then can obtain the possibility walking of pedestrian according to the road information and the pedestrian information
Route, so as to whether the route for predicting pedestrian can pass through the early warning range of vehicle or overlapping with the estimation range, if existing
It is overlapping, then can send one-level to the human pilot of the vehicle and remind, can also now judge that vehicle reaches overlapping position with pedestrian
Whether the time put is identical, if identical, can send two grades of promptings to human pilot, and the order of severity that one-level is reminded is less than two
The order of severity that level is reminded, i.e., the emergency case of two grades promptings is more serious than the emergency case that one-level is reminded.
First judge module 20 includes：
Second judging unit 21, for judging the displacement whether more than or equal to predeterminable range；
The vehicle is obtained after the displacement of pedestrian, judge the displacement whether more than or equal to preset away from
From that is, whether pedestrian exceeds certain scope in the distance of Preset Time pedestrian.
First prompting module includes 100：
Second reminding unit 110, if being more than or equal to the predeterminable range for the displacement, to the vehicle
Human pilot send two grades of promptings.
The vehicle finds whether the displacement is more than or equal to predeterminable range by judging, then to described driving
The human pilot of personnel's vehicle sends two grades of promptings, i.e., divide different grades of prompting to different pedestrian's emergency cases so that
Human pilot can quickly know the seriousness of emergency case, be important to note that the pedestrian of periphery.
In the present embodiment, vehicle of the present invention determines whether that pedestrian is located in the range of predeterminable range, if having, to described
The human pilot of vehicle sends one-level prompting, then to be spaced the motion track that Preset Time obtains pedestrian, then judges the shifting
Whether dynamic distance is more than or equal to predeterminable range, if being more than or equal to, to the human pilot of the vehicle two grades of promptings is sent, by
In the difference according to emergency case, prompting is classified, can faster be reminded human pilot, therefore the present invention is by by pedestrian
Emergency case carry out classification prompting so that human pilot can more watch for pedestrians, and can faster make avoidance.
Further, with reference to Fig. 8, the pedestrian monitoring based on roadside unit of the invention can be obtained based on above-mentioned second embodiment and is filled
The 3rd embodiment put, in the present embodiment, the reminding unit 110 includes：
Subelement 111 is obtained, for obtaining the presetting positioned at vehicle that the roadside unit sends to be spaced Preset Time
The motion track of distance range one skilled in the art；
The vehicle is more than or equal to predeterminable range by judging the displacement for finding pedestrian, and sends to the vehicle
Two grades of promptings, now obtain the predeterminable range scope one skilled in the art positioned at vehicle that the roadside unit sends to be spaced Preset Time
Motion track, i.e., per at regular intervals obtain pedestrian motion track.
Judgment sub-unit 112, for judging whether the motion track overlaps with the early warning range of the vehicle；
The vehicle is more than the predeterminable range by judging the distance for finding the motion track, then may determine that described
It is overlapping whether motion track occurs with the early warning range of the vehicle.The early warning range can be set according to type of vehicle
Put, when such as vehicle is pony car, the early warning range can be reduced, when vehicle is high capacity waggon, the early warning range can be increased.
Occur to overlap with the early warning range, i.e., described motion track intersects with early warning range, tangent or described early warning range includes institute
State motion track.
Subelement 113 is reminded, if overlapping with the early warning range for the motion track, to the driving of the vehicle
Personnel send three-level prompting.
The vehicle finds that the motion track is overlapping with the early warning range by judging, then to the driving of the vehicle
Personnel send three-level prompting.In being embodied as, on the basis of the emergency case to pedestrian carries out grade prompting, carrying out repeatedly
Remind, i.e., when there is three-level prompting, first sending one-level to human pilot and reminding, then to human pilot after certain hour
Two grades of promptings are sent, human pilot can be repeatedly reminded.
In the present embodiment, the present invention exceeds certain limit in vehicle by judging the distance for finding the motion track
When, i.e., the distance of described motion track is more than or equal to predeterminable range, then obtain the roadside unit to be spaced Preset Time
The motion track of the predeterminable range scope one skilled in the art positioned at vehicle for sending, then judges whether the motion track is pre- with the vehicle
Alert scope is overlapped, if overlapping, sent three-level to the human pilot of the vehicle and is reminded, due to accurately obtaining pedestrian's in real time
Motion track, accurately can send prompting to human pilot, and carry out classification prompting according to different degrees of emergency case, therefore
The present invention can carry out classification and repeatedly prompting to the emergency case of pedestrian so that human pilot can timely make avoidance.
Further, with reference to Fig. 9, the pedestrian monitoring based on roadside unit of the invention can be obtained based on above-mentioned 3rd embodiment and is filled
The fourth embodiment put, in the present embodiment, the pedestrian monitoring device based on roadside unit also includes：
Second judge module 30, for judging whether there is target pedestrian in the range of the predeterminable range；
The artificial old man of the target line, child, disabled person and pregnant woman.The roadside unit find the vehicle it is default away from
There is pedestrian to move in the range of, then judge be located in the predeterminable range scope one skilled in the art whether have target to be spaced Preset Time
Pedestrian, i.e., with the presence or absence of the class in old man, child, disabled person and pregnant woman.
Second prompting module 40, if for having target pedestrian in the range of the predeterminable range, to the driving of the vehicle
Personnel send two grades of promptings
The vehicle finds there is target pedestrian in the range of the predeterminable range by judging, that is, have old man, child, disabled person
With the class in pregnant woman, then two grades of promptings are sent to the human pilot of the vehicle.
3rd judge module 50, for judging whether the motion track of the target pedestrian is handed over the early warning distance scope
It is folded；
The vehicle to human pilot is sent after two grades of promptings, obtains the motion track of the target pedestrian, is then sentenced
Break the target pedestrian motion track it is whether overlapping with the early warning range, i.e., described early warning range whether with the moving rail
Mark is intersecting, tangent.
3rd prompting module 60, if the motion track and the early warning distance scope for the target pedestrian is overlapping,
It is described to send three-level prompting to the human pilot of vehicle.
The vehicle is overlapping by judging the motion track and the early warning range that find the target pedestrian, then to described
The human pilot of vehicle sends three-level prompting.
In the present embodiment, the present invention judges pedestrian in the range of the predeterminable range as target pedestrian in vehicle
When, two grades of promptings are sent to the human pilot of the vehicle, then by judging to find the motion track of the target person and be somebody's turn to do
The early warning range of vehicle is overlapped, then send three-level to the human pilot of the vehicle and remind, due to accurately obtaining pedestrian in real time
Motion track, when the motion track and early warning range are overlapping, accurately can send prompting to human pilot, and according to difference
The emergency case of degree carries out classification prompting, therefore the present invention repeatedly can remind human pilot with classification so that human pilot
Avoidance can be made to pedestrian in time.
Further, with reference to Figure 10, the pedestrian monitoring based on roadside unit of the invention can be obtained based on above-mentioned fourth embodiment
The fourth embodiment of device, in the present embodiment, the pedestrian monitoring device based on roadside unit also includes：
Second acquisition module 70, for what is overlapped with the interval Preset Time acquisition motion track and the early warning range
The action speed of pedestrian；
The vehicle obtains the movement after the motion track and the early warning range are overlapping to be spaced Preset Time
The translational speed of the pedestrian that track overlaps with the early warning range, i.e., per the action speed for obtaining pedestrian at regular intervals.
4th judge module 80, for judging the action speed whether more than or equal to early warning speed；
4th prompting module 90, if being more than or equal to early warning speed for the action speed, to driving for the vehicle
The personnel of sailing send level Four prompting.
The vehicle obtains at regular intervals the mobile speed of the pedestrian that the motion track is overlapped with the early warning range
After degree, whether the translational speed is judged more than or equal to early warning speed, if the translational speed is more than or equal to early warning speed
Degree, then send level Four and remind to the human pilot of the vehicle.In being embodied as, after finding that one-level is reminded to human pilot,
Judge that the displacement of pedestrian, whether more than or equal to predeterminable range, if being more than or equal to, sends two grades of promptings, then obtain
The motion track of the pedestrian, judges whether the motion track is overlapping with the early warning range, if overlapping, to human pilot
It was found that three-level level is reminded, whether the action speed for then judging the pedestrian that the motion track is overlapped with the early warning range is more than
Or equal to early warning speed, if being more than, send level Four to human pilot and remind.
In the present embodiment, the present invention vehicle send to human pilot two grades remind after, i.e., described motion track with
The early warning range is overlapped, and obtains the action speed of the pedestrian that the motion track is overlapped with the early warning range, is then passed through
Whether judge to find the action speed more than or equal to early warning speed, if the action speed is more than or equal to early warning speed,
Then send three-level to the human pilot of the vehicle to remind, due to being classified to prompting according to different degree emergency cases,
Can multiple fractionation remind human pilot, therefore the present invention to send to human pilot and repeatedly remind with classification so that human pilot
Avoidance can be made to pedestrian in time.
The preferred embodiments of the present invention are these are only, the scope of the claims of the present invention is not thereby limited, it is every using this
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of pedestrian monitoring method based on roadside unit, it is characterised in that the pedestrian monitoring side based on roadside unit
Method is comprised the following steps：
To be spaced the mobile ginseng that Preset Time obtains the predeterminable range scope one skilled in the art positioned at vehicle that the roadside unit sends
Number, the moving parameter is the one kind in displacement and translational speed；
Judge the numerical value of the moving parameter whether more than or equal to corresponding preset parameter value；
If the numerical value of the moving parameter is more than or equal to corresponding preset parameter value, the human pilot to the vehicle sends
Remind.
2. the pedestrian monitoring method based on roadside unit as claimed in claim 1, it is characterised in that it is described to be spaced default when
Between obtain that the roadside unit sends positioned at the moving parameter of the predeterminable range scope one skilled in the art of vehicle the step of include：
Judge whether there is pedestrian in the range of the predeterminable range of the vehicle；
If having pedestrian in the range of the predeterminable range, send one-level to the human pilot of the vehicle and remind；
Be spaced Preset Time obtain the movement of the predeterminable range scope one skilled in the art positioned at vehicle that the roadside unit sends away from
From；
The step of whether judging the numerical value of the moving parameter more than or equal to corresponding preset parameter value includes：
Judge the displacement whether more than or equal to predeterminable range；
If the numerical value of the moving parameter is more than or equal to corresponding preset parameter value, the human pilot to the vehicle sends
The step of prompting, includes：
If the displacement is more than or equal to the predeterminable range, to the human pilot of the vehicle two grades of promptings are sent.
3. the pedestrian monitoring method of roadside unit is based on as claimed in claim 2, it is characterised in that if the displacement is big
In or equal to the predeterminable range, then to the human pilot of the vehicle send two grades remind the step of include：
To be spaced the moving rail that Preset Time obtains the predeterminable range scope one skilled in the art positioned at vehicle that the roadside unit sends
Mark；
Judge whether the motion track overlaps with the early warning range of the vehicle；
If the motion track is overlapping with the early warning range, sends three-level to the human pilot of the vehicle and remind.
4. the pedestrian monitoring method of roadside unit is based on as claimed in claim 3, it is characterised in that methods described also includes：
Judge whether there is target pedestrian in the range of the predeterminable range；
If there is target pedestrian in the range of the predeterminable range, to the human pilot of the vehicle two grades of promptings are sent；
Judge whether the motion track of the target pedestrian is overlapping with the early warning range；
If the motion track of the target pedestrian is overlapping with the early warning range, the human pilot to the vehicle sends three-level
Remind.
5. the pedestrian monitoring method of roadside unit is based on as claimed in claim 4, it is characterised in that methods described also includes：
To be spaced the action speed that Preset Time obtains the pedestrian that the motion track is overlapped with the early warning range；
Judge the action speed whether more than or equal to early warning speed；
If the action speed is more than or equal to early warning speed, sends level Four to the human pilot of the vehicle and remind.
6. a kind of pedestrian monitoring device based on roadside unit, it is characterised in that the pedestrian monitoring based on roadside unit is filled
Put including：
First acquisition module, for obtaining the predeterminable range model positioned at vehicle that the roadside unit sends to be spaced Preset Time
The moving parameter of one skilled in the art is enclosed, the moving parameter is the one kind in displacement and translational speed；
First judge module, for judging the numerical value of the moving parameter whether more than or equal to corresponding preset parameter value；
First prompting module, if the numerical value for the moving parameter is more than or equal to corresponding preset parameter value, to described
The human pilot of vehicle sends prompting.
7. the pedestrian monitoring device of roadside unit is based on as claimed in claim 6, it is characterised in that the acquisition module bag
Include：
First judging unit, for whether having pedestrian in the range of the predeterminable range for judging the vehicle；
First reminding unit, if for having pedestrian in the range of the predeterminable range, the human pilot to the vehicle sends one
Level is reminded；
Acquiring unit, for being obtained in the range of the predeterminable range positioned at vehicle that the roadside unit sends with being spaced Preset Time
The displacement of pedestrian；
First judge module includes：
Second judging unit, for judging the displacement whether more than or equal to predeterminable range；
First prompting module includes：
Second reminding unit, if being more than or equal to the predeterminable range for the displacement, to the driving of the vehicle
Personnel send two grades of promptings.
8. the pedestrian monitoring device of roadside unit is based on as claimed in claim 7, it is characterised in that second reminding unit
Including：
Subelement is obtained, for obtaining the predeterminable range scope positioned at vehicle that the roadside unit sends to be spaced Preset Time
The motion track of one skilled in the art；
Judgment sub-unit, for judging whether the motion track overlaps with the early warning range of the vehicle；
Subelement is reminded, if overlapping with the early warning range for the motion track, is sent out to the human pilot of the vehicle
Go out three-level prompting.
9. the pedestrian monitoring device of roadside unit is based on as claimed in claim 8, it is characterised in that described device also includes：
Second judge module, for judging whether there is target pedestrian in the range of the predeterminable range；
Second prompting module, if for having target pedestrian in the range of the predeterminable range, sending out to the human pilot of the vehicle
Go out two grades of promptings
Whether the 3rd judge module, the motion track for judging the target pedestrian is overlapping with the early warning distance scope；
3rd prompting module, if the motion track and the early warning distance scope for the target pedestrian is overlapping, it is described to
The human pilot of vehicle sends three-level prompting.
10. the pedestrian monitoring device of roadside unit is based on as claimed in claim 9, it is characterised in that described device also includes：
Second acquisition module, for obtaining the action speed of the pedestrian that the motion track is overlapped with the early warning range；
4th judge module, for judging the action speed whether more than or equal to early warning speed；
4th prompting module, if being more than or equal to early warning speed for the action speed, to the human pilot of the vehicle
Send level Four prompting.
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| CN201610999022.2A CN106571064A (en) | 2016-11-10 | 2016-11-10 | Pedestrian monitoring method based on roadside unit and pedestrian monitoring device thereof |
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Application publication date: 20170419 |