CN106828388A - For the vehicle active warning system and method and vehicle of pedestrian - Google Patents
For the vehicle active warning system and method and vehicle of pedestrian Download PDFInfo
- Publication number
- CN106828388A CN106828388A CN201611257148.9A CN201611257148A CN106828388A CN 106828388 A CN106828388 A CN 106828388A CN 201611257148 A CN201611257148 A CN 201611257148A CN 106828388 A CN106828388 A CN 106828388A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- pedestrian
- module
- risk
- collision
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
- B60Q1/1415—Dimming circuits
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
- B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
Abstract
A kind of vehicle active warning system for pedestrian,Including pedestrian detection module,From vehicle travelling state analysis module,Risk of collision decision-making module and action response performing module,Pedestrian detection module is detected the mobile status information of the pedestrian of vehicle periphery by outside vehicle sensor and is converted into corresponding signal and is sent to risk of collision decision-making module,Obtain the running condition information of vehicle and be translated into corresponding signal by term vehicle internal sensors from vehicle travelling state analysis module and be sent to risk of collision decision-making module,The various signals and the signal to receiving that the reception of risk of collision decision-making module is passed over from pedestrian detection module and from vehicle travelling state analysis module are processed to determine whether the pedestrian of vehicle periphery has the possibility of collision with vehicle,When the result for the treatment of is to there is risk of collision,Risk of collision decision-making module sends alarm signal to action response performing module,Lights of vehicle and/or loudspeaker are controlled to send alarm with to pedestrian from action response performing module,So as to remind pedestrian actively to avoid,Avoid causing collision accident.
Description
Technical field
The present invention relates to vehicle active safety technologies field, and more particularly to a kind of vehicle initiative alarming for pedestrian
System and method and vehicle.
Background technology
In recent years, vehicle active safety technologies receive attention rate higher, such as when vehicle is in transport condition, set
Warning system on vehicle is by around the sensor senses such as the radar of vehicle front, camera or laser radar
Environment, is analyzed and processes to the risk of collision of vehicle and pedestrian, and go out pedestrian in network analysis has the risk of collision with vehicle
When help driver's collision free risk by way of pointing out driver or Braking mode, improve the security of traveling.
But this system or method are not pointed out effectively pedestrian, pedestrian is set to can appreciate that risk is coming and has taken
Effect measure is so as to avoid vehicle.
Such as Chinese patent application, No. CN201510523637.3 provides a kind of vehicle distances detection active safety system
And control method, it solves vehicle distances detection in the prior art not enough improves cannot carry out effectively pointing out to ask to driver
Topic.System includes control module, detecting module, display module, alarm module and the ignition switch being connected with control module
And speed probe, detecting module detection peripheral obstacle simultaneously send the result to control module；Control module is received and processes spy
Result is surveyed to confirm barrier state, is shown by display module, and control alarm module to send alarm when there is risk of collision,
Alarm and prompting with directive significance are provided, auxiliary driver safety drives.
Above-mentioned patent can provide alarm and point out to driver, but cannot be to the pedestrian that will have risk of collision with vehicle
Provide alarm and point out, allow pedestrian actively to avoid vehicle, when driver is in tired or when absent minded, then driver
Brake measure cannot effectively be taken the initiative to avoid pedestrian, therefore provide alarm just for driver and prompting there are and substantially lack
Fall into and leak.Therefore need a kind of new technical method to improve currently existing scheme, pedestrian is being had risk of collision with vehicle
When, early warning can be sent to pedestrian in advance.
The content of the invention
It is an object of the invention to provide a kind of vehicle active warning system and method for pedestrian, to solve existing car
Active warning system cannot provide the safety problem of effective early warning just for driver for pedestrian.
The present invention solves its technical problem to be realized using following technical scheme.
The present invention provide a kind of vehicle active warning system for pedestrian, including pedestrian detection module, from car travel shape
State analysis module, risk of collision decision-making module and action response performing module.Pedestrian detection module passes through outside vehicle sensor
Detect the mobile status of the pedestrian of vehicle periphery and be converted into corresponding signal and be sent to risk of collision decision-making module, shape is travelled from car
State analysis module obtains the transport condition of vehicle and is converted into corresponding signal and is sent to risk of collision by term vehicle internal sensors
Decision-making module, risk of collision decision-making module receive pedestrian detection module and from vehicle travelling state analysis module pass over it is various
Signal, and signal to receiving processed to determine whether the pedestrian of vehicle periphery has the possibility of collision with vehicle, works as place
The result of reason is that risk of collision decision-making module sends alarm signal to action response performing module when having risk of collision, by
The light and/or loudspeaker of action response performing module control vehicle send alarm with to pedestrian.
Further, time threshold and Duplication threshold value are previously provided with risk of collision decision-making module, as vehicle and pedestrian
Duplication when time needed for crossing crosses less than or equal to the time threshold and pedestrian with vehicle is overlap more than or equal to this
During rate threshold value, risk of collision decision-making module judges that vehicle has risk of collision and send alarm to action response performing module with pedestrian
Cue；When the time needed for vehicle and pedestrian cross the time threshold is more than, risk of collision decision-making module judges vehicle
Alarm signal will not be sent with pedestrian collision, risk of collision decision-making module to action response performing module；Work as car
Time needed for being crossed with pedestrian is less than or equal to the time threshold, but Duplication of pedestrian when being crossed with vehicle was less than should
During Duplication threshold value, risk of collision decision-making module judge vehicle will not with pedestrian collision, risk of collision decision-making module not to
Action response performing module sends alarm signal.
Further, outside vehicle sensor includes camera, laser radar and/or millimetre-wave radar.
Further, term vehicle internal sensors include wheel speed sensors, yaw angle transducer and/or steering angle sensor.
Further, term vehicle internal sensors also include master cylinder pressure sensor, and master cylinder pressure sensor is driven for monitoring
The pressure change of brake pedal during the person's of sailing active brake.
Further, when sending alarm to pedestrian, high beam and dipped headlight alternate repetition switching bright light is used alone, individually
Using horn blast, or both combinations are used simultaneously.
The present invention also provides a kind of vehicle initiative alarming method for pedestrian, and its step includes：
Using pedestrian detection module is by the mobile status information of outside vehicle sensor detecting pedestrian and is converted into corresponding
Signal transmission is to risk of collision decision-making module；
Using from vehicle travelling state analysis module is by the running condition information of term vehicle internal sensors acquisition vehicle and turns
Turn to corresponding signal and be transferred to risk of collision decision-making module；
Risk of collision decision-making module receive from pedestrian detection module to from the various related of vehicle travelling state analysis module
Signal is simultaneously processed, the Duplication when required time and pedestrian when showing that vehicle crosses with pedestrian cross with vehicle, wherein
Time threshold and Duplication threshold value are previously provided with risk of collision decision-making module, the time needed for vehicle crosses with pedestrian is less than
Or Duplication when being crossed with vehicle equal to the time threshold and pedestrian, when being more than or equal to the Duplication threshold value, risk of collision is determined
Plan module judges that vehicle has risk of collision and send alarm signal to action response performing module with pedestrian；
After action response performing module receives the alarm signal from risk of collision decision-making module, control vehicle
High beam and dipped headlight alternate repetition switching bright light and/or control horn blast send alarm with to pedestrian.
Further, when being crossed with vehicle more than the time threshold or pedestrian the time needed for vehicle and pedestrian cross
Duplication be less than the Duplication threshold value when, risk of collision decision-making module judge vehicle will not with pedestrian collision, collision wind
Dangerous decision-making module does not send alarm signal to action response performing module.
Further, Duplication threshold value value is 0.2~0.4, and time threshold value is 1~3 second.
The present invention also provides a kind of vehicle, including vehicle active warning system and method for pedestrian as above.
The present invention is in transport condition by providing a kind of vehicle active warning system and method for pedestrian in vehicle
When, obtain the mobile status information of the pedestrian of vehicle and vehicle periphery and carry out calculating analysis, when calculating analyzes pedestrian and car
When having the possibility of collision, by controlling, the high beam and dipped headlight alternate repetition of vehicle switch bright light and/or control loudspeaker ring
Flute sends alarm with to pedestrian, reminds passerby to carry out Emergency avoidance.
Brief description of the drawings
Fig. 1 is the structural schematic block diagram of the vehicle active warning system in the embodiment of the present invention.
Fig. 2 is the calculating analysis schematic diagram of risk of collision decision-making module in the embodiment of the present invention.
Fig. 3 is the workflow diagram of the vehicle active warning system in the embodiment of the present invention.
Specific embodiment
Further to illustrate the present invention to reach technical approach and effect that predetermined goal of the invention is taken, below in conjunction with
Drawings and Examples, to specific embodiment of the invention, structure, feature and its effect, describe in detail as after.
Fig. 1 is the structural schematic block diagram of the vehicle active warning system in the embodiment of the present invention, please join Fig. 1, for pedestrian
Vehicle active warning system include pedestrian detection module 10, from vehicle travelling state analysis module 20, risk of collision decision-making module
30 and action response performing module 40.Pedestrian detection module 10 detects the shifting of the pedestrian of vehicle periphery by outside vehicle sensor
Move status information and be converted into corresponding signal and be sent to risk of collision decision-making module 30.Pass through from vehicle travelling state analysis module 20
Term vehicle internal sensors obtain the running condition information of vehicle and are converted into corresponding signal and are sent to risk of collision decision-making module 30.
Risk of collision decision-making module 30 receives pedestrian detection module 10 and the various letters passed over from vehicle travelling state analysis module 20
Number, and signal to receiving processed to determine whether the pedestrian of vehicle periphery has the possibility of collision with vehicle, works as treatment
Result for have risk of collision when, risk of collision decision-making module 30 sends alarm signal to action response performing module 40,
High beam 41 and the alternate repetition of dipped headlight 42 switching bright light and/or control loudspeaker 43 are controlled to ring by action response performing module 40
Flute, alarm sounds are sent to pedestrian.
Further, pedestrian detection module 10 receives the inspection of outside vehicle sensor by high-speed bus (such as CAN)
Signal is surveyed, outside vehicle sensor for example includes camera 11, laser radar 12 or millimetre-wave radar 13, camera 11, laser
Radar 12 or millimetre-wave radar 13 can cooperate or independently use.Camera 11 is used to catch the translational speed V of pedestrian1
And the lateral separation L of pedestrian and vehicle2, laser radar 12 and millimetre-wave radar 13 are for detecting pedestrian and the fore-and-aft distance of vehicle
L1。
Further, vehicle interior is received by high-speed bus (such as CAN) from vehicle travelling state analysis module 20 to pass
The detection signal of sensor, term vehicle internal sensors for example include wheel speed sensors 21, yaw angle transducer 22 and steering angle sensing
Device 23.Forward direction speed V of the real-time monitoring vehicle of wheel speed sensors 21 in its travel direction2With positive acceleration A2And will detection
To signal be sent to from vehicle travelling state analysis module 20, yaw angle transducer 22 and the real-time monitoring car of steering angle sensor 23
Side velocity V3With side acceleration A3And the signal that will be detected is sent to from vehicle travelling state analysis module 20.
In the present embodiment, term vehicle internal sensors can also include master cylinder pressure sensor 24, master cylinder pressure sensor 24
The pressure change of brake pedal when can monitor driver's active brake.As driver it was observed that the pedestrian of vehicle periphery and active
During braking, master cylinder pressure sensor 24 can monitor the pressure change of brake pedal during operator brake, and by brake pedal
Pressure signal is sent to risk of collision decision-making module 30 via from vehicle travelling state analysis module 20, can be avoided when by braking
During collision, risk of collision decision-making module 30 is by the active warning system of the temporary close vehicle.
When risk of collision decision-making module 30 judges that vehicle has risk of collision with pedestrian, alarm signal is sent to dynamic
Make response performing module 40, high beam 41 and the alternate repetition of dipped headlight 42 switching bright light are controlled by action response performing module 40
And/or control loudspeaker 43 blow a whistle to remind pedestrian to avoid.
Fig. 2 is the calculating analysis schematic diagram of risk of collision decision-making module 30, please join Fig. 2, when vehicle is in transport condition, if
Pedestrian's area is determined for S1, vehicle area is S2, the pedestrian detection module 1 of vehicle by outside vehicle sensor detect pedestrian with
The fore-and-aft distance of vehicle is L1It is L with lateral separation2And the speed of pedestrian is V1, and the coherent signal that will be detected is sent to
Risk of collision decision-making module 30.Monitor vehicle along its longitudinal direction by term vehicle internal sensors from vehicle travelling state analysis module 20
Forward direction speed V2, positive acceleration A2With the side velocity V along lateral direction of car3, side acceleration A3, and the phase that will be monitored
OFF signal is sent to risk of collision decision-making module 30.In the present embodiment, if vehicle is just in straight-line travelling, then along lateral direction of car
Side velocity V3With side acceleration A3It is zero.
When risk of collision decision-making module 30 is received from pedestrian detection module 10 and from vehicle travelling state analysis module 20
Various coherent signals when, (by taking simple computation as an example, time T is vehicle to the required time T for calculating when vehicle and pedestrian cross
With the fore-and-aft distance L of pedestrian1With the speed V of vehicle2Ratio), if the time T for now calculating is more than being preset in collision wind
Time threshold T in dangerous decision-making module 30th(TthTo be set in advance in the time numerical value in vehicle, for example, reaction of driver
Time) when, then driver can be realized in fore-and-aft distance L by active brake deceleration1In the range of stop.Therefore, driver is worked as
When having active brake behavior, master cylinder pressure sensor 24 is believed by the pressure that detect the pressure change of brake pedal and will detect
Number send risk of collision decision-making module 30 to via from vehicle travelling state analysis module 20, risk of collision decision-making module 30 will be temporary transient
The active warning system of the vehicle is closed, i.e., does not send alarm signal to action response performing module 40.
When risk of collision decision-making module 30 is received from pedestrian detection module 10 and from vehicle travelling state analysis module 20
Various coherent signals when, (by taking simple computation as an example, time T is vehicle to the required time T for calculating when vehicle and pedestrian cross
With the fore-and-aft distance L of pedestrian1With the speed V of vehicle2Ratio), if the time T for now calculating is less than or equal to being preset in
Time threshold T in risk of collision decision-making module 30th(TthIt is the numerical value of time being set in advance in vehicle, for example, drives
The reaction time of member) when, then driver is difficult to be realized by active brake deceleration in fore-and-aft distance L1In the range of stop, vehicle
There is the possibility for knocking with pedestrian, now by calculating time T and pedestrian's speed V1Product can calculate pedestrian in time T
The distance of walking, it may be determined that pedestrian, relative to the position of vehicle, can further calculate pedestrian when being crossed with vehicle
Duplication P (area S when vehicle is crossed with pedestrian when being crossed with vehicle3With pedestrian's area S1Ratio).
Duplication P when pedestrian and vehicle cross is more than or equal to the weight in being preset in risk of collision decision-making module 30
Folded rate threshold value PthWhen, vehicle has the possibility for crossing with pedestrian, and risk of collision decision-making module 30 judges that vehicle has collision with pedestrian
Risk, now the overlap mark in risk of collision decision-making module 30 is opened and collision blip is also opened, risk of collision decision-making module
30 send alarm signal to action response performing module 40, and high beam 41 and dipped beam are controlled by action response performing module 40
The alternate repetition of lamp 42 switches bright light and/or control loudspeaker 43 are blown a whistle, and reminds pedestrian to avoid with this, it is to avoid the generation of collision accident.
Herein it should be noted that when sending alarm to pedestrian, can be used alone high beam 41 and the alternate repetition of dipped headlight 42
Switching bright light, is used alone loudspeaker 43 and blows a whistle, or uses both combinations simultaneously.
Duplication P when pedestrian and vehicle cross is less than the Duplication threshold value in being preset in risk of collision decision-making module 30
PthWhen, risk of collision decision-making module 30 judges that vehicle will not be with pedestrian collision, the overlap in risk of collision decision-making module 30
Mark will not be opened, and collision blip will not also be opened, and now risk of collision decision-making module 30 is not to action response performing module 40
Alarm signal is sent, the active warning system of the vehicle does not send alarm to pedestrian.
That is, the time T needed for vehicle and pedestrian cross is more than in being preset in risk of collision decision-making module 30
Time threshold TthWhen, risk of collision decision-making module 30 judges that vehicle will not be with pedestrian collision, risk of collision decision-making module 30
Alarm signal is not sent to action response performing module 40.
Time T needed for vehicle and pedestrian cross is less than or equal to the time in being preset in risk of collision decision-making module 30
Threshold value Tth, and Duplication P is more than or equal to the Duplication threshold value P being preset in risk of collision decision-making module 30thWhen, touch
Hit decision in the face of risk module 30 and judge that vehicle has risk of collision and send alarm to action response performing module 40 with pedestrian
Signal, bright light and/or control are switched by action response performing module 40 by controlling high beam 41 and the alternate repetition of dipped headlight 42
Loudspeaker 43 are blown a whistle, to remind pedestrian's Emergency avoidance.
Time T needed for vehicle and pedestrian cross is less than or equal to the time in being preset in risk of collision decision-making module 30
Threshold value Tth, but Duplication P is less than the Duplication threshold value P being preset in risk of collision decision-making module 30thWhen, risk of collision is determined
Plan module 30 judges that vehicle will not sent out with pedestrian collision, risk of collision decision-making module 30 to action response performing module 40
Go out alarm signal.
The present invention also provides a kind of vehicle initiative alarming method for pedestrian, and Fig. 3 is pin provided in an embodiment of the present invention
To the flow chart of the vehicle initiative alarming method of pedestrian, its step includes：
Using pedestrian detection module 10 is by the mobile status information of outside vehicle sensor detecting pedestrian and is converted into phase
Induction signal is transferred to risk of collision decision-making module 30；
From vehicle travelling state analysis module 20 is by the running condition information of term vehicle internal sensors acquisition vehicle and converts
For corresponding signal is transferred to risk of collision decision-making module 30；
Risk of collision decision-making module 30 is received from pedestrian detection module 10 and from each of vehicle travelling state analysis module 20
Plant coherent signal and processed, it is overlap when the required time T and pedestrian when showing that vehicle crosses with pedestrian cross with vehicle
Time threshold T is previously provided with rate P, wherein risk of collision decision-making module 30thWith Duplication threshold value Pth, when vehicle and pedestrian hand over
Time T needed for converging is less than or equal to time threshold TthAnd Duplication P of pedestrian when being crossed with vehicle is heavy more than or equal to this
Folded rate threshold value PthWhen, risk of collision decision-making module 30 judges that vehicle has risk of collision and to action response performing module 40 with pedestrian
Send alarm signal；
After action response performing module 40 receives the alarm signal from risk of collision decision-making module 30, control is remote
Light lamp 41 and the alternate repetition of dipped headlight 42 switching bright light and/or control loudspeaker 43 to be blown a whistle and send alarm with to pedestrian.
Further, in above-mentioned vehicle initiative alarming method, the time T needed for vehicle and pedestrian cross is more than should
Time threshold TthOr the Duplication P of pedestrian and vehicle when crossing is less than Duplication threshold value PthWhen, risk of collision decision-making module
3 judge vehicle will not with pedestrian collision, now risk of collision decision-making module 3 do not send report to action response performing module 4
Alert cue.
In an example, above-mentioned Duplication threshold value PthCan be 0.2~0.4 with value, above-mentioned time threshold TthCan take
Be worth is 1~3 second.
In addition, the present invention also provides a kind of vehicle, including vehicle active warning system for pedestrian as described above and
Method.
The present invention is in transport condition by providing a kind of vehicle active warning system and method for pedestrian in vehicle
When, obtain the mobile status information of the pedestrian of vehicle and vehicle periphery and carry out calculating analysis, when calculating analyzes pedestrian and car
When having the possibility of collision, by controlling, the high beam and dipped headlight alternate repetition of vehicle switch bright light and/or control loudspeaker ring
Flute sends alarm with to pedestrian, reminds passerby to carry out Emergency avoidance.
Herein, term " including ", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, remove
Comprising those listed key elements, but also other key elements being not expressly set out can be included.
Herein, the involved noun of locality such as forward and backward, upper and lower is to be located in figure with parts in accompanying drawing and zero
Part position each other is intended merely to the clear and convenient of expression technology scheme come what is defined.It should be appreciated that the noun of locality
Use should not limit the claimed scope of the application.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. a kind of vehicle active warning system for pedestrian, it is characterised in that including pedestrian detection module (10), from car traveling
State analyzing module (20), risk of collision decision-making module (30) and action response performing module (40), the pedestrian detection module
(10) mobile status information of the pedestrian of vehicle periphery is detected by outside vehicle sensor and corresponding signal is converted into and is sent to
The risk of collision decision-making module (30) is described to obtain car by term vehicle internal sensors from vehicle travelling state analysis module (20)
Running condition information and be converted into corresponding signal and be sent to the risk of collision decision-making module (30), the risk of collision is determined
Plan module (30) is received from the pedestrian detection module (10) and described passed over from vehicle travelling state analysis module (20)
Various signals and the signal to receiving processed to determine whether the pedestrian of vehicle periphery has the possibility of collision with vehicle,
When the result for the treatment of is to there is risk of collision, the risk of collision decision-making module (30) is to the action response performing module (40)
Alarm signal is sent, is sent out with to pedestrian from the light and/or loudspeaker of the action response performing module (40) control vehicle
Go out alarm.
2. as claimed in claim 1 for the vehicle active warning system of pedestrian, it is characterised in that the risk of collision decision-making
Module is previously provided with time threshold (T in (30)th) and Duplication threshold value (Pth), when vehicle and pedestrian cross the required time (T)
Less than or equal to the time threshold (Tth) and the Duplication (P) of pedestrian and vehicle when crossing is more than or equal to the Duplication threshold value
(Pth) when, the risk of collision decision-making module (30) judges that vehicle has risk of collision and performs mould to the action response with pedestrian
Block (40) sends alarm signal；Time (T) needed for vehicle and pedestrian cross is more than the time threshold (Tth) when, it is described
Risk of collision decision-making module (30) judges that vehicle will not be with pedestrian collision, and the risk of collision decision-making module (30) is not to institute
State action response performing module (40) and send alarm signal；Time (T) needed for vehicle crosses with pedestrian is less than or waits
In the time threshold (Tth), but the Duplication (P) of pedestrian and vehicle when crossing is less than the Duplication threshold value (Pth) when, it is described
Risk of collision decision-making module (30) judges that vehicle will not be with pedestrian collision, and the risk of collision decision-making module (30) is not to institute
State action response performing module (40) and send alarm signal.
3. as claimed in claim 1 for the vehicle active warning system of pedestrian, it is characterised in that the outside vehicle sensing
Device includes camera (11), laser radar (12) and/or millimetre-wave radar (13).
4. as claimed in claim 1 for the vehicle active warning system of pedestrian, it is characterised in that the vehicle interior sensing
Device includes wheel speed sensors (21), yaw angle transducer (22) and/or steering angle sensor (23).
5. as claimed in claim 4 for the vehicle active warning system of pedestrian, it is characterised in that the vehicle interior sensing
Device also includes master cylinder pressure sensor (24), and the master cylinder pressure sensor (24) braked during driver's active brake for being monitored
The pressure change of pedal.
6. as claimed in claim 1 for the vehicle active warning system of pedestrian, it is characterised in that send alarm to pedestrian
When, high beam (41) and dipped headlight (42) alternate repetition switching bright light is used alone, loudspeaker (43) are used alone and blow a whistle, Huo Zhetong
When using both combination.
7. a kind of vehicle initiative alarming method for pedestrian, it is characterised in that including step：
Using pedestrian detection module (10) is by the mobile status information of outside vehicle sensor detecting pedestrian and is converted into corresponding
Signal transmission is to risk of collision decision-making module (30)；
Using from vehicle travelling state analysis module (20) is by the running condition information of term vehicle internal sensors acquisition vehicle and turns
Turn to corresponding signal and be transferred to the risk of collision decision-making module (30)；
The risk of collision decision-making module (30) receives and comes from the pedestrian detection module (10) and described from vehicle travelling state point
The various coherent signals of analysis module (20) are simultaneously processed, required time (T) and pedestrian when showing that vehicle and pedestrian cross and
Duplication (P) when vehicle crosses, wherein being previously provided with time threshold (T in the risk of collision decision-making module (30)th) and weight
Folded rate threshold value (Pth), the time (T) needed for vehicle and pedestrian cross is less than or equal to the time threshold (Tth) and pedestrian and car
Duplication (P) when crossing is more than or equal to the Duplication threshold value (Pth) when, the risk of collision decision-making module (30) judges
Vehicle has risk of collision and sends alarm signal to action response performing module (40) with pedestrian；
The action response performing module (40) receives the alarm signal from the risk of collision decision-making module (30)
Afterwards, control vehicle high beam (41) and dipped headlight (42) alternate repetition switch bright light and/or control loudspeaker (43) blow a whistle with to
Pedestrian sends alarm.
8. as claimed in claim 7 for the vehicle initiative alarming method of pedestrian, it is characterised in that when vehicle crosses with pedestrian
The required time (T) is more than the time threshold (Tth) or Duplication (P) when crossing of pedestrian and vehicle be less than the Duplication threshold
Value (Pth) when, the risk of collision decision-making module (30) judges that vehicle will not be with pedestrian collision, the risk of collision decision-making
Module (30) does not send alarm signal to the action response performing module (40).
9. as claimed in claim 7 for the vehicle initiative alarming method of pedestrian, it is characterised in that the Duplication threshold value
(Pth) value be 0.2~0.4, the time threshold (Tth) value be 1~3 second.
10. a kind of vehicle, it is characterised in that actively reported including the vehicle for pedestrian as described in any one of claim 1 to 9
Alert system and method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611257148.9A CN106828388A (en) | 2016-12-30 | 2016-12-30 | For the vehicle active warning system and method and vehicle of pedestrian |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611257148.9A CN106828388A (en) | 2016-12-30 | 2016-12-30 | For the vehicle active warning system and method and vehicle of pedestrian |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106828388A true CN106828388A (en) | 2017-06-13 |
Family
ID=59114023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611257148.9A Pending CN106828388A (en) | 2016-12-30 | 2016-12-30 | For the vehicle active warning system and method and vehicle of pedestrian |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106828388A (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554472A (en) * | 2017-08-23 | 2018-01-09 | 中国科学院自动化研究所 | A kind of vehicle collision alarming system and method |
| CN107688699A (en) * | 2017-08-11 | 2018-02-13 | 北京新能源汽车股份有限公司 | Automobile Life cycle simulation and prediction system, method and storage medium |
| CN108437923A (en) * | 2018-03-27 | 2018-08-24 | 浙江吉利控股集团有限公司 | A kind of pedestrian protection system and method |
| CN109398223A (en) * | 2017-08-16 | 2019-03-01 | Lg电子株式会社 | Vehicle lamp and vehicle |
| CN109507923A (en) * | 2018-11-29 | 2019-03-22 | 南宁思飞电子科技有限公司 | One kind automatically controlling sprinkling truck system and its control method based on ambient temperature and pedestrian position |
| CN109542009A (en) * | 2018-11-29 | 2019-03-29 | 南宁思飞电子科技有限公司 | One kind automatically controlling sprinkling truck system and its control method based on pedestrian position |
| CN109624840A (en) * | 2018-12-29 | 2019-04-16 | 重庆金康新能源汽车设计院有限公司 | Vehicle drive method for early warning, image process controller, system and vehicle |
| CN109649255A (en) * | 2019-01-11 | 2019-04-19 | 福建天眼视讯网络科技有限公司 | Intelligent automotive light control system and its method neural network based |
| CN109726447A (en) * | 2018-12-10 | 2019-05-07 | 北京百度网讯科技有限公司 | Pedestrian's evacuation method, device and storage medium around automatic driving vehicle |
| CN110065431A (en) * | 2018-01-22 | 2019-07-30 | 长城汽车股份有限公司 | Control the method and vehicle of high beam |
| CN110647146A (en) * | 2019-09-09 | 2020-01-03 | 深圳一清创新科技有限公司 | Unmanned vehicle control method and device, computer equipment and storage medium |
| CN111028544A (en) * | 2019-12-06 | 2020-04-17 | 无锡物联网创新中心有限公司 | Pedestrian early warning system with V2V technology and vehicle-mounted multi-sensor integration |
| CN111376825A (en) * | 2018-12-27 | 2020-07-07 | 观致汽车有限公司 | Whistling system and control method thereof |
| CN111572485A (en) * | 2020-04-29 | 2020-08-25 | 东风汽车集团有限公司 | Control system and control method for collision protection device |
| CN112597917A (en) * | 2020-12-25 | 2021-04-02 | 太原理工大学 | Vehicle parking detection method based on deep learning |
| CN112721797A (en) * | 2020-10-27 | 2021-04-30 | 湖南大学 | Information prompt system and method for automatic driving vehicle |
| CN112918469A (en) * | 2021-03-01 | 2021-06-08 | 长沙理工大学 | Automatic emergency braking system with active and passive safety function for pedestrians |
| WO2021179340A1 (en) * | 2020-03-12 | 2021-09-16 | 博睿泰克科技（宁波）有限公司 | Vehicle driving-based danger early-warning method and system, and storage medium |
| CN113401082A (en) * | 2021-08-02 | 2021-09-17 | 姜春诗 | Self-judging automobile safety automatic braking system and method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3507381A1 (en) * | 1985-03-02 | 1986-09-04 | Bosch Gmbh Robert | DEVICE FOR PROTECTING VEHICLE VEHICLES IN ACCIDENTAL ACCIDENTS |
| JPH1067301A (en) * | 1996-08-29 | 1998-03-10 | Nissan Motor Co Ltd | Approach alarm device for vehicle |
| CN203637753U (en) * | 2013-11-20 | 2014-06-11 | 长安大学 | Danger avoiding device for distinguishing pedestrians in vehicle travelling process |
| CN104118431A (en) * | 2013-04-24 | 2014-10-29 | 株式会社万都 | Collision avoidance apparatus and method for vehicle |
| CN104742846A (en) * | 2014-10-28 | 2015-07-01 | 浙江吉利控股集团有限公司 | Vehicle-mounted pedestrian protection system |
| CN105620489A (en) * | 2015-12-23 | 2016-06-01 | 深圳佑驾创新科技有限公司 | Driving assistance system and real-time warning and prompting method for vehicle |
| CN106184202A (en) * | 2016-07-26 | 2016-12-07 | 浙江吉利控股集团有限公司 | A kind of automatic emergency steering for vehicle and control method thereof |
-
2016
- 2016-12-30 CN CN201611257148.9A patent/CN106828388A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3507381A1 (en) * | 1985-03-02 | 1986-09-04 | Bosch Gmbh Robert | DEVICE FOR PROTECTING VEHICLE VEHICLES IN ACCIDENTAL ACCIDENTS |
| JPH1067301A (en) * | 1996-08-29 | 1998-03-10 | Nissan Motor Co Ltd | Approach alarm device for vehicle |
| CN104118431A (en) * | 2013-04-24 | 2014-10-29 | 株式会社万都 | Collision avoidance apparatus and method for vehicle |
| CN203637753U (en) * | 2013-11-20 | 2014-06-11 | 长安大学 | Danger avoiding device for distinguishing pedestrians in vehicle travelling process |
| CN104742846A (en) * | 2014-10-28 | 2015-07-01 | 浙江吉利控股集团有限公司 | Vehicle-mounted pedestrian protection system |
| CN105620489A (en) * | 2015-12-23 | 2016-06-01 | 深圳佑驾创新科技有限公司 | Driving assistance system and real-time warning and prompting method for vehicle |
| CN106184202A (en) * | 2016-07-26 | 2016-12-07 | 浙江吉利控股集团有限公司 | A kind of automatic emergency steering for vehicle and control method thereof |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107688699A (en) * | 2017-08-11 | 2018-02-13 | 北京新能源汽车股份有限公司 | Automobile Life cycle simulation and prediction system, method and storage medium |
| CN109398223A (en) * | 2017-08-16 | 2019-03-01 | Lg电子株式会社 | Vehicle lamp and vehicle |
| CN107554472A (en) * | 2017-08-23 | 2018-01-09 | 中国科学院自动化研究所 | A kind of vehicle collision alarming system and method |
| CN110065431A (en) * | 2018-01-22 | 2019-07-30 | 长城汽车股份有限公司 | Control the method and vehicle of high beam |
| CN108437923B (en) * | 2018-03-27 | 2020-08-07 | 浙江吉利控股集团有限公司 | Pedestrian protection system and method |
| CN108437923A (en) * | 2018-03-27 | 2018-08-24 | 浙江吉利控股集团有限公司 | A kind of pedestrian protection system and method |
| CN109507923A (en) * | 2018-11-29 | 2019-03-22 | 南宁思飞电子科技有限公司 | One kind automatically controlling sprinkling truck system and its control method based on ambient temperature and pedestrian position |
| CN109542009A (en) * | 2018-11-29 | 2019-03-29 | 南宁思飞电子科技有限公司 | One kind automatically controlling sprinkling truck system and its control method based on pedestrian position |
| CN109726447A (en) * | 2018-12-10 | 2019-05-07 | 北京百度网讯科技有限公司 | Pedestrian's evacuation method, device and storage medium around automatic driving vehicle |
| US11164447B2 (en) | 2018-12-10 | 2021-11-02 | Beijing Baidu Netcom Science And Technology Co., Ltd. | Method for evacuating persons around autonomous vehicle, apparatus and storage medium thereof |
| CN111376825A (en) * | 2018-12-27 | 2020-07-07 | 观致汽车有限公司 | Whistling system and control method thereof |
| CN109624840A (en) * | 2018-12-29 | 2019-04-16 | 重庆金康新能源汽车设计院有限公司 | Vehicle drive method for early warning, image process controller, system and vehicle |
| CN109649255A (en) * | 2019-01-11 | 2019-04-19 | 福建天眼视讯网络科技有限公司 | Intelligent automotive light control system and its method neural network based |
| CN110647146A (en) * | 2019-09-09 | 2020-01-03 | 深圳一清创新科技有限公司 | Unmanned vehicle control method and device, computer equipment and storage medium |
| CN111028544A (en) * | 2019-12-06 | 2020-04-17 | 无锡物联网创新中心有限公司 | Pedestrian early warning system with V2V technology and vehicle-mounted multi-sensor integration |
| WO2021179340A1 (en) * | 2020-03-12 | 2021-09-16 | 博睿泰克科技（宁波）有限公司 | Vehicle driving-based danger early-warning method and system, and storage medium |
| CN111572485A (en) * | 2020-04-29 | 2020-08-25 | 东风汽车集团有限公司 | Control system and control method for collision protection device |
| CN112721797A (en) * | 2020-10-27 | 2021-04-30 | 湖南大学 | Information prompt system and method for automatic driving vehicle |
| CN112597917A (en) * | 2020-12-25 | 2021-04-02 | 太原理工大学 | Vehicle parking detection method based on deep learning |
| CN112597917B (en) * | 2020-12-25 | 2022-09-30 | 太原理工大学 | Vehicle parking detection method based on deep learning |
| CN112918469A (en) * | 2021-03-01 | 2021-06-08 | 长沙理工大学 | Automatic emergency braking system with active and passive safety function for pedestrians |
| CN112918469B (en) * | 2021-03-01 | 2022-02-11 | 长沙理工大学 | Automatic emergency braking system with active and passive safety function for pedestrians |
| CN113401082A (en) * | 2021-08-02 | 2021-09-17 | 姜春诗 | Self-judging automobile safety automatic braking system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106828388A (en) | For the vehicle active warning system and method and vehicle of pedestrian | |
| CN107161146B (en) | A kind of highway auxiliary system | |
| CN106157696B (en) | Avoidance system and preventing collision method are moved from car owner based on Che-Che Tongxin | |
| CN107031629B (en) | A kind of 3D machine vision fork truck traveling supplementary security system and method | |
| CN105730323B (en) | A kind of automotive safety lane change automatic control system and control method | |
| CN107512263A (en) | A kind of lane change blind area danger accessory system | |
| CN104340226B (en) | System for sending alarm before motor vehicle and object may collide | |
| CN106882182A (en) | A kind of automobile intelligent obstacle avoidance system | |
| CN102815264B (en) | Safe getting-off controlling method and system | |
| CN107731009A (en) | One kind keeps away people, anti-collision system and method suitable for no signal lamp intersection vehicle | |
| CN105216727A (en) | A kind of vehicle distances detection active safety system and control method | |
| CN109964264A (en) | Driver assistance system for motor vehicle | |
| CN102481953A (en) | Method For Supporting A Driver Of A Vehicle When Maneuvering In Or Out Of A Parking Space | |
| CN108657065A (en) | A kind of automobile active anticollision sub-controlling unit and its control method | |
| CN107399290A (en) | Safe driving assistant system and its control method | |
| CN107344552A (en) | Dynamic monitoring omnidirectional vehicle anti-collision early warning system | |
| CN103921790A (en) | Vehicle active safety intelligent system and control method | |
| CN104751677B (en) | vehicle collision alarm method and system | |
| JP2015022758A (en) | Intelligent forward collision warning system | |
| CN103661190A (en) | Side anticollision device and side anticollision method when large-sized car turns corner | |
| KR20120086719A (en) | Method for warning of an object in the vicinity of a vehicle and driving assistance system | |
| CN108352120A (en) | Monitoring device and monitoring method | |
| CN101890947A (en) | Automobile driving assisting system | |
| CN206171447U (en) | Discernment of vehicle driving environment and early warning anticollision initiative safety coefficient | |
| CN106448190A (en) | Real-time monitoring and early-warning device and method for nearby vehicle flow for vehicle on highway |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170613 |
|
| RJ01 | Rejection of invention patent application after publication |