CN106864361A - Vehicle and the method for people's car mutual, system, device and storage medium outside car - Google Patents
Vehicle and the method for people's car mutual, system, device and storage medium outside car Download PDFInfo
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Classifications
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- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
A kind of method of the outer people's car mutual of vehicle and car, device, the method for computer-readable medium and robot and periphery people's car mutual, the method for vehicle and car people's car mutual outward include：Obtain vehicle-state and the periphery state of the vehicle；And vehicle-state and periphery state according to above-mentioned acquisition, prediction enters the possibility of non-security distance, if it is possibly into non-security distance to predict the outcome, it is determined that the parameter needed for interactive mode.The disclosure can be effectively prevented from vehicle and be sent out invalid information warning, prevent the pedestrian/vehicle for non-interactive region from producing interference.
Description
Technical field
Invention relates generally to vehicle safety warning field, more particularly to the method system of vehicle and the outer people's car mutual of car,
Device and storage medium.
Background technology
Due to the development of vehicle technology, the Power Drive Unit of vehicle gradually drives transition from internal combustion engine to power motor,
So as to the noise for causing vehicle to be produced during traveling is also increasingly reduced.The noise energy that past vehicle is produced during traveling
It is enough effective to play warning function to periphery pedestrian, thus pedestrian can by audition debate position tell vehicle itself position and
Movement tendency, the actively generation of pre- anticollision, so that travel safety is necessarily ensured.But, with motor skill
The development of art, the vehicle noise level of electric vehicle is greatly lowered, and results in the need for customization special equipment and actively produces and allow
The signal that vehicle body periphery pedestrian can perceive.
The content of the invention
In view of the foregoing, it is proposed that the application.The application is directed to a kind of brand-new for vehicle and car stranger's car
Interactive method system, device and storage medium, realize being interacted with car stranger's car, overcome in the prior art for non-alert zone
The pedestrian in domain causes the problem of noise jamming.
A kind of method that the application proposes vehicle and the outer people's car mutual of car, including：Obtain vehicle-state and the week of the vehicle
Side state；And vehicle-state and periphery state according to above-mentioned acquisition, prediction enters the possibility of non-security distance, if in advance
It is possibly into non-security distance to survey result, it is determined that the parameter needed for interactive mode.
The system that the application also proposes a kind of vehicle and the outer people's car mutual of car, including：State acquiring unit, for obtaining car
The periphery state of state and the vehicle；And determining unit, for the vehicle-state according to above-mentioned acquisition and periphery state,
Prediction enters the possibility of non-security distance, if it is possibly into non-security distance to predict the outcome, it is determined that interactive mode institute
The parameter for needing.
The application also proposes the device of a kind of vehicle and the outer people's car mutual of car, including processor and memory, the storage
Be stored with instruction in device, when being instructed described in the computing device, performs the side as any one of claim 1-11
Method.
The application also proposes a kind of computer-readable recording medium, is stored thereon with computer executable instructions, when described
When instruction is executed by a computing apparatus, the method as any one of claim 1-11 is performed.
A kind of method that the application also proposes robot and periphery people's car mutual, including：Obtain robotary and the machine
The periphery state of device people；And robotary and periphery state according to above-mentioned acquisition, prediction can into non-security distance
Energy property, if it is possibly into non-security distance to predict the outcome, it is determined that the parameter needed for interactive mode.
In this application, active obtaining vehicle (robot) state, and active perception outside pedestrian/vehicle-state, and
According to these condition selecting interactive modes and the parameter of interactive mode information needed circulation way is calculated, hair can be effectively prevented from
Invalid information warning is sent, prevents the pedestrian/vehicle for non-interactive region from producing interference.
Brief description of the drawings
From detailed description below in conjunction with the accompanying drawings to the embodiment of the present invention, these and/or other side of the invention and
Advantage will become clearer and be easier to understand, wherein：
Fig. 1 shows the flow chart for car stranger's car exchange method according to an embodiment of the invention；
Fig. 2 shows the relative position parameter of vehicle (this car) and outer target pedestrian/other vehicles of car；
Fig. 3 and Fig. 4 show that Ben Che interacts two Sample Scenarios with the outer target pedestrian/vehicle of car；And
Fig. 5 shows the block diagram of vehicle according to an embodiment of the invention and the system of the outer people's car mutual of car.
Specific embodiment
In order that those skilled in the art more fully understand the present invention, with reference to the accompanying drawings and detailed description to this hair
It is bright to be described in further detail.
In the prior art, patent CN205652026U employs the method for common loudspeaker playing alert tones pedestrian is entered
Row warning, and common loudspeaker due to transmitting sound wave beam be with omni-directional, it is more powerful needed for so on the one hand causing,
On the other hand causing the sound in other unrelated directions can bring noise jamming to the pedestrian of correspondence direction.
In addition to voice signal mentioned above, more interactive modes, as long as can be perceived by people, can serve as car
The approach of outer interaction.And the effective outer exchange method of car, it is possible to be greatly improved the safety of vehicle-surroundings pedestrian, can also be further
Improve the operational efficiency of whole traffic circulation platform.Therefore, the application introduces more interactive modes.
Fig. 1 shows the flow chart for car stranger's car exchange method according to an embodiment of the invention.
In step s 110, the current fortune of the status information (vehicle-state) during acquisition vehicle movement, including vehicle
Scanning frequency degree (in this application, speed only refers to its numerical part, i.e. speed), acceleration, acceleration/brake signal, steering wheel angle,
Turn inside diameter intent information (such as left and right turn prompting modulating signal) is at least one isoparametric；And obtain the row of the vehicle-surroundings
The status information (periphery state) of people and/or vehicle, including the vehicle-surroundings pedestrian and/or other vehicles relative to the vehicle
Position, movement velocity, the direction of motion, size/shape, surrounding road situation and traffic lights situation it is at least one isoparametric,
Wherein surrounding road situation may include lane line, lane boundary, traffic marking, pavement etc..
In the step s 120, according to above-mentioned acquisition vehicle-state and the week of the pedestrian of vehicle-surroundings or other vehicles
Side state, prediction enters the possibility of non-security distance, if it is possibly into non-security distance to predict the outcome, it is determined that interaction
Parameter needed for mode.Specifically, according to vehicle-state (the current speed of service therein and steering wheel angle are call parameters)
The future travel path of the vehicle is predicted, the path planning of the vehicle is determined；Periphery state according to the vehicle is (therein relative
Position, movement velocity and the direction of motion are call parameters), predict the pedestrian of the vehicle-surroundings and/or the following row of other vehicles
Path is sailed, car stranger/car predicted path is determined；And the path planning and car stranger according to the vehicle/car prediction road
Footpath, prediction enters the possibility (entering non-security distance, it may occur however that collision) of non-security distance.If possible collide,
Then select appropriate interactive mode, and the parameter needed for determining interactive mode.
Path planning on how to determine vehicle, can be by reading the car status information inside automobile ECU, directly
The current travel speed of vehicle and steering wheel angle are obtained, and assumes the two parameter constants, estimated in its simplest form
The vehicle location of following any time.Further, it is possible to add the acceleration of vehicle, angular speed, angular acceleration, vehicle body shape,
The parameter of vehicle weight, more accurate prediction is carried out for vehicle location.
On how to determine car stranger/car predicted path, a kind of method is to catch target pedestrian/car by monocular cam
Two-dimensional position and according to the hypothesis of plane mechanism by target projection to three-dimensional coordinate, so as to obtain target pedestrian/vehicle relative to this
The position of car；Then by change in location of the single target between multiple image, movement velocity and the direction of target are calculated.It is another
The method of kind is can to obtain the three-dimensional position of target on single image using binocular camera, then by single target many
Change in location between two field picture, calculates movement velocity and the direction of target.
Prediction into the possibility of non-security distance may include following steps：
First, non-security distance is set.If the path planning of the vehicle intersects with car stranger/car predicted path, i.e., greatly
In or equal to certain angle, then non-security distance is set as apart from A；And if the path planning of the vehicle is pre- with car stranger/car
Path is surveyed less than the angle (angle is that 0 i.e. two paths are parallel), then sets non-security distance apart from B, distance to be less than apart from B
A；
Secondly, the speed of related movement and relative distance of pedestrian and/or other vehicles according to the vehicle and its periphery,
It is determined that the time into required for non-security distance；
Finally, the possibility of non-security distance is entered according to the time prediction.
Can table look-up or numerical computations by way of, determine parameter needed for each interactive mode, this be primarily referred to as how
According to target pedestrian/vehicle, the position relative to this car and respective travel speed, determine parameter needed for each interactive mode.Fig. 2
The relative position parameter of vehicle (this car) and outer target pedestrian/other vehicles of car is shown.If target pedestrian/vehicle outside this car to car
Present position (distance is L meters) is θ relative to the angle just to direction of the headstock of this car, then upward for the positive other side of headstock
Target pedestrian/vehicle, θ is 0 °.
On car stranger/car interactive mode, there can be multiple choices, such as send orientation sound, discharge smell, carry out optics throwing
Shadow sends windstream etc..
For above-mentioned interactive mode, the parameter values needed for it is calculated in the following way, or by the knot of numerical computations
Fruit is prestored in the table, and required parameter is directly obtained by tabling look-up.
If selection sends orientation sound interactive mode, according to the vehicle-state and periphery state, it is determined that the hair of orientation sound
Penetrate power and launch angle parameter.
For transmitting this interactive mode of orientation sound, the orientation sound wave the purpose is to send specific direction, power, so as to quilt
Target pedestrian/vehicle is accurately received and recognized.Assuming that the ultimate range of the orientation sound emission that can be perceived by pedestrian/vehicle is
LSoundMAX, and now the transmission power of orientation sound is WSoundMAX.So, when goers outside vehicle/vehicle relative to this car away from
From L>LSoundDuring MAX, due to beyond the sphere of action of orientation sound, therefore it is zero to set the transmission power of orientation sound, i.e.,
Orientation sound is not sent.Assuming that the transmission power of orientation sound is WSound1 or WSound(W when 2Sound1<WSound2) it is, corresponding maximum
Effective range is respectively LSound1 and LSound2(LSound1<LSound2), and assume maximum EFFECTIVE RANGE with transmitting work(
Rate is linear change.So, as L≤LSoundDuring MAX, it may be determined that the orientation sound emission angle of needs is goers outside vehicle/car
It is θ relative to the angle of this car, and the transmission power of orientation sound can be defined as WSound1+(WSound2-WSound1)/
(LSound2-LSound1)*(L-LSound1).When the speed Vcar of this car is larger, it is contemplated that Doppler effect, acoustic emission is oriented
Angle needs to be modified to：θ-Φ (Vcar*cos (θ)), wherein Φ are angle modification function, can be carried out by way of tabling look-up really
It is fixed.
If selection optical projection interactive mode, according to periphery state and ambient brightness, determine optical projection distance,
Projection brightness and projecting direction.
For the interactive mode of optical projection, the optical signalling the purpose is to send specific direction, brightness, pattern, so as to
Accurately received and recognized by target pedestrian/vehicle.Assuming that the brightness of the particular optical projection that target pedestrian/vehicle can be perceived
WluxWith ambient brightness SluxRelation it is as follows：Work as Wlux≥Φ(Slux) when, optical projection can accurately be felt by target pedestrian/vehicle
Know, wherein Φ (Slux) represent when ambient brightness is SluxWhen the brightness value of optical projection that can just be perceived；Work as Wlux<
n*SluxWhen, optical projection cannot be perceived accurately.Assuming that the high-high brightness of optical projection is WluxMAX, projection brightness is with target
The decay of distance is linear, and attenuation coefficient is α, and current environment brightness is Sluxcur.So, it is capable of determining that any
Moment, the ultimate range that optical projection can be acted on is LLuxMAX=(WluxMAX-n*Sluxcur)/α.Work as L>LLuxDuring MAX, by
In sphere of action beyond optical projection, therefore the zero luminance of optical projection is set, that is, is not turned on optical projection.When
L≤LLuxDuring MAX, it may be determined that the optical projection launch angle (projecting direction) of needs is goers outside vehicle/vehicle relative to this car
Angle be θ, and the brightness of optical projection be Wlux=Φ (Slux)+α*L。
If selection sends windstream interactive mode, according to periphery state and air running status, it is determined that orientation gas
The intensity of stream and direction.
For the interactive mode for sending windstream, the air-flow the purpose is to send specific direction, intensity, so as to by target
Pedestrian/vehicle (needing to install corresponding airflow detecting device) accurately receives and recognizes.Air running status may include air stream
Speed and air-flow direction.It is located under vehicle movement reference system, air velocity size is Vwc, air-flow direction is θ wc, and
It is Vcmax that the windstream generating means of headlight can produce the Peak Flow Rate of windstream.So, Vwc*cos is worked as
(θwc-θ)+Vcmax>When 0, windstream can be sent；As Vwc*cos (θ wc- θ)+Vcmax<When 0, because windstream can
Can cannot reach and treat interaction locations, so abandoning sending windstream.Its launch angle and determining method of launch power with
The parameter determination method of orientation sound is identical, repeats no more.
If selection release smell interactive mode, the type of smell and dense is determined according to the vehicle-state and periphery state
Degree.
For release specific scent gas interactive mode, the gas the purpose is to send specific scent and concentration, so as to
Accurately received and recognized by target pedestrian/vehicle (needing to install corresponding device for testing smell).Can serve as smell release
Common odor types have：Sweet, banksia rose taste, mint flavored/peppermint taste, sweet taste, chemicals taste, fruity, pungent taste and
Rotten taste.The selection of smell can be according to information such as purposes, type, the states of designer/user's hobby or vehicle itself certainly
Row is customized, and rule is that the smell of selection easily causes pedestrian to note, while avoid easily offensive again as far as possible.
In one embodiment, in order that pedestrian just can probably understand the situation of speed by smell in itself, a kind of fragrant gas has been selected
The mixing smell of taste and a kind of banksia rose smell carries out the implementation of smell interaction.By look-up table, two kinds are determined according to this vehicle speed
The different mixed proportion of smell.In addition, determining odorousness according in the following manner：If the maximum instantaneous gas of smell release device
Taste release concentration is Wmax, and maximum operating range is Lmax, then, when apart from L<The computing formula of smell release concentration during Lmax
For:W=Wmax/Lmax*L.
Because the diffusion way of smell is easily influenceed by air motion, therefore this kind of interactive mode can be with orientation gas
The interactive mode of stream is combined, to strengthen interaction effect.
In one embodiment, can implement multimedia information and send with the various interactive modes of simultaneous selection.
Fig. 3 and Fig. 4 show that Ben Che interacts two Sample Scenarios with the outer target pedestrian/vehicle of car.In the field shown in Fig. 3
In scape 1, vehicle (this car) is travelled on straight way；And in the scene 2 shown in Fig. 4, vehicle (this car) is travelled on bend.Periphery
There is three pedestrians (can also be other vehicles) A, B, C to be moved in respective direction respectively, when this car predicts the movement locus of B
(predicted path) be likely to enter this car it is non-security apart from when, then the information exchange being oriented to B (may be selected appropriate friendship
Mutual mode, or even various suitable interactive modes are used simultaneously).And for A and C, it is current as illustrated to be intended to continue to move, it is right
The calculating of its movement locus can draw the non-security distance that will not enter this car, i.e., this garage will not be hindered to enter, therefore need not
Information exchange is carried out to A and C.
For automatic driving vehicle, it has preset travel parameter, can be according to its vehicle-state and the preset travel parameter
The future travel path of the vehicle is predicted, the path planning of the vehicle is determined.The preset travel parameter includes following parameter
At least one：The destination setting of the automatic driving vehicle and driving style are radical type or conservative.
In step s 130, by the parameter needed for the interactive mode that S120 steps determine, corresponding interactive mode is imported
Executing agency's (orientation acoustic generator, smell release device, optical projector and windstream generator), carry out this vehicle and its
The pedestrian on periphery and/or the correspondence interaction of other vehicles.
In the embodiment of selection orientation sound interactive mode, sound wave can be sent to specific region, so that sound
Warning more targetedly and more efficiently, while save the energy, it is to avoid unnecessary information deliver caused by the energy
Waste.
Select at the same time in the embodiment of various interactive modes, can be protected with the information sender formula of integrated acousto-optic gas one
Demonstrate,prove all kinds of disturbance of perception personages and be obtained in that sufficient Warning for vehicle information, so as to take into account all kinds of disturbance of perception crowd such as deaf persons
And blind person.
Fig. 5 shows the block diagram of vehicle according to an embodiment of the invention and the system of the outer people's car mutual of car.
Vehicle can be implemented as a system with the method for the outer people's car mutual of car, as shown in Figure 5.The system includes state
Acquiring unit 510, determining unit 520 and interaction execution unit 530.
State acquiring unit 510 obtains the periphery state of vehicle-state and the vehicle, vehicle-state and periphery state it is thin
Section is identical with described in preceding method.Vehicle speed sensor of the state acquiring unit 510 including the movement velocity for obtaining vehicle,
For obtain the steering angle sensor of the steering wheel angle of vehicle, the acceleration transducer of acceleration for obtaining vehicle and
Other vehicle-states for obtaining acceleration/brake signal, turn inside diameter intent information (such as left and right turn prompting modulating signal)
Signal transducer.State acquiring unit 510 also include for obtain outside vehicle scenery three-dimensional point cloud image laser radar,
Millimetre-wave radar for obtaining the camera of the two dimensional image of the outer scenery of car, RF-reflective feature for obtaining outside vehicle
And for obtaining other vehicle-surroundings signal transducers of other periphery states, to obtain relative position, the angle with this car
Degree and movement velocity and direction etc..
, according to the vehicle-state and periphery state of above-mentioned acquisition, prediction can into non-security distance for determining unit 520
Energy property, if it is possibly into non-security distance to predict the outcome, it is determined that the parameter needed for interactive mode.In determining unit 520
Concrete function as described in step S120, repeat no more.Interaction execution unit 530, the interaction side that determining unit 520 is determined
Parameter needed for formula, imports the executing agency of corresponding interactive mode, carries out pedestrian of this vehicle with its periphery and/or other vehicles
Correspondence interaction.System as shown in Figure 5 can also include further part, realize detailed described in correspondence step S120
Function.For example, processor 521 in determining unit 520 is from each in the input state acquiring unit 510 of input/output module 522
The information that individual sensor is obtained, and obtain prestored information, the man-machine interface in information, memory 524 that CAN 523 is transmitted
525 occupant's input information, and other modules 526 are for information about, summary information prediction enters non-security distance
Possibility；And need interact in the case of, through tabling look-up or numerical computations obtain interactive mode needed for parameter,
Interact the execution parameter of execution unit 530.Above-mentioned execution parameter is respectively outputted to by orientation by input/output module 522
Acoustic transmitter 531, aroma-emitters 532, optical projector 533 and/or windstream transmitter 534, to implement correspondence friendship
Mutually.
According to one embodiment of present invention, the device of a kind of vehicle and the outer people's car mutual of car, including place can also be provided
Reason device and memory.Be stored with instruction in the memory, when being instructed described in the computing device, can perform such as Fig. 1
Shown method and its specific steps.
According to one embodiment of present invention, a kind of computer-readable recording medium can also be provided, meter is stored thereon with
Calculation machine executable instruction.When the instruction is executed by a computing apparatus, method and its specific steps as shown in Figure 1 is performed.
Method described herein, system, device and computer-readable recording medium, can by changing parameter configuration,
Different types of vehicle, different types of road are easily adaptable to, so as to complete more efficient vehicle be handed over the information of pedestrian
Mutually, it is ensured that whole railway and highway system is more safe and efficient.
In addition, vehicle described herein and the exchange method of pedestrian, easily can promote the use of in robot, really
The safety of guarantor's class.
Therefore, according to one embodiment of present invention, a kind of method that robot and periphery people's car mutual can also be provided,
Including：Obtain robotary and the periphery state of the robot；And robotary and periphery shape according to above-mentioned acquisition
State, prediction enters the possibility of non-security distance, if it is possibly into non-security distance to predict the outcome, it is determined that interactive mode
Required parameter.
The robotary may include at least one of following parameter：The movement velocity of the robot and direction；And
The periphery state of the robot may include at least one of following parameter：The pedestrian on the robot periphery and/or vehicle relative to
The position of the robot, movement velocity and the direction of motion.
The robotary may also include at least one of following parameter：The acceleration of the robot, acceleration/braking
Signal and turning intent information；And the periphery state of the robot may also include at least one of following parameter：Robot week
The pedestrian on side and/or the size/shape of vehicle.
In the method for the robot and periphery people's car mutual, the following row of the robot is predicted according to robotary
Path is sailed, the path planning of the robot is determined；Periphery state according to the robot, predicts the pedestrian on the robot periphery
And/or the future travel path of vehicle, determine people/car predicted path；And path planning according to the robot and described
People/car predicted path, prediction enters the possibility of non-security distance.
In the method for the robot and periphery people's car mutual, table look-up or numerical computations by way of, it is determined that handing over
Parameter needed for mutual mode.
In the method for the robot and periphery people's car mutual, according to the robotary and preset travel parameter prediction
The future travel path of the vehicle, determines the path planning of the vehicle, wherein the preset travel parameter includes following parameter
At least one：The destination setting of the robot and traveling style are active avoiding type or passive wait type.
In the method for the robot and periphery people's car mutual, the prediction enters the possibility bag of non-security distance
Include：Non-security distance is set, if the path planning of the robot is more than or equal to certain angle with people/car predicted path,
Non-security distance is set as apart from A；And if the path planning of the robot is less than the angle with people/car predicted path, then set
Fixed non-security distance is, apart from B, to be less than apart from A apart from B；The phase of pedestrian and/or vehicle according to the robot and its periphery
To movement velocity, direction of relative movement and relative distance, it is determined that the time into required for non-security distance；And during according to this
Between predict enter non-security distance possibility.
In the method for the robot and periphery people's car mutual, the interactive mode may include to send orientation sound, and
The emissive porwer and launch angle parameter of orientation sound are determined according to the robotary and periphery state.
In the method for the robot and periphery people's car mutual, the interactive mode may include to discharge smell, and root
The type and concentration of smell are determined according to the robotary and periphery state.
In the method for the robot and periphery people's car mutual, the interactive mode may include to carry out optical projection, and
And according to periphery state and ambient brightness, determine distance, projection brightness and the projecting direction of optical projection.
In the method for the robot and periphery people's car mutual, the interactive mode may include to send windstream, and
And according to periphery state and air running status, determine intensity and the direction of windstream.
Generally, the disclosure provide at least following technical scheme：
(1) method of a kind of vehicles of and the outer people's car mutual of car, including：
Obtain vehicle-state and the periphery state of the vehicle；And
Vehicle-state and periphery state according to above-mentioned acquisition, prediction enter the possibility of non-security distance, if prediction
Result is possibly into non-security distance, it is determined that the parameter needed for interactive mode.
(2) methods of the as described in (1), wherein
The vehicle-state includes at least one of following parameter：
The speed of service and steering wheel angle of the vehicle；
And the periphery state of the vehicle includes at least one of following parameter：
The pedestrian of the vehicle-surroundings and/or other vehicles are relative to the position of the vehicle, movement velocity and the direction of motion.
(3) methods of the as described in (2), wherein
The vehicle-state also includes at least one of following parameter：
The acceleration of the vehicle, acceleration/brake signal and turning intent information；
And the periphery state of the vehicle also includes at least one of following parameter：
The size/shape of the pedestrian of the vehicle-surroundings and/or other vehicles, surrounding road situation and traffic lights situation.
(4) methods of the as described in (2) or (3), wherein
The future travel path of the vehicle is predicted according to vehicle-state, the path planning of the vehicle is determined；
Periphery state according to the vehicle, predicts the pedestrian of the vehicle-surroundings and/or the future travel path of other vehicles,
Determine car stranger/car predicted path；And
Path planning and car stranger/car predicted path according to the vehicle, prediction can into non-security distance
Can property.
(5) methods of the as described in (1), wherein table look-up or numerical computations by way of, needed for determining interactive mode
Parameter.
(6) methods of the as described in (4), wherein：
The vehicle is the automatic driving vehicle with preset travel parameter, so as to according to the vehicle-state and preset travel
The future travel path of the parameter prediction vehicle, determines the path planning of the vehicle,
Wherein described preset travel parameter includes at least one of following parameter：The destination of the automatic driving vehicle sets
Fixed and driving style is radical type or conservative.
(7) methods of the as described in (4), wherein the prediction includes into the possibility of non-security distance：
Non-security distance is set, if the path planning of the vehicle is more than or equal to necessarily with car stranger/car predicted path
Angle, then set non-security distance as apart from A；And be somebody's turn to do if the path planning of the vehicle is less than with car stranger/car predicted path
Angle, then set non-security distance apart from B, to be less than apart from A apart from B；
The speed of related movement of pedestrian and/or other vehicles according to the vehicle and its periphery, direction of relative movement and
Relative distance, it is determined that the time into required for non-security distance；And
Enter the possibility of non-security distance according to the time prediction.
(8) methods of the as described in (5), wherein the interactive mode includes sending orientation sound, and according to the vehicle-state
With the transmission power and launch angle parameter that periphery state determines orientation sound.
(9) methods of the as described in (5), wherein the interactive mode includes release smell, and according to the vehicle-state and
Periphery state determines the type and concentration of smell.
(10) methods of the as described in (5), wherein the interactive mode includes carrying out optical projection, and according to periphery shape
State and ambient brightness, determine distance, projection brightness and the projecting direction of optical projection.
(11) methods of the as described in (5), wherein the interactive mode includes sending windstream, and according to periphery shape
State and air running status, determine intensity and the direction of windstream.
(12) system of a kind of vehicles of and the outer people's car mutual of car, including：
State acquiring unit, the periphery state for obtaining vehicle-state and the vehicle；And
Determining unit, for the vehicle-state according to above-mentioned acquisition and periphery state, prediction enters non-security distance
Possibility, if it is possibly into non-security distance to predict the outcome, it is determined that the parameter needed for interactive mode.
(13) systems of the as described in (12), wherein
The vehicle-state includes at least one of following parameter：
The speed of service and steering wheel angle of the vehicle；
And the periphery state of the vehicle includes at least one of following parameter：
The pedestrian of the vehicle-surroundings and/or other vehicles are relative to the position of the vehicle, movement velocity and the direction of motion.
(14) systems of the as described in (13), wherein
The vehicle-state also includes at least one of following parameter：
The acceleration of the vehicle, acceleration/brake signal and turning intent information；
And the periphery state of the vehicle also includes at least one of following parameter：
The size/shape of the pedestrian of the vehicle-surroundings and/or other vehicles, surrounding road situation and traffic lights situation.
(15) systems of the as described in (13) or (14), wherein determining unit
The future travel path of the vehicle is predicted according to vehicle-state, the path planning of the vehicle is determined；
Periphery state according to the vehicle, predicts the pedestrian of the vehicle-surroundings and/or the future travel path of other vehicles,
Determine car stranger/car predicted path；And
Path planning and car stranger/car predicted path according to the vehicle, prediction can into non-security distance
Can property.
(16) systems of the as described in (12), wherein determining unit table look-up or numerical computations by way of, it is determined that interaction
Parameter needed for mode.
(17) systems of the as described in (15), wherein：
The vehicle is the automatic driving vehicle with preset travel parameter, so that it is determined that unit according to the vehicle-state and
The future travel path of the preset travel parameter prediction vehicle, determines the path planning of the vehicle,
Wherein described preset travel parameter includes at least one of following parameter：The destination of the automatic driving vehicle sets
Fixed and driving style is radical type or conservative.
(18) possibility that systems of the as described in (15), wherein determining unit are predicted into non-security distance includes：
Non-security distance is set, if the path planning of the vehicle is more than or equal to necessarily with car stranger/car predicted path
Angle, then set non-security distance as apart from A；And be somebody's turn to do if the path planning of the vehicle is less than with car stranger/car predicted path
Angle, then set non-security distance apart from B, to be less than apart from A apart from B；
The speed of related movement of pedestrian and/or other vehicles according to the vehicle and its periphery, direction of relative movement and
Relative distance, it is determined that the time into required for non-security distance；And
Enter the possibility of non-security distance according to the time prediction.
(19) systems of the as described in (16), wherein the interactive mode include send orientation sound, and determining unit according to
The vehicle-state and periphery state determine the transmission power and launch angle parameter of orientation sound.
(20) systems of the as described in (16), wherein the interactive mode includes release smell, and according to the vehicle-state
With the type and concentration that periphery state determines smell.
(21) systems of the as described in (16), wherein the interactive mode includes carrying out optical projection, and determining unit root
According to periphery state and ambient brightness, distance, projection brightness and the projecting direction of optical projection are determined.
(22) systems of the as described in (16), wherein the interactive mode includes sending windstream, and according to periphery shape
State and air running status, determine intensity and the direction of windstream.
(23) device of a kind of vehicles of and the outer people's car mutual of car, including processor and memory, store in the memory
There is instruction, when being instructed described in the computing device, perform the method as any one of (1)-(11).
(24) a kind of computer-readable recording mediums of, are stored thereon with computer executable instructions, when the instruction is counted
When calculating device execution, the method as any one of (1)-(11) is performed.
(25) method of a kind of robots of and periphery people's car mutual, including：
Obtain robotary and the periphery state of the robot；And
Robotary and periphery state according to above-mentioned acquisition, prediction enter the possibility of non-security distance, if in advance
It is possibly into non-security distance to survey result, it is determined that the parameter needed for interactive mode.
(26) methods of the as described in (25), wherein
The robotary includes at least one of following parameter：
The movement velocity of the robot and direction；
And the periphery state of the robot includes at least one of following parameter：
The pedestrian on the robot periphery and/or vehicle are relative to the position of the robot, movement velocity and the direction of motion.
(27) methods of the as described in (26), wherein
The robotary also includes at least one of following parameter：
The acceleration of the robot, acceleration/brake signal and turning intent information；
And the periphery state of the robot also includes at least one of following parameter：
The pedestrian on the robot periphery and/or the size/shape of vehicle.
(28) methods of the as described in (26) or (27), wherein
The future travel path of the robot is predicted according to robotary, the path planning of the robot is determined；
Periphery state according to the robot, predicts the pedestrian on the robot periphery and/or the future travel path of vehicle,
Determine people/car predicted path；And
Path planning and the people/car predicted path according to the robot, prediction enter the possibility of non-security distance
Property.
(29) methods of the as described in (25), wherein table look-up or numerical computations by way of, needed for determining interactive mode
Parameter.
(30) methods of the as described in (28), wherein：
According to the robotary and the future travel path of the preset travel parameter prediction vehicle, the rule of the vehicle are determined
Draw path,
Wherein described preset travel parameter includes at least one of following parameter：The robot destination setting, with
And traveling style is active avoiding type or passive wait type.
(31) methods of the as described in (28), wherein the prediction includes into the possibility of non-security distance：
Non-security distance is set, if the path planning of the robot is more than or equal to certain angle with people/car predicted path
Degree, then set non-security distance as apart from A；And if the path planning of the robot is less than the angle with people/car predicted path,
Non-security distance is then set apart from B, to be less than apart from A apart from B；
The speed of related movement of pedestrian and/or vehicle according to the robot and its periphery, direction of relative movement and phase
Adjust the distance, it is determined that the time into required for non-security distance；And
Enter the possibility of non-security distance according to the time prediction.
(32) methods of the as described in (29), wherein the interactive mode includes sending orientation sound, and according to the robot
State and periphery state determine the emissive porwer and launch angle parameter of orientation sound.
(33) methods of the as described in (29), wherein the interactive mode includes release smell, and according to the robot shape
State and periphery state determine the type and concentration of smell.
(34) methods of the as described in (29), wherein the interactive mode includes carrying out optical projection, and according to periphery shape
State and ambient brightness, determine distance, projection brightness and the projecting direction of optical projection.
(35) methods of the as described in (29), wherein the interactive mode includes sending windstream, and according to periphery shape
State and air running status, determine intensity and the direction of windstream.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.Therefore, protection scope of the present invention should
Should be defined by scope of the claims.
Claims (10)
1. the method for the outer people's car mutual of a kind of vehicle and car, including：
Obtain vehicle-state and the periphery state of the vehicle；And
Vehicle-state and periphery state according to above-mentioned acquisition, prediction enter the possibility of non-security distance, if predicted the outcome
It is possibly into non-security distance, it is determined that the parameter needed for interactive mode.
2. the method for claim 1, wherein
The vehicle-state includes at least one of following parameter：
The speed of service and steering wheel angle of the vehicle；
And the periphery state of the vehicle includes at least one of following parameter：
The pedestrian of the vehicle-surroundings and/or other vehicles are relative to the position of the vehicle, movement velocity and the direction of motion.
3. method as claimed in claim 2, wherein
The vehicle-state also includes at least one of following parameter：
The acceleration of the vehicle, acceleration/brake signal and turning intent information；
And the periphery state of the vehicle also includes at least one of following parameter：
The size/shape of the pedestrian of the vehicle-surroundings and/or other vehicles, surrounding road situation and traffic lights situation.
4. method as claimed in claim 2 or claim 3, wherein
The future travel path of the vehicle is predicted according to vehicle-state, the path planning of the vehicle is determined；
Periphery state according to the vehicle, predicts the pedestrian of the vehicle-surroundings and/or the future travel path of other vehicles, it is determined that
Car stranger/car predicted path；And
Path planning and car stranger/car predicted path according to the vehicle, prediction enter the possibility of non-security distance.
5. the method for claim 1, wherein table look-up or numerical computations by way of, needed for determining interactive mode
Parameter.
6. method as claimed in claim 4, wherein：
The vehicle is the automatic driving vehicle with preset travel parameter, so as to according to the vehicle-state and preset travel parameter
The future travel path of the vehicle is predicted, the path planning of the vehicle is determined,
Wherein described preset travel parameter includes at least one of following parameter：The destination setting of the automatic driving vehicle,
And driving style is radical type or conservative.
7. the system of the outer people's car mutual of a kind of vehicle and car, including：
State acquiring unit, the periphery state for obtaining vehicle-state and the vehicle；And
Determining unit, for the vehicle-state according to above-mentioned acquisition and periphery state, prediction enters the possibility of non-security distance
Property, if it is possibly into non-security distance to predict the outcome, it is determined that the parameter needed for interactive mode.
8. the device of the outer people's car mutual of a kind of vehicle and car, including processor and memory, be stored with instruction in the memory,
When being instructed described in the computing device, the method as any one of claim 1-11 is performed.
9. a kind of computer-readable recording medium, is stored thereon with computer executable instructions, when the instruction is by computing device
During execution, the method as any one of claim 1-11 is performed.
10. a kind of method of robot and periphery people's car mutual, including：
Obtain robotary and the periphery state of the robot；And
Robotary and periphery state according to above-mentioned acquisition, prediction enter the possibility of non-security distance, if prediction knot
Fruit is possibly into non-security distance, it is determined that the parameter needed for interactive mode.
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| US11815891B2 (en) * | 2019-10-22 | 2023-11-14 | Baidu Usa Llc | End dynamics and constraints relaxation algorithm on optimizing an open space trajectory |
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| CN111176289B (en) * | 2020-01-08 | 2023-11-21 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle, control method thereof, electronic device and readable storage medium |
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